Rocket multi-freedom adjustment gripper

Abstract

This application discloses a multi-degree-of-freedom adjustable clamp for rockets, applied to rocket launch devices. The clamp structure includes a clamp structure capable of gripping the rocket. The clamp structure includes a fine-tuning component, which includes a lateral sliding seat with a rocket support block mounted on it for supporting the rocket. The lateral sliding seat can move along a first direction to move the rocket. Simultaneously, the rocket support block rotates relative to the lateral sliding seat via a rotating component, enabling rotational fine-tuning of the rocket. A lifting adjustment structure is located at the bottom of the clamp structure to move the rocket along a second direction. A translation adjustment structure is located at the bottom of the lifting adjustment structure and can move along the rocket launch device to move the rocket launch device and the rocket along a third direction. This device enables adjustment in three directions and rotational fine-tuning, achieving multi-degree-of-freedom adjustment of the rocket, meeting practical requirements, and ensuring the alignment accuracy between the rocket and the launch device.

Description

Technical Field

[0001] This disclosure relates to the field of aerospace equipment technology, specifically to a multi-free adjustable clamp for rockets. Background Technology

[0002] In modern space launches, the installation, securing, and adjustment of rockets are crucial pre-launch tasks. Traditional rocket support systems typically employ rigid structures, requiring precise adjustments to the rocket's mounting platform during transport and installation to ensure alignment with the launch pad.

[0003] Most existing clamping mechanisms have limited functions, only able to clamp the rocket body, but unable to adjust the rocket's multi-degree-of-freedom motion. They are also complex to operate, inefficient, and difficult to meet the diverse needs of different rocket models. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a multi-free adjustable clamp for rockets.

[0005] In a first aspect, this application provides a multi-free adjustable clamp for rockets, which is applied to rocket launch devices and includes: A clamping structure is provided for clamping the rocket. The clamping structure includes a fine-tuning component, which includes a transverse sliding seat. A rocket support block is provided on the transverse sliding seat and is used to support the rocket. The transverse sliding seat can move along a first direction to drive the rocket to move along the first direction. The rocket support block rotates relative to the transverse sliding seat through a rotating component to drive the rocket to rotate and make fine adjustments. A lifting and adjusting structure is provided at the bottom of the clamping structure, which is used to drive the rocket to move along a second direction, the second direction being perpendicular to the first direction; A translation adjustment structure is provided at the bottom of the lifting adjustment structure and can move along the rocket launch device to drive the rocket to move in a third direction, which is perpendicular to the first direction and perpendicular to the second direction.

[0006] According to the technical solution provided in the embodiments of this application, the clamping structure further includes a support mechanism, on which a clamping actuation mechanism is provided, the clamping actuation mechanism including: A clamp support block is fixedly mounted on the support mechanism. The clamping jaws are two in number, symmetrically and rotatably disposed at both ends of the clamping support block in the first direction, and the clamping jaws and the support mechanism are rotatably connected. The linkage push rod assembly has two ends rotatably connected to the two support mechanisms respectively, and the linkage push rod assembly is driven by a drive member to move along the second direction to open or close the clamping jaws.

[0007] According to the technical solution provided in the embodiments of this application, the support mechanism is provided with limit components on both sides of the first direction. The limit component includes a limit switch, the limit switch has a contact end, and a set distance is provided on the limit switch. The limit switch and the driving component are electrically connected. When the clamping jaws open and contact the contact end, and drive the contact end to move a set distance, the limit switch controls the drive component to stop.

[0008] According to the technical solution provided in the embodiments of this application, the translation adjustment structure includes: A movable base plate is provided with a slider extending along the third direction at the bottom of the movable base plate, and the slider slides in cooperation with the slide rail on the rocket launch device; A position locking block, wherein the position locking block is movably disposed on one side of the movable base plate along the third direction; A position locking bolt, which passes through the position locking block along the second direction and extends into a locking hole on the rocket launcher.

[0009] According to the technical solution provided in the embodiments of this application, a first optical rod is fixedly provided on the side wall of the movable base near the position locking block, which extends along the third direction and is used to guide the movement of the position locking block; The bottom of the movable base plate is also fixedly provided with a position fixing seat, and a position positioning screw is rotatably provided on the position locking block, and one end of the position positioning screw is screwed into the position fixing seat. A locking handle is provided on the side wall of the position locking block, one end of which extends to the position locking block and abuts against the position positioning screw to lock the position positioning screw.

[0010] According to the technical solution provided in the embodiments of this application, the lifting and adjusting structure includes: The lifting platform includes a housing, which is fixedly mounted on the top of the movable base plate. Inside the housing, a worm gear and a worm are provided. The worm extends along a first direction, and the worm gear is axially parallel to a second direction. The worm gear has a ring structure, and its inner ring is coaxially threaded to a lifting screw. A connecting piece is fixedly mounted on the top of the lifting screw, and the connecting piece is fixedly connected to the bottom of the support mechanism. The elevator is provided with at least two, and the worm gears in the at least two elevators are connected in series by a connecting rod. One end of the worm gear in one of the elevators extends to the outside of the housing and is connected to a handwheel.

[0011] According to the technical solution provided in the embodiments of this application, the lifting and adjusting structure further includes: A linear guide bearing extends along the second direction and is fixedly mounted on the top of the movable base plate. An optical axis is slidably connected inside the linear guide bearing. An optical axis support seat is fixedly connected to the top of the optical axis, and the optical axis support seat is fixedly connected to the bottom of the support mechanism.

[0012] According to the technical solution provided in the embodiments of this application, the linkage push rod assembly includes: A clamp lifting push rod extends along the first direction; The gripper push rod has two gripper push rods, which are respectively set for the two gripper jaws. One end of the gripper push rod is rotatably connected to the gripper jaw, and the other end is rotatably connected to one end of the corresponding gripper lifting push rod. The bottom of the clamp support block is provided with a second optical rod extending along the second direction, and the clamp lifting push rod is provided with a through hole corresponding to the second optical rod.

[0013] According to the technical solution provided in the embodiments of this application, the driving component is fixedly installed on the bottom inner wall of the support mechanism. The driving component has a driving end, and the driving end is coaxially fixedly connected to a clamp driving screw. A driving nut sleeve is fixedly installed on the clamp lifting push rod, and the clamp lifting push rod is screwed into the driving nut sleeve.

[0014] In summary, this technical solution specifically discloses a multi-free adjustable clamp for rockets, applied to a rocket launch device. It includes a clamp structure capable of gripping the rocket. The clamp structure includes a fine-tuning component, which includes a lateral sliding seat with a rocket support block mounted on it for supporting the rocket. The lateral sliding seat can move along a first direction to move the rocket. Simultaneously, the rocket support block rotates relative to the lateral sliding seat via a rotating component, enabling rotational fine-tuning of the rocket. A lifting adjustment structure is located at the bottom of the clamp structure to move the rocket along a second direction perpendicular to the first direction. A translation adjustment structure is located at the bottom of the lifting adjustment structure and can move along the rocket launch device to move the rocket launch device and the rocket along a third direction perpendicular to the first and second directions. This device enables adjustment in three directions and fine-tuning of rotation, allowing for multi-degree-of-freedom adjustment of the rocket to meet practical needs and ensure the alignment accuracy between the rocket and the launch device. Attached Figure Description

[0015] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of a multi-free adjustable clamp used in rockets.

[0016] Figure 2 This is a schematic diagram of a multi-free adjustable clamp used in rockets.

[0017] Figure 3 This is a schematic diagram of the supporting structure.

[0018] Figure 4 This is a schematic diagram of the clamping mechanism.

[0019] Figure 5 This is a schematic diagram of the drive nut sleeve.

[0020] Figure 6 This is a schematic diagram of the fine-tuning component.

[0021] Figure 7 This is a schematic diagram of the translation adjustment structure.

[0022] Figure 8 This is a schematic diagram of the lifting and adjusting structure.

[0023] Numbered in the diagram: 1. Translation adjustment structure; 2. Lifting adjustment structure; 3. Clamping structure; 101. Locking handle; 102. Adjustment handle; 103. Position locking block; 104. First guide rod; 105. Position positioning screw; 106. Slider; 107. Position fixing seat; 108. Moving base plate; 109. Position locking bolt; 201. Lifting machine; 202. Linear guide bearing; 203. Connecting rod; 204. Handwheel; 205. Guide shaft; 206. Guide shaft support seat; 301. Support mechanism; 302. Clamping action mechanism; 303. Fine adjustment component; 301-1. Clamping base plate; 301-2. Clamping upright plate; 301-3. Clamping support plate; 301-4. Limit switch; 301-5 301-6 Sensor mounting base; 301-7 Sensor fixing plate; 301-7 Rotary hole; 302-1 Drive component; 302-2 Second guide rod; 302-3 Clamp lifting push rod; 302-4 Drive rod shaft; 302-5 Clamp push rod; 302-6 Clamp drive shaft; 302-7 Clamp clamp; 302-8 Rocket fixing block; 302-9 Clamp rotating shaft; 302-10 Clamp support block; 302-11 Mounting hole; 302-12 Clamp drive screw; 302-13 Drive nut sleeve; 303-1 Adapter seat; 303-2 Transverse seat; 303-3 Rocket support block; 303-4 Adjusting shaft; 303-5 Adjusting nut rod; 303-6 Moving slide. Detailed Implementation

[0024] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Example 1 In modern space launches, the installation, securing, and adjustment of rockets are crucial pre-launch tasks. This involves placing the rocket on a support structure and adjusting its attitude to meet launch requirements. Securement of the rocket is typically achieved using clamps. However, most existing clamp mechanisms are single-function, only able to grip the rocket body and unable to perform more detailed adjustments.

[0027] Please refer to Figure 1 and Figure 6 As shown, a multi-free adjustable clamp for rockets, applied to rocket launch devices, includes: The clamping structure 3 is used to clamp the rocket. The clamping structure 3 includes a fine-tuning component 303, which includes a transverse sliding seat 303-2. A rocket support block 303-3 is provided on the transverse sliding seat 303-2 and is used to support the rocket. The transverse sliding seat 303-2 can move along a first direction to drive the rocket to move along the first direction. The rocket support block 303-3 rotates relative to the transverse sliding seat 303-2 via a rotating assembly to drive the rocket to rotate for fine-tuning. The first direction is horizontal. Figure 8 The extending direction of the connecting rod 203; Lifting and adjusting structure 2, located at the bottom of clamping structure 3, is used to move the rocket along a second direction, which is... Figure 1 The first direction is vertical, and the second direction is perpendicular to the first direction; Translation adjustment structure 1 is located at the bottom of lifting adjustment structure 2 and can move along the rocket launch device to drive the rocket to move in a third direction, which is a horizontal direction, perpendicular to the first direction and perpendicular to the second direction. Therefore, after the rocket is placed on the rocket launch device and supported by the clamp structure 3, the rocket support block 303-3 can support the rocket. The rocket is moved along the rocket launch device by the translation adjustment structure 1. After it is moved into place, the rocket is raised by the lifting adjustment structure 2 until it reaches the specified height. Then, the rocket is finely adjusted in the first direction by the transverse sliding seat 303-2. Then, the rocket support block 303-3 is rotated by the rotating component to finely adjust the rocket angle. At this point, the adjustment is completed, realizing multi-angle adjustment of the rocket, so that the rocket meets various performance requirements before launch.

[0028] The clamp structure also includes a support mechanism 301, on which a clamp action mechanism 302 is provided. The clamp action mechanism 302 can open and close to achieve the purpose of clamping or releasing the rocket.

[0029] like Figures 2 to 5 As shown, the support mechanism 301 includes a clamp base plate 301-1 and two clamp support plates 301-3. The clamp base plate 301-1 is parallel to the first direction. Both the clamp base plate 301-1 and the clamp support plates 301-3 are machined from plates of a specified thickness. The two clamp support plates 301-3 are respectively disposed on two side walls of the clamp base plate 301-1 in the third direction. Optionally, they are connected by bolts. Furthermore, the support mechanism 301 also includes two clamping upright plates 301-2. The clamping upright plates 301-2 are machined from plates of a specified thickness. The two clamping upright plates 301-2 are respectively set at the top of both ends of the clamping base plate 301-1 in the first direction. Optionally, the clamping upright plates 301-2 and the clamping base plate 301-1 are welded together, and the clamping upright plates 301-2 are located between the two clamping support plates 301-3 and are bolted to the clamping support plates 301-3.

[0030] The clamping mechanism 302 includes: The clamp support block 302-10 is fixedly mounted on the support mechanism 301. The clamping jaws 302-7 are two in number and are symmetrically and rotatably disposed at both ends of the clamping support block 302-10 in the first direction. The clamping jaws 302-7 and the support mechanism 301 are rotatably connected. The linkage push rod assembly is rotatably connected to two support mechanisms 301 at both ends, and the linkage push rod assembly is driven by the drive component 302-1 to move along the second direction, so as to open or close the clamping jaws 302-7. Specifically, an installation space is formed between the clamp base plate 301-1, the clamp support plate 301-3, and the clamp upright plate 301-2. The clamp support block 302-10 is set in the installation space and can optionally be connected to the clamp support plate 301-3 by bolts. The clamping jaws 302-7 and the clamping support block 302-10 are rotatably connected by the jaw rotating shaft 302-9. The two ends of the jaw rotating shaft 302-9 pass through the two clamping support plates 301-3 along the third direction and are rotatably connected to the clamping support plates 301-3. Correspondingly, the clamping support plate 301-3 is provided with a rotating hole 301-7. Furthermore, the linkage actuator assembly includes: The clamp lifting push rod 302-3 extends along the first direction; Two gripper push rods 302-5 are provided, each corresponding to one of the two clamping jaws 302-7. One end of the gripper push rod 302-5 is rotatably connected to the clamping jaw 302-7 via a gripper drive shaft 302-6, and the other end is rotatably connected to one end of the corresponding clamping jaw lifting push rod 302-3 via a drive rod shaft 302-4. The bottom of the clamp support block 302-10 is provided with a second smooth rod 302-2 extending in the second direction. The clamp lifting push rod 302-3 is provided with a through hole corresponding to the second smooth rod 302-2. The second smooth rod 302-2 can guide and limit the movement of the clamp lifting push rod 302-3 to ensure smooth movement. Furthermore, the drive component 302-1 is fixedly installed on the bottom inner wall of the support mechanism 301, specifically on the top of the clamp base plate 301-1, and can be bolted. The drive component 302-1 has a drive end, and the drive end is coaxially fixedly connected to the clamp drive screw 302-12. A drive nut sleeve 302-13 is fixedly installed on the clamp lifting push rod 302-3, and the clamp lifting push rod 302-3 is screwed into the drive nut sleeve 302-13. The drive component 302-1 can be a servo motor. Therefore, by activating the drive unit 302-1, the drive end drives the clamp drive screw 302-12 to rotate. The clamp drive screw 302-12 engages with the drive nut sleeve 302-13 through the thread, and the drive nut sleeve 302-13 is fixedly installed on the clamp lifting push rod 302-3. Thus, the rotation of the clamp drive screw 302-12 can drive the clamp lifting push rod 302-3 to move in the second direction. When the clamp lifting push rod 302-3 moves downward, it drives the jaw push rod 302-5 to move downward, causing the two clamp jaws 302-7 to rotate around the jaw shaft 302-9 to open. When the clamp lifting push rod 302-3 moves upward, it drives the jaw push rod 302-5 to move upward, causing the two clamp jaws 302-7 to rotate around the jaw shaft 302-9 to close. Furthermore, the second guide rod 302-2 can guide the movement of the clamp lifting push rod 302-3.

[0031] The support mechanism is equipped with limit components on both side walls in the first direction. Specifically, limit components are provided on the side walls of the two clamping plates 301-2 that are far apart. The limit components include: Sensor mounting base 301-5 is fixedly mounted on clamp upright plate 301-2, and its cross-section is a T-shaped structure. Sensor mounting plate 301-6, there are two sensor mounting plates 301-6, which are respectively fixedly installed on two opposite side walls of sensor mounting base 301-5 along the third direction; Limit switches 301-4 are provided in pairs and are respectively disposed on the side walls of two sensor fixing plates 301-6 that are far apart. Limit switches 301-4 have contact ends and are provided with a set distance. Limit switches 301-4 are electrically connected to drive unit 302-1. Optionally, limit switches 301-4 are of the rotating type. When the clamping jaws 302-7 open and contact the contact end, and drive the contact end to move a set distance, the limit switch 301-4 controls the drive unit 302-1 to stop, thereby preventing the clamping jaws 302-7 from opening too much and causing danger.

[0032] Furthermore, the clamping jaws 302-7 are provided with mounting holes 302-11, and rocket fixing blocks 302-8 are provided on the inner side of the clamping jaws 302-7. The rocket fixing blocks 302-8 can be connected by bolts passing through the mounting holes 302-11. When the clamping jaws 302-7 clamp the rocket, the rocket fixing blocks 302-8 can provide sufficient preload and protect the rocket from damage.

[0033] The fine-tuning component 303 includes an adapter 303-1 and a transverse shifter 303-2. The adapter 303-1 is fixedly mounted on the support mechanism 301. Optionally, it is fixedly connected to two clamp support plates 301-3 by bolts. The adapter 303-1 has an oblong hole on the top of the side wall in the third direction, and its length direction is diffracted along the first direction. Furthermore, the transverse sliding seat 303-2 is movably mounted on the top of the adapter seat 303-1. Correspondingly, the bottom side wall of the transverse sliding seat 303-2 is provided with a connecting hole for installing bolts to lock the transverse sliding seat 303-2 and the adapter seat 303-1. The top of the adapter 303-1 is provided with a movable slide 303-6, and the movable slide 303-6 is provided with a plurality of third light rods extending along the first direction. Therefore, the transverse seat 303-2 can move along the movable slide 303-6 and the third light rods. The movable slide 303-6 and the third light rods provide smooth guidance for the movement of the transverse seat 303-2. The rotating assembly includes an adjusting shaft 303-4 and an adjusting nut rod 303-5. The rocket support block 303-3 has adjusting shafts 303-4 on both sides in the first direction, and the transverse shift seat 303-2 has adjusting nut rods 303-5 at both ends. Adjusting holes are provided on the adjusting shafts 303-4 and the adjusting nut rods 303-5 respectively. By extending the long bolt into the adjusting holes of the adjusting shafts 303-4 and the adjusting nut rods 303-5 and turning it, the rotational fine adjustment of the rocket support block 303-3 can be achieved.

[0034] like Figure 7 As shown, the translation adjustment structure 1 includes: The movable base plate 108 has a slider 106 extending in a third direction at its bottom, and the slider 106 slides in cooperation with the slide rail on the rocket launch device. Position locking block 103 is movably disposed on one side of the movable base plate 108 along a third direction; Position locking bolt 109 passes through position locking block 103 along the second direction and extends into locking hole on rocket launch device; The movable base plate 108 serves as the mounting base for the multi-free adjustable clamp for rockets. Its bottom can move along the slide rail on the rocket launch device via the slider 106, so that the multi-free adjustable clamp for rockets can carry the rocket and move together until the rocket can be moved into position. After the rocket is moved into position, the movable position locking block 103 is moved to correspond with the locking hole on the rocket launch device. The position locking of the rocket is achieved by tightening the position locking bolt 109 to extend it into the locking hole.

[0035] Furthermore, a first light rod 104 is fixedly installed on the side wall of the movable base plate 108 near the position locking block 103, which extends in a third direction and is used to guide the movement of the position locking block 103. The bottom of the movable base plate 108 is also fixedly provided with a position fixing seat 107, and a position positioning screw 105 is rotatably provided on the position locking block 103, and one end of the position positioning screw 105 is screwed into the position fixing seat 107. The other end of the positioning screw 105 passes through the position locking block 103 along a third direction away from the movable base plate 108, and is connected to the adjustment handle 102; A locking handle 101 is provided on the side wall of the position locking block 103, one end of which extends to the position locking block 103 and abuts against the position positioning screw 105 to lock the position positioning screw 105. By rotating the adjusting handle 102, the position positioning screw 105 can be rotated, thereby adjusting the depth of the position positioning screw 105 screwed into the position fixing seat 107. Optionally, a limit groove can be provided on the position positioning screw 105, so that when the position positioning screw 105 rotates, it can drive the position locking block 103 to move synchronously. The first guide rod 104 can guide the movement of the position locking block 103 to ensure smooth movement. When the position locking block 103 is moved into place, the position locking bolt 109 corresponds to the locking hole on the rocket launch device. By rotating the locking handle 101, one end of it located inside the position locking block 103 abuts against the position positioning screw 105, thereby limiting the position positioning screw 105 and preventing it from rotating. This limits the position locking block 103, and the position locking block 103 no longer moves relative to the movable base plate 108. Then, the position locking bolt 109 is tightened to extend into the locking hole, thereby moving the position of the movable base plate 108 and locking the position of the rocket.

[0036] like Figure 8 As shown, the lifting adjustment structure 2 includes: The lifting platform 201 includes a housing, which is fixedly mounted on the top of the movable base plate 108. Inside the housing, there is a matching worm gear and worm. The worm extends along a first direction, and the worm gear is axially parallel to a second direction. The worm gear has a ring structure, and its inner ring is coaxially threaded to a lifting screw. A connecting piece is fixedly mounted on the top of the lifting screw, and the connecting piece is fixedly connected to the bottom of the support mechanism 301. At least two elevators 201 are provided, and the worm gears in the at least two elevators 201 are connected in series through connecting rods 203; One end of the worm gear inside one of the elevators 201 extends to the outside of the housing and is connected to a handwheel 204; By cranking the handwheel 204, the two worm gears are connected in series through the connecting rod 203 to achieve synchronous rotation. Through the cooperation of the worm wheel and worm gear, the worm wheel rotates. Since the connecting part at the top of the lifting screw is fixedly connected to the bottom of the support mechanism 301, and since the inner ring of the worm wheel is threadedly engaged with the lifting screw, the rotation of the worm wheel causes the lifting screw to rise and fall, which in turn drives the support mechanism 301 and the clamping action mechanism 302 to rise and fall, thereby realizing the lifting and lowering adjustment of the rocket. It should be noted that the elevator 201 has a built-in self-locking function based on its own reduction ratio, so there is no need to add any limiting methods. Furthermore, the lifting adjustment structure 2 also includes a linear guide bearing 202, which extends along the second direction and is fixedly installed on the top of the movable base plate 108. An optical axis 205 is slidably connected inside the linear guide bearing 202, and an optical axis support seat 206 is fixedly connected to the top of the optical axis 205. The optical axis support seat 206 and the bottom of the support mechanism 301 are fixedly connected. By sliding the optical axis 205 inside the linear guide bearing 202, guidance is achieved when the support mechanism 301 and the clamping action mechanism 302 rise and fall, ensuring the smooth movement of the support mechanism 301 and the clamping action mechanism 302.

[0037] Working principle: The rocket is placed on the rocket launch device and supported by the rocket support block 303-3 of the clamp structure 3. First, it moves along the rocket launch device through the translation adjustment structure 1. After it moves into place, the adjustment handle 102 is rotated to rotate the position positioning screw 105, adjusting the position of the position locking block 103 until the position locking bolt 109 corresponds to the locking hole on the rocket launch device. Then, the locking handle 101 is rotated so that one end of it inside the position locking block 103 abuts against the position positioning screw 105, thereby limiting the position positioning screw 105 and preventing it from rotating, thus limiting the position locking block 103. The position locking block 103 and the moving base plate 108 no longer move relative to each other. Then, the position locking bolt 109 is tightened to extend into the locking hole, thereby locking the position of the moving base plate 108 and thus locking the position of the rocket. Then, crank the handwheel 204, and the worm rotates, causing the worm wheel to rotate. Due to the threaded engagement between the inner ring of the worm wheel and the lifting screw, the rotation of the worm wheel causes the lifting screw to rise and fall, which in turn drives the support mechanism 301 and the clamping action mechanism 302 to rise and fall, thereby realizing the lifting and lowering of the rocket. By energizing the drive component 302-1, the drive component 302-1 is controlled to rotate in reverse. The drive component 302-1 drives the clamp drive screw 302-12 to move. The clamp drive screw 302-12 drives the drive nut sleeve 302-13 to descend. The clamp lifting push rod 302-3 is supported by the drive nut sleeve 302-13, so it also moves downward. At the same time, it drives the gripper push rod 302-5 to move. The clamp gripper 302-7 is subjected to a downward pulling force, so it unfolds outward with the gripper shaft 302-9 as the rotation point. The clamp gripper 302-7 touches the contact end of the limit switch 301-4 and drives the contact end to move until the contact end moves a set distance, sending a stop operation signal to the drive component 302-1, so that the drive component 302-1 stops moving. At this time, the rocket release action is realized. By energizing the drive component 302-1, the drive component 302-1 rotates clockwise. The drive component 302-1 drives the clamp drive screw 302-12 to move. The clamp drive screw 302-12 drives the drive nut sleeve 302-13 to move upward. The clamp lifting push rod 302-3 is supported by the drive nut sleeve 302-13, so it also moves upward. At the same time, it drives the gripper push rod 302-5 to move. The clamp gripper 302-7 is pushed upward, so it grips inward with the gripper pivot 302-9 as the rotation point until the drive component 302-1 stops moving. At this time, the action of gripping the rocket is achieved. Release the restriction of the transverse sliding seat 303-2, and slowly push it along the first direction to make a small-range translation along the translation slide.

[0038] The axial adjustment shaft 303-4 and the axial adjustment nut rod 303-5 are connected by long bolts. By adjusting the amount of bolt tightening, a small range of rotation angle adjustment can be achieved. This application discloses a multi-free adjustable clamp for rockets that allows for adjustment of the rudder's degrees of freedom, including lateral movement, lifting, clamp opening and closing, translation, and rotation. It is highly versatile, requiring only the replacement of the rocket support block 303-3 and the lateral movement seat 303-2 to meet the needs of different rockets. Furthermore, the two clamp jaws 302-7 use the same power source, ensuring simplicity, reliability, ease of operation, and minimal maintenance. The drive component 302-1 is self-locking upon power-up, providing stable clamping and ensuring rocket stability during launch. The lifting adjustment structure 2 has a wide height adjustment range (0-200mm), adaptable to various rocket models, and precise lateral movement adjustment (±1mm), enabling accurate rocket positioning.

[0039] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A multi-freedom adjustment gripper for a rocket, which is applied to a rocket launching device, characterized in that, include: A clamping structure (3) is used to clamp the rocket. The clamping structure (3) includes a fine-tuning component (303). The fine-tuning component (303) includes a transverse sliding seat (303-2). A rocket support block (303-3) is provided on the transverse sliding seat (303-2). The rocket support block (303-3) is used to support the rocket. The transverse sliding seat (303-2) can move along a first direction to drive the rocket to move along the first direction. The rocket support block (303-3) rotates relative to the transverse sliding seat (303-2) through a rotating component to drive the rocket to rotate and make fine adjustments. A lifting adjustment structure (2) is provided at the bottom of the clamp structure (3) to drive the rocket to move along a second direction, which is perpendicular to the first direction; Translation adjustment structure (1) is located at the bottom of the lifting adjustment structure (2) and can move along the rocket launch device to drive the rocket to move along a third direction, which is perpendicular to the first direction and perpendicular to the second direction.

2. The multi-freedom adjustment gripper for rockets according to claim 1, wherein The clamp structure further includes a support mechanism (301), on which a clamp actuation mechanism (302) is provided. The clamp actuation mechanism (302) includes: A clamp support block (302-10) is fixedly mounted on the support mechanism (301); The clamping jaws (302-7) are two in number and are symmetrically and rotatably disposed at both ends of the clamping support block (302-10) in the first direction. The clamping jaws (302-7) and the support mechanism (301) are rotatably connected. The linkage push rod assembly is rotatably connected to two support mechanisms (301) at both ends, and the linkage push rod assembly is driven by a drive member (302-1) to move along the second direction, so as to open or close the clamping jaws (302-7).

3. The multi-freedom adjustment gripper for rockets according to claim 2, wherein The support mechanism is provided with limit components on both sides of the first direction. The limit components include limit switches (301-4), the limit switches (301-4) have contact ends, and the limit switches (301-4) are provided with a set distance. The limit switches (301-4) and the driving component (302-1) are electrically connected. When the clamping jaws (302-7) open and contact the contact end, and drive the contact end to move a set distance, the limit switch (301-4) controls the drive unit (302-1) to stop.

4. The multi-freedom adjustment gripper for rockets according to claim 2, wherein The translation adjustment structure (1) includes: A movable base plate (108) is provided at the bottom of which a slider (106) extends along the third direction. The slider (106) and the slide rail on the rocket launch device slide in cooperation. A position locking block (103) is movably disposed on one side of the movable base plate (108) along the third direction; A position locking bolt (109) passes through the position locking block (103) along the second direction and extends into a locking hole on the rocket launcher.

5. The multi-freedom adjustment gripper for rockets according to claim 4, wherein A first light rod (104) is fixedly installed on the side wall of the movable base plate (108) near the position locking block (103), which extends along the third direction and is used to guide the movement of the position locking block (103). The bottom of the movable base plate (108) is also fixedly provided with a position fixing seat (107), and a position positioning screw (105) is rotatably provided on the position locking block (103), and one end of the position positioning screw (105) is screwed into the position fixing seat (107). A locking handle (101) is provided on the side wall of the position locking block (103), one end of which extends to the position locking block (103) and abuts against the position positioning screw (105) to lock the position positioning screw (105).

6. The multi-freedom adjustment gripper for rockets according to claim 4, wherein The lifting and adjusting structure (2) includes: The elevator (201) includes a housing, which is fixedly installed on the top of the movable base plate (108). The housing is provided with a worm gear and a worm, which extend along the first direction. The worm gear is axially parallel to the second direction. The worm gear is a ring structure, and its inner ring is coaxially threaded with a lifting screw. A connecting piece is fixedly installed on the top of the lifting screw, and the connecting piece is fixedly connected to the bottom of the support mechanism (301). At least two elevators (201) are provided, and the worm gears in the at least two elevators (201) are connected in series by a connecting rod (203); One end of the worm gear in one of the elevators (201) extends to the outside of the housing and is connected to a handwheel (204).

7. The multi-freedom adjustment gripper for rockets according to claim 6, wherein The lifting adjustment structure (2) also includes: A linear guide bearing (202) extends along the second direction and is fixedly disposed on the top of the movable base plate (108). An optical axis (205) is slidably connected inside the linear guide bearing (202). An optical axis support seat (206) is fixedly connected to the top of the optical axis (205), and the optical axis support seat (206) is fixedly connected to the bottom of the support mechanism (301).

8. The multi-freedom adjustment gripper for rockets according to claim 2, wherein The linkage push rod assembly includes: The clamp lifting push rod (302-3) extends along the first direction; The gripper push rod (302-5) has two parts, which are respectively set to the two gripper jaws (302-7). One end of the gripper push rod (302-5) is rotatably connected to the gripper jaw (302-7), and the other end is rotatably connected to one end of the corresponding gripper lifting push rod (302-3). The bottom of the clamp support block (302-10) is provided with a second light rod (302-2) extending along the second direction, and the clamp lifting push rod (302-3) is provided with a through hole corresponding to the second light rod (302-2).

9. The multi-freedom adjustment gripper for rockets according to claim 8, wherein The driving component (302-1) is fixedly installed on the bottom inner wall of the support mechanism (301). The driving component (302-1) has a driving end, and the driving end is coaxially fixedly connected to the clamp driving screw (302-12). A driving nut sleeve (302-13) is fixedly installed on the clamp lifting push rod (302-3), and the clamp lifting push rod (302-3) is screwed into the driving nut sleeve (302-13).

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