An adjustable rocket arm system and transport vehicle

Abstract

The utility model provides a kind of adjustable rocket arm-holding system and transport vehicle, wherein arm-holding system includes arm-holding base and two arms; The arm-holding base is arranged along the width direction of transport vehicle, and the arm is arranged on the arm-holding base and can be moved relative to the arm-holding base in the width direction of transport vehicle; Two arms are used to be placed on the two sides of horizontal radial direction of rocket respectively, to hold rocket mutually. The arm-holding system can adapt to the holding of rocket with different diameters.

Description

Technical Field

[0001] This utility model relates to the field of launch vehicles, specifically to an adjustable rocket arm system and a transport vehicle. Background Technology

[0002] Currently, after domestic rockets are manufactured at production bases, they need to be transported to the launch site for testing and final assembly before being transferred to the launch pad for launch. During transportation, the rocket and transport vehicle must be secured to prevent damage from shaking. Existing transport vehicles require placing the rocket in packaging boxes and securing them, but these boxes are not suitable for rocket models of different diameters. Custom-made boxes for specific rocket models need to be manufactured, resulting in high costs and long production cycles.

[0003] To improve the safety of rocket transportation and achieve reliable transportation of different types of rockets, it is particularly important to design an adjustable rocket arm system. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adjustable rocket arm system and transport vehicle.

[0005] This utility model provides an adjustable rocket gripping arm system, including: a gripping arm base and two gripping arms; the gripping arm base is arranged along the width direction of the transport vehicle, and the gripping arms are arranged on the gripping arm base and are movable relative to the gripping arm base in the width direction of the transport vehicle; the two gripping arms are used to cooperate with each other on both sides of the rocket in the radial direction to grip the rocket tightly.

[0006] According to one embodiment of the present invention, the grab arm includes a support base, a first arm, and a second arm; the support base is disposed on the grab arm base and is movable relative to the grab arm base in the width direction of the transport vehicle; one end of the first arm is rotatably disposed relative to the support base, and the other end of the first arm is rotatably connected to one end of the second arm; the first arm and the second arm of the two sets of oppositely disposed grab arms clamp or release the rocket by rotating radially inward or outward.

[0007] According to one embodiment of the present invention, the support arm base is provided with a first support arm rotation motor; the rotation shaft of the first support arm rotation motor is connected to one end of the first support arm; the first support arm rotation motor is started, driving the first support arm to rotate relative to the support arm base; the arm also includes a top rod; the first support arm is provided with a second support arm rotation motor and an outwardly extending first support rod; the rotation shaft of the second support arm rotation motor is connected to one end of the first support rod; the second support arm is provided with an outwardly extending second support rod; one end of the top rod is rotatably connected to the first support rod, and the other end of the top rod is rotatably connected to the second support rod; the second support arm rotation motor is started, the first support rod rotates, and the top rod pulls or pushes the second support arm to rotate relative to the first support arm, so as to release or press the rocket.

[0008] According to one embodiment of the present invention, the arm-holding system further includes two bottom support bases; the two bottom support bases are disposed on the arm-holding base and are movable relative to the arm-holding base in the width direction of the transport vehicle to adaptively support the rocket.

[0009] According to one embodiment of the present invention, the base support base has a groove on the end face of the corresponding support arm support base; the groove is used to provide space for the movement or rotation of the arm.

[0010] According to one embodiment of the present invention, the first support arm, the second support arm, and the bottom support base are provided with multiple support mechanisms on the end face of the rocket; the support mechanism includes a support drive cylinder and a support plate; the support plate is disposed on the telescopic rod of the support drive cylinder; the telescopic rod of the support drive cylinder extends and retracts to drive the support plate toward or away from the rocket, so as to support or release the rocket.

[0011] According to one embodiment of the present invention, the support plate is used to support a pressure sensor on the end face of the rocket; the pressure sensor is used to measure the supporting force of the support mechanism on the rocket.

[0012] According to one embodiment of the present invention, the support plate is used to support the airbags provided on the end face of the rocket so as to fit the rocket body.

[0013] According to one embodiment of the present invention, the support drive cylinder is a pneumatic cylinder; multiple support drive cylinders are respectively connected to a pneumatic source through different branches; each branch corresponding to the support drive cylinder is provided with a solenoid valve; the opening degree of the solenoid valve is adjusted to adjust the thrust of the corresponding support drive cylinder.

[0014] On the other hand, this utility model provides a transport vehicle with at least two sets of the aforementioned arm systems arranged along its length.

[0015] According to the rocket holding arm system of this utility model, by moving two holding arms relative to the holding arm base in the width direction of the transport vehicle, rockets of different diameters can be held in an adaptive manner.

[0016] It should be understood that the above general description and the following specific embodiments are merely exemplary and illustrative, and do not limit the scope of the present invention. Attached Figure Description

[0017] The accompanying drawings are part of the specification of this utility model and illustrate exemplary embodiments of the utility model. The drawings, together with the description in the specification, are used to illustrate the principles of the utility model.

[0018] Figure 1 This is a front view of a transport vehicle according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the arm clamping state of the arm clamping system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the arm-holding system of one embodiment of the present invention in the arm-holding open state; Figure 4 This is a schematic diagram of a grab arm according to an embodiment of the present utility model; Figure 5 This is a schematic diagram of the bottom support base according to an embodiment of the present invention; Figure 6 This is a perspective view of a lifting arm system according to an embodiment of the present invention; Figure 7 yes Figure 6 Enlarged view of A in the middle; Figure 8 This is a perspective view of the bottom support base according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a support mechanism according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1 Transport vehicle; 2 Arm-holding system; 4 Rocket; 5 First drive system; 2.1 Arm-holding; 2.2 Arm-holding base; 2.3 Support mechanism; 2.4 Bottom support base; 2.1.1 First arm; 2.1.2 Second arm; 2.1.3 Arm support base; 2.1.4 Top rod; 2.1.5 First arm rotary motor; 2.1.6 Second arm rotary motor; 2.1.7 First support rod; 2.1.8 Second support rod; 2.2.1 Arm-holding guide rail; 2.2.2 Arm-holding guide rail; 2.3.1 Support plate; 2.4.1 Groove. Detailed Implementation

[0020] The features and exemplary embodiments of various aspects of this utility model will be described in detail below. To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain this utility model and to exemplarily illustrate the principles of this utility model, and are not configured to limit this utility model. In addition, the structural components in the drawings are not necessarily drawn to scale. For example, the dimensions of some structural components or regions in the drawings may be enlarged for other structural components or regions to aid in the understanding of the embodiments of this utility model.

[0021] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the embodiments of this utility model. In the description of this utility model, it should be noted that, unless otherwise stated, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0022] Furthermore, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure or component that includes a list of elements includes not only those elements but also other structural elements that are not expressly listed or inherent to the structure or component. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or apparatus that includes the element.

[0023] Spatial relation terms such as "below," "under," "under," "low," "above," "on," and "high" are used for descriptive convenience to explain the positioning of one element relative to a second element, indicating that these terms are intended to cover different orientations of the device, in addition to those different from those shown in the figure. Furthermore, phrases such as "one element on / below another element" can indicate that two elements are in direct contact, or that there are other elements between the two elements. In addition, terms such as "first" and "second" are also used to describe individual elements, areas, parts, etc., without specifically indicating order or sequence, and should not be considered restrictive. Similar terms are used throughout the description to represent similar elements.

[0024] In the following description of this utility model, the terms "rocket," "launch vehicle," "spacecraft," "space launch vehicle," or "missile" may be used in certain scenarios for ease of description only, and their connotations are not limited to the specific terms used. Generally, the rockets and launch vehicles of this utility model include space launch vehicles used to launch satellites, spacecraft, or other probes, as well as various missiles, rockets, and other weapons used to carry payloads, and similar products capable of sending payloads into the air. Those skilled in the art, when interpreting the above specific terms, should not limit the rocket to only one of launch vehicles or missiles based on the specific terms used in the description, thereby narrowing the scope of protection of this utility model.

[0025] For those skilled in the art, this invention can be implemented without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by illustrating examples.

[0026] Figure 1 This is a front view of a transport vehicle according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the arm clamping state of the arm clamping system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the arm-holding system of one embodiment of the present invention in the arm-holding open state; Figure 4 This is a schematic diagram of a grab arm according to an embodiment of the present utility model; Figure 5 This is a schematic diagram of the bottom support base according to an embodiment of the present invention; Figure 6 This is a perspective view of a lifting arm system according to an embodiment of the present invention; Figure 7 yes Figure 6 Enlarged view of A in the middle; Figure 8 This is a perspective view of the bottom support base according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a support mechanism according to an embodiment of the present invention.

[0027] like Figure 1 As shown in the figure, this utility model provides an adjustable rocket arm holding system, including: an arm holding base 2.2 and two arms 2.1. The arm holding base 2.2 is arranged along the width direction of the transport vehicle 1. The arms 2.1 are disposed on the arm holding base 2.2 and are movable relative to the arm holding base 2.2 in the width direction of the transport vehicle 1. The two arms 2.1 are used to cooperate with each other on both sides of the rocket 4 in the radial direction to hold the rocket 4 tightly.

[0028] In this embodiment, the two clamping arms 2.1 are movable relative to the clamping arm base 2.2 in the width direction of the transport vehicle, which can adaptably clamp rocket models of different diameters.

[0029] like Figures 2-4As shown, according to one embodiment of the present invention, the clamping arm 2.1 includes a support base 2.1.3, a first arm 2.1.1, and a second arm 2.1.2. The support base 2.1.3 is disposed on the clamping arm base 2.2 and is movable relative to the clamping arm base 2.2 in the width direction of the transport vehicle 1. One end of the first arm 2.1.1 is rotatably disposed relative to the support base 2.1.3, and the other end of the first arm 2.1.1 is rotatably connected to one end of the second arm 2.1.2. The first arm 2.1.1 and the second arm 2.1.2 of the two sets of clamping arms 2.1, which are arranged opposite each other, clamp or release the rocket 4 by rotating radially inward or outward.

[0030] The arm-clamping system provided in this embodiment can control the rotation angles of the first arm 2.1.1 and the second arm 2.1.2 according to the rocket diameter and the clamping force required to clamp the rocket. This arm-clamping system has a two-degree-of-freedom structure, offering high flexibility.

[0031] like Figure 4 As shown, according to one embodiment of the present invention, the support arm base 2.1.3 is equipped with a first support arm rotary motor 2.1.5. The rotation shaft of the first support arm rotary motor 2.1.5 is connected to one end of the first support arm 2.1.1. When the first support arm rotary motor 2.1.5 is started, it drives the first support arm 2.1.1 to rotate relative to the support arm base 2.1.3. In addition to the support arm base 2.1.3, the first support arm 2.1.1, and the second support arm 2.1.2, the arm 2.1 also includes a top rod 2.1.4. The first support arm 2.1.1 is equipped with a second support arm rotary motor 2.1.6 and an outwardly extending first support rod 2.1.7. The rotation shaft of the second support arm rotary motor 2.1.6 is connected to one end of the first support rod 2.1.7. The second support arm 2.1.2 is equipped with an outwardly extending second support rod 2.1.8. One end of the push rod 2.1.4 is rotatably connected to the first support rod 2.1.7, and the other end of the push rod 2.1.4 is rotatably connected to the second support rod 2.1.8. When the second support arm rotary motor 2.1.6 is activated, the first support rod 2.1.7 rotates and pulls or pushes the second support arm 2.1.2 relative to the first support arm 2.1.1 through the push rod 2.1.4, so as to release or compress the rocket 4.

[0032] In this embodiment, the first arm rotation motor 2.1.5 is activated, causing the first arm 2.1.1 to rotate relative to the arm support base 2.1.3, enabling the first arm 2.1.1 to move closer to or further away from the rocket 4, thus pressing or releasing the rocket. The top rod 2.1.4, the first arm 2.1.1, the first support rod 2.1.7, and the second support rod 2.1.8 form a roughly quadrilateral linkage mechanism. The second arm rotation motor 2.1.6 is activated, causing the first support rod 2.1.7 to rotate and drive the top rod 2.1.4 to pull or push the second arm 2.1.2 relative to the first arm 2.1.1, moving it toward or away from the rocket 4 to press or release the rocket. For example, the second arm rotation motor 2.1.6 is positioned approximately in the middle of the first arm 2.1.1.

[0033] like Figure 3 and Figure 5 As shown, according to one embodiment of the present invention, in addition to the arm base 2.2 and the two arms 2.1, the arm system 2 also includes two bottom support bases 2.4. The two bottom support bases 2.4 are disposed on the arm base 2.2 and are movable relative to the arm base 2.2 in the width direction of the transport vehicle 1 to adaptively support the rocket 4.

[0034] In this embodiment, two bottom support bases 2.4 are disposed between two arm bases 2.2 to support the portion of rocket 4 near the arm bases 2.2. The bottom support bases 2.4, in conjunction with the arm bases 2.1, provide better support and hold for the rocket body, resulting in a more even distribution of force on rocket 4.

[0035] like Figure 6 and Figure 7 As shown, the arm support base 2.2 is provided with an arm support guide rail 2.2.1 and two arm support guide rails 2.2.2 along the width direction of the transport vehicle 1. The arm support guide rail 2.2.1 is positioned between the two arm support guide rails 2.2.2. The arm support guide rail 2.2.2 is provided with a slider that is slidable relative to it. The arm support base 2.1.3 is fixedly connected to the slider of the arm support guide rail 2.2.2 to guide the arm support base 2.1.3.

[0036] In this embodiment, for example, the arm support rail 2.2.1 can be a linear guide rail, and the arm support base 2.1.3 is disposed on the slider of the arm support rail 2.2.1 to drive the arm support base 2.1.3 to move relative to the arm support rail 2.2.1. For example, each arm support rail 2.2.1 can be provided with multiple sliders to install the arm support base 2.1.3, so that the movement of the arm support base 2.1.3 relative to the arm support rail 2.2.1 is more stable.

[0037] In addition, the arm guide rail 2.2.1 can be equipped with multiple sliders, and the two bottom support bases 2.4 and the two arm support bases 2.1.3 can be set on different sliders of the arm guide rail 2.2.1 to control their positions respectively.

[0038] like Figure 8 As shown, according to one embodiment of the present invention, the base support base 2.4 has a groove 2.4.1 on its end face relative to the corresponding support arm support base 2.1.3. The groove 2.4.1 provides space for the movement or rotation of the support arm 2.1.

[0039] like Figure 4 , 5 As shown in Figure 9, according to one embodiment of the present invention, the first support arm 2.1.1, the second support arm 2.1.2, and the bottom support base 2.4 are provided with multiple support mechanisms 2.3 on the end face of the rocket. Each support mechanism 2.3 includes a support drive cylinder and a support plate 2.3.1, which is disposed on the telescopic rod of the support drive cylinder. The telescopic rod of the support drive cylinder extends and retracts, causing the support plate 2.3.1 to move towards or away from the rocket 4, thereby supporting or releasing the rocket 4.

[0040] According to one embodiment of this utility model, a pressure sensor is installed on the end face of the support plate 2.3.1 that supports the rocket 4. The pressure sensor is used to measure the supporting force of the support mechanism 2.3 on the rocket 4.

[0041] In this embodiment, the supporting force or clamping force of the support mechanism 2.3 on the rocket 4 can be controlled by a pressure sensor. For example, during transportation, the transportation speed can be adjusted based on the pressure sensor readings. If the local pressure is too high (e.g., exceeding a preset value), the vehicle can be stopped for inspection in a timely manner.

[0042] According to one embodiment of the present invention, the end face of the support plate 2.3.1 used to support the rocket 4 can be provided with an airbag so as to better fit the rocket body when holding the rocket.

[0043] In this embodiment, the airbag can also provide soft support for the arrow body, reducing pressure damage to the arrow body.

[0044] According to one embodiment of this invention, the support drive cylinder of the support mechanism 2.3 can be a pneumatic cylinder. Multiple support drive cylinders can be connected to a pneumatic source via different branches. Each branch corresponding to a support drive cylinder is equipped with a solenoid valve. Adjusting the opening of the solenoid valve regulates the thrust of the corresponding support drive cylinder.

[0045] In this embodiment, the extension and retraction of the support drive cylinders of multiple support mechanisms 2.3 can be controlled by adjusting the opening degree of different solenoid valves. This allows for the control of the supporting force or clamping force of the support mechanism 2.3 at different positions on the rocket according to different scenarios or needs (e.g., the transport vehicle turning or steering). The end face of the support plate 2.3.1 used to support the rocket 4 can be made of flexible material to buffer the supporting force or clamping force, making the force on the rocket 4 more uniform.

[0046] On the other hand, this utility model provides a transport vehicle with at least two sets of arm systems 2 arranged along its length.

[0047] The above embodiments of this utility model can be combined with each other and have corresponding technical effects.

[0048] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An adjustable rocket arm system, characterized in that, It includes a mounting base and two mounting arms; the mounting base is arranged along the width direction of the transport vehicle, and the mounting arms are arranged on the mounting base and are movable relative to the mounting base in the width direction of the transport vehicle; the two mounting arms are used to cooperate with each other on both sides of the rocket in the radial direction to hold the rocket tightly. The grab arm includes a support base, a first arm, and a second arm. The support base is disposed on the grab arm base and is movable relative to the grab arm base in the width direction of the transport vehicle. One end of the first arm is rotatably disposed relative to the support base, and the other end of the first arm is rotatably connected to one end of the second arm. The first and second arms of the two sets of opposite grab arms can grip or release the rocket by rotating radially inward or outward. The arm support base is provided with an arm support guide rail and two arm support guide rails along the width direction of the transport vehicle; the arm support base is disposed on the slider of the arm support guide rail to drive the arm support base to move relative to the arm support guide rail; the arm support guide rail is disposed between the two arm support guide rails; the arm support guide rail is provided with a slider that can slide relative to it; the arm support base is fixedly connected to the slider of the arm support guide rail to guide the arm support base.

2. The arm-holding system according to claim 1, characterized in that, The support base of the support arm is equipped with a first support arm rotary motor; the rotation shaft of the first support arm rotary motor is connected to one end of the first support arm; when the first support arm rotary motor is activated, it drives the first support arm to rotate relative to the support base of the support arm; the arm also includes a top rod; the first support arm is equipped with a second support arm rotary motor and an outwardly extending first support rod; the rotation shaft of the second support arm rotary motor is connected to one end of the first support rod; the second support arm is equipped with an outwardly extending second support rod; one end of the top rod is rotatably connected to the first support rod, and the other end of the top rod is rotatably connected to the second support rod; when the second support arm rotary motor is activated, the first support rod rotates and pulls or pushes the second support arm to rotate relative to the first support arm through the top rod, so as to release or compress the rocket.

3. The arm-holding system according to claim 1, characterized in that, The arm-holding system also includes two bottom support bases; the two bottom support bases are disposed on the arm-holding base and are movable relative to the arm-holding base in the width direction of the transport vehicle to adaptively support the rocket.

4. The arm-holding system according to claim 3, characterized in that, The base support base has a groove on the end face of the corresponding support arm support base; the groove is used to provide space for the movement or rotation of the arm.

5. The arm-holding system according to claim 3, characterized in that, The first arm, the second arm, and the bottom support base are used to support multiple support mechanisms on the end face of the rocket; the support mechanism includes a support drive cylinder and a support plate; the support plate is disposed on the telescopic rod of the support drive cylinder; the telescopic rod of the support drive cylinder extends and retracts, causing the support plate to move toward or away from the rocket, so as to support or release the rocket.

6. The arm-holding system according to claim 5, characterized in that, The support plate is used to support the pressure sensor installed on the end face of the rocket; the pressure sensor is used to measure the supporting force of the support mechanism on the rocket.

7. The arm-holding system according to claim 6, characterized in that, The support plate is used to support the airbags installed on the end face of the rocket to fit the rocket body.

8. The arm-holding system according to claim 5, characterized in that, The support drive cylinder is a pneumatic cylinder; multiple support drive cylinders are connected to a pneumatic source through different branches; each branch corresponding to a support drive cylinder is equipped with a solenoid valve; the opening degree of the solenoid valve is adjusted to adjust the thrust of the corresponding support drive cylinder.

9. A transport vehicle, characterized in that, At least two sets of arm-holding systems as described in any one of claims 1-8 are provided along its length.

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