CN107971716B - A kind of guided missile section flexible support and state are quickly converted fexible unit - Google Patents
A kind of guided missile section flexible support and state are quickly converted fexible unit Download PDFInfo
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- CN107971716B CN107971716B CN201711139013.7A CN201711139013A CN107971716B CN 107971716 B CN107971716 B CN 107971716B CN 201711139013 A CN201711139013 A CN 201711139013A CN 107971716 B CN107971716 B CN 107971716B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
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Abstract
The present invention relates to a kind of guided missile section flexible supports and state to be quickly converted fexible unit, including the state quick switching device for controlling missile attitude and for the section flexible supporting device of missile transport.Section flexible supporting device locks the chassis of the guided missile section flexible supporting device and the chassis of the guided missile section state quick switching device after transport in place according to target missiles section outer dimension, to the secure support of horizontal positioned guided missile section；The adapter of mechanical arm is connect and locked with the end connecting hole of guided missile section, guided missile section, control guided missile section posture conversion are supported.The device of the invention is not limited by missile diameter and shape, and versatility is good, high reliablity, avoids the waste of resource；Guided missile section flexible supporting device and state are quickly converted fexible unit and can be used alone, and realize the section transport and posture conversion of guided missile respectively；It can also be applied in combination, realize the transmitting of guided missile section between, easy to use and flexible.
Description
Technical field
The present invention relates to a kind of guided missile section flexible supports and state to be quickly converted fexible unit, belongs to guided missile general assembly equipment
Field.
Background technique
Although the design level of China's missile armament is located at world forefront at this stage, production method still falls behind, especially
It is general assembly work, the mode for being manually aided with many bulky toolings substantially carries out, and is unable to satisfy different model missile armament
The development of multi-varieties and small-batch and rapid batch produce.Therefore, it is necessary under the premise of guaranteeing the quality of production, designing can be taken into account
Different-diameter, the flexible support of different shape weapon sections and state are quickly converted assembly technology equipment, can greatly improve work
The adaptability and quick-reaction capability of skill equipment, the general assembly of higher lifting of missile weapon, total survey are horizontal on the whole, promote me
The fusion of informationization and the modernization of state's equipment manufacture.
When the section assembly of missile armament model, it is a variety of to need for section to be converted into 90 ° of horizontal, vertical, horizontal rolling etc.
Posture carries out the assembly of the components such as section interior instrument cable, and assembly manipulation needs carry out on various posture brackets, and portion
The various behaviour such as the various postures conversion of section needs to be overturn section using a variety of suspenders again, horizontal rolling and flip vertical
Make.Therefore, completing a type product general assembly just needs various states bracket tooling and many attitude to convert suspender cooperation, and
It needs constantly to replace in assembling process and uses bracket and suspender.Traditional section supporting tool is for the outer of each section
The manufacture of shape characteristic Design, usually support-board type rigid structure, it is heavy that structure is complicated, inconvenient, adaptability and flexibility
It is poor, cannot multiple models it is general, Project R&D interrupt after, the various toolings of the model just discard is stacked in workshop, cause
The significant wastage of resources of production.Using traditional support tooling and reversal hanger, Operational preparation period, tooling manufacturing cost account for development
Period and the sizable ratio of development cost are unfavorable for shortening development and the manufacturing cycle of missile armament model very much.Especially
It is more in our hospital's model task, under the form of various resources of production anxieties, the development of model and prolonging for batch production task can be directly contributed
Phase completes.
Currently, being faced with the development and batch production task of the multi-varieties and small-batch of different model missile armament, product is total
Dress process need to repeatedly carry out the continuous conversion between horizontal rolling and flip vertical two states.The horizontal rolling of special-shaped section and
Flip vertical is all to cooperate to realize by suspender, bracket and unwheeling, and the poor universality of tooling is unable to meet production demand.In order to
Make section supporting tool and state conversion tool that there is enough flexibilities, improve tooling adaptability and quick-reaction capability, needs
A kind of flexible support and turnover device are designed, which has well adapting to property, quick respond, higher stabilization
Property and reliability.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide guided missile section flexible supports and state to be quickly converted
Fexible unit solves turning for all weapon model section product difference postures of the diameter within the scope of Φ 420mm- Φ 1200mm
Change, it is horizontal park and different station between the problem freely converted, effectively solve the model production of current multi-varieties and small-batch
Demand improves the versatility and reliability of technological equipment, greatly reduces the waste of resource.
The object of the invention is achieved by following technical solution:
A kind of guided missile section state is provided and is quickly converted fexible unit, including turret supports, support ring, multiple mechanical arms and
Chassis；
The chassis has upright guide rail, and big sliding block can be moved up and down along upright guide rail；
Turret supports have cyclic structure, to be connected on big sliding block by gear structure, under the driving of gear structure,
Turret supports can be overturn along horizontal rotating shaft；
Support ring is connected to the inner ring of cyclic structure by bearing, can rotate around its center；
Multiple mechanical arms are used to support guided missile section, and multiple mechanical arms are uniformly distributed circumferentially in support ring.
Preferably, each mechanical arm can be swung up and down along itself connecting shaft between mounting base, can be along mechanical brachium
Degree direction is elastic, and the outer end of each mechanical arm is provided with and the matched adapter of guided missile end face connecting hole.
It preferably, further include rotary drive assembly, rotary drive assembly includes motor, retarder, first gear；Retarder
Coaxial with first gear, tooth engagement in first gear and bearing, motor drives first gear by retarder, and then drives bearing
It is rotated around its center.
It preferably, further include vertical lifting component, vertical lifting component includes motor, retarder, lead screw and screw；Lead screw
It is fixed on the base vertically, sliding block is connected firmly with screw, and for turret supports by connecting firmly with screw, motor drives screw by retarder
It is moved up and down along lead screw, while sliding block is moved up and down along guide rail, drives turret supports and multiple one liftings of mechanical arm.
It preferably, further include overturning component, overturning component includes motor, retarder, spur gear and driven gear；Spur gear
It is vertically arranged, is intermeshed, retarder is coaxially connected with spur gear, and driven wheel is fixed on the level of turret supports with driven gear
On the outside of axis；Motor is overturn together with multiple mechanical arms around horizontal axis through retarder driving turret supports.
Preferably, each mechanical arm includes passing through first motor, the second retarder, gear, rack gear, guide rail and small slide block；
Gear is fixed, and rack gear is fixed in support ring on the robotic arm, is axially arranged along mechanical arm；It is removable by small slide block along mechanical arm
It is connected to guide rail dynamicly, motor is moved by retarder driver gear along rack gear, drives mechanical arm along guide rail axial stretching.
Preferably, each mechanical arm further includes the second motor, the second retarder, worm and worm wheel；Worm screw be vertically arranged with
Support ring is fixedly connected；Worm gear is connect with mechanical arm by same shaft；Second motor drives worm screw to turn by the second retarder
It is dynamic, drive worm gear to rotate in perpendicular, and then the mobile terminal of mechanical arm is driven to rotate in perpendicular.
A kind of guided missile section flexible support fexible unit, including mobile platform and multiple flexible support members are provided simultaneously；
The mobile platform has longitudinal rail, and flexible support members, which are arranged on longitudinal rail, to be moved guide rail along longitudinal direction
It is dynamic；
Each flexible support members include the cross slide way vertical with longitudinal rail, and two support unit settings are soft at one
Property support component on, support unit can respectively transversely guide rail be mobile；
Support unit can oscilaltion, be used to support horizontal positioned guided missile section.
Preferably, the mobile platform is equipped with Mecanum wheel, being capable of any direction movement.
Preferably, the support unit includes contact assembly, and contact assembly includes the first short axle, the second short axle, conveyer belt,
Ball pair supporting plate, worm screw, worm gear and handwheel；
First short axle is higher than the second short axle and is arranged in two groups of holes of ball pair supporting plate two sides, and the conveyer belt is arranged first
It between short axle and the second short axle, is contacted with guided missile section, ball pair supporting plate is arranged below conveyer belt, and guided missile section is placed on transmission
It taking, conveyer belt generates radian under the action of section is self-possessed and is close to guided missile section shape, and ball pair supporting plate adjusts tilt angle,
Adapt to the guided missile section shape of support；
Worm gear and the first short axle are coaxially disposed, and handwheel and worm screw are coaxially disposed, and handwheel drives the rotation of worm drive worm gear, snail
Wheel drives the rotation of the first short axle, and then transmits conveyer belt, and guided missile section is driven to finely tune around the rolling of own axes.
Preferably, the support unit further includes lifting assembly, and for controlling contact assembly lifting, lifting assembly includes spiral shell
Revolve elevator, upper bracket, undersetting and handwheel；Contact assembly is arranged by spring in upper bracket, spiral lift setting with
On the undersetting that flexible support members connect firmly, it is located at below upper bracket, handwheel drives spiral lift to drive contact assembly lifting,
The guide rod of upper bracket moves up and down along the pilot hole of undersetting.
A kind of guided missile section flexible support is provided and state is quickly converted fexible unit, including guided missile section state quickly turns
Changing device and guided missile section flexible supporting device；
The guided missile section state quick switching device includes turret supports, support ring, multiple mechanical arms and chassis；It is described
Chassis has upright guide rail, and big sliding block can be moved up and down along upright guide rail；Turret supports have cyclic structure, to pass through gear
Structure is connected on big sliding block, and under the driving of gear structure, turret supports can be overturn along horizontal rotating shaft；Support ring passes through axis
The inner ring for being connected to cyclic structure is held, can be rotated around its center；Multiple mechanical arms are used to support guided missile section, multiple mechanical arms
It is uniformly distributed circumferentially in support ring；
The guided missile section flexible supporting device includes mobile platform and multiple flexible support members；The mobile platform tool
There is longitudinal rail, flexible support members are arranged on longitudinal rail being capable of guide rail movement along longitudinal direction；Each flexible support members packet
The cross slide way vertical with longitudinal rail is included, two support units are arranged on a flexible support members, and support unit can
Respectively transversely guide rail is mobile；Support unit can oscilaltion, be used to support horizontal positioned guided missile section；
After the guided missile section flexible supporting device transports guided missile section in place, the guided missile section state is quickly converted
Device and the guided missile section flexible supporting device mutually locking, multiple mechanical arms support guided missile section and control its direction.
Preferably, the guided missile section flexible supporting device further includes chassis locking mechanism, and chassis locking mechanism includes gas
Cylinder, fork, claw, support I, support II；Fork and claw are mounted on guided missile section flexible supporting device by support I；Gas
Cylinder is mounted on guided missile section flexible supporting device by support II；Fork is used to connect the push rod of claw and cylinder；It is described to lead
Section flexible supporting device is played by after the transport in place of guided missile section, the guide pin of the guided missile section state quick switching device is inserted
Enter claw, protracted by cylinder push-rod, the symmetrical claw of driving claw two closes up locking guide pin.
Preferably, each mechanical arm can be swung up and down along itself connecting shaft between mounting base, can be along mechanical brachium
Degree direction is elastic, and the outer end of each mechanical arm is provided with and the matched adapter of guided missile end face connecting hole.
It preferably, further include rotary drive assembly, rotary drive assembly includes motor, retarder, first gear；Retarder
Coaxial with first gear, tooth engagement in first gear and bearing, motor drives first gear by retarder, and then drives bearing
It is rotated around its center.
It preferably, further include vertical lifting component, vertical lifting component includes motor, retarder, lead screw and screw；Lead screw
It is fixed on the base vertically, sliding block is connected firmly with screw, and for turret supports by connecting firmly with screw, motor drives screw by retarder
It is moved up and down along lead screw, while sliding block is moved up and down along guide rail, drives turret supports and multiple one liftings of mechanical arm.
It preferably, further include overturning component, overturning component includes motor, retarder, spur gear and driven gear；Spur gear
It is vertically arranged, is intermeshed, retarder is coaxially connected with spur gear, and driven wheel is fixed on the level of turret supports with driven gear
On the outside of axis；Motor is overturn together with multiple mechanical arms around horizontal axis through retarder driving turret supports.
Preferably, each mechanical arm includes passing through first motor, the second retarder, gear, rack gear, guide rail and small slide block；
Gear is fixed, and rack gear is fixed in support ring on the robotic arm, is axially arranged along mechanical arm；It is removable by small slide block along mechanical arm
It is connected to guide rail dynamicly, motor is moved by retarder driver gear along rack gear, drives mechanical arm along guide rail axial stretching.
Preferably, the support unit includes contact assembly, and contact assembly includes the first short axle, the second short axle, conveyer belt,
Ball pair supporting plate, worm screw, worm gear and handwheel；
First short axle is higher than the second short axle and is arranged in two groups of holes of ball pair supporting plate two sides, and the conveyer belt is arranged first
It between short axle and the second short axle, is contacted with guided missile section, ball pair supporting plate is arranged below conveyer belt, and guided missile section is placed on transmission
It taking, conveyer belt generates radian under the action of section is self-possessed and is close to guided missile section shape, and ball pair supporting plate adjusts tilt angle,
Adapt to the guided missile section shape of support；
Worm gear and the first short axle are coaxially disposed, and handwheel and worm screw are coaxially disposed, and handwheel is rotated by worm drive worm gear, snail
Wheel drives the rotation of the first short axle, and then transmits conveyer belt, and guided missile section is driven to finely tune around the rolling of own axes.
There is provided it is a kind of using the guided missile section flexible support and state be quickly converted fexible unit carry out guided missile section appearance
The method of state conversion, includes the following steps:
(1) according to target missiles section outer dimension, flexible supporting unit height and flexible support members spacing are adjusted extremely
Section flexible supporting device can realize the secure support to horizontal positioned guided missile section；
(2) guided missile section is lain in a horizontal plane on guided missile section flexible supporting device, adjust guided missile section height or
The height of turret supports, so that the height of the axis of guided missile section is consistent with the centre-height of turret supports；
(3) driving mobile platform transports guided missile section to the guided missile section state quick switching device, guided missile portion
Section axis alignment turret supports center, lock the guided missile section flexible supporting device chassis and the guided missile section shape
The chassis of state quick switching device；
(4) adapter of mechanical arm is connect and is locked with the end connecting hole of guided missile section, support guided missile section；It releases
Locking, removes guided missile section flexible supporting device, controls guided missile section posture by guided missile section state quick switching device and turns
It changes.
The invention has the following advantages over the prior art:
(1) guided missile section flexible supporting device of the invention and state are quickly converted fexible unit not by missile diameter and shape
The limitation of shape, versatility is good, high reliablity, avoids the waste of resource.
(2) guided missile section flexible supporting device of the invention and state, which are quickly converted fexible unit, can be used alone, point
Not Shi Xian guided missile section transport and posture conversion；It can also be applied in combination, realize the transmitting of guided missile section between, make
With convenient, flexible.
(3) state of the invention, which is quickly converted fexible unit, can be realized the lifting of guided missile section, around the rolling of central axis
Turn and overturn, meets the various posture demands of guided missile general assembly process, it is full-featured.
(4) guided missile section flexible supporting device of the invention can adjust the position of support unit in horizontal plane, and
It can longitudinally go up and down, meet the flexible support requirement of different model size guided missile section, meet the transport requirement of guided missile.
Detailed description of the invention
Fig. 1 is that guided missile section flexible support of the present invention and state are quickly converted fexible unit and study flow diagram；
Fig. 2 is that guided missile section flexible support of the present invention and state are quickly converted fexible unit agent structure schematic diagram；
Fig. 3 is that state of the present invention is quickly converted fexible unit structural schematic diagram；
Fig. 4 is guided missile section flexible support fexible unit structural schematic diagram of the present invention；
Fig. 5 is mechanical arm structural schematic diagram of the present invention；
Fig. 6 is support unit structural schematic diagram of the present invention.
Fig. 7 is quickly converted fexible unit with state for guided missile section flexible support fexible unit of the present invention and docks locking mechanism
Schematic diagram.
Specific embodiment
Fig. 1 is that guided missile section flexible support of the present invention and state are quickly converted fexible unit and study flow diagram.In order to
The horizontal rolling of realization guided missile section, lifting, flip vertical, being quickly converted for state space devise guided missile section flexible support
Device, in order to realize the more diameters of generalization, different section guided missile it is horizontally-supported, park and dock, devise state and quickly turn
Changing device, in order to realize no turning radius, walk certainly, adaptive, guided missile section flexible supporting device and state are quickly converted dress
Set the chassis for being respectively provided with other direction movement.
Guided missile section flexible support of the invention and state are quickly converted fexible unit, including guided missile section state quickly turns
The various postures conversion of a variety of various sizes of sections, Ke Yi may be implemented in changing device and guided missile section flexible supporting device
Section general assembly is completed on the device, as shown in Figure 2.
In conjunction with Fig. 3, posture converting device includes turret supports 12, and support ring 74, multiple mechanical arms 67, chassis, rotation are driven
Dynamic component, vertical lifting component, overturning component and the McCrum wheel that comprehensive can adaptively move.
The chassis has two root posts 6, and upright guide rail 7 is mounted in two root posts 6, and big sliding block can drive vertically
It is moved up and down under the driving of component along upright guide rail；
Turret supports 12 have cyclic structure, to be connected on big sliding block by gear structure, in the driving of gear structure
Under, turret supports can be overturn in the case where overturning Component driver along horizontal rotating shaft (Z axis)；
Support ring 74 is connected to the inner ring of cyclic structure by bearing 19, can be under the driving of rotary drive assembly around it
Center rotation；
Multiple mechanical arms 67 are used to support guided missile section, and multiple mechanical arms 67 are uniformly distributed circumferentially in support ring.Ginseng
See Fig. 5, each mechanical arm can be rotated along itself connecting shaft between mounting base and be put around y-axis under the driving of turbine and worm structure
It is dynamic；Each mechanical arm can be elastic along mechanical arm length direction under the driving of gear & rack structure, each mechanical arm
Outer end is provided with and the matched adapter of guided missile end face connecting hole.Each mechanical arm includes being subtracted by first motor 61, second
Fast device 62, gear 63, rack gear 64, guide rail 65 and small slide block 66；Gear 63 is fixed on mechanical arm 67, and rack gear 64 is fixed on support
On ring, axially it is arranged along mechanical arm；Guide rail 65 may be movably attached to by small slide block 66 along mechanical arm, motor 61 passes through deceleration
Device 62 drives gear 63 to move along rack gear 64, drives mechanical arm 67 along 65 axial stretching of guide rail.Each mechanical arm further includes second
Motor 68, the second retarder 69, worm screw 71 and worm gear 72；Worm screw 71 is vertically arranged to be fixedly connected with support ring；Worm gear 72 and machine
Tool arm 67 is connected by same shaft, and the mobile terminal that driving mechanical arm is swung up and down is connected；Second motor 68 is fixed on motor peace
It filling on seat 73, the second motor 68 drives worm screw rotation by the second retarder 69, and drive worm gear 72 to rotate in perpendicular, into
And the mobile terminal of mechanical arm is driven to rotate in perpendicular.Mechanical arm is evenly distributed on support rotor plate 74, and support ring turns
Disk 74 is connected firmly with turret supports 12, and section adapter 75 is for connecting mechanical arm 67 and guided missile section.
Rotary drive assembly, rotary drive assembly include motor 20, retarder 21, first gear 22；Retarder 21 and
One gear 22 is coaxial, and tooth engagement in first gear 22 and bearing 19, motor 20 drives first gear 22 by retarder 21, in turn
Bearing 19 is driven to rotate around its center, providing transmission and power can realize section and its turret supports 12 together around section central axis
Line, that is, axis y rotation.
Vertical lifting component, vertical lifting component include motor 4, retarder 5, lead screw 8, screw 11；Motor 4, retarder 5
It is mounted in two root posts 6, providing transmission and power can realize that guided missile section and its turret supports 12 are whole along column 6 i.e. axis
The lifting of x；Lead screw 8 is fixed on pedestal 15 by mounting base 13, and sliding block 9 is connected firmly with screw 11, turret supports 12 by with tooth
The driven gear of 10 engagement of wheel is connected firmly with screw 11, and motor 4 drives screw 11 to move up and down along lead screw (8) by retarder 5, together
When sliding block 9 moved up and down along guide rail 7, drive turret supports 12 and multiple 67 1 liftings of mechanical arm.
Component is overturn, overturning component includes motor 17, retarder 18, spur gear 10 and driven gear；Spur gear 10 and from
Moving gear is vertically arranged, and intermeshing, retarder 18 and the pinion gear in spur gear 10 are coaxially connected, and driven wheel is fixed on turntable
On the outside of the horizontal axis of support 12；Motor 17 through retarder 18 drive turret supports 12 around horizontal axis overturn, provide transmission with
Power can product be once loaded rear section and 12 flexible state conversion module of its turret supports integrally carries out between two columns 6
Being quickly converted between horizontality and plumbness.
As shown in figure 3, posture converting device has three degree of freedom, section and its clamping disk are together around section central axis
Line, that is, axis y rotation (range: 180 °)；Flexible state conversion module entirety is between two columns along the overturning (model of axis z
It encloses: 270 °)；Flexible state conversion module is whole along column, that is, axis x lifting (range: 1600mm).In the above movement, section
With clamping disk together around section central axis, that is, axis y rotation be provided by motor-retarder-turntable bearing transmission with
Power may be implemented section horizontality along the quick rolling of y-axis, meet the needs of substep assembles come what is completed；Flexible state turns
Changing the mold the whole overturning between two columns along axis z of block is to provide transmission by motor-retarder-gear-tooth wheel and move
Power may be implemented product and be once loaded being quickly converted between rear section horizontality and plumbness come what is completed；Flexible shape
State conversion module it is whole along column, that is, axis x lifting be provided by motor-retarder-screw-lead screw transmission and power come
It completes, the lifting of various states may be implemented.
Module is quickly converted between the flexible state conversion module, that is, horizontal rolling of section, lifting, " horizontal vertical " state.
The module is made of flexible docking component, state conversion and auxiliary protection component and horizontal rolling component, and center of turntable is provided with directly
The preset operation port of diameter 1440mm, cooperates the lifting of turntable, and operator may be implemented under the horizontal or vertical state of section to portion
The various assembling works of section.As shown in Figure 3.
Flexible docking component is made of the mechanical arm for six two-freedoms being evenly distributed on turntable.Flexible docking group
In part, mechanical arm selects steel, and turntable is aluminum alloy materials, main actions include: each mechanical arm around the rotation of own axes and
It is flexible along mechanical arm direction.In the above movement, each mechanical arm is by motor-retarder-turbine-around the rotation of own axes
What worm screw was realized to provide power with transmission；Single the flexible of mechanical arm is provided by motor-retarder-gear-tooth item
What power and transmission were realized.The end design of mechanical arm has general connecting hole, and can realize automatically lock after axis of cone insertion.8
It is fixed that arbitrary point in 440~Φ of Φ, 1400 range may be implemented in rotatable circular planes in the coordination combination of a mechanical arm connecting hole
Position.Before docking, upper adapter is connected in the end face of section, adapter one end is connect with section, and the other end is designed as can be with machinery
Arm coordinates the standard interface of docking, and the soft of any various sizes of section and mould group in 440~Φ of Φ, 1400 range may be implemented
Property docking.After the completion of docking, the locking device being made of cylinder, connecting rod, claw, shaft and spring will under the driving of cylinder
Jaws complete the locking of section.
When flexible holding device works, flexibility aid device is placed in and product section coaxial position first；Pass through docking
Screw connects firmly section adapter big end threaded hole and product interface threaded hole；Gear is driven by motor 61, retarder 62
63, rack gear 64, guide rail 65 and sliding block 66 drive the mechanical arm 67 connected firmly with sliding block 66 carry out it is elastic simultaneously by motor 68,
Retarder 69 drives the worm screw 71 being mounted on worm bearing 70, worm gear 72 to rotate, and drives the whole rotation around connecting shaft of mechanical arm
Turn, so that 6 groups of flexible mechanical arm end connecting holes are coaxial with corresponding section adapter respectively；Mobile product section turns section
Fitting small end is inserted into mechanical arm tail end connecting hole one by one, completes the connection of adapter and mechanical arm；Using AMF zero-point positioning unit
21 pull down pressing plate 22, complete the locking of section, realize flexible aid device to the reliable retention of product section.Pass through six machines
Tool arm 2 is flexible and two freedom degrees of rotation coordinate combination and mechanical arm tail end connecting hole diameter range in connection plane may be implemented
Any point location in the distribution circle of Φ 420mm~Φ 1200mm.When docking on the end face butt hole of section connection adapter piece 1,
By driving mechanical arm that can realize connecting hole any various sizes of section and clamping within the scope of Φ 420mm~Φ 1200mm
The flexible connection of device.
In conjunction with Fig. 4 flexible supporting device of the invention, including mobile platform, three groups of flexible support members and chassis locking machine
Structure.
Be equipped on mobile platform with longitudinal rail 36 and rack gear 33, three groups big sliding block 30 respectively with flexible support members
Bottom plate 24 connects firmly, it can be achieved that soft under the driving and transmission of handwheel 31, gear 32, rack gear 33, longitudinal rail 36 and big sliding block 30
Property support component guide rail is mobile along longitudinal direction；It is provided with leading screw bearing 25, lead screw 26 on flexible support members bottom plate 24, is led with longitudinal
The vertical cross slide way 27 of rail 36, nut seat 29, two support unit bottom plate 48 and 4 small slide blocks 28 and nut seat 29 connect firmly,
, it can be achieved that flexible support list under the driving and transmission of handwheel 23, lead screw 26, nut seat 29, cross slide way 27 and small slide block 28
Transversely guide rail is mobile for member；
As shown in fig. 6, flexible supporting unit of the invention includes contact assembly, contact assembly includes the first short axle 39, the
Two short axles 44, conveyer belt 42, ball pair supporting plate 43, worm screw 41, worm seat 40, worm gear 38, handwheel 51, handwheel 49 and spiral lift
47；Handwheel 49, spiral lift 47 driving under height lifting, conveyer belt 42 is fixed between two short axles 39,44, directly
It is contacted with product section, 43 angle of supporting plate, realization pair can be adjusted with product shape under the action of spring 46 and ball pair supporting plate 43
The secure support of product, handwheel 51, worm screw 41, worm gear 38 driving and transmission under, it can be achieved that section around own axes rolling
Turn fine tuning.
As shown in fig. 7, chassis locking mechanism of the invention includes cylinder 53, fork 54, claw 55, support I52, support
II56；Fork 54 and claw 55 are mounted on guided missile section flexible supporting device by support I52；Cylinder 53 passes through support II56
It is mounted on guided missile section flexible supporting device；Fork 54 is used to connect the push rod of claw 55 Yu cylinder 53；The guided missile section
After flexible supporting device transports guided missile section in place, the guide pin 16 of the guided missile section state quick switching device is inserted into card
Pawl 55 is protracted by 53 push rod of cylinder, and driving 55 liang of symmetrical claws of claw close up locking guide pin 16.
Flexible support mould module is using multi-point support mechanism and is aided with universal coupling and realizes Three Degree Of Freedom Adjusted Option: soft
Property supporting module integrally moved along levelling bench, that is, axis y；Two groups of support units are moved left and right and are moved forward and backward i.e. along z-axis
With the movement of y-axis；The lifting of single support unit is moving along x-axis.In the above movement, flexible support module is whole along axis
The movement of y is to provide transmission with power to complete by motor-speed reducer-screw-lead screw, and section and flexible shape may be implemented
The docking of state conversion module is to carry out the transport of general assembly work and body after the assembly is completed；Shifting of two groups of support units along z-axis
It is dynamic to provide transmission with power come what is completed by motor-speed reducer-screw-lead screw, the spacing of two groups of support units may be implemented
From adjusting, to adapt to the section of different-diameter；Two groups of support units are completed along the movement of y-axis by electric cylinder offer power
, the adjusting of spacing between any two groups of support units may be implemented, adapt to the section of different length；Single support unit is along x
The movement of axis provides transmission with power come what is completed by spiral lift, and the adjusting of support unit height may be implemented.
3DOF single-point support component is made of ball axis, bracket and pressing plate.Supporting plate is with section contact surface using easily-deformable
Material guarantees that support unit can be well adapted for different section shapes, forms good face contact, while generating biggish
Frictional force prevents sliding phenomenon occur in section transport process.
Two groups of support unit y adjust component by adjacent two support units bottom plate to spacing and are mounted on adjacent two support unit
Electric cylinder on bottom plate is constituted.It is stretched the spacing of adjustable two neighboring support unit group by respectively driving single motor cylinder
Range changes within the scope of 377~650mm, to adapt to the flexible support demand of different length section or product.
Mobile platform is parked on demand for realizing the motor-driven movement of whole operation station.Both shopwork sky can have been saved
Between, or subsequent full bullet automatic butt and body transport provide safeguard in place.Mainly by mobile platform bottom plate, Mecanum
Wheel, drive system, control system, remote controler, power-supply system, Safety system are constituted.
Mobile platform is welded using truss and steel plate, and upper surface is laid with guide rail, to realize flexible support module
Free movement, platform vehicle chassis use omnidirectional's intelligent family moving platform based on six three axis Mecanum wheels, the structure motion
Flexibly, it securely and reliably, has the following characteristics that
Omni-mobile: it is not necessarily to steering mechanism, can link up and realize mobile platform any direction and combinations thereof shape on the ground
The space that the geometric dimension of the mobile transition of formula, zero turning radius, vehicle and carrier can pass through can pass through, wheel alignment
Precision 0.5mm can satisfy product automatic butt demand；
Maneuverability: it is low to facility floor requirement, by using high-precision intelligent control technology, adapts to mobile platform and exist
The protrusion and recess on road surface in transition operating process, flexible operation is steady, is suitble to the product of small space to transport and fills with big section
With docking；
Clean and safe: mobile platform is by electric drive, and the course of work is noiseless, without discharge.The umbilical cords such as no cable, tracheae dress
It sets, the long range transhipment that can be used between different workshops；
Large-tonnage bearing capacity: bicycle bearing capacity from 0.5 ton to 30 ton, cooperateed with by more vehicles can be achieved larger size,
The product of more large-tonnage transports；
It is vdiverse in function: to pass through the different function such as dress in apolegamy line walking navigation, safe collision avoidance, more Che Xietong, multiple degrees of freedom adjustment
Energy module, may be implemented the customizing functions of various personalizations, and the product for meeting Different field is carried and Butt Assembling requirement.
Guided missile section flexible support of the invention and state are quickly converted fexible unit and carry out the conversion of guided missile section posture
Method and step is as follows:
(1) according to target missiles section outer dimension, flexible supporting unit height and flexible support members spacing are adjusted extremely
Section flexible supporting device can realize the secure support to horizontal positioned guided missile section；
(2) guided missile section is lain in a horizontal plane on guided missile section flexible supporting device, adjust guided missile section height or
The height of turret supports, so that the height of the axis of guided missile section is consistent with the centre-height of turret supports；
(3) driving mobile platform transports guided missile section to the guided missile section state quick switching device, guided missile portion
Section axis alignment turret supports center, lock the guided missile section flexible supporting device chassis and the guided missile section shape
The chassis of state quick switching device；
(4) adapter of mechanical arm is connect and is locked with the end connecting hole of guided missile section；Chassis locking device is unclamped,
Guided missile section flexible supporting device is removed, the conversion of guided missile section posture is controlled by guided missile section state quick switching device.
The applicable section product diameter range of this device is all weapon models of Φ 420mm~Φ 1200mm, utilizes the dress
Section general assembly, posture conversion and station transformation can be completed in the case where not by other toolings by setting.It effectively solves to face at present
The development and production task of the multi-varieties and small-batch of different model guided missile, improves the problem of the poor universality of technological equipment, significantly
The phenomenon that reducing resource waste improves section general assembly working efficiency.The device all uses Electronic control, reduces artificial
Intervene, improve the manual operation risk occurred during product final assemble, has established solid base for the construction of digital factory
Plinth.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (12)
1. a kind of guided missile section flexible support fexible unit, it is characterised in that: including mobile platform (35) and multiple flexible supports
Component；
The mobile platform (35) has longitudinal rail (36), and flexible support members setting can be led along longitudinal direction on longitudinal rail
Rail is mobile；
Each flexible support members include the cross slide way vertical with longitudinal rail (27), and two support unit settings are soft at one
Property support component on, support unit can respectively transversely guide rail be mobile；
Support unit can oscilaltion, be used to support horizontal positioned guided missile section；
The support unit includes contact assembly, and contact assembly includes the first short axle (39), the second short axle (44), conveyer belt
(42), ball pair supporting plate (43), worm screw (41), worm gear (38) and handwheel (51)；
First short axle (39) is higher than the second short axle (44) and is arranged in two groups of holes of ball pair supporting plate (43) two sides, the conveyer belt
(42) it is arranged between the first short axle (39) and the second short axle (44), is contacted with guided missile section, ball pair supporting plate (43) setting is passing
It send below band (42), guided missile section is placed on conveyer belt (42), and conveyer belt generates radian and lead under the action of section is self-possessed
It plays section shape to be close to, ball pair supporting plate (43) adjusts tilt angle, adapts to the guided missile section shape of support；
Worm gear (38) and the first short axle (39) are coaxially disposed, and handwheel (51) and worm screw (41) are coaxially disposed, and handwheel (51) drives snail
Bar (41) drives worm gear (38) rotation, and worm gear (38) drives the first short axle (39) rotation, and then transmits conveyer belt (42), drives
Guided missile section is finely tuned around the rolling of own axes.
2. guided missile section flexible support fexible unit as described in claim 1, which is characterized in that the mobile platform is equipped with
Mecanum wheel, being capable of any direction movement.
3. guided missile section flexible support fexible unit as described in claim 1, which is characterized in that stating support unit further includes rising
Come down to a lower group part (29), for control contact assembly lifting, lifting assembly (29) include spiral lift (47), upper bracket (50), under
Support (48) and handwheel (49)；Component is touched to be arranged by spring (46) in upper bracket (50), spiral lift (47) setting with
On the undersetting (48) that flexible support members connect firmly, it is located at below upper bracket (50), handwheel (49) drives spiral lift (47)
Contact assembly lifting is driven, the guide rod of upper bracket (50) moves up and down along the pilot hole of undersetting (48).
4. a kind of guided missile section flexible support and state are quickly converted fexible unit, it is characterised in that: including guided missile section state
Quick switching device and guided missile section flexible supporting device；
The guided missile section state quick switching device includes turret supports (12), support ring, multiple mechanical arms and chassis；It is described
Chassis has upright guide rail (7), and big sliding block can be moved up and down along upright guide rail；Turret supports have cyclic structure, to pass through
Gear structure is connected on big sliding block, and under the driving of gear structure, turret supports can be overturn along horizontal rotating shaft；Support ring is logical
The inner ring that bearing (19) is connected to cyclic structure is crossed, can be rotated around its center；Multiple mechanical arms (67) are used to support guided missile portion
Section, multiple mechanical arms (67) are uniformly distributed circumferentially in support ring；
The guided missile section flexible supporting device includes mobile platform (35) and multiple flexible support members；The mobile platform
(35) there are longitudinal rail (36), flexible support members are arranged on longitudinal rail being capable of guide rail movement along longitudinal direction；Each flexibility
Support component includes the cross slide way vertical with longitudinal rail (27), and two support units are arranged in a flexible support members
On, support unit can respectively transversely guide rail be mobile；Support unit can oscilaltion, be used to support horizontal positioned guided missile
Section；
After the guided missile section flexible supporting device transports guided missile section in place, the guided missile section state quick switching device
With the guided missile section flexible supporting device mutually locking, multiple mechanical arms support guided missile section and control its direction.
5. guided missile section flexible support and state are quickly converted fexible unit according to claim 4, which is characterized in that described
Guided missile section flexible supporting device further includes chassis locking mechanism, and chassis locking mechanism includes cylinder (53), fork (54), claw
(55), (52) support I, support II (56)；Fork (54) and claw (55) pass through support I (52) and are mounted on guided missile section flexibility branch
On support arrangement；Cylinder (53) is mounted on guided missile section flexible supporting device by support II (56)；Fork (54) is for connecting
The push rod of claw (55) and cylinder (53)；It is described to lead after the guided missile section flexible supporting device transports guided missile section in place
The guide pin (16) for playing section state quick switching device is inserted into claw (55), is protracted by cylinder (53) push rod, drives claw
(55) two symmetrical claws close up locking guide pin (16).
6. guided missile section flexible support and state are quickly converted fexible unit according to claim 4,
Each mechanical arm can be swung up and down along itself connecting shaft between mounting base, can be stretched before and after mechanical arm length direction
Contracting, the outer end of each mechanical arm is provided with and the matched adapter of guided missile end face connecting hole.
7. guided missile section flexible support and state are quickly converted fexible unit according to claim 4, which is characterized in that also wrap
Rotary drive assembly is included, rotary drive assembly includes motor (20), retarder (21), first gear (22)；Retarder (21) with
Coaxially, first gear (22) and bearing (19) interior tooth engagement, motor (20) pass through retarder (21) driving the to first gear (22)
One gear (22), and then bearing (19) is driven to rotate around its center.
8. guided missile section flexible support and state are quickly converted fexible unit according to claim 4, which is characterized in that also wrap
Vertical lifting component is included, vertical lifting component includes motor (4), retarder (5), lead screw (8) and screw (11)；Lead screw (8) is perpendicular
It is directly fixed on pedestal (15), sliding block (9) is connected firmly with screw (11), and turret supports (12) with screw (11) by connecting firmly, motor
(4) it is moved up and down by retarder (5) driving screw (11) along lead screw (8), while sliding block (9) is moved up and down along guide rail (7), band
Dynamic turret supports (12) and multiple (67) one liftings of mechanical arm.
9. guided missile section flexible support and state are quickly converted fexible unit according to claim 4, which is characterized in that also wrap
Overturning component is included, overturning component includes motor (17), retarder (18), spur gear (10) and driven gear；Spur gear (10) and
Driven gear is vertically arranged, and intermeshing, retarder (18) and spur gear (10) are coaxially connected, and driven wheel is fixed on turret supports
(12) on the outside of horizontal axis；Motor (17) through retarder (18) driving turret supports (12) and multiple mechanical arms (67) together around
Horizontal axis overturning.
10. guided missile section flexible support and state are quickly converted fexible unit according to claim 4, which is characterized in that every
A mechanical arm includes by first motor (61), the second retarder (62), gear (63), rack gear (64), guide rail (65) and small cunning
Block (66)；Gear (63) is fixed on mechanical arm (67), and rack gear (64) is fixed in support ring, is axially arranged along mechanical arm；Edge
Mechanical arm may be movably attached to guide rail (65) by small slide block (66), and motor (61) passes through retarder (62) driving gear (63)
It is mobile along rack gear (64), drive mechanical arm (67) along guide rail (65) axial stretching.
11. guided missile section flexible support and state are quickly converted fexible unit according to claim 4, which is characterized in that institute
Stating support unit includes contact assembly, and contact assembly includes the first short axle (39), the second short axle (44), conveyer belt (42), ball pair
Supporting plate (43), worm screw (41), worm gear (38) and handwheel (51)；
First short axle (39) is higher than the second short axle (44) and is arranged in two groups of holes of ball pair supporting plate (43) two sides, the conveyer belt
(42) it is arranged between the first short axle (39) and the second short axle (44), is contacted with guided missile section, ball pair supporting plate (43) setting is passing
It send below band (42), guided missile section is placed on conveyer belt (42), and conveyer belt generates radian and lead under the action of section is self-possessed
It plays section shape to be close to, ball pair supporting plate (43) adjusts tilt angle, adapts to the guided missile section shape of support；
Worm gear (38) and the first short axle (39) are coaxially disposed, and handwheel (51) and worm screw (41) are coaxially disposed, and handwheel (51) passes through snail
Bar (41) drives worm gear (38) rotation, and worm gear (38) drives the first short axle (39) rotation, and then transmits conveyer belt (42), drives
Guided missile section is finely tuned around the rolling of own axes.
12. a kind of be quickly converted fexible unit progress guided missile portion using guided missile section flexible support and state described in claim 4
The method of section posture conversion, it is characterised in that include the following steps:
(1) according to target missiles section outer dimension, flexible supporting unit height and flexible support members spacing are adjusted to section
Flexible supporting device can realize the secure support to horizontal positioned guided missile section；
(2) guided missile section is lain in a horizontal plane on guided missile section flexible supporting device, adjusts the height or turntable of guided missile section
The height of support, so that the height of the axis of guided missile section is consistent with the centre-height of turret supports；
(3) driving mobile platform transports guided missile section to the guided missile section state quick switching device, guided missile section
Axis is directed at the center of turret supports, and chassis and the guided missile section state for locking the guided missile section flexible supporting device are fast
The chassis of fast conversion equipment；
(4) adapter of mechanical arm is connect and is locked with the end connecting hole of guided missile section, support guided missile section；Release lock
It is fixed, guided missile section flexible supporting device is removed, the conversion of guided missile section posture is controlled by guided missile section state quick switching device.
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| CN201711139013.7A CN107971716B (en) | 2017-11-16 | 2017-11-16 | A kind of guided missile section flexible support and state are quickly converted fexible unit |
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| CN201711139013.7A CN107971716B (en) | 2017-11-16 | 2017-11-16 | A kind of guided missile section flexible support and state are quickly converted fexible unit |
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| CN107971716A CN107971716A (en) | 2018-05-01 |
| CN107971716B true CN107971716B (en) | 2019-09-06 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109231077B (en) * | 2018-09-19 | 2024-01-23 | 苏州博众智能机器人有限公司 | Transfer robot |
| CN110160411B (en) * | 2018-11-13 | 2021-05-11 | 北京机电工程研究所 | Movable steering engine load simulator supporting device |
| CN109607132B (en) * | 2018-11-16 | 2024-02-20 | 天津爱思达航天科技有限公司 | Light modularized multifunctional assembly and transportation device |
| CN109604922B (en) * | 2019-02-13 | 2020-08-14 | 嘉兴嘉诚动能设备有限公司 | Special position changing device for welding |
| CN110328522A (en) * | 2019-03-14 | 2019-10-15 | 北方导航控制技术股份有限公司 | A kind of missile guidance cabin assembly unit |
| CN110434817A (en) * | 2019-08-01 | 2019-11-12 | 福州国化智能技术有限公司 | A kind of rod piece flexibility storage posting |
| CN111618812A (en) * | 2020-06-09 | 2020-09-04 | 中国电子科技集团公司第十四研究所 | Machine is cut out radar assembly and is debugged integration platform |
| CN113799072B (en) * | 2021-09-26 | 2023-10-13 | 中国人民解放军空军工程大学航空机务士官学校 | Auxiliary working platform for missile maintenance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101708001B1 (en) * | 2015-05-18 | 2017-02-17 | 국방과학연구소 | Assembling apparatus for missile |
| CN105387764B (en) * | 2015-11-25 | 2018-01-09 | 中国空空导弹研究院 | A kind of guided missile supporting table and the cylinder bullet butting tooling using the guided missile supporting table |
| CN105345351A (en) * | 2015-11-25 | 2016-02-24 | 安徽科达埃尔压缩机有限公司 | Tool for welding impeller of centrifugal blower |
| CN106425567A (en) * | 2016-10-20 | 2017-02-22 | 成都久欣时代科技有限公司 | Seat type fixture for missile noses |
| CN107322541A (en) * | 2017-07-31 | 2017-11-07 | 广汽菲亚特克莱斯勒汽车有限公司 | A kind of engine and gearbox attach together platform and attach together method |
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