CN109282697B - Submarine torpedo launching pipeline automatic guiding device - Google Patents
Submarine torpedo launching pipeline automatic guiding device Download PDFInfo
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- CN109282697B CN109282697B CN201811242803.2A CN201811242803A CN109282697B CN 109282697 B CN109282697 B CN 109282697B CN 201811242803 A CN201811242803 A CN 201811242803A CN 109282697 B CN109282697 B CN 109282697B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/08—Rocket or torpedo launchers for marine torpedoes
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
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Abstract
The invention discloses an automatic guiding device for a submarine torpedo launching pipeline, which comprises a support (1), a support frame (2), a quick-release pipe clamp (3), a rubber wheel (4), a planet wheel (5), a shaft sleeve (6), a retainer ring (7), a deep groove ball bearing (8), a bearing cover (9), a countersunk screw (10), a gasket (11), a main shaft (12) and a nut (13), wherein the upper end of the support frame (2) is sleeved in the support frame (1), the main shaft (12) sequentially penetrates through the planet wheel (5), a U-shaped groove and the rubber wheel (4), the planet wheel (5) is rotatably connected with the main shaft (12), the corner end of the planet wheel is in large arc transition, the planet wheel (5) and the rubber wheel (4) are fixed on a lower guide rail to realize linear motion along the lower guide rail and successfully cross obstacles in the pipeline through the rotation of the planet wheel (5), therefore, the problems that the pipeline maintenance device deviates from the lower guide rail when walking and is blocked by obstacles such as a watertight ring and the like in the pipeline are solved.
Description
Technical Field
The invention belongs to the technical field of guiding devices, and particularly relates to an automatic guiding device for a submarine torpedo launching pipeline.
Background
The submarine torpedo launching pipeline is internally provided with an upper guide rail, a lower guide rail, a left guide rail and a right guide rail, the annular wall of the pipe wall is provided with a watertight ring, the height of the watertight ring is consistent with that of the guide rails, and zinc blocks with different sizes are arranged at uncertain positions in the pipe wall. The pipeline maintenance device can perform daily maintenance on the submarine torpedo launching tube, when the maintenance device moves forwards or backwards along the lower guide rail in the pipeline, the maintenance device is easy to deviate from the guide rail, so that the center line of the device cannot be coincided with the center line of the pipeline when the device moves forwards, a lower oiling module in the device cannot be meshed with the lower guide rail, and the pipeline maintenance operation cannot be continued. In order to ensure that the pipeline maintenance device always keeps straight line advancing or retreating and effectively avoid obstacles such as a watertight ring, a zinc block and the like, the pipeline maintenance device must use an automatic guide device.
The prior commonly used pipeline guide device is provided with a spiral wheel type guide device, the guide device generates friction force for guiding according to the pretightening of a roller and the pipe wall, and the guide device is suitable for a pipeline without a guide rail. In addition, prior art devices that travel along a rail may also employ a rail-and-block guidance system, which typically involves endless rolling circulation of steel balls between the blocks and the rail, thereby causing the load platform to move linearly along the rail.
However, in torpedo pipelines there are craters with different heights at the root of the guide rail and watertight rings in the pipeline, and the guide must be able to pass over these obstacles. If the guide system in the prior art is adopted, the following problems can not be solved: firstly, the slide block cannot span due to the water-tight ring in the pipeline, the forward movement of a guide system is blocked, and the pipeline maintenance operation cannot be continued; secondly, the guide system cannot be guaranteed to move along the guide rail in a straight line all the time, and the guide system is easy to deviate from the rail; finally, the guidance system is often difficult to remove from the service device.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides an automatic guiding device for a submarine torpedo launching pipeline, wherein two ends of the bottom of the automatic guiding device are provided with planet wheels with a plurality of angle ends as positioning structures, the planet wheels, a U-shaped groove at the lower end of a support frame and rubber wheels are fixed in sequence through a main shaft, the planet wheels at the left side and the right side act on two sides of a lower guide rail respectively, the lower guide rail is always clamped under the combined action of the planet wheels and the rubber wheels, the deviation of the guiding device from the lower rail is effectively avoided, and the guiding device is ensured to linearly advance and retreat; and utilize bearing transmission through planet wheel and main shaft, when guider contacted water seal ring, can cross water seal ring smoothly, continue to block the lower rail, guarantee that the maintenance device advances along the lower rail straight line all the time. The problem of pipeline maintenance device walk the lower guideway that squints, can block die etc. in the pipe is solved.
In order to realize the aim, the automatic guiding device for the submarine torpedo launching pipeline comprises a support, a support frame, a rubber wheel, a planet wheel and a main shaft; wherein the content of the first and second substances,
the support and the support frame are both of hollow structures, the upper end of the support frame is sleeved in the support, the lower end of the support frame is provided with a U-shaped groove, and a rubber wheel is arranged in the U-shaped groove;
the main shaft sequentially penetrates through the planet wheel, the U-shaped groove and the rubber wheel, wherein the U-shaped groove and the main shaft are fixed through a shaft sleeve and a check ring arranged on the outer side of the shaft sleeve;
the planet wheel install in main shaft shoulder position, the planet wheel with through deep groove ball bearing, bearing cap, countersunk screw, gasket and nut and fixed connection between the main shaft, the planet wheel with rotate between the main shaft and be connected, its angle tip is the orthodrome excessively for stride the interior barrier of pipeline, and the planet wheel and the rubber tyer is right its linear motion can be realized along its fixed of lower guideway.
Furthermore, the deep groove ball bearing is embedded between the planet wheel and the main shaft, the outer side of the planet wheel is fixed by the bearing cover through a plurality of countersunk screws, and the inner ring of the deep groove ball bearing is rotationally locked by the gasket through the nut.
Furthermore, a guide post is arranged on the upper portion of the support frame, a U-shaped opening is formed in the lower portion of the support, the guide post is clamped into the U-shaped opening, the height of the guide post is smaller than the length of the U-shaped opening, and the outer diameter of the guide post is smaller than the inner diameter of the support and clings to the inner wall of the support.
Furthermore, a quick-release pipe clamp is fixedly arranged outside the support and the support frame sleeving part.
Furthermore, the maximum distance that the end part of the planet wheel angle extends out of the upper end surface of the lower guide rail is smaller than the minimum distance that the crater is far away from the upper end surface of the lower guide rail.
Further, the minimum distance when the arc of the corner end of the planet wheel contacts with the upper surface of the lower guide rail is larger than the width of the watertight ring.
Furthermore, the corner end of the planet wheel is provided with a circular through hole.
Further, a certain distance is kept between the planet wheel and the U-shaped groove.
Furthermore, at least one corner of the corner end part of the planet wheel extends out of the upper end surface of the lower guide rail.
Further, the main shaft is of a stepped structure.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) according to the automatic guiding device for the submarine torpedo launching pipeline, the planet wheels with a plurality of angle ends are arranged at the two ends of the bottom of the automatic guiding device and used as positioning structures, the planet wheels, the U-shaped groove at the lower end of the supporting frame and the rubber wheels are fixed in sequence through the main shaft, the planet wheels on the left side and the right side act on the two sides of the lower guide rail respectively, the lower guide rail is always clamped under the combined action of the planet wheels and the rubber wheels, the guiding device is effectively prevented from deviating from the lower rail, and the guiding device is guaranteed to linearly advance; and the minimum distance when the angle end part circular arc of planet wheel contacts with the guide rail upper surface is slightly greater than the watertight ring width, utilizes the bearing transmission through planet wheel and main shaft, when guider contacts with the watertight ring, can cross the watertight ring smoothly, continues to block the lower rail, guarantees that the maintenance device is advanced along the lower rail straight line all the time. The problem of pipeline maintenance device skew pipeline central line when walking, can block in the intraductal dead etc. is solved.
(2) The automatic guiding device for the submarine torpedo launching pipeline adopts the quick-release pipe clamp to connect the support and the support frame, the guiding device can be quickly and conveniently assembled or disassembled with the pipeline maintenance device, and the guiding device is simple to assemble and disassemble and easy to inspect and maintain.
(3) According to the automatic guiding device for the submarine torpedo launching pipeline, the corner end of the planet wheel is in large arc transition, so that the contact area between the planet wheel and the side face of the lower guide rail of the pipeline can be increased. And the corner end of the planet wheel is provided with a circular through hole, so that the structural weight is reduced.
(4) The automatic guiding device for the submarine torpedo launching pipeline has the advantages that the main shaft is of the step structure, the forward tilting weight of the pipeline maintenance device can be borne, and radial deformation caused by compression in the operation process is prevented.
(5) The automatic guiding device for the submarine torpedo launching pipeline has the advantages of light structure, compact device, quick assembly and disassembly, effective guiding and obstacle crossing in the pipeline, low cost and good economic applicability.
Drawings
FIG. 1 is a schematic perspective view of an automated guiding device for a submarine torpedo launching pipeline according to an embodiment of the invention;
FIG. 2 is a front view of an automated guiding device for a submarine torpedo launching conduit according to an embodiment of the present invention;
FIG. 3 is a side view of an automated guiding device for a submarine torpedo launching conduit according to an embodiment of the present invention;
FIG. 4 is a top view of an automated guiding device for a submarine torpedo launching conduit according to an embodiment of the present invention;
FIG. 5 is a schematic view of a working pipeline structure of an automated guiding device for a submarine torpedo launching pipeline according to an embodiment of the invention.
In all the figures, the same reference numerals denote the same features, in particular: the device comprises a support 1, a support 2, a quick release pipe clamp 3, a rubber wheel 4, a planet wheel 5, a shaft sleeve 6, a retainer ring 7, a deep groove ball bearing 8, a bearing cover 9, a countersunk screw 10, a gasket 11, a main shaft 12 and a nut 13.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below 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 are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
FIG. 1 is a schematic perspective view of an automated guiding device for a submarine torpedo launching pipeline according to an embodiment of the invention; fig. 2 is a front view of an automatic guiding device for a submarine torpedo launching pipeline according to an embodiment of the present invention, and with reference to fig. 1 and 2, the automatic guiding device for a submarine torpedo launching pipeline includes a support 1, a support frame 2, a quick release pipe clamp 3, a rubber wheel 4, a planet wheel 5, a shaft sleeve 6, a retainer ring 7, a deep groove ball bearing 8, a bearing cover 9, a countersunk screw 10, a gasket 11, a main shaft 12, and a nut 13. According to the automatic guiding device for the submarine torpedo launching pipeline, the planet wheels with a plurality of angle ends are arranged at two ends of the bottom of the automatic guiding device and used as positioning structures, the planet wheels, the U-shaped groove at the lower end of the support frame 2 and the rubber wheel 4 are fixed in sequence through the main shaft 12, the planet wheels 5 on the left side and the right side act on two sides of the lower guide rail respectively, and the lower guide rail is always clamped under the combined action of the planet wheels and the rubber wheel, so that the guiding device can linearly advance, the deviation of the guiding device from the lower rail is effectively avoided, and the guiding device is guaranteed; and the minimum distance when the angle end circular arc of planet wheel 5 contacts with guide rail upper surface is slightly greater than the watertight ring width, through the rotation of planet wheel 5, can successfully stride across the barrier in watertight ring or other pipelines to continue to block the lower rail, guarantee that the maintenance device is all the time along lower rail straight line marching. The problem of pipeline maintenance device skew pipeline central line when walking, can block in the intraductal dead etc. is solved.
As shown in figure 1, the automatic guiding device is of a bilateral symmetry structure, the support 1 and the support frame 2 are both of a hollow structure, the upper end of the support frame 2 is sleeved into the support 1, the upper part of the support frame 2 is provided with a guiding column, the lower part of the support 1 is provided with a U-shaped opening, the guiding column is clamped into the U-shaped opening of the support 1 for directional installation, the height of the guiding column is lower than that of the U-shaped opening, and the outer diameter of the guiding column is smaller than the inner diameter of the support 1 and clings to the inner wall of the support. The quick-release pipe clamp 3 is fixedly arranged outside the sleeving part of the support 1 and the support frame 2, the support frame 2 can be installed or disassembled by manually turning a locking block on the quick-release pipe clamp 3, meanwhile, the quick-release pipe clamp 3 is extremely convenient to maintain and debug, and the quick-release pipe clamp can be disassembled by loosening the quick-release pipe clamp. The U-shaped groove can deform to lock the support frame 2 under the locking force of the quick release pipe clamp 3. The planet wheel 5 is in a multi-angle star-shaped structure, resists structural damage caused by friction with the lower guide rail, and can effectively protect the lower guide rail.
Specifically, as shown in fig. 2, the lower end of the support frame 2 is a U-shaped groove structure with a downward opening, a rubber wheel 4 is installed in the U-shaped groove of the lower end, the rubber wheel 4 is fixed in the middle of the U-shaped groove of the support frame 2 through a shaft sleeve 6, the rubber wheel 4 is a resin roller, the weight is light, the abrasion resistance is high, the bearing capacity is high, and the frequency of part replacement caused by friction damage is reduced. The lower end of the support frame 2 is provided with a main shaft 12, the main shaft 12 is of a step structure and can bear the forward tilting weight of the pipeline maintenance device, and radial deformation caused by compression in the operation process is prevented. The main shaft 12 sequentially penetrates through the planet wheel 5, the U-shaped groove at the lower end of the support frame 2 and the rubber wheel 4, wherein the U-shaped groove at the lower end of the support frame 2, the rubber wheel 4 and the main shaft 12 are fixed through the shaft sleeve 6 and the check ring 7, the outer side of the shaft sleeve 6 is fixed at the determined position of the main shaft 12 through the check ring 7, and the rubber wheel 4 is prevented from axially moving. The retainer ring 7 adopts an E-shaped clamp spring, so that the installation is convenient; the planet wheel 5 is fixed with a main shaft 12 through a deep groove ball bearing 8, a bearing cover 9, a countersunk screw 10, a gasket 11 and a nut 13, the planet wheel 5 is mounted at the shaft shoulder position of the main shaft 12, the deep groove ball bearing 8 is embedded between the planet wheel 5 and the main shaft, and the planet wheel 5 can rotate around the main shaft 12 randomly. The planet wheels 5 are fixed on the outside by a bearing cover 9 through countersunk screws 10. The inner ring of the deep groove ball bearing 8 is locked by a gasket 11 through a nut 13. The gasket 11 transmits the locking force of the nut 13 to the inner ring of the deep groove ball bearing 8, so that the planet wheels 5 are effectively prevented from moving axially, and a certain distance is kept between the planet wheels 5 on the two sides and the U-shaped groove at the lower end of the support frame 2.
Further, fig. 3 is a side view of the automated guiding device for a submarine torpedo launching conduit according to the embodiment of the present invention, as shown in fig. 3, the planet wheel 5 is a central symmetric structure, and the outer side of the planet wheel 5 is fixed by a bearing cover 9 through a plurality of countersunk head screws 10. The angle end of the planet wheel 5 is excessive due to the large arc, so that the contact area between the planet wheel 5 and the side surface of the lower guide rail of the pipeline can be increased, and the deformation of the planet wheel 5 and the lower guide rail during extrusion stress is avoided. And the angular end of the planet wheel 5 is provided with a round through hole, so that the structural weight is reduced. The minimum distance when the angle tip circular arc of planet wheel 5 and guide rail upper surface contact is slightly greater than the watertight ring width, avoids planet wheel 5 and lower rail to block. When the angular end of the planet wheel 5 touches the watertight ring, the planet wheel 5 moves forwards along with the guide device and rotates around the main shaft 12, two angles of the angular end of the planet wheel 5 just can cross the watertight ring, and at least one angle of the angular end is kept to still extend out of the upper end surface of the lower guide rail, so that the guide device does not deviate from the track and continues to maintain the guide effect. The maximum distance that planet wheel 5 angle tip stretches out the lower guideway up end is less than the minimum distance of crater apart from the lower guideway up end, can guarantee that guider does not touch the irregular crater of guide rail root and prevent that guider from climbing around the crater, is blocked, disturbs the direction effect.
Further, fig. 4 is a top view of the automated guiding device for submarine torpedo launching pipeline according to the embodiment of the present invention, and referring to fig. 1 and fig. 4, it can be seen that the support 1 is of a hollow structure, the material is aluminum alloy 2a11-H112 with light weight, and the top end of the support is connected with a central aluminum pipe of the pipeline maintenance device by four internal hexagonal screws; the support frame 2 is also of a hollow structure, and the aluminum alloy 2A11-H112 with light weight is selected, so that the weight of the structure can be reduced.
Preferably, the planet wheels 5 are made of aluminum alloy 2A11-H112 which is light in weight and high in strength; the shaft sleeve 6 is made of brass HPb 59-1Y 2 with strong wear resistance; the main shaft 12 is made of high-strength stainless steel 12Cr18Ni9 Ti; the gasket 11 is made of stainless steel 12Cr18Ni9Ti with strong deformation resistance.
FIG. 5 is a schematic view of a working pipeline structure of an automated guiding device for a submarine torpedo launching pipeline according to an embodiment of the invention. As shown in figure 5, a lower guide rail is welded on the lower portion of the inner wall of the pipeline, the lower guide rail is made of copper alloy and has the advantage of high surface smoothness, a watertight ring is arranged in the pipeline, the lower guide rail penetrates through the watertight ring and the bottom end of the watertight ring, the height of the bottom of the watertight ring is consistent with that of the upper end face of the lower guide rail, and the thickness of the watertight ring is 30 mm. After the maintenance device enters the pipeline, the rubber wheels 4 of the guide device roll on the surface of the lower guide rail of the pipe wall all the time under the forward-tilting weight pressure of the pipeline maintenance device, the planet wheels 5 on the left side and the right side act on the two sides of the lower guide rail respectively, and the lower guide rail can be clamped all the time in the moving process, so that the guide device can move along a straight line, and the guide device is effectively prevented from deviating from the lower rail. The guide device is fixedly connected with the maintenance device, so that the maintenance device can move forwards and backwards along the lower guide rail. The guide device is light in structure, compact in device, fast in disassembly and assembly, low in cost and good in economic applicability, and can effectively guide and cross obstacles in a pipeline.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. An automatic guiding device for a submarine torpedo launching pipeline comprises a support (1) and a support frame (2), and is characterized by further comprising rubber wheels (4), planet wheels (5) and a main shaft (12); wherein the content of the first and second substances,
the support (1) and the support frame (2) are both of a hollow structure, the upper end of the support frame (2) is sleeved in the support (1), the lower end of the support frame (2) is provided with a U-shaped groove, and a rubber wheel (4) is arranged in the U-shaped groove;
the main shaft (12) sequentially penetrates through the planet wheel (5), the U-shaped groove and the rubber wheel (4), wherein the U-shaped groove and the main shaft (12) are fixed through a shaft sleeve (6) and a retaining ring (7) arranged on the outer side of the shaft sleeve;
the planet wheel (5) is mounted at the shaft shoulder position of the main shaft (12), the planet wheel (5) is fixedly connected with the main shaft (12) through a deep groove ball bearing (8), a bearing cover (9), countersunk screws (10), a gasket (11) and a nut (13), the deep groove ball bearing (8) is embedded between the planet wheel (5) and the main shaft (12), the outer side of the planet wheel (5) is fixed with the bearing cover (9) through a plurality of countersunk screws (10), and the inner ring of the deep groove ball bearing (8) is rotationally locked through the nut (13) by the gasket (11); planet wheel (5) are many angular star structures, planet wheel (5) with rotate between main shaft (12) and be connected, its angular end portion is that the orthodrome is excessive for stride the interior barrier of pipeline, and the planet wheel on left and right sides acts on the both sides of lower rail in the pipeline respectively, and planet wheel and rubber tyer combined action block the lower rail all the time, thereby realize guider along rectilinear motion.
2. The submarine torpedo launch pipeline automatic guiding device according to claim 1, characterized in that a guiding post is arranged on the upper part of the support frame (2), a U-shaped opening is arranged on the lower part of the support (1), the guiding post is clamped into the U-shaped opening, the height of the guiding post is smaller than the length of the U-shaped opening, and the outer diameter of the guiding post is smaller than the inner diameter of the support (1) and clings to the inner wall of the support.
3. The submarine torpedo launch pipeline automatic guiding device according to claim 1 or 2, characterized in that a quick release pipe clamp (3) is fixedly arranged outside the sleeved part of the support (1) and the support frame (2).
4. The submarine torpedo launch pipeline automatic guiding device according to claim 3, characterized in that the maximum distance that the angular end of the planet wheel (5) extends out of the upper end face of the lower guide rail is less than the minimum distance that the crater is away from the upper end face of the lower guide rail.
5. The submarine torpedo launch pipeline automatic guiding device according to claim 1 or 4, characterized in that the minimum distance between the angular end arc of the planet wheel (5) and the upper surface of the lower guide rail when in contact is greater than the width of the watertight ring in the pipeline.
6. The submarine torpedo launch pipeline automatic guiding device according to claim 5, characterised in that the angular ends of the planet wheels (5) are provided with circular through holes.
7. The submarine torpedo launch line automatic guiding device according to claim 1 or 6, characterised in that the planet wheels (5) are at a distance from the U-shaped groove.
8. The submarine torpedo launch pipeline automatic guiding device according to claim 7, characterised in that at least one corner of the corner end of the planet wheel (5) protrudes out of the upper end face of the lower guide rail.
9. The submarine torpedo launch line automated guidance device according to claim 8, wherein said main shaft (12) is of a stepped configuration.
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| CN201811242803.2A CN109282697B (en) | 2018-10-24 | 2018-10-24 | Submarine torpedo launching pipeline automatic guiding device |
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| CN201811242803.2A CN109282697B (en) | 2018-10-24 | 2018-10-24 | Submarine torpedo launching pipeline automatic guiding device |
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| CN109282697B true CN109282697B (en) | 2020-10-23 |
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| CN111842038B (en) * | 2020-07-17 | 2021-06-04 | 湖北三江航天险峰电子信息有限公司 | Automatic oiling station of inboard guide rail of special pipeline |
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| JP3681078B2 (en) * | 1994-11-08 | 2005-08-10 | 日本放送協会 | Track traveling device |
| CN103273940A (en) * | 2013-06-07 | 2013-09-04 | 张广涛 | Bridge span type wheel set for flatbed rail trailer |
| CN205615564U (en) * | 2016-05-09 | 2016-10-05 | 哈尔滨工大服务机器人有限公司 | Building moving platform is climbed to barrier more |
| CN207089305U (en) * | 2017-06-21 | 2018-03-13 | 重庆畅行科技发展有限公司 | Straddle-type single-track vehicle spine formula double-shaft power bogie |
| CN207089308U (en) * | 2017-06-28 | 2018-03-13 | 比亚迪股份有限公司 | A kind of straddle-type monorail bogie and the rail vehicle with it and track traffic |
| CN207565728U (en) * | 2017-12-15 | 2018-07-03 | 东北大学 | The comprehensive obstacle detouring platform of drive lacking manifold type |
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