CN110779388B - Marching locking device and combined in-place control method - Google Patents
Marching locking device and combined in-place control method Download PDFInfo
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- CN110779388B CN110779388B CN201911088983.8A CN201911088983A CN110779388B CN 110779388 B CN110779388 B CN 110779388B CN 201911088983 A CN201911088983 A CN 201911088983A CN 110779388 B CN110779388 B CN 110779388B
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- locking
- marching
- electric mechanism
- locking electric
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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
- F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
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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
- F41F7/00—Launching-apparatus for projecting missiles or projectiles otherwise than from barrels, e.g. using spigots
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- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
The invention relates to a marching locking device and a combined in-place control method, and belongs to the technical field of undercarriage. The device is designed based on a position feedback and force feedback combined in-place control principle, and when the locking electric mechanism is designed, the overlapping spring is designed in the area of the connecting support lug and can be compressed to a certain extent, so that the energy between the screw rod and the support lug of the marching locking electric mechanism can be buffered in the locking process, the locking electric mechanism is protected, and after the locking electric mechanism is reliably locked, when vibration occurs, the flexible overlapping spring can relieve the friction force between the locking hook and the locking surface to a certain extent, and the locking electric mechanism is further protected. The implementation process of the control method is divided into two stages of position feedback and force feedback, and engineering application proves that the combined control method is simple, easy to implement, high in precision, stable in work and reliable in performance.
Description
Technical Field
The invention belongs to the technical field of locking control of electric mechanisms, and particularly relates to a marching locking device and a combined in-place control method.
Background
The existing locking mechanism in-place control method mostly adopts position feedback (namely, a mechanical zero point and an electronic switch zero point are overlapped and used as a criterion for locking in place or not), the control method is single, the requirement on the installation precision of the locking mechanism and a connecting link is high, the adjusting link is complex, and changes along with temperature and time, a sensor of the locking mechanism is easy to deviate, so that the control precision is poor, and the situations of locking failure or over-locking are easy to occur, so that a combined control method which is high in control precision, can effectively realize reliable locking and is simple in installation and adjustment links is needed.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: the method solves the problems that the existing locking mechanism position feedback control method is low in precision, complex in installation and adjustment links and easily influenced by environment and time.
(II) technical scheme
In order to solve the technical problem, the invention provides a marching locking device which is used for realizing the reliable locking of a launcher 7 and a chassis in a driving state.
Preferably, the device comprises a supporting structure 1, a launching cradle locking pressure plate 2, a rotating shaft 3, a connecting rod 4, a marching locking electric mechanism 5 and a launching cradle supporting plate 6;
wherein, the middle part of the launcher locking pressing plate 2 is installed on the supporting structure 1 through the rotating shaft 3, the lower end of the launcher locking pressing plate 2 is connected with one end of a marching locking electric mechanism support lug 9 of the marching locking electric mechanism 5 through one end of a connecting rod 4, the upper part of the launcher locking pressing plate 2 is in a hook shape, the upper part of the launcher locking pressing plate 2 can move clockwise to a vertical position around the rotating shaft 3 under the thrust action of the marching locking electric mechanism 5 and forms a line contact with a launcher marching locking block 8 on the launcher 7 when further moving clockwise for 2 to 10 degrees, the other end of the connecting rod 4 is connected with one end of the marching locking electric mechanism support lug 9, the other end of the marching locking electric mechanism support lug 9 is positioned in the cylinder of the marching locking electric mechanism 5, a marching locking electric mechanism overlapping spring 10 is arranged in the cylinder of the marching locking electric mechanism 5, one end of the marching locking electric mechanism overlapping spring 10 is contacted with the marching locking electric mechanism support lug 9, and the other end is contacted with the bottom surface of the cylinder barrel.
Preferably, the march lock electric mechanism stack spring 10 is a flexible stack spring.
Preferably, the march locking electric mechanism 5 comprises a lead screw and a limit switch.
The invention also provides a method for realizing combined in-place control by using the device, and the method realizes reliable locking of the launcher 7 by the march locking electric mechanism 5.
Preferably, the method comprises the following steps: when the march locking device locks the launching cradle: the marching locking electric mechanism 5 extends to move to drive the launching cradle locking pressure plate 2 to rotate around the rotating shaft 3, when a lead screw of the marching locking electric mechanism 5 moves to the position of a limit switch, the limit switch is triggered, the feedback of the position is used as the first criterion of switch in place, and in-place signals are always given in subsequent strokes;
the lead screw of the marching locking electric mechanism 5 continues to do stretching movement until the launcher marching locking block 8 on the launcher 7 is pressed by the launcher locking pressing plate 2 to generate torque, the lead screw of the marching locking electric mechanism 5 compresses the marching locking electric mechanism overlapping spring 10 and reaches torque limiting, the torque is in a certain proportion to current, the torque is converted into a current form to give an in-place signal, the reliable pressing of the launcher locking pressing plate 2 is ensured through time delay, the current signal is used as force feedback and is a second in-place criterion, and the compression amount of the marching locking electric mechanism overlapping spring 10 in the time delay process can buffer the energy between the lead screw and the marching locking electric mechanism support lug 9, so that the marching locking electric mechanism 5 is protected.
Preferably, after the launcher locking pressing plate 2 is reliably pressed, the marching locking electric mechanism stacking spring 10 has a certain compression amount, and when vibration occurs in the transportation process, the marching locking electric mechanism stacking spring 10 buffers the load between the launcher locking pressing plate 2 and the launcher marching locking block 8 to a certain extent, so that the marching locking electric mechanism 5 is further protected.
(III) advantageous effects
The device is designed based on a position feedback and force feedback combined in-place control principle, and when the locking electric mechanism is designed, the overlapping spring is designed in the area of the connecting support lug and can be compressed to a certain extent, so that the energy between the screw rod and the support lug of the marching locking electric mechanism can be buffered in the locking process, the locking electric mechanism is protected, and after the locking electric mechanism is reliably locked, when vibration occurs, the flexible overlapping spring can relieve the friction force between the locking hook and the locking surface to a certain extent, and the locking electric mechanism is further protected. The implementation process of the control method is divided into two stages of position feedback and force feedback, and engineering application proves that the combined control method is simple, easy to implement, high in precision, stable in work and reliable in performance.
Drawings
FIG. 1 is a cross-sectional view of the march locking apparatus of the present invention;
FIG. 2 is a schematic view of the unlocked launcher of the march locking device of the present invention;
FIG. 3 is a schematic structural view of a marching locking device locking launcher according to the present invention;
fig. 4 is a schematic diagram of a control method of the present invention.
The system comprises a supporting structure 1, a launching frame locking pressing plate 2, a rotating shaft 3, a connecting rod 4, a marching locking electric mechanism 5, a launching frame supporting plate 6, a launching frame 7, a launching frame marching locking block 8, a marching locking electric mechanism support lug 9 and a marching locking electric mechanism overlapping spring 10.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
Referring to fig. 1 to 3, the marching locking device provided by the invention is used for realizing reliable locking of a launcher 7 and a chassis in a driving state, and comprises a supporting structure 1, a launcher locking pressing plate 2, a rotating shaft 3, a connecting rod 4, a marching locking electric mechanism 5 and a launcher supporting plate 6;
wherein, the middle part of the launcher locking pressing plate 2 is installed on the supporting structure 1 through the rotating shaft 3, the lower end of the launcher locking pressing plate 2 is connected with one end of a marching locking electric mechanism support lug 9 of the marching locking electric mechanism 5 through one end of a connecting rod 4, the upper part of the launcher locking pressing plate 2 is in a hook shape, the upper part of the launcher locking pressing plate 2 can move clockwise to a vertical position around the rotating shaft 3 under the thrust action of the marching locking electric mechanism 5 and forms a line contact with a launcher marching locking block 8 on the launcher 7 when further moving clockwise for 2 to 10 degrees, the other end of the connecting rod 4 is connected with one end of the marching locking electric mechanism support lug 9, the other end of the marching locking electric mechanism support lug 9 is positioned in the cylinder of the marching locking electric mechanism 5, a marching locking electric mechanism overlapping spring 10 is arranged in the cylinder of the marching locking electric mechanism 5, one end of a marching locking electric mechanism stacking spring 10 is in contact with the marching locking electric mechanism support lug 9, and the other end of the marching locking electric mechanism stacking spring is in contact with the bottom surface of the cylinder barrel. The marching locking electric mechanism 5 comprises a lead screw and a limit switch.
As shown in fig. 3 and 4, in a marching state, the launcher longitudinal beam contacts with the launcher support plate 6, and the launcher locking pressure plate 2 rotates around the rotating shaft 3 under the thrust action of the marching locking electric mechanism 5 until the launcher locking pressure plate 2 presses the marching locking block 8 on the launcher 7. Specifically, when the march locking device locks the launcher:
the marching locking electric mechanism 5 extends to move to drive the launching cradle locking pressure plate 2 to rotate around the rotating shaft 3, when a lead screw of the marching locking electric mechanism 5 moves to the position of a limit switch, the limit switch is triggered, the feedback of the position is used as the first criterion of switch in place, and in-place signals are always given in subsequent strokes;
the lead screw of the marching locking electric mechanism 5 continues to do stretching movement until the launcher marching locking block 8 on the launcher 7 is pressed by the launcher locking pressing plate 2 to generate torque, the lead screw of the marching locking electric mechanism 5 compresses the marching locking electric mechanism overlapping spring 10 and reaches torque limiting, the torque is in a certain proportion to current, the torque is converted into a current form to give an in-place signal, the reliable pressing of the launcher locking pressing plate 2 is ensured through time delay, the current signal is used as force feedback and is a second in-place criterion, and the compression amount of the marching locking electric mechanism overlapping spring 10 in the time delay process can buffer the energy between the lead screw and the marching locking electric mechanism support lug 9, so that the marching locking electric mechanism 5 is protected.
In addition, because marching locking electric mechanism folding spring 10 is designed at position of supporting lug 9 of marching locking electric mechanism, at this moment, marching locking electric mechanism folding spring 10 has a certain compression amount, and when vibration occurs in the transportation process, marching locking electric mechanism folding spring 10 can buffer the load between launching rack locking pressing plate 2 and launching rack marching locking block 8 to a certain extent, thereby protecting marching locking electric mechanism 5.
The march locking device can reliably lock the launcher 7 through the march locking electric mechanism 5.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (2)
1. A method for realizing combined in-place control by using a marching locking device is characterized in that the device is used for realizing reliable locking of a launcher (7) and a chassis in a driving state;
the device comprises a supporting structure (1), a launching rack locking pressing plate (2), a rotating shaft (3), a connecting rod (4), a marching locking electric mechanism (5) and a launching rack supporting plate (6);
wherein the middle part of the launching frame locking pressing plate (2) is arranged on the supporting structure (1) through the rotating shaft (3), the lower end of the launching frame locking pressing plate (2) is connected with one end of a marching locking electric mechanism support lug (9) of the marching locking electric mechanism (5) through one end of the connecting rod (4), the upper part of the launching frame locking pressing plate (2) can clockwise move to a vertical position around the rotating shaft (3) under the thrust action of the marching locking electric mechanism (5) and forms line contact with a launching frame marching locking block (8) on the launching frame (7) when further clockwise moving for 2 to 10 degrees, the other end of the connecting rod (4) is connected with one end of the marching locking electric mechanism support lug (9), the other end of the marching locking electric mechanism support lug (9) is positioned in the cylinder barrel of the marching locking electric mechanism (5), a marching locking electric mechanism folding spring (10) is arranged in the cylinder barrel of the marching locking electric mechanism (5), one end of a marching locking electric mechanism stacking spring (10) is contacted with a marching locking electric mechanism support lug (9), and the other end is contacted with the bottom surface of the cylinder barrel;
the march locking electric mechanism folding spring (10) is a flexible folding spring;
the upper part of the launcher locking pressure plate (2) is hook-shaped;
the marching locking electric mechanism (5) comprises a lead screw and a limit switch;
the method realizes reliable locking of the launcher (7) through the march locking electric mechanism (5);
the method comprises the following steps: when the march locking device locks the launching cradle: the launching cradle locking pressure plate (2) is driven to rotate around the rotating shaft (3) through the extending movement of the marching locking electric mechanism (5), when a lead screw of the marching locking electric mechanism (5) moves to the position of a limit switch, the limit switch is triggered, the feedback of the position is used as a first switch in-place criterion, and in-place signals are always given in subsequent strokes;
the lead screw of the marching locking electric mechanism (5) continues to do stretching movement until the launching frame marching locking block (8) on the launching frame (7) is pressed by the launching frame marching locking pressing plate (2) to generate torque, the lead screw of the marching locking electric mechanism (5) compresses the marching locking electric mechanism overlapping spring (10) and achieves torque limiting, the torque and the current are in a certain proportion, the torque is converted into a current form to give an in-place signal, the launching frame locking pressing plate (2) is ensured to be reliably compressed through time delay, the current signal serves as force feedback to be a second in-place criterion, the compression amount of the marching locking electric mechanism overlapping spring (10) in the time delay process can buffer the energy between the lead screw and the marching locking electric mechanism support lug (9), and therefore the marching locking electric mechanism (5) is protected.
2. The method according to claim 1, characterized in that after the launcher locking pressing plate (2) is pressed firmly, the march locking electric mechanism stack spring (10) has a certain amount of compression, and when vibration occurs during transportation, the march locking electric mechanism stack spring (10) buffers the load between the launcher locking pressing plate (2) and the launcher march locking block (8) to a certain extent, thereby further protecting the march locking electric mechanism (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911088983.8A CN110779388B (en) | 2019-11-08 | 2019-11-08 | Marching locking device and combined in-place control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911088983.8A CN110779388B (en) | 2019-11-08 | 2019-11-08 | Marching locking device and combined in-place control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110779388A CN110779388A (en) | 2020-02-11 |
| CN110779388B true CN110779388B (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911088983.8A Active CN110779388B (en) | 2019-11-08 | 2019-11-08 | Marching locking device and combined in-place control method |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112443542A (en) * | 2020-11-13 | 2021-03-05 | 北京特种机械研究所 | Manual box frame locking mechanism capable of replacing electric mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE494083A (en) * | 1949-03-15 | Brandt Soc Nouv Ets | ||
| CN201656668U (en) * | 2010-04-12 | 2010-11-24 | 无锡市志君机械厂 | Electric push rod for overload protection of disk spring |
| CN202974035U (en) * | 2012-11-23 | 2013-06-05 | 北京特种机械研究所 | Reliably pressed support leg locking mechanism |
| CN105370689B (en) * | 2015-11-19 | 2017-12-05 | 北京特种机械研究所 | Position and lock mechanism for the connection of more cars |
| CN106767137B (en) * | 2016-12-28 | 2018-08-03 | 中国人民解放军国防科学技术大学 | A kind of march fixator |
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