CN113894518A - Top-mounted mechanism for assembling missile under airplane belly and control method thereof - Google Patents
Top-mounted mechanism for assembling missile under airplane belly and control method thereof Download PDFInfo
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- CN113894518A CN113894518A CN202111044837.2A CN202111044837A CN113894518A CN 113894518 A CN113894518 A CN 113894518A CN 202111044837 A CN202111044837 A CN 202111044837A CN 113894518 A CN113894518 A CN 113894518A
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
Abstract
The invention discloses a jacking mechanism for assembling a missile under an airplane belly and a control method thereof. The power transmission mechanism is arranged on the base through a positioning bolt and is connected with a cross beam at the rear part of the scissor type lifting mechanism through a connecting fork head. The walking driving mechanism of the top loading machine adopts a motor to drive a driving wheel, and the top loading mechanism is controlled by a remote controller to reach an appointed station in a working area according to requirements. The top-mounted mechanism adopts a fully electric control mode, and the walking of the top-mounted mechanism, the positioning adjustment of the lifting mechanism and the upper platform mechanism are realized in a wireless remote control mode. The invention can realize the rapid assembly of missiles of various sizes and models under the belly of the aircraft, has convenient mechanism operation, reasonable structure, accurate positioning, high response speed and higher universality and stability.
Description
Technical Field
The invention relates to a top mounting mechanism for assembling a missile under an airplane belly and a control method thereof, belonging to the technical field of assembling of airplane hanging missiles.
Background
With the continuous development of modern war forms, higher requirements are put on the convenience, timeliness and safety of military aircraft missile assembly, and the working site of missile assembly is mainly concentrated at the position under the belly of an aircraft. The top loading technology and equipment have been advanced to a great extent in China in recent years, the development of domestic top loading vehicles is particularly rapid, a plurality of top loading vehicles with different models and forms appear in the market successively, the existing hanging equipment under the belly of the airplane mainly comprises three forms of manual direct hanging, hanging and lifting equipment hanging, and the problems of power supply line interference, time and labor waste, low working efficiency, complex equipment operation and the like exist.
Disclosure of Invention
The invention aims to solve the technical problems of power supply line interference, time and labor waste, low working efficiency, complex equipment operation and the like of the prior art of the lower hanging equipment of the airplane belly, and provides the top mounting mechanism for assembling the missile under the airplane belly and the control method thereof, which can realize the quick assembly of missiles of various sizes and models under the airplane belly, have convenient mechanism operation, reasonable structure, accurate positioning, high response speed and higher universality and stability.
The invention provides a top mounting mechanism for assembling an airplane underbelly guided missile, which comprises a power transmission mechanism based on a planetary roller screw, a walking control mechanism, an upper platform supporting mechanism, a scissor type lifting mechanism and a base, wherein the upper end of the scissor type lifting mechanism is connected with the upper platform supporting mechanism, the bottom of the scissor type lifting mechanism is arranged on a slide way of the base, the walking control mechanism remotely controls the base to move to a specified station, and the power transmission mechanism based on the planetary roller screw controls the scissor type lifting mechanism to ascend or descend to the guided missile mounting height.
Preferably, the power transmission mechanism based on the planetary roller screw comprises a screw driving motor, a speed reducer, a planetary roller screw and a screw sleeve, wherein an output shaft of the screw driving motor is connected with the speed reducer, the speed reducer is connected with the planetary roller screw through a coupler, and the planetary roller screw body converts the rotary motion of a motor shaft into the linear motion of the screw sleeve.
Preferably, the planetary roller screw comprises a screw shaft, an inner gear ring, a retainer, a nut and a plurality of rollers, the screw shaft is arranged in the nut and is coaxially arranged, the plurality of rollers are uniformly arranged between the screw shaft and the nut along the circumferential direction, and the screw nut is connected to the screw sleeve through a flange.
Preferably, the walking control mechanism comprises an electric cabinet, a power box and a walking driving motor device, the walking driving motor device drives the top loading mechanism to move, the electric cabinet controls the start and stop of the walking driving motor device, and the power box is used for supplying power.
Preferably, a receiver control module, a controller, a first driving module, a second driving module and a third driving module are arranged in the electric cabinet, the receiver control module is connected with the controller, the controller is respectively connected with the first driving module, the second driving module and the third driving module, the first driving module drives the walking control motor to rotate forwards, reversely and stop, the second driving module drives the screw rod driving motor, and the third driving module drives the Y-axis control motor and the X-axis control motor.
Preferably, the walking driving motor device comprises a walking control motor, a walking control motor reducer, a connecting plate, a main transmission gear and an auxiliary transmission gear; the walking control motor is connected with the walking control motor reducer, the walking control motor reducer is connected with the main transmission gear, the main transmission gear transmits power to the auxiliary transmission gear, and the auxiliary transmission gear drives the driving wheel to rotate.
Preferably, the upper platform supporting mechanism comprises a connecting platform, a cross sliding table and an upper supporting plate; the lower part of the connecting platform is connected with a scissor-fork type lifting mechanism, the upper part of the connecting platform is fixed with a cross sliding table, the cross sliding table is fixed with an upper supporting plate, and the cross sliding table controls the installation position of the missile in the horizontal direction.
Preferably, the cross sliding table comprises a Y-direction sliding table bottom plate, a Y-direction guide rail, a sliding plate, a sliding block, a speed reducer, a Y-axis control motor, a Y-axis sliding plate, an X-axis control motor and an X-axis sliding plate, wherein the Y-axis control motor drives the roller screw pair through the speed reducer and then drives the sliding block, so that the sliding block drives the sliding plate to advance along the Y-direction guide rail and further drives the sliding plate to move; the X-axis control motor drives the roller screw pair through the speed reducer and then drives the sliding block to move along the X-direction guide rail, power is transmitted to the X-axis sliding plate, the bottom of the upper supporting plate is connected with the X-direction sliding plate, and therefore the supporting plate on the cross sliding table is driven to move to a target position.
Preferably, the scissor lifting mechanism comprises an X-shaped scissor fork frame body consisting of an outer scissor fork arm and an inner scissor fork arm, a ratchet wheel and a rear lower arm cross beam, the ratchet wheel is arranged at the crossed fixed position of the outer scissor fork arm and the inner scissor fork arm, the rear lower arm cross beam is arranged at the bottom of the X-shaped scissor fork frame body, and the central part of the rear lower arm cross beam is connected with a fork head of a power transmission mechanism based on a planetary roller screw.
A control method of a top mounting mechanism for assembling a missile under an airplane belly specifically comprises the following steps:
(1) the controller is responsible for receiving and analyzing remote controller control instruction information and transmitting the remote controller control instruction information to the first driving module through a corresponding CAN bus interface so as to drive the forward rotation, the reverse rotation and the stop action of the walking control motor and realize the forward movement, the backward movement and the steering of the top-mounted mechanism;
(2) the driving of the power transmission mechanism based on the planetary roller screw is realized by a remote controller, a receiver control module is installed in an electric cabinet, a controller is responsible for receiving and analyzing control instruction information of the remote controller and transmitting the information to a second driving module through a corresponding CAN bus interface to drive a screw driving motor, and the advancing, retreating and locking functions of the power transmission mechanism based on the planetary roller screw are realized;
(3) the controller is responsible for receiving and analyzing the control instruction information of the remote controller, transmitting the information to the third driving module through a corresponding CAN bus interface, driving the Y-axis control motor and the X-axis control motor, and adjusting the horizontal position of the upper supporting plate.
The top mounting mechanism for assembling the missile under the belly of the airplane and the control method thereof have the beneficial effects that:
(1) the invention designs the power driving mechanism which is driven by the motor and takes the planet roller screw as the transmission mechanism according to the power driving and transmission principles of the planet roller screw, and has the advantages of strong shock resistance, high response speed, stable transmission, high transmission precision, high transmission efficiency and the like.
(2) The invention integrates a top mounting mechanism which is fully electrically remotely controlled to walk, install and position on the basis of a planetary roller screw transmission mechanism, and realizes the functions of convenient operation, labor saving, high timeliness, accurate positioning and the like of the top mounting mechanism.
(2) The invention takes the scissor-type lifting mechanism as the bearing and lifting mechanism of the platform, takes the cross sliding table as the base of the supporting platform, integrates the remote control walking mechanism, has flexible mechanism movement and is suitable for the assembly of guided missiles with different sizes and models.
(3) The controller of the motor is highly integrated and applied to the electric cabinet, and the radio receiver is arranged in the electric cabinet. The operator accessible remote controller real time control top mounted mechanism's removal, height of going up and down and platform position realize the accurate positioning of a guided missile mounted position on the brace table, and mechanism control system integrates the degree higher, the simple operation.
(4) The invention can realize the rapid assembly of missiles of various sizes and models under the belly of the aircraft, has convenient mechanism operation, reasonable structure, accurate positioning, high response speed and higher universality and stability. Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic structural diagram of a transmission mechanism based on a planetary roller screw;
FIG. 2 is an exploded view of the planetary roller screw arrangement of the present invention;
FIG. 3 is a schematic view of the overall structure of the walking control mechanism of the present invention;
FIG. 4 is a schematic view of the driving wheel connection structure of the traveling mechanism of the present invention;
FIG. 5 is a schematic view of a scissor lift configuration of the present invention;
FIG. 6 is a schematic structural diagram of a cross sliding table based on motor control according to the present invention;
FIG. 7 is a schematic structural view of an integrated under-the-belly missile installation top mount mechanism of the present invention;
FIG. 8 is a schematic flow chart of a method of controlling the top loading mechanism of the present invention;
10-power transmission mechanism based on planetary roller screw, 101-screw drive motor, 102-screw drive motor reducer, 103-motor base, 104-coupling, 105-planetary roller screw, 1051-internal gear ring, 1052-retainer, 1053-nut, 1054-roller, 106-screw sleeve, 107-fork, 20-walking control mechanism, 201-electric cabinet, J4-receiver, 202-power box, 203-driving wheel control mechanism, 2031-walking control motor, 2032-walking control motor reducer, 2033-connecting plate, 2034-main drive gear, 2035-auxiliary drive gear, 2036-connecting base, 2037-driving wheel, 204-universal wheel, 205-base, 301-connecting platform, 302-a cross sliding table, 3021-Y directional sliding table bottom plate, 3022-Y directional sliding rail, 3023-sliding plate, 3024-sliding block, 3025-Y axis reducer, 3026-Y axis control motor, 3027-Y axis sliding plate, 3028-X axis control motor, 3029-X axis sliding plate, 3030-X axis reducer, 303-upper support plate, 40-scissor lift mechanism, 401-rear lower arm beam, 402-inner scissor arm, 403-ratchet, 404-outer scissor arm;
j4-receiver control module, K5-controller, Q6-drive module I, Q7-drive module II and Q8-drive module III.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the like or similar parts or devices throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The first embodiment is as follows: this embodiment is described with reference to fig. 1 to 8. The top mounting mechanism for assembling the missile under the belly of the airplane comprises a power transmission mechanism 10 based on a planetary roller screw, a walking control mechanism 20, an upper platform supporting mechanism 30, a scissor type lifting mechanism 40 and a base 205, wherein the upper end of the scissor type lifting mechanism 40 is connected with the upper platform supporting mechanism 30, the bottom of the scissor type lifting mechanism is mounted on a slide way of the base 205, the walking control mechanism 20 remotely controls the base 205 to move to a specified station, and the power transmission mechanism 10 controls the scissor type lifting mechanism 40 to ascend or descend to the installation height of the missile.
The power transmission mechanism based on the planetary roller screw comprises a screw driving motor 101, a screw driving motor reducer 102, a planetary roller screw lever 105 and a screw sleeve 106, wherein an output shaft of the screw driving motor 101 is connected with the screw driving motor reducer 102, the reducer is connected with the planetary roller screw 105 through a coupler 104, and the planetary roller screw 105 converts the rotary motion of a motor shaft into the linear motion of the screw sleeve 106.
The planetary roller screw 105 comprises a screw shaft, an inner gear ring 1051, a retainer 1052, a nut 1053 and a plurality of rollers 1054; the screw shaft is disposed within a nut 1053 and coaxially arranged, a plurality of rollers 1054 are uniformly arranged in the circumferential direction between the screw shaft and the nut 1053, and the screw nut 1053 is flange-connected to the screw sleeve 106.
The walking control mechanism 20 comprises an electric cabinet 201, a power supply box 202, a walking driving motor device 203 and a universal wheel 204; the walking driving motor device 203 drives the top mounting mechanism to move, the electric cabinet 201 controls the walking driving motor device 203 to start and stop, and the power box 202 is used for supplying power.
A receiver J4, a controller K5, a first driving module Q6, a second driving module Q7 and a third driving module are arranged in the electric cabinet 201, the receiver J4 is connected with the controller K5, the controller K5 is respectively connected with the first driving module Q6, the second driving module Q7 and the third driving module, the first driving module Q6 drives the forward rotation, the reverse rotation and the stop of the left walking control motor 2031 and the right walking control motor 2032, the second driving module Q7 drives the lead screw control motor 101, and the third driving module Q8 drives the Y-axis control motor 3026 and the X-axis control motor 3028.
The walking driving motor device 203 comprises a walking control motor 2031, a walking control motor reducer 2032, a connecting plate 2033, a main transmission gear 2034 and an auxiliary transmission gear 2035; the driving wheel control mechanism 203 is connected to a speed reducer 2032, the speed reducer 2032 is connected to a main transmission gear 2034, the main transmission gear 2034 transmits the power to a sub-transmission gear 2035, and the sub-transmission gear 2035 drives a driving wheel 2037 to rotate.
The upper platform supporting mechanism 30 comprises a connecting platform 301, a cross sliding table 302 and an upper supporting plate 303; the lower part of the connecting platform 301 is connected with the scissor-fork type lifting mechanism 40, the upper part of the connecting platform is fixed with the cross sliding table 302, the cross sliding table 302 is fixed with the upper supporting plate 303, and the cross sliding table 302 controls the installation position of the missile in the horizontal direction.
The cross sliding table 302 comprises a Y-direction sliding table bottom plate 3021, a Y-direction guide rail 3022, a sliding plate 3023, a slider 3024, a Y-axis reducer 3025, a Y-axis control motor 3026, a Y-axis sliding plate 3027, an X-axis control motor 3028, an X-axis sliding plate 3029, and an X-axis reducer 3030, wherein the Y-axis control motor 3026 drives a roller screw pair through the Y-axis reducer 3025, and then drives the slider 3024, so that the slider 3024 drives the sliding plate 3023 to advance along the guide rail 3022, and further drives the sliding plate 3027 to move; the X-axis control motor 3028 drives the roller screw pair through the X-axis reducer 3030, and then drives the slider 3024 to move along the X-direction guide rail, and the power is transmitted to the X-axis sliding plate 3029, and the bottom of the cross sliding table upper support plate 303 is connected with the cross sliding table X-direction sliding plate 3029, so as to drive the cross sliding table upper support plate 303 to move to the target position.
The planetary roller screw, the integrated top mount mechanism and the control method thereof according to the embodiment of the present invention will be described below with reference to the accompanying drawings, and first, a planetary roller screw-based transmission mechanism according to the embodiment of the present invention will be described with reference to fig. 1.
Fig. 1 is a schematic structural diagram of a transmission mechanism based on a planetary roller screw.
As shown in fig. 1, the transmission mechanism includes a screw drive motor 101, a speed reducer 102, a motor driver Q6, a motor base 103, a coupling 104, a planetary roller screw 105, and a screw sleeve 106.
As shown in fig. 2, the planetary roller screw 105 includes a screw shaft disposed inside the nut 1053 and coaxially arranged, an inner ring gear 1051, a cage 1052, a nut 1053, and a plurality of rollers 1054 uniformly arranged in a circumferential direction between the screw shaft and the nut, the screw nut 1053 being flange-connected to the screw sleeve 106. The screw driving motor 101 is connected with the speed reducer 102 and supported by the motor base 103, the speed reducer 102 is connected with the planetary roller screw 105 through the coupler 104, the planetary roller screw 105 converts the rotary motion of the motor shaft into the linear motion of a screw sleeve, and then the planetary roller screw 105 is connected with the fork arm beam 401 through the fork head 107 to push the beam to move along the slide way.
When the electric motor works, an operator operates the remote controller Y2 to send out a radio instruction, the receiver module J4 receives a radio signal to demodulate and restore, the radio signal is identified by the controller K5 and then sent to the second driving module Q7, the power supply of the lead screw driving motor 101 is switched on, the motor rotates, the speed and torque of the motor are reduced and increased through the speed reducer 102, the coupler 104 drives the lead screw lever 105 to rotate, the linear motion of the lead screw sleeve 106 is converted, the sleeve is driven to move axially, then the fork head is connected with the rear lower arm beam 401 and pushes the lead screw to move along the slideway, when the motor 101 rotates forwards, the scissor type lifting mechanism 40 ascends, when the scissor type lifting mechanism 40 descends when the direction is reversed, and when the rotation is stopped, the ratchet 403 keeps locking.
Fig. 3 is a schematic structural diagram of the walking control mechanism according to the present invention.
As shown in fig. 3, the top loader traveling drive mechanism 20 includes a main control box 201, a power supply box 202, a traveling drive motor device 203, and a universal wheel 204; as shown in fig. 4, the traveling driving motor device 203 includes a traveling driving motor 2031, a reducer 2032, a connecting plate 2033, a main transmission gear 2034, a sub transmission gear 2035, a connecting seat 2036, and a driving wheel 2037. The number of the travel driving motors 2031 is two, and the two travel driving motors are a left travel driving motor and a right travel driving motor.
When the remote controller works, an operator operates the remote controller Y1 to send radio signals of different operation instructions, the receiver J4 receives the radio signals to demodulate and restore the radio signals, the radio signals are identified by the controller K5 and then send instructions to the first driving module Q6, and the left traveling driving motor and the right traveling driving motor are controlled respectively. The power box 202 is used as a power source, the walking driving motor 2031 is used as power, and the transmission of the main gear and the auxiliary gear is used for driving wheels to rotate so as to drive the top-mounted mechanism to run.
The left walking driving motor and the right walking driving motor rotate forwards at the same time, and the top mounting mechanism moves forwards; the left walking driving motor and the right walking driving motor rotate reversely at the same time, and the top mounting mechanism retreats; the left walking driving motor stops, the right walking driving motor rotates forwards, and the top mounting mechanism turns left and front; the left walking driving motor rotates forwards, the right walking driving motor stops, and the top mounting mechanism turns forwards to the right; the left walking driving motor stops, the right walking driving motor rotates reversely, and the top mounting mechanism turns left and back; the left walking driving motor rotates reversely, the right walking driving motor stops, and the top mounting mechanism turns backwards to the right.
Fig. 5 is a schematic view of a scissor lift configuration according to the present invention.
As shown in fig. 5, the scissor lift mechanism 40 is formed by the intersection of an inner scissor arm 402 and an outer scissor arm 404 in the shape of an "X", the upper ends of the two arms are connected to the bottom surface of the support platform 301 by bolts, the lower ends are connected to the two ends of the base 205, and the central portion of the rear lower arm beam 401 is connected to the fork head 107. When the scissors are in work, the scissors are pushed to unfold and fold through the movement of the screw rod sleeve 106, and the supporting platform 301 is lifted and lowered through unfolding and folding of the scissors type supporting frame. The safety mechanism of the lifting mechanism adopts a ratchet 403 locking mode.
Fig. 6 is a schematic structural diagram of a cross sliding table based on motor control according to the invention.
As shown in fig. 6, the Y-direction slide base plate 3021 of the cross slide 302 is fixed on the connecting platform 301 by bolts, the connecting platform 301 is connected by the scissor lift mechanism 404, and the cross slide upper support plate 303 is fixed with the X-direction slide plate 3029 by bolts. The cross sliding table 302 mainly comprises a Y-direction sliding table bottom plate 3021, a Y-direction guide rail 3022, a sliding plate 3023, a slider 3024, a Y-axis reducer 3025, a Y-axis control motor 3026, a Y-axis sliding plate 3027, an X-axis drive motor 3028, an X-axis sliding plate 3029, and an X-axis reducer 3030.
During operation, according to actual conditions, when the supporting platform 303 rises to a specified height, the directions of the X axis and the Y axis need to be adjusted, so that the installation accuracy of the missile is ensured. An operator operates the remote controller Y3 to send radio signals of different operation commands, the receiver J4 receives the radio signals to demodulate and restore, the radio signals are identified by the controller K5 and then send commands to the third driving module Q8, and the Y-axis driving motor 3026 and the X-axis driving motor 3028 are controlled respectively. The Y-axis driving motor 3026 rotates forward to drive the roller screw to rotate and convert the rotation into linear motion of the nut, and the nut is connected to the slider 3024, so that the slider drives the sliding plate 3023 to move forward along the guide rail 3022, thereby driving the sliding plate 3027 to move. When the X-axis movement is required, the Y-axis driving motor 3026 is stopped, the X-axis driving motor 3028 is rotated, and power is transmitted to the X-axis sliding plate 3029, thereby moving the upper support plate 303 to a target position. The upper support plate 303 is a curved surface having the same curvature as the aircraft belly so as to support the aircraft belly.
In addition, the signal processing system of the remote controller and the receiver mentioned in the embodiments of the present invention refers to an existing signal processing system, and mainly controls transmission, encoding, receiving, and decoding of radio signals, and detailed descriptions of specific structures and working principles thereof are omitted here.
As shown in fig. 8, the control method of the top loading mechanism installed on the airplane underbelly missile comprises the following steps:
(1) the remote controller Y1 is used for realizing the walking control of the top-mounted mechanism, the walking motor receiver control module J4 is installed in the electric cabinet 201, and the controller K5 is responsible for receiving and analyzing the control instruction information of the remote controller Y1 and transmitting the control instruction information to the first driving module Q6 through a corresponding CAN bus interface so as to drive the walking motor 2031 to rotate forwards, reversely and stop, thereby realizing the forward, backward and steering of the top-mounted mechanism;
(2) the remote controller Y2 drives the power transmission mechanism 10, the receiver control module J4 is installed in the control box, and the controller K5 is responsible for receiving and analyzing the control instruction information of the remote controller Y2, transmitting the control instruction information to the second drive module Q7 through a corresponding CAN bus interface, driving the motor 101, and realizing the functions of advancing, retreating and locking the power transmission mechanism 10;
(3) the movement control of the cross sliding table 302 is realized by a remote controller Y3, a receiver control module J4 is installed in a control box, and a controller K5 is responsible for receiving and analyzing control instruction information of the remote controller Y3, transmitting the control instruction information to a third driving module Q8 through a corresponding CAN bus interface, driving a Y-axis control motor 3026 and an X-axis control motor 3028, and adjusting the horizontal position of the supporting plate 103.
The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail. It should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the present invention, and that the reasonable combination of the features described in the above-mentioned embodiments can be made, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The top mounting mechanism for missile assembly under the belly of the airplane is characterized by comprising a power transmission mechanism (10) based on a planetary roller screw, a walking control mechanism (20), an upper platform supporting mechanism (30), a scissor type lifting mechanism (40) and a base (205), wherein the upper end of the scissor type lifting mechanism (40) is connected with the upper platform supporting mechanism (30), the bottom of the scissor type lifting mechanism is installed on a slide way of the base (205), the walking control mechanism (20) remotely controls the base (205) to advance to a specified station, and the power transmission mechanism (10) based on the planetary roller screw controls the scissor type lifting mechanism (40) to ascend or descend to the installation height of a missile.
2. The top loading mechanism for the installation of the missile below the belly of the airplane as claimed in claim 1, wherein the power transmission mechanism (10) based on the planetary roller screw comprises a screw drive motor (101), a screw drive motor reducer (102), a planetary roller screw (105) and a screw sleeve (106), the output shaft of the screw drive motor (101) is connected with the screw drive motor reducer (102) and is connected with the planetary roller screw (105) through a coupler (104), and the planetary roller screw body converts the rotary motion of the motor shaft into the linear motion of the screw sleeve (106).
3. The tip loading mechanism for an aircraft underbelly missile assembly according to claim 2, characterized in that the planetary roller screw (105) comprises a screw shaft, an annulus (1051), a cage (1052), a nut (1053) and a plurality of rollers (1054), the screw shaft is disposed within the nut (1053) and arranged coaxially, the plurality of rollers (1054) are arranged uniformly in the circumferential direction between the screw shaft and the nut (1053), and the screw nut (1053) is connected to the screw sleeve (106) by a flange.
4. The top loading mechanism for assembling the missile under the belly of the airplane as claimed in claim 1, wherein the walking control mechanism (20) comprises an electric cabinet (201), a power supply box (202) and a walking driving motor device (203), the walking driving motor device (203) drives the top loading mechanism to move, the electric cabinet (201) controls the start and stop of the walking driving motor device (203), and the power supply box (202) is used for supplying power.
5. The top loading mechanism for missile assembly under the belly of the airplane as claimed in claim 1, wherein a receiver control module (J4), a controller (K5), a first drive module (Q6), a second drive module (Q7) and a third drive module (Q8) are arranged in the electric cabinet (201), the receiver control module (J4) is connected with the controller (K5), the controller (K5) is respectively connected with the first drive module (Q6), the second drive module (Q7) and the third drive module (Q8), the first drive module (Q6) drives the walking control motor (2031) to rotate forwards, reversely and stop, the second drive module (Q7) drives the lead screw drive motor (101), and the third drive module (Q8) drives the Y-axis control motor (3026) and the X-axis control motor (3028).
6. The top loading mechanism for assembling the airplane underbelly missile according to claim 1, characterized in that the walking drive motor device (203) comprises a walking control motor (2031), a walking control motor reducer (2032), a connecting plate (2033), a main transmission gear (2034) and a secondary transmission gear (2035); the walking control motor (2031) is connected with the walking control motor reducer (2032), the walking control motor reducer (2032) is connected with the main transmission gear (2034), the main transmission gear (2034) transmits the power to the auxiliary transmission gear (2035), and the auxiliary transmission gear (2035) drives the driving wheel (2037) to rotate.
7. The top loading mechanism for assembling the missile under the belly of the airplane as claimed in claim 1, wherein the upper platform supporting mechanism (30) comprises a connecting platform (301), a cross sliding table (302) and an upper supporting plate (303); the missile mounting device is characterized in that the lower part of the connecting platform (301) is connected with a scissor type lifting mechanism (40), the upper part of the connecting platform is fixed with a cross sliding table (302), the cross sliding table (302) is fixed with an upper supporting plate (303), and the cross sliding table (302) controls the missile mounting position in the horizontal direction.
8. The top mounting mechanism for the missile assembly under the belly of the aircraft according to claim 7, wherein the cross sliding table (302) comprises a Y-direction sliding table bottom plate (3021), a Y-direction guide rail (3022), a sliding plate (3023), a sliding block (3024), a Y-axis reducer (3025), a Y-axis control motor (3026), a Y-axis sliding plate (3027), an X-axis control motor (3028), an X-axis sliding plate (3029) and an X-axis reducer (3030), the Y-axis control motor (3026) drives the roller screw pair through the Y-axis reducer (3025) and then drives the sliding block (3024), so that the sliding plate (3023) is driven by the sliding block (3024) to advance along the Y-direction guide rail (3022) and further drive the sliding plate (3027) to move; the X-axis control motor (3028) drives the roller screw pair through the X-axis reducer (3030), then drives the sliding block (3024) to move along the X-direction guide rail, power is transmitted to the X-axis sliding plate (3029), the bottom of the upper supporting plate (303) is connected with the X-direction sliding plate (3029), and therefore the upper supporting plate (303) on the cross sliding table is driven to move to a target position.
9. The top loading mechanism for assembling the missile below the belly of the airplane according to claim 1, wherein the scissor type lifting mechanism (40) comprises an X-shaped scissor fork frame body consisting of an outer scissor arm (404) and an inner scissor arm (402), a ratchet wheel (403) and a rear lower arm cross beam (401), the ratchet wheel (403) is arranged at the intersection fixing position of the outer scissor arm (404) and the inner scissor arm (402), the rear lower arm cross beam (401) is arranged at the bottom of the X-shaped scissor fork frame body, and the central part of the rear lower arm cross beam (401) is connected with a fork head (107) of the power transmission mechanism (10) based on the planetary roller screw.
10. A method of controlling a top-loading mechanism for installation of an underbelly missile according to any one of claims 1 to 9, comprising the following steps:
(1) the remote controller (Y1) is used for realizing the walking control of the top-mounted mechanism, the receiver control module (J4) is installed in the electric cabinet (201), and the controller (K5) is responsible for receiving and analyzing the control instruction information of the remote controller (Y1) and transmitting the control instruction information to the first drive module (Q6) through a corresponding CAN bus interface so as to drive the forward rotation, the reverse rotation and the stop of the walking control motor (2031) and realize the forward movement, the backward movement and the steering of the top-mounted mechanism;
(2) the driving of the power transmission mechanism (10) based on the planetary roller screw is realized by a remote controller (Y2), a receiver control module (J4) is installed in an electric cabinet (201), and a controller (K5) is responsible for receiving and analyzing control instruction information of the remote controller (Y2), transmitting the control instruction information to a second drive module (Q7) through a corresponding CAN bus interface, driving a screw driving motor (101), and realizing the functions of advancing, retreating and locking of the power transmission mechanism (10) based on the planetary roller screw;
(3) the movement control of the cross sliding table (302) is realized by a remote controller (Y3), a receiver control module (J4) is installed in an electric cabinet (201), a controller (K5) is responsible for receiving and analyzing control instruction information of the remote controller (Y3), the control instruction information is transmitted to a third driving module (Q8) through a corresponding CAN bus interface, a Y-axis control motor (3026) and an X-axis control motor (3028) are driven, and the horizontal position of an upper supporting plate (303) is adjusted.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111044837.2A CN113894518A (en) | 2021-09-07 | 2021-09-07 | Top-mounted mechanism for assembling missile under airplane belly and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111044837.2A CN113894518A (en) | 2021-09-07 | 2021-09-07 | Top-mounted mechanism for assembling missile under airplane belly and control method thereof |
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| CN113894518A true CN113894518A (en) | 2022-01-07 |
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| CN202111044837.2A Pending CN113894518A (en) | 2021-09-07 | 2021-09-07 | Top-mounted mechanism for assembling missile under airplane belly and control method thereof |
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|---|---|---|---|---|
| US20220041416A1 (en) * | 2020-08-06 | 2022-02-10 | Robert J. Viola | Robotic under-surface loader |
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