CN115648131A - Six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket encircling assembly - Google Patents
Six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket encircling assembly Download PDFInfo
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- CN115648131A CN115648131A CN202211412729.0A CN202211412729A CN115648131A CN 115648131 A CN115648131 A CN 115648131A CN 202211412729 A CN202211412729 A CN 202211412729A CN 115648131 A CN115648131 A CN 115648131A
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Abstract
The invention provides a six-degree-of-freedom automatic posture adjusting device for rocket all-rocket embracing type assembly, which comprises a rear rolling frame vehicle device, a rear embracing ring, a front rolling frame vehicle device and a master control system, wherein the rear rolling frame vehicle device and the front rolling frame vehicle device are arranged in parallel, the master control system is arranged on one side of the rear rolling frame vehicle device, the rear rolling frame vehicle device is connected to the master control system in a signal mode, the rear embracing ring is arranged above the rear rolling frame vehicle device, the front embracing ring is arranged above the front rolling frame vehicle device, and the front embracing ring and the rear embracing ring are respectively sleeved at the front end and the rear end of a rocket body. The invention has the beneficial effects that: the problem that in the rocket body assembling process, the six degrees of freedom can not be adjusted automatically is effectively solved; the rocket body rolling device effectively solves the problems that due to the rocket body rolling requirement, the rolling rings are mounted at the two ends of the rocket body in a threaded connection mode, the operation is complex, and the quality risk is easy to occur.
Description
Technical Field
The invention belongs to the technical field of rocket equipment, and particularly relates to six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket encircling assembly.
Background
The assembly process of the carrier rocket is a key and complex production link, and the carrier rocket has large appearance size and a cylindrical rocket body. In the prior art, the metal rolling ring is installed on the end face of the rocket body in a threaded connection mode for effectively supporting the rocket body during assembly, and the installation process is complicated. The arrow body is placed on two support frame vehicles through a rolling ring, at present, the frame vehicles are pushed by 5-6 persons when moving along a track X axis, and the arrow body is not easy to accurately control due to inertia influence of weight of the arrow body more than 10 t. The Y and Z movements are manual, the synchronous operation of the two sides cannot be realized, and the arrow body bears external force generated due to asynchronization in the adjustment process, so that adverse factors to the arrow body exist.
The prior art has the following defects:
at present, when the metal end frame is installed on the end face during assembly, a large number of screws are needed for screwing, the working time is long, and the risk that the screws fall off and damage and cause excess materials in the arrow body exists; when an engine, a stage section, a core stage and the like are butted, the operation difficulty is high, the time is long, the relative motion data cannot be quantized in the manual alignment process of the central line and the quadrant position, and even the collision risk exists; the assembly process needs to be operated at different circumferential positions inside and outside the arrow body, so that the arrow body needs to be continuously rolled to adjust the posture in the assembly process, and the manual rolling cannot be accurately controlled.
Disclosure of Invention
In view of the above, the present invention is directed to a six-degree-of-freedom automatic posture adjustment device for rocket all-rocket embracing type assembly, so as to solve the above-mentioned deficiencies of the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the utility model provides a rocket is full rocket embraces assembly with automatic appearance equipment of transferring of six degrees of freedom, includes back roll-over frame car device, back armful ring, preceding roll-over frame car device and total control system, back roll-over frame car device, preceding roll-over frame car device parallel arrangement, back roll-over frame car device one side installation total control system, just back roll-over frame car device signal connection to total control system, after roll-over frame car device top installation one armful ring, preceding armful ring of preceding roll-over frame car device top installation one, preceding armful ring, back armful ring cup joint to arrow body front and back both ends respectively.
Furthermore, the rear rolling trolley device is driven to move actively, and the front rolling trolley device is driven to move passively.
Furthermore, the rear rolling trolley device and the front rolling trolley device move in six degrees of freedom.
Further, back roll frame car device includes automobile body frame, car train, electromagnetic clutch, first gear motor, automobile body arc board bracket, bottom guide rail, Z axle gear motor, A axle gear motor, initiative gyro wheel and driven gyro wheel, a set of car train is installed respectively in automobile body frame bottom four corners, every group the car train is installed to first gear motor's output shaft through an electromagnetic clutch respectively, automobile body frame top mid-mounting has installation bottom guide rail, install automobile body arc board bracket through the mount pad in bottom guide rail top, the inside both ends of automobile body arc board bracket are equipped with a jacking machine respectively, and the bottom of every jacking machine is all installed to the mount pad on, and every the jacking machine is installed to a Z axle gear motor's output shaft respectively, the jacking machine is used for driving under the drive of Z axle gear motor automobile body arc board bracket reciprocates, A axle gear motor is installed to automobile body A axle gear motor top one end, automobile body A axle gear motor's output shaft passes the installation of automobile body A axle gear motor bracket to a initiative gyro wheel, the driven arc board bracket top installs the runner, just the activity gyro wheel is connected to the two of the initiative gyro wheel symmetry motor driver, the motor system of the speed reduction of a motor.
Furthermore, the rear rolling vehicle erecting device further comprises a plurality of manual brakes, and one manual brake is installed on one side of each vehicle wheel train.
Furthermore, the rear rolling frame vehicle device further comprises a plurality of sliding guide rail groups, each sliding guide rail group is installed to the installation base at the bottom, and each sliding guide rail group is located inside the vehicle body arc plate bracket and is connected with the inner wall of the vehicle body arc plate bracket in a sliding mode.
Furthermore, the car body arc plate bracket is close to two Z-axis speed reduction motor outlets and is respectively provided with a yielding groove which is of an arch structure.
Further, the rear roll-off frame vehicle device further comprises an A-axis rotating brake, and the A-axis rotating brake is installed on one side of the top of the vehicle body arc plate bracket.
Furthermore, the rear roll frame vehicle device further comprises 2 locking pins, wherein the 2 locking pins are respectively installed at two ends of the top of the vehicle body arc plate bracket and used in cooperation with the hoop positioning holes of the rear hooping.
Furthermore, the quantity of car train, electromagnetic clutch, first gear motor, manual brake all is the same.
Compared with the prior art, the six-degree-of-freedom automatic attitude adjusting equipment for rocket all-rocket embracing type assembly has the following advantages:
(1) The six-degree-of-freedom automatic posture adjusting device for rocket all-rocket embracing type assembly effectively solves the problem that six degrees of freedom cannot be adjusted automatically in the rocket body assembly process; the rocket body rolling device effectively solves the problems that due to the rocket body rolling requirement, the rolling rings are mounted at the two ends of the rocket body in a threaded connection mode, the operation is complex, and the quality risk is easy to occur.
(2) According to the six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket embracing type assembly, accurate quantification of relative motion data is realized in the rocket assembly process, and quality safety is improved; the automatic control realizes actions, greatly lightens the labor intensity of personnel, and has the advantage of improving the working efficiency; and basic hardware is provided for the construction and digital monitoring of an automatic production line of subsequent rocket assembly.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
FIG. 1 is a schematic front view of an overall structure according to an embodiment of the present invention;
FIG. 2 is a schematic front view of a rear roll-off carriage assembly according to an embodiment of the present invention;
FIG. 3 is a schematic side view of a rear roll gantry apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic view of an axle of the rear roll-off device according to the embodiment of the present invention;
fig. 5 is a schematic side view of the overall structure according to the embodiment of the invention.
Description of reference numerals:
1. a rear rolling frame vehicle device; 11. a vehicle body frame; 12. a wheel train is turned; 13. an electromagnetic clutch; 14. a first reduction motor; 15. a manual brake; 16. a body arc plate bracket; 17. a bottom rail; 18. a Z-axis reduction motor; 19. a sliding guide rail set; 110. a shaft A gear motor; 111. a driving roller; 112. a driven roller; 113. a axle rotation brake; 114. a locking pin; 2. a rear embracing ring; 3. a front embracing ring; 4. a forward roll turret car device; 5. and (4) a master control system.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 5, a six-degree-of-freedom automatic posture adjusting device for rocket all-rocket embracing type assembly comprises a rear rolling frame vehicle device 1, a rear embracing ring 2, a front embracing ring 3, a front rolling frame vehicle device 4 and a master control system 5, wherein the rear rolling frame vehicle device 1 and the front rolling frame vehicle device 4 are arranged in parallel, the master control system 5 is arranged on one side of the rear rolling frame vehicle device 1, the rear rolling frame vehicle device 1 is in signal connection with the master control system 5, the rear embracing ring 2 is arranged above the rear rolling frame vehicle device 1, the front embracing ring 3 is arranged above the front rolling frame vehicle device 4, and the front embracing ring 3 and the rear embracing ring 2 are respectively sleeved at the front end and the rear end of a rocket body. In this embodiment, total control system 5 is prior art, and total control system 5 all can for industrial computer or PLC, and all electrical parts that this application relates to are prior art.
The invention has the beneficial effects that:
1) The problem that six degrees of freedom can not be adjusted automatically in the rocket body assembling process is effectively solved;
2) The problems that due to the rolling requirement of the rocket body, the rolling rings are installed at the two ends of the rocket body in a threaded connection mode, the operation is complex, and the quality risk is easy to occur are effectively solved;
3) The relative motion data can be accurately quantized in the rocket assembly process, and the quality safety is improved;
4) The automatic control realizes actions, greatly lightens the labor intensity of personnel, and has the advantage of improving the working efficiency;
5) And basic hardware is provided for the construction and digital monitoring of an automatic production line for subsequent rocket assembly.
In a preferred embodiment of the present invention, the rear rolling bogie 1 is actively driven, and the front rolling bogie 4 is driven, in this embodiment, the rear rolling bogie 1 and the front rolling bogie 4 are similar in structure, and the difference is that the front rolling bogie 4 does not have an electromagnetic clutch 13 to transmit a first speed reduction motor 14, and the four sets of wheel trains 12 are driven, and transmit force through an arrow body, so as to implement X-axis motion. The other mechanisms are the same. In actual use, the driving of the rear rolling bogie 1 drives the front rolling bogie 4 to be driven.
In a preferred embodiment of the present invention, the rear rolling bogie 1 and the front rolling bogie 4 are both six-degree-of-freedom motions. Six-degree-of-freedom motion can facilitate workers to solve the problem of all automatic adjustment.
In a preferred embodiment of the present invention, the rear roll-off carriage device 1 includes a carriage 11, wheel trains 12, electromagnetic clutches 13, a first speed reduction motor 14, a carriage arc plate bracket 16, a bottom guide rail 17, a Z-axis speed reduction motor 18, an a-axis speed reduction motor 110, a driving roll wheel 111 and a driven roll wheel 112, wherein four corners of the bottom of the carriage 11 are respectively provided with a set of carriage wheel systems 12, each set of carriage wheel systems 12 is respectively mounted to an output shaft of the first speed reduction motor 14 through one electromagnetic clutch 13, the middle of the top of the carriage 11 is provided with a bottom guide rail 17, the carriage arc plate bracket 16 is mounted above the bottom guide rail 17 through a mounting seat, two ends of the inside of the carriage arc plate bracket 16 are respectively provided with a jack, the bottom of each jack is mounted to the mounting seat, each jack is respectively mounted to an output shaft of the Z-axis speed reduction motor 18, the jack is used for driving the carriage arc plate bracket 16 to move up and down under the drive of the Z-axis speed reduction motor 18, one end of the carriage arc plate bracket 16 is provided with the a-axis speed reduction motor 110, the a rolling motor 110 passes through the output shaft of the carriage arc plate motor 111, the driving roll wheel 112, and the driving roll wheel 112 is provided with a symmetrical motor driver, and the other end of the motor 14 is provided with a rolling wheel 112, and a rolling wheel driver for driving rolling wheel 112, and a rolling wheel 13. The number of the wheel train 12, the electromagnetic clutch 13, the first speed reducing motor 14 and the manual brake 15 is the same. In this embodiment, the driving roller 111 and the driven roller 112 can rotate on the vehicle body arc plate bracket 16, two ends of the outer walls of the driving roller 111 and the driven roller 112 are both provided with a folded edge, the folded edge and the locking pin 114 are both used for supporting and positioning the rear embracing ring 2, the electromagnetic clutch 13, the first speed reducing motor 14, the Z-axis speed reducing motor 18 and the a-axis speed reducing motor 110 are all in the prior art, and the rear rolling trolley device 1 is used for driving the whole driving action and realizing six-degree-of-freedom adjustment.
In a preferred embodiment of the present invention, the rear roll-off carriage assembly 1 further comprises a plurality of hand brakes 15, and one hand brake 15 is installed at one side of each carriage train 12. In the embodiment, the hand brake 15 is used for braking the whole trolley by a worker when the worker stops by using the hand brake 15.
In a preferred embodiment of the present invention, the rear roll-off rack device 1 further includes a plurality of sliding guide rail sets 19, the bottom of each sliding guide rail set 19 is mounted to the mounting seat, and each sliding guide rail set 19 is located inside the vehicle body arc plate bracket 16 and is slidably connected with the inner wall of the vehicle body arc plate bracket 16. In this embodiment, the sliding guide rail set 19 is used to support the up-and-down movement of the car body arc plate bracket 16, and in actual use, the sliding guide rail set 19 is further provided with anti-wear particles to prevent the car body arc plate bracket 16 from being worn seriously.
In a preferred embodiment of the present invention, the body arc plate bracket 16 is provided with a yielding groove near the two Z-axis speed reduction motors 18, the yielding groove is of an arch structure, and the yielding groove is used to prevent the Z-axis speed reduction motors 18 from affecting the lifting of the body arc plate bracket 16.
In a preferred embodiment of the present invention, the rear roll-off carriage device 1 further comprises an a-axis rotation brake member 113, the a-axis rotation brake member 113 is mounted to a top side of the vehicle body arc plate bracket 16, and the a-axis rotation brake member 113 is used for applying a jacking force to the rear hoop 2 through a screw pair.
In a preferred embodiment of the present invention, the rear roll-off carriage device 1 further includes 2 locking pins 114,2 of the locking pins 114 are respectively mounted to two ends of the top of the car body arc plate bracket 16, the locking pins 114 are configured to cooperate with the hoop positioning holes of the rear hoop 2, and in practical use, the locking pins 114 are prevented from falling when the rear hoop 2 is placed alone, and penetrate through the hoop positioning holes of the rear hoop 2.
Example 1
This patent mainly has five major parts to constitute: respectively a rear rolling frame vehicle device 1, a front holding ring 3, a rear holding ring 2, a front rolling frame vehicle device 4 and a master control system 5, and the details are shown in figure 1. The rear rolling frame vehicle device 1 can be driven by itself to walk and drives the front rolling frame vehicle device 4 to walk in a driven manner. The frame car has ten automatic motion axes, can realize the adjustment of six degrees of freedom, and is respectively: the arrow body can move along X1 and X2 axes of track walking, Y1 and Y2 axes of vertical track movement, Z1, Z2, Z3 and Z4 axes of vertical movement, and A1 and A2 axes of arrow body rolling. X1, X2, Y1, Z2 and A1 are positioned on the rear rolling frame trolley, and Y2, Z3, Z4 and A2 are positioned on the front rolling frame trolley.
The six-degree-of-freedom motion implementation mode is as follows: the X axis is synchronous motion of the X1 axis and the X2 axis; the Y axis is synchronous motion of the Y1 axis and the Y2 axis; the Z axis is synchronous motion of the Z1 axis and the Z2 axis; the A axis is synchronous motion of the A1 axis and the A2 axis; the axis B is synchronous movement of Z1 and Z2 and synchronous reverse movement of Z3 and Z4, and can also be synchronous single movement of the axes Z1 and Z2 or synchronous single movement of the axes Z3 and Z4; the C axis Y1 and Y2 are moved in opposite directions, and Y1 or Y2 can be singly moved. The master control system is responsible for controlling and adjusting according to different working conditions, and a table 1 is attached in detail.
Attached table 1 six-freedom control logic table
The rear rolling trolley device 1 structurally comprises the following components in the figures 2, 3 and 4: the vehicle body frame 11 is used as a main bearing and mounting connection mechanism, four groups of wheel systems 12 are mounted below the vehicle body frame 11, torque of a first speed reducing motor 14 (which can be a motor and a speed reducer, and can also be a speed reducing motor integrated machine) is transmitted through an electromagnetic clutch 13 to realize rotation, so that the vehicle moves in the X direction, and a manual brake 15 is adopted to brake the whole vehicle frame when the vehicle stops. And the vehicle body arc plate bracket 16 is used for connecting the vehicle frame and the upper rotating device, and the vehicle body arc plate bracket 16 moves left and right under the pushing of the bottom driving part, so that the Y-direction movement is realized. Under the action of two Z-axis speed reducing motors 18 (which can be motors and speed reducers or can be a speed reducing motor integrated machine), the vehicle body arc plate bracket 16 moves up and down through the sliding guide rail group 19, so that Z-direction movement is realized. The a-axis speed reducing motor 110 is installed on the vehicle body arc plate bracket 16, transmits torque to the driving roller 111 through the central axis, and forms an included angle support with the driven roller 112 to drive the rear hoop 2 placed above to roll by N × 360 degrees, thereby realizing a-axis rotation. The axis a rotation stopper 113 applies a pushing force to the rear hoop 2 by a screw pair. The locking pin 114 prevents toppling when the rear embracing ring 2 is placed alone, and passes through the embracing ring positioning hole of the rear embracing ring 2.
The structure and composition of the front rolling frame vehicle device 4 are similar to the structure of the rear rolling frame vehicle device 1, the difference is mainly that a first speed reducing motor 14 is transmitted through an electromagnetic clutch 13, four groups of vehicle wheel systems 12 are driven, and the X-axis motion is realized through force transmission of an arrow body. The other mechanisms are the same.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A six-degree-of-freedom automatic posture adjusting device for rocket all-rocket encircling assembly is characterized in that: including back roll frame car device (1), back armful ring (2), preceding armful ring (3), preceding roll frame car device (4) and total control system (5), back roll frame car device (1), preceding roll frame car device (4) parallel arrangement, back roll frame car device (1) side-mounting total control system (5), just roll frame car device (1) signal connection to total control system (5) after, after roll frame car device (1) top installation one after embrace ring (2), preceding roll frame car device (4) top installation one before embrace ring (3), preceding armful ring (3), back embrace ring (2) and cup joint to arrow body front and back both ends respectively.
2. The six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket embracing type assembly according to claim 1, characterized in that: the rear rolling trolley device (1) is in driving motion, and the front rolling trolley device (4) is in driven motion.
3. The six-degree-of-freedom automatic attitude adjusting equipment for rocket all-rocket embracing type assembly according to claim 1, which is characterized in that: the rear rolling frame vehicle device (1) and the front rolling frame vehicle device (4) move in six degrees of freedom.
4. The six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket embracing type assembly according to claim 1, characterized in that: the rear rolling frame vehicle device (1) comprises a vehicle body frame (11), a wheel system (12), an electromagnetic clutch (13), a first speed reducing motor (14), a vehicle body arc plate bracket (16), a bottom guide rail (17), a Z-axis speed reducing motor (18), an A-axis speed reducing motor (110), a driving rolling wheel (111) and a driven rolling wheel (112), a set of vehicle wheel system (12) is respectively installed at four corners of the bottom of the vehicle body frame (11), each set of vehicle wheel system is installed at the vehicle wheel system (12) through an electromagnetic clutch (13) to an output shaft of the first speed reducing motor (14), an installation bottom guide rail (17) is installed at the middle part of the top of the vehicle body frame (11), the vehicle body arc plate bracket (16) is installed above the bottom guide rail (17) through a mounting seat, two lifters are respectively arranged at two ends inside the vehicle body arc plate bracket (16), the bottom of each lifter is installed on the mounting seat, each lifter is installed on an output shaft of the Z-axis speed reducing motor (18), each lifter is installed on the output shaft of the Z-axis speed reducing motor (16) respectively, one end of the vehicle body arc plate bracket (16) drives the vehicle body arc plate bracket (110) to pass through the driving rolling wheel (110A) and the arc plate bracket (16) to move up and down and move up and down the installation motor (16), automobile body arc board bracket (16) top other end movable mounting has driven gyro wheel (112), just the two symmetry settings of initiative gyro wheel (111) and driven gyro wheel (112), the equal signal connection of driver of electromagnetic clutch (13), the driver of first gear motor (14), the driver of Z axle gear motor (18), the driver of A axle gear motor (110) is to total control system (5).
5. The six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket embracing type assembly according to claim 4, characterized in that: the rear rolling vehicle erecting device (1) further comprises a plurality of manual brakes (15), and one manual brake (15) is installed on one side of each vehicle wheel train (12).
6. The six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket embracing type assembly according to claim 4, characterized in that: the rear rolling frame vehicle device (1) further comprises a plurality of sliding guide rail groups (19), each sliding guide rail group (19) is installed at the bottom of the mounting seat, each sliding guide rail group (19) is located inside the vehicle body arc plate bracket (16), and is connected with the inner wall of the vehicle body arc plate bracket (16) in a sliding mode.
7. The six-degree-of-freedom automatic attitude adjusting equipment for rocket all-rocket embracing type assembly according to claim 4, wherein: and the arc plate bracket (16) of the vehicle body is close to the two Z-axis speed reducing motors (18) and is respectively provided with a yielding groove which is of an arch structure.
8. The six-degree-of-freedom automatic attitude adjusting equipment for rocket all-rocket embracing type assembly according to claim 4, wherein: the rear roll-off trolley device (1) further comprises an A-axis rotating brake (113), and the A-axis rotating brake (113) is installed on one side of the top of the vehicle body arc plate bracket (16).
9. The six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket embracing type assembly according to claim 4, characterized in that: the rear roll frame trolley device (1) further comprises 2 locking pins (114), wherein the 2 locking pins (114) are respectively installed at two ends of the top of the automobile body arc plate bracket (16), and the locking pins (114) are used for being matched with the hoop positioning holes of the rear hoop (2).
10. The six-degree-of-freedom automatic attitude adjusting equipment for rocket all-rocket embracing type assembly according to claim 4, wherein: the number of the wheel train (12), the electromagnetic clutch (13), the first speed reducing motor (14) and the manual brake (15) is the same.
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| CN202211412729.0A CN115648131A (en) | 2022-11-11 | 2022-11-11 | Six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket encircling assembly |
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| CN202211412729.0A CN115648131A (en) | 2022-11-11 | 2022-11-11 | Six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket encircling assembly |
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| WO2021027572A1 (en) * | 2019-08-15 | 2021-02-18 | 燕山大学 | Active-passive differential series-parallel supporting leg, gravity closing-based series-parallel supporting leg and six-degree-of-freedom posture adjustment robot platform |
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| WO2021088819A1 (en) * | 2019-11-05 | 2021-05-14 | 蓝箭航天空间科技股份有限公司 | Rocket transfer and erection system |
| CN111015561A (en) * | 2019-12-28 | 2020-04-17 | 天津航天长征火箭制造有限公司 | Automatic rolling device for large-diameter long-section hollow cylinder |
| CN112338518A (en) * | 2020-09-10 | 2021-02-09 | 浙江蓝箭航天空间科技有限公司 | Driving device suitable for rocket assembly |
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