CN217049078U

CN217049078U - Arrow body locking device for arrow locking system

Info

Publication number: CN217049078U
Application number: CN202220968698.6U
Authority: CN
Inventors: 赵泓皓; 曾滔; 王尔若
Original assignee: Harbin Institute of Technology Weihai
Current assignee: Harbin Institute of Technology Weihai
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-07-26
Anticipated expiration: 2032-04-22

Abstract

The application provides an rocket body locking device for a rocket locking system, which solves the technical problem that the rocket body fixing mode in the existing rocket recovery is poor in fixing effect; the upper end surface of the gripper base is sequentially provided with a lower gripper head, a first connecting seat and a second connecting seat from front to back; the lower grabbing head is matched with the upper grabbing head, the first connecting seat is rotatably connected with the rear end of the upper grabbing head, and the second connecting seat is rotatably connected with the rear end of the telescopic mechanism; the front end of the telescopic mechanism is rotatably connected with the middle part of the upper grabbing head. The application is widely applied to the technical field of rocket recovery.

Description

Arrow body locking device for arrow locking system

Technical Field

The application relates to a lock arrow system, in particular to an arrow body locker for a lock arrow system.

Background

The rocket recovery means that the rocket body with the reusable function is recovered after the rocket completes the preset launching task. Compared with a land recovery rocket engine, the offshore recovery rocket engine is relatively convenient, and the flight distance of the propeller and fuel can be reduced.

The rocket recovery technical scheme adopted by Space X company in the United states is as follows: in the rocket secondary landing process, the main engine is ignited to realize deceleration, and the attitude control engine is used for adjusting the flight attitude of the rocket secondary, so that the rocket is ensured to fall in an approximately vertical attitude. When the falling rocket substage approaches the ground, the support legs in the furled state are unfolded, so that the rocket is stably supported on the landing surface.

However, when recovering from sea, it is a difficult problem to keep the rocket upright in a complex sea state after landing. The rocket body is fixed by adopting modes such as a binding band, a hook and the like in the prior art, the fixing effect is poor, the rocket body does not have good stability, and the rocket can fluctuate along with the platform and is easy to cause accident and failure in rocket recovery.

Disclosure of Invention

In order to solve the technical problem, the technical scheme adopted by the application is as follows: the arrow body locking device for the arrow locking system with a good fixing effect comprises a gripper base, an upper gripper head and a telescopic mechanism, wherein the upper end surface of the gripper base is sequentially provided with a lower gripper head, a first connecting seat and a second connecting seat from front to back; the lower gripper head is matched with the upper gripper head, the first connecting seat is rotatably connected with the rear end of the upper gripper head, and the second connecting seat is rotatably connected with the rear end of the telescopic mechanism; the front end of the telescopic mechanism is rotatably connected with the middle part of the upper grabbing head.

Preferably, the front end of the telescopic mechanism is rotatably connected with a first connecting piece and a second connecting piece, the other end of the first connecting piece is rotatably connected with the upper grabbing head, and the other end of the second connecting piece is rotatably connected with the lower grabbing head; the first connecting piece is shorter than the second connecting piece.

Preferably, a visual sensor is mounted on the hand grip base.

Preferably, the upper gripper head, the lower gripper head, the first connecting seat, the second connecting seat and the telescopic mechanism are all provided with two parts which are symmetrically distributed on two sides of the gripper base.

Preferably, the two telescoping mechanisms are connected through a connecting piece.

Preferably, the telescopic mechanism is an electric push rod.

Preferably, a mounting hole is formed in the position, close to the rear, of the middle of the upper end face of the gripper base, and an angle adjusting rod arranged in the left-right direction is arranged in the mounting hole.

Preferably, the bottom of the gripper base is connected with a height adjusting rod.

Preferably, the upper end face of the lower grabbing head is provided with a first arc-shaped face, and the lower end face of the upper grabbing head is provided with a second arc-shaped face matched with the upper grabbing head.

Preferably, the front section of the first arc-shaped surface is an outwards-expanding inclined plane.

The beneficial effects of the utility model, simple structure, reasonable in design. Through setting up tongs base, last head and telescopic machanism of grabbing, the tongs base is equipped with and grabs the head under grabbing of head matched with on, and on grab head, telescopic machanism respectively with tongs base rotatable coupling, telescopic machanism again through first connection piece with grab first rotatable coupling on with, through second connection piece with grab first rotatable coupling down. The first connecting piece and the second connecting piece can be matched with the gripper base to stabilize the telescopic mechanism, and can be driven by the telescopic mechanism to lock the upper gripper head when the upper gripper head and the lower gripper head are closed, so that the condition that the rocket body fluctuates along with the platform during offshore recovery is effectively avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic view of the closed state of the present invention;

fig. 2 is a schematic diagram of a closed state of the present invention;

FIG. 3 is a schematic front view of the structure of FIG. 1;

fig. 4 is a schematic view of the open state of the present invention;

FIG. 5 is a schematic view of a rocket body;

fig. 6 is an enlarged schematic view of a portion a of fig. 5.

The symbols in the drawings illustrate that:

1. a gripper base; 2. an upper grabbing head; 3. a telescoping mechanism; 4. a lower grabbing head; 5. a first connecting seat; 6. a second connecting seat; 7. an arrow body; 8. a holder; 9. a first connecting piece; 10. a second connecting sheet; 11. a vision sensor; 12. a mounting seat; 13. a connecting member; 14. mounting holes; 15. an angle adjusting rod; 16. a height adjustment lever; 17. a plane is inclined.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.

It should be noted that the terms "first" and "second" 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" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The arrow body locking device for the arrow locking system provided by the embodiment of the application is explained.

Please refer to fig. 1 and 4, which are schematic structural diagrams of an arrow body locking device for an arrow locking system, the arrow body locking device for the arrow locking system comprises a hand grip base 1, an upper hand grip 2 and a telescopic mechanism 3, wherein the upper end surface of the hand grip base 1 is sequentially provided with a lower hand grip 4, a first connecting seat 5 and a second connecting seat 6 from front to back; the lower gripper head 4 is matched with the upper gripper head 2, the first connecting seat 5 is rotatably connected with the rear end of the upper gripper head 2, and the second connecting seat 6 is rotatably connected with the rear end of the telescopic mechanism 3; the front end of the telescopic mechanism 3 is rotatably connected with the middle part of the upper grabbing head 2.

Referring to fig. 5 and 6, the utility model discloses use with protruding fixer 8 on the arrow body 7 support, through the position of grabbing head 2 on the telescopic machanism 3 control adjustment, realize grabbing head 2 and grabbing head 4 under with open and be closed. When the upper grabbing head 2 is closed, the fixing device 8 is locked and fixed between the upper grabbing head 2 and the lower grabbing head 4, and the arrow body 7 is effectively prevented from rising and falling along with the platform. In actual operation, four or more locking devices can be arranged as required to respectively lock and position the fixing devices 8 on the arrow bodies 7, so that the positioning effect is better.

In addition, the gripper base 1, the lower gripper head 4, the first connecting seat 5 and the second connecting seat 6 can be of an integrated structure, and processing and assembling are convenient.

Further, in order to enable the telescopic mechanism 3 to operate more stably, the front end of the telescopic mechanism 3 is rotatably connected with a first connecting piece 9 and a second connecting piece 10, the other end of the first connecting piece 9 is rotatably connected with the upper grabbing head 2, and the other end of the second connecting piece 10 is rotatably connected with the lower grabbing head 4; the first connecting piece 9 is shorter than the second connecting piece 10. The first connecting piece 9 and the second connecting piece 10 can be matched with the second connecting seat 6 to stabilize the telescopic mechanism 3, and can be driven by the telescopic mechanism 3 to fix the upper grabbing head 2 when the upper grabbing head 2 and the lower grabbing head 4 are closed.

Specifically, in order to make the telescopic mechanism 3 operate more stably, the number of the first connecting pieces 9 and the second connecting pieces 10 is two, and the first connecting pieces and the second connecting pieces are respectively arranged on two sides of the upper grabbing head 2 and the lower grabbing head 4.

The gripper base 1 is provided with a visual sensor 11 for collecting position pictures of the gripper body 7, and the controller can adjust the position and the angle of the locking device according to real-time conditions.

Specifically, the telescoping mechanism 3 may be a rack and pinion mechanism, a ball screw mechanism, an electric push rod, or other mechanisms that can achieve a telescoping function. In this embodiment, the telescopic mechanism 3 is an electric push rod.

In order to improve the stability of locker, go up the grapple 2, grab head 4, first connecting seat 5, second connecting seat 6 and telescopic machanism 3 down and all be equipped with two, and equal symmetric distribution is in the both sides of tongs base 1. Specifically, the middle part of the upper end surface of the hand grip base 1 is provided with a mounting seat 12 for mounting a vision sensor 11.

In order to ensure that the main parts of the two telescopic mechanisms 3 act in unison, the two telescopic mechanisms 3 are connected by a connecting piece 13.

Further, referring to fig. 2, a mounting hole 14 is formed in a position, close to the rear, of the middle of the upper end surface of the gripper base 1, and an angle adjusting rod 15 is arranged in the mounting hole 14 in the left-right direction. The angle adjusting rod 15 is used for being connected with an angle adjusting mechanism and adjusting the angle of the locker.

Furthermore, the bottom of the gripper base 1 is connected with a height adjusting rod 16, and the height adjusting rod 16 is used for being connected with a height adjusting mechanism so as to adjust the height of the locking device.

Referring to fig. 3, regarding the lower gripper head 4 and the upper gripper head 2, specifically, the upper end surface of the lower gripper head 4 is provided with a first arc-shaped surface, and the lower end surface of the upper gripper head 2 is provided with a second arc-shaped surface cooperating with the first arc-shaped surface.

In order to allow the holder 8 on the rest of the arrow body 7 to enter the lower gripper head 4 smoothly, the front section of the first arc-shaped surface is a flared inclined plane 17.

During the use, through the relative position and the angle of vision sensor 11 response and arrow body 7, the height and the angle of adjustment locker, when arrow body 7 fixer 8 got into the first cambered surface of grabbing head 4 down, telescopic machanism 3 was through the first connecting piece 9 control on grabbing head 2 downwardly rotating, and supreme grabbing head 2 is closed with grabbing head 4 down, and fixer 8 is locked.

The utility model has the advantages of simple structure and reasonable design. Through setting up tongs base 1, upper gripper head 2 and telescopic machanism 3, tongs base 1 is equipped with the lower gripper head 4 with upper gripper head 2 matched with, and upper gripper head 2, telescopic machanism 3 respectively with tongs base 1 rotatable coupling, and telescopic machanism 3 again through first connection piece 9 and upper gripper head 2 rotatable coupling, through second connection piece 10 and lower gripper head 4 rotatable coupling. The first connecting piece 9 and the second connecting piece 10 can be matched with the gripper base 1 to stabilize the telescopic mechanism 3, and can be driven by the telescopic mechanism 3 to fix the upper gripper head 2 when the upper gripper head 2 and the lower gripper head 4 are closed, so that the condition that the rocket body 7 fluctuates along with the platform during offshore recovery is effectively avoided.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.

Claims

1. The utility model provides a lock arrow system is with arrow body locker which characterized in that: the upper end surface of the gripper base is sequentially provided with a lower gripper head, a first connecting seat and a second connecting seat from front to back; the lower grabbing head is matched with the upper grabbing head, the first connecting seat is rotatably connected with the rear end of the upper grabbing head, and the second connecting seat is rotatably connected with the rear end of the telescopic mechanism; the front end of the telescopic mechanism is rotatably connected with the middle part of the upper grabbing head.

2. An arrow body lock for a lock and arrow system according to claim 1, wherein: the front end of the telescopic mechanism is rotatably connected with a first connecting piece and a second connecting piece, the other end of the first connecting piece is rotatably connected with the upper grabbing head, and the other end of the second connecting piece is rotatably connected with the lower grabbing head; the first connecting piece is shorter than the second connecting piece.

3. The arrow body lock for a lock and arrow system of claim 1, wherein: and a vision sensor is arranged on the hand grip base.

4. The arrow body lock for a lock and arrow system of claim 1, wherein: the upper grabbing head, the lower grabbing head, the first connecting seat, the second connecting seat and the telescopic mechanism are all provided with two parts which are symmetrically distributed on two sides of the grabbing base.

5. An arrow body lock for a lock and arrow system according to claim 4, wherein: the two telescopic mechanisms are connected through a connecting piece.

6. The arrow body locker for lock and arrow systems according to claim 1 or claim 2, wherein: the telescopic mechanism is an electric push rod.

7. An arrow body lock for a lock and arrow system according to any one of claims 1 to 5, wherein: the gripper base is characterized in that a mounting hole is formed in the middle of the upper end face of the gripper base, which is close to the rear, and an angle adjusting rod is arranged in the mounting hole in the left-right direction.

8. An arrow body lock for a lock and arrow system according to claim 7 wherein: the bottom of the hand grab base is connected with a height adjusting rod.

9. The arrow body locker for lock and arrow systems according to claim 1 or claim 2, wherein: the upper end face of the lower grabbing head is provided with a first arc-shaped face, and the lower end face of the upper grabbing head is provided with a second arc-shaped face matched with the upper grabbing head.

10. An arrow body lock for a lock and arrow system according to claim 9, wherein: the front section of the first arc-shaped surface is an outward-expanding inclined plane.