CN217515390U - Bullet hanging vehicle and bullet transporting and hanging integrated bullet hanging equipment - Google Patents

Abstract

The utility model provides a hang bullet car and fortune integration string bullet equipment of hanging. Wherein, the missile hanging vehicle includes: the device comprises a movable frame, a lifting device and a bullet supporting platform; the lifting device comprises: the hydraulic driving part is arranged on the moving frame, the two first supporting arms are connected, the two second supporting arms are distributed on two sides of the two first supporting arms, one end of any one first supporting arm and one end of any one second supporting arm are hinged with the moving frame, and the other end of any one first supporting arm and the other end of any one second supporting arm are hinged with the bullet supporting platform; the elastic supporting platform is connected with the first supporting arm, the telescopic rod can drive the elastic supporting platform to move along the second direction along the first direction, and the first direction is perpendicular to the second direction. Therefore, the hanging objects at the low hanging points can be hung and unloaded, and the application range of the equipment is expanded.

Description

Bullet hanging vehicle and bullet transporting and hanging integrated bullet hanging equipment

Technical Field

The utility model belongs to the technical field of hang bullet equipment technique and specifically relates to a hang bullet car and fortune and hang integrative bullet equipment of hanging is related to.

Background

In recent years, along with the economic growth and the continuous improvement of the technological level, the missile armed system in China is continuously developed, and the missile is usually hung on an airplane through a missile hanging vehicle.

The missile hanging vehicle in the related technology is similar to a vehicle-mounted lifting working platform, the missile is arranged on a lifting platform, and a lifting mechanism drives a parallel scissor fork mechanism to realize the movement of the missile. The missile hanging vehicle has good stress condition and is convenient to transport externally hung objects. However, the lifting platform needs to be located right below the plane hanging point during the bullet hanging operation, and thus, it is difficult to hang and unload suspended objects at a low hanging point (such as under the belly).

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a bullet equipment is hung in bullet car and fortune integration of hanging can hang and unload the hanging object of low level hanging point (like under the abdomen), has enlarged the application range of equipment.

According to a first aspect of the present application, there is provided a missile hooking vehicle comprising: the device comprises a movable frame, a lifting device and a bullet supporting platform; the lifting device comprises: the hydraulic driving part is arranged on the moving frame, the two first supporting arms are connected, the two second supporting arms are distributed on two sides of the two first supporting arms, one end of any one first supporting arm and one end of any one second supporting arm are hinged with the moving frame, and the other end of any one first supporting arm and the other end of any one second supporting arm are hinged with the bullet supporting platform; the elastic supporting platform is connected with the first supporting arm, the telescopic rod can drive the elastic supporting platform to move along the second direction along the first direction, and the first direction is perpendicular to the second direction.

Further, the bullet supporting platform comprises: one end of the adjusting device is hinged with one ends of the first supporting arm and the second supporting arm, which are far away from the moving frame, and the other end of the adjusting device is connected with the bearing table.

Further, the adjusting device includes: the X-axis moving module, the Z-axis moving module and the Y-axis moving module; the X-axis moving module is connected with the first supporting arm, the second supporting arm and the Z-axis moving module, and can drive the Z-axis moving module to move along the X-axis direction relative to the first supporting arm and/or the second supporting arm; the Y-axis movement module is arranged on the Z-axis movement module, and the Z-axis movement module can drive the Y-axis movement module to move along the Z-axis direction relative to the X-axis movement module; the plummer sets up on Y axle motion module, and Y axle motion module can drive the plummer and rotate along the Y axle direction for Y axle motion module.

Further, the X-axis moving module includes: the X-axis platform, the connecting arm, the X-axis driving part and the X-direction slide rail are arranged on the X-axis platform, the connecting arm is hinged with the first supporting arm and the second supporting arm, and the X-axis driving part is connected with the X-direction slide rail and used for driving the X-direction slide block to move along the X-direction slide rail;

the Z-axis moving module comprises: the Z-axis sliding device comprises a Z-axis platform, two Z-axis driving parts, two Z-axis sliding rails and two Z-axis sliding blocks correspondingly arranged in the two Z-axis sliding rails in a sliding manner, wherein the two Z-axis sliding rails are positioned at two sides of the Z-axis platform and are arranged in the X-axis sliding rails in a sliding manner;

the Y-axis motion module includes: the bearing table is connected with the Y-axis platform, the rotating mechanism comprises an inner ring and an outer ring which rotate mutually along the Y axis, the outer ring is arranged on the Z-axis platform, and the inner ring is arranged on the Y-axis platform.

Further, the Y-axis motion module further comprises: the bearing platform is hinged to one side, far away from the Z-axis platform, of the Y-axis platform, and the two hydraulic springs are distributed on two sides of the rotating mechanism, wherein one end of any one hydraulic spring is hinged to the Y-axis platform, and the other end of the hydraulic spring is hinged to the bearing platform; and the elastic reset assembly is arranged on at least one of the Y-axis platform and the Z-axis platform and used for limiting when the inner ring rotates to a preset angle relative to the outer ring.

Furthermore, a plurality of first positioning holes are formed in two sides of the center line of the bearing table along the X-axis direction.

Further, hold in palm the bullet platform still includes: the support bullet subassembly, support bullet subassembly and plummer detachable connection.

Furthermore, the bullet supporting assembly comprises a feeding module and a clamping jaw module which are detachably connected, the feeding module is detachably connected with the bearing table, and the clamping jaw module is used for being in contact with the guided missile; wherein, the feed module can drive the jack catch module along Z axle direction concertina movement.

Further, the feeding module includes: the supporting platform is detachably connected with the bearing table, and sliding grooves are formed in two ends of the supporting platform along the Z-axis direction; the two ends of the feeding platform are connected with the sliding groove through the rollers; a limiting structure is arranged between the supporting platform and the bearing platform and comprises at least one of a mortise and tenon mechanism, a limiting hole and a limiting pin; the top at the both ends of feeding platform is provided with spacing arch, and the inboard both ends of spout are provided with the stopper, and stopper and spacing arch are adapted to carry on spacingly to feeding platform for supporting platform's motion.

Further, the jaw module includes: the feeding platform is provided with a plurality of second positioning holes along the X-axis direction, and the two fixing seats are respectively connected with the feeding platform through the second positioning holes; the two fixing plates are respectively arranged at one ends of the two fixing seats far away from each other; the two arc-shaped sliding chutes are respectively connected with the two fixing plates, and any one arc-shaped sliding chute can slide in a specified range relative to the fixing plate; the supporting seat is arranged inside the arc-shaped sliding chute and is close to the fixed seat; the briquetting mechanism is rotationally arranged on the arc-shaped sliding chute; the connecting rod is connected with the two arc-shaped sliding grooves and is positioned below the supporting seat.

The foundation the utility model discloses the second aspect provides a fortune is hung integration and is hung bullet equipment, include: a projectile transporting assembly; and the ammunition carrier of any one of the first aspect, wherein the ammunition conveying assembly is detachably connected with the ammunition carrier.

Further, the fortune bullet assembly includes: a movable chassis; the traction rod is connected with the movable chassis and the movable frame; the support is arranged on the movable chassis, the number of the supports is at least one, a support base is arranged on the support, and limit stops are arranged at two ends of the support base; and the supporting sliding seat is arranged on the supporting base in a sliding manner and is used for supporting the missile.

The embodiment of the utility model provides a hang bullet car and fortune hang integrative bullet equipment of hanging has following advantage:

the lifting device is hinged with the movable frame and the bullet supporting platform, the lifting device is realized through the rotating motion of the group of hinged four-bar parallel mechanisms, the lifting height adjusting range of the whole lifting device is 700mm at the lowest height and 2300mm at the highest height, and a hanging object at a low hanging point (such as under the belly) can be hung and unloaded, so that the application range of the equipment is expanded.

The support bullet platform is divided into an upper layer and a lower layer of adjusting device and a support bullet assembly, the adjusting device and the support bullet assembly are mutually independent, the adjustment of multiple degrees of freedom can be realized through mutual matching, and the bullet hanging precision and efficiency can be improved when the bullet is hung.

The missile transporting assembly and the missile hanging vehicle are detachably connected, and when the missile is taken and placed from the missile transporting vehicle, the movement assembly does not structurally interfere or is blocked by the missile hanging vehicle, so that the requirements on positions of an aircraft landing gear, an antenna and the like are reduced.

The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the present invention is given.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. Wherein:

fig. 1 shows a schematic structural diagram of a missile hanging vehicle according to an embodiment of the present invention;

fig. 2 shows a schematic structural diagram of a moving frame provided by an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a lifting device according to an embodiment of the present invention;

fig. 4 shows a schematic view of a linkage mechanism of a lifting device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an adjusting device provided by an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an X-axis moving module according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a Z-axis moving module according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a Y-axis motion module according to an embodiment of the present invention;

fig. 9 shows a schematic structural diagram of a missile supporting platform and a missile provided by an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a feeding module according to an embodiment of the present invention;

fig. 11 shows a schematic structural diagram of a jaw module provided by an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a bullet holding assembly provided by an embodiment of the present invention;

fig. 13 shows a schematic structural diagram of a projectile transporting assembly according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 13 is:

100 missile hooking vehicle, 110 moving vehicle frame, 111 walking device, 120 lifting device, 121 hydraulic driving part, 1211 telescopic rod, 122 first supporting arm, 123 second supporting arm, 130 missile supporting platform, 131 bearing platform, 1311 first positioning hole, 1312 clamping groove, 1313 pin hole, 140 adjusting device, 141X-axis moving module, 1411X-axis platform, 1412 connecting arm, 413X-axis driving part, 1414X-axis sliding rail, 1415X-axis sliding block, 142Z-axis moving module, 1421Z-axis platform, 1422Z-axis driving part, 1423Z-axis sliding rail, 1424Z-axis sliding block, 143Y-axis moving module, 1431Y-axis platform, 1432 rotating mechanism, 1433 inner ring, 1434 outer ring, 1435 hydraulic spring, 150 missile component, 160 feeding module, 161 supporting platform, 1611 sliding groove, 162 feeding platform, 1621 fourth positioning hole, 170 clamping module, 171 fixing seat, 172, 173 arc sliding groove, 174, supporting seat, 1741 flexible piece, 175 briquetting mechanism, 176 connecting rod, 210 missile carrying assembly, 211 movable chassis, 212 traction rod, 213 support, 214 support base, 215 support sliding base, 216 limit stop and 300 missile.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the following detailed description of the invention.

A missile hooking vehicle 100 and a missile hooking integrated device provided according to some embodiments of the present invention are described below with reference to fig. 1 to 13. The missile hanging vehicle 100 is used for transporting and hanging an integrated missile hanging device, the transporting and hanging integrated missile hanging device further comprises a missile transporting assembly 210, in a normal condition, a missile 300 is placed on the missile transporting assembly 210, the missile 300 is transported to a launching place through the transporting and hanging integrated missile hanging device, a crane or a worker hoists the missile 300 to the missile hanging vehicle 100 from the missile transporting assembly 210, and the missile hanging vehicle 100 hangs the missile 300 on an aircraft launcher.

As shown in fig. 1, fig. 2, fig. 3 and fig. 4, an embodiment of the first aspect of the present invention provides a missile hooking vehicle 100, including: a moving carriage 110, a lifting device 120 and a support and ejection platform 130. The lifting device 120 includes: the hydraulic driving part 121 is arranged on the moving frame 110, the two first supporting arms 122 are connected, the two second supporting arms 123 are distributed on two sides of the two first supporting arms 122, one end of any one first supporting arm 122 and one end of any one second supporting arm 123 are hinged with the moving frame 110, and the other end of any one first supporting arm 122 and the other end of any one second supporting arm 123 are hinged with the bullet supporting platform 130; the adjacent first support arm 122, the second support arm 123, the supporting and bouncing platform 130 and the moving frame 110 form a four-bar parallel mechanism, a telescopic rod 1211 of the hydraulic driving part is connected with the first support arm 122, the telescopic rod 1211 can drive the supporting and bouncing platform 130 to move along a second direction by moving along a first direction, the first direction is perpendicular to the second direction, the first direction can be a horizontal direction, and the second direction can be a vertical direction.

The lifting device 120 is realized by the rotation of a set of hinged four-bar parallel mechanism, and the diagram of the four-bar parallel mechanism of the lifting device 120 is shown in fig. 4. The whole four-bar mechanism mainly comprises a moving frame 110, an ammunition supporting platform 130, a first supporting arm 122 and a second supporting arm 123, wherein the moving frame 110, the ammunition supporting platform 130, the first supporting arm 122 and the second supporting arm 123 are connected through movable hinges, if one ends of the first supporting arm 122 and the second supporting arm 123 are hinged to the moving frame 110 through hinge seats, and the other ends of the first supporting arm 122 and the second supporting arm 123 are hinged to the ammunition supporting platform 130 through a hinge. The power unit is an expansion link 1211 of the hydraulic driving unit 121, the expansion link 1211 is capable of horizontally reciprocating, that is, the first direction is a direction in a horizontal plane, for example, an X-axis direction, the expansion link 1211 of the hydraulic driving unit 121 is connected to the first support arm 122, that is, the first support arm 122 is a driving rod, and the second support arm 123 is a driven rod. Thus, the telescopic rod 1211 moves in a horizontal direction to drive the first support arm 122 to rotate around its hinge seat, and further drive the second support arm 123 to rotate synchronously; meanwhile, the hinge points at the two ends of the first support arm 122, the hinge points at the two ends of the second support arm 123, and the first support arm 122 and the second support arm 123 form a parallelogram, so that the short-edge rod between the first support arm 122 and the second support arm 123 can be kept horizontally parallel to the ground in the lifting process, and because the tops of the first support arm 122 and the second support arm 123 are connected with the supporting and ejecting platform 130 through hinges, the whole lifting device 120 can drive the supporting and ejecting platform 130 to realize the lifting parallel to the ground.

Based on the principle of the four-bar parallel mechanism, two sets of mechanisms are symmetrically arranged on the left and right to realize the action of the lifting device 120, that is, the two first support arms 122 and the two second support arms 123 are respectively hinged with the moving frame 110 and the bullet supporting platform 130, the two first support arms 122 are connected with the telescopic rod 1211 of the hydraulic driving part 121, the two first support arms 122 serve as driving rods, the two second support arms 123 serve as driven rods, so that the telescopic rod 1211 can horizontally move to drive the second support arms 123 to rotate to realize the horizontal movement of the bullet supporting platform 130.

The embodiment of the utility model provides a hang bullet car 100, the telescopic link 1211 through hydraulic drive portion removes along the horizontal direction, can drive and constitute four-bar parallel mechanism by first support arm 122, second support arm 123, support bullet platform 130, moving frame 110 and carry out rotary motion, and then can drive through two four-bar parallel mechanism and support bullet platform 130 and remove along vertical direction. Because the four-bar parallel mechanism can save space and realize the lifting of a large stroke, the hanging and mounting requirements of the missile 300 when the hanging point of the airplane is lower (such as the belly) can be further met, compared with the lifting device 120 of the parallel scissor fork mechanism in the related technology, the four-bar parallel mechanism has a wide application range, meanwhile, the four-bar parallel mechanism has a simple structure and is convenient to maintain, the operation position of the lifting device 120 is less limited by the positions of the airplane landing gear, an antenna and the like, and the application range of the missile hanging vehicle 100 is further expanded.

Furthermore, the telescopic rod 1211 of the hydraulic driving part 121 drives the lifting device 120 to work, so that the lifting device 120 can be ensured to have a slow descending function when the equipment is powered off, accidents caused by quick descending are avoided, and the use safety of the missile hooking vehicle 100 is improved.

Specifically, by reasonably setting the working parameters and the structural parameters of the liquid driving part, the first supporting arm 122 and the second supporting arm 123, the adjustment range of the lifting height of the whole lifting device 120 can be 700mm at the lowest height and 2300mm at the highest height, the lifting speed of the lifting device 120 is 2mm/s to 5mm/s at the slow gear, 100 +/-10 mm/s at the fast gear, and the descending speed is about 15 mm/s.

Further, as shown in fig. 2, the moving frame 110 includes a traveling device 111, the traveling device 111 is implemented by a four-wheel electric vehicle, and has functions of electric quantity display, low electric quantity alarm and overcharge protection, the battery meets the requirements of relevant standards, and can move forward under the power of the battery, and the moving frame can move flexibly in all directions. The whole mass of the moving vehicle frame 110 is controlled to be about 1000kg, the bearing capacity can be 800kg, and the moving speed of the moving vehicle frame 110 meets the following requirements: the slow gear is not more than 0.15m/s, and the fast gear is not less than 1.5 m/s. Specifically, the power system of the moving carriage 110 uses an electric energy source, and the motor is powered by a power storage battery.

In a specific example, the total length of the moving frame 110 of the missile hooking vehicle 100 is 2940mm, the total width including the wheels is 1100mm, the height of the vehicle body base of the moving frame 110 is 372mm, the height from the ground is 140mm, and one missile is hooked each time.

In some possible embodiments of the present invention, as shown in fig. 1 and 5, the bullet supporting platform 130 includes: the missile launching device comprises an adjusting device 140 and a bearing platform 131, wherein the bearing platform 131 is used for bearing a missile 300, one end of the adjusting device 140 is hinged with one ends, far away from the moving frame 110, of the first supporting arm 122 and the second supporting arm 123, the other end of the adjusting device is connected with the bearing platform 131, the adjusting device 140 can adjust the position and the posture of the bearing platform 131 in multiple degrees of freedom, further the position and the posture of the missile 300 on the bearing platform can be adjusted, the missile 300 can be taken/placed from a missile carrying vehicle in multiple directions and flexibly, and the missile 300 can be hung/placed on the launching device conveniently and quickly.

Specifically, the multiple degrees of freedom may be three degrees of freedom, four degrees of freedom, five degrees of freedom, or six degrees of freedom, and the different structures of the adjusting device 140 may satisfy the requirements for adjusting the positions and postures of the plummer 131 with different degrees of freedom.

Further, as shown in fig. 1 and 5, the adjusting device 140 includes: an X-axis moving module 141, a Z-axis moving module 142, and a Y-axis moving module 143. The X-axis moving module 141 is connected to the first support arm 122, the second support arm 123 and the Z-axis moving module 142, the X-axis moving module 141 can drive the Z-axis moving module 142 to move along the X-axis direction relative to the first support arm 122 and/or the second support arm 123, the Y-axis moving module 143 is disposed on the Z-axis moving module 142, the Z-axis moving module 142 can drive the Y-axis moving module 143 to move along the Z-axis direction relative to the X-axis moving module 141, the carrier 131 is disposed on the Y-axis moving module 143, and the Y-axis moving module 143 can drive the carrier 131 to rotate along the Y-axis direction relative to the Y-axis moving module 143. The directions of the X-axis, the Y-axis, and the Z-axis are indicated by arrows in fig. 1, 5, 6, and 7 to 8.

That is to say, the embodiment of the present invention provides an adjusting device 140, which is capable of adjusting the position and the posture of the plummer 131 along the movement of the X-axis direction, the movement of the Z-axis direction, and the rotation of the Y-axis direction by mutually matching the X-axis moving module 141, the Z-axis moving module 142, and the Y-axis moving module 143. Meanwhile, the lifting device 120 is matched with the bearing platform 131 to move along the Y-axis direction, so that the missile 300 can be taken and placed from the missile carrier in a multi-direction and flexible manner, and the missile can be hung or unloaded on the launching device conveniently and quickly.

Further, the X-axis direction may be one direction in a horizontal plane, specifically, the axial direction of the missile 300 placed on the bearing table 131 is parallel to the X-axis direction, the Z-axis direction may be another direction in the horizontal plane, specifically, the lateral direction of the missile 300 placed on the bearing table 131 is parallel to the Z-axis direction, and the Y-axis direction may be a vertical direction. The extension and contraction direction of the telescopic rod 1211 of the hydraulic driving part 121 of the elevating device 120 may be parallel to the X-axis direction, and the elevating device 120 may perform an elevating motion along the Y-axis direction.

In the above embodiment, as shown in fig. 6, the X-axis moving module 141 includes: the X-axis drive unit includes an X-axis table 1411, a connecting arm 1412, an X-axis drive unit 1413, an X-direction slide 1414, and an X-direction slider 1415 slidably disposed in the X-direction slide 1414. The connecting arm 1412, the X-axis driving unit 1413, and the X-direction slide rail 1414 are disposed on the X-axis platform 1411, and the connecting arm 1412 is hinged to the first supporting arm 122 and the second supporting arm 123, so as to hinge the adjusting device 140 to the lifting device 120. The X-axis drive unit 1413 is connected to the X-direction slider 1415 and drives the X-direction slider 1415 to move along the X-direction slide rail 1414.

As shown in fig. 7, the Z-axis moving module 142 includes: the Z-axis platform 1421, the two Z-axis driving portions 1422, the two Z-direction sliding rails 1423, and the two Z-direction sliders 1424 correspondingly and slidably disposed in the two Z-direction sliding rails 1423, the two Z-direction sliding rails 1423 are located on two sides of the Z-axis platform 1421 and slidably disposed in the X-direction sliding rail 1414, and one Z-direction sliding rail 1423 is connected to the X-direction slider 1415 to connect the Z-axis moving module 142 and the X-axis moving module 141. Two Z-axis driving parts 1422 are respectively disposed on two sides of the Z-axis platform 1421, the two Z-axis driving parts 1422 are respectively connected to two Z-direction sliders 1424 to drive the Z-direction sliders 1424 to move along the Z-direction slide rail 1423,

as shown in fig. 8, the Y-axis motion module 143 includes: the bearing table 131 is connected with the Y-axis platform 1431, for example, the bearing table 131 is connected with the Y-axis platform 1431 through a bolt and a hinge, the rotation mechanism 1432 includes an inner ring 1433 and an outer ring 1434 which rotate mutually along the Y-axis, the outer ring 1434 is arranged on the Z-axis platform 1421, the inner ring 1433 is arranged on the Y-axis platform 1431, for example, the outer ring 1434 is fixed on the Z-axis platform 1421 through a bolt, and the inner ring 1433 is fixed on the Y-axis platform 1431 through a bolt.

Thus, rotation of rotation mechanism 1432, i.e., rotation of inner race 1433 relative to outer race 1434, causes stage 131 to move in synchronization with Y-axis stage 1431 and rotate in the Y-axis direction relative to Z-axis stage 1421. Because the two Z-direction sliding rails 1423 are slidably disposed in the X-direction sliding rail 1414, the two Z-direction sliding rails 1423 can drive the Z-axis platform 1421 to move along the X-direction sliding rail 1414, and because one Z-direction sliding rail 1423 is connected to the X-direction slider 1415, when the X-direction slider 1415 is driven by the X-axis driving unit 1413 to move along the X-direction sliding rail 1414, the Z-axis platform 1421 can be driven to move along the X-direction sliding rail 1414. Meanwhile, under the driving of the Z-axis driving part 1422, the Z-direction slider 1424 can move along the Z-direction slide rail 1423 along the Z-direction, so that the Z-axis platform 1421 moves along the Z-direction relative to the X-axis platform 1411, so as to drive the Y-axis platform and the carrying platform to move synchronously. In summary, the adjustment device 140 can move the carrier 131 along the X-axis, move the carrier 131 along the Z-axis, and rotate the carrier 131 along the Y-axis to adjust the position and posture of the carrier 131.

Specifically, the X-axis driving unit 1413 can drive the X-direction slider 1415 to reciprocate 100mm in the X-direction slide rail 1414, and thus can adjust the stage 131 within ± 100mm in the X-direction. The Z-axis driving unit 1422 can drive the Z-direction slider 1424 to reciprocate 50mm within the Z-direction rail 1423, and thus, the stage 131 can be adjusted within ± 50mm in the Z-direction. The rotating mechanism 1432 can realize relative rotation of more than or equal to +/-90 degrees, and further can realize adjustment of rotation of the bearing plain along the Y axis of more than or equal to +/-90 degrees.

Furthermore, the X-axis driving part 1413 and the Z-axis driving part 1422 are both hydraulic driving mechanisms, the power of the rotating mechanism 1432 is also hydraulic driving mechanisms, and the hydraulic driving mechanisms have a certain buffering function, so that when the device is powered off, the adjusting device 140 can have a slow moving function, an accident caused by fast moving is avoided, and the safety of using the device is improved.

In the above embodiment, as shown in fig. 8, the Y-axis motion module 143 may further include two hydraulic springs 1435, and the bearing platform 131 is hinged on a side of the Y-axis platform 1431 away from the Z-axis platform 1421, that is, the bearing platform 131 is hinged with the Y-axis platform 1431, and the two are relatively swingable along a hinge point in the Y-axis direction, that is, the bearing platform 131 can be tilted and swung with respect to the Y-axis platform 1431. The two hydraulic springs 1435 are distributed on two sides of the rotating mechanism 1432, wherein one end of any one hydraulic spring 1435 is hinged to the Y-axis platform 1431, and the other end is hinged to the bearing platform 131, that is, the two hydraulic springs 1435 are used for supporting the bearing platform 131, so that the bearing platform 131 can be adjusted within a certain range at the hinged point of the bearing platform 131 and the Y-axis platform 1431, for example, the bearing platform 131 can be adjusted within +/-3 degrees, +/-5 degrees and +/-8 degrees along a central hinged point, so as to meet the requirement of multi-directional adjustment of the missile 300 on the bearing platform 131, and accurate and flexible missile hanging/unloading on/from a launching device is facilitated.

In the above embodiment, the Y-axis moving module 143 may further include an elastic restoring component, which is disposed on at least one of the Y-axis platform 1431 and the Z-axis platform 1421, and is used for limiting when the inner ring 1433 rotates to a preset angle relative to the outer ring 1434, where the preset angle includes 0 °, ± 90 °, or other angles meeting requirements. Specifically, the elastic reset component may be a spring ball, the spring ball is disposed between the Y-axis platform 1431 and the Z-axis platform 1421 in a compressed manner, and a position-limiting hole is disposed at a suitable position on the Y-axis platform 1431, when the inner ring 1433 rotates to a preset angle relative to the outer ring 1434, for example, when the inner ring 1433 rotates to 0 °, ± 90 °, or other preset angles meeting requirements, the spring ball is located in the position-limiting hole, so as to limit the rotation of the inner ring 1433 relative to the outer ring 1434, and limit the rotation of the Y-axis platform 1431 relative to the Z-axis. When the rotating mechanism 1432 continues to be driven, for example, when the rotating mechanism 1432 rotates reversely, the top ball can be separated from the limiting hole to ensure that the rotating mechanism 1432 rotates normally. It will be appreciated that the resilient return assembly may be of other configurations as desired. The different configurations of the elastic return assembly allow the elastic return assembly to be connected to only the Y-axis platform 1431 or the Z-axis platform 1421, or the elastic return assembly can be connected to both the Y-axis platform 1431 and the Z-axis platform 1421.

In the above embodiment, the Y-axis motion module 143 may further include a clutch disposed between the inner ring 1433 and the outer ring 1434, and when the clutch is set to the engaged state, the inner ring 1433 and the outer ring 1434 are configured to rotate within a first range, such as the inner ring 1433 and the outer ring 1434 can rotate around ± 90 ° to adjust the position and the posture of the carrier table 131 within a wide range. When the clutch is set to the disengaged state, the inner ring 1433 and the outer ring 1434 are configured to rotate within a second range, the first range is larger than the second range, for example, the inner ring 1433 and the outer ring 1434 can realize a rotation of ± 5 ° to adjust the position and posture of the carrier table 131 within a small range. It will be appreciated that the first and second ranges may also be other ranges as desired, e.g., the first range may be 80, 60, etc., and the second range may be 3, 8, etc. The arrangement of the clutch can realize coarse adjustment in a large range and fine adjustment in a small range on the rotation of the bearing table 131, and is favorable for accurately, flexibly and quickly hanging/unloading the bullets on/from the launching device. In some possible embodiments provided by the present invention, as shown in fig. 5, the two sides of the center line of the bearing table 131 along the X-axis direction are provided with a plurality of first positioning holes 1311, so that the guided missile 300 with a suitable size can be directly placed on the bearing table 131, and the fixing members such as bolts are used to pass through the first positioning holes 1311 on the two sides, so as to limit the guided missile 300, and directly support the guided missile 300 by using the bearing table 131. Specifically, if the bearing platform 131 is provided with eight first positioning holes 1311 along two sides of the center line of the X-axis, the platform can be used for mounting the short and fat missile 300.

In other possible embodiments provided by the present invention, as shown in fig. 1, fig. 9 and fig. 12, the ammunition supporting platform 130 further includes: the missile supporting component 150 is detachably connected with the bearing table 131, and the missile 300 is supported and installed by the missile supporting component 150.

The missile supporting component 150 is detachably connected with the bearing table 131, the missile supporting component 150 with a proper size can be selectively installed according to the size of the missile 300, if the size of the missile 300 can be matched with the plurality of first positioning holes 1311 on the bearing table 131, the bearing table 131 can be directly used for supporting the missile 300, and in this case, the missile supporting component 150 does not need to be installed, so that the structure of equipment is simplified. When the size of the missile 300 is not matched with the plurality of first positioning holes 1311 on the bearing table 131, that is, the missile 300 cannot be fixed by using the bearing table 131, the missile supporting assembly 150 may be installed on the bearing table 131, so as to support the missile 300 of the size. It will be appreciated that different sizes of missile 300 can be selected to mount different sizes of missile support assemblies 150 on the bearing platform 131, so as to achieve loading of missile 300 of the size, which is beneficial to further improve reliability and stability of loading.

Wherein, holding in the palm bullet subassembly 150 and bearing platform 131 can dismantle and be connected, can dismantle the maintenance and trade the piece with holding in the palm bullet subassembly 150 from bearing platform 131, be convenient for maintain and trade the piece.

Further, as shown in fig. 12, the missile supporting component 150 includes a feeding module 160 and a claw module 170 which are detachably connected, the feeding module 160 is detachably connected with the bearing table 131, the feeding module 160 can move in a telescopic manner along the Z-axis direction, and the claw module 170 is used for contacting with the missile 300 to clamp and support the missile 300, because the feeding module 160 can drive the claw module 170 to move in a telescopic manner along the Z-axis direction, the claw module 170 can be finely adjusted along the Z-axis direction, so as to further adjust the multi-directional posture of the missile 300, and the accurate, flexible and rapid missile hanging/unloading on the launching device is facilitated.

In the above embodiment, as shown in fig. 10, the feeding module 160 includes: support platform 161 and feeding platform 162, wherein, support platform 161 can dismantle with plummer 131 and be connected to realize holding in palm the removable connection of bullet subassembly with plummer 131. Both ends of supporting platform 161 are provided with spout 1611 along the Z axle direction, and the both ends of feeding platform 162 are passed through the gyro wheel and are connected with spout 1611, and then make feeding platform 162 can stretch out and retract for supporting platform 161, and feeding platform 162 has fold condition and expansion state for supporting platform 161 promptly to satisfy the demand of the different stations of loading and shell removal, and then realize tearing open the shell fast and the shell loading.

Specifically, sliding grooves 1611 are formed in two sides of the supporting platform 161, four rollers are mounted at two ends of the feeding platform 162 respectively, when ammunition is taken, the ammunition supporting platform 130 is moved to a position near the missile 300 through the ammunition hanging vehicle 100, the feeding platform 162 is manually pushed to be located at an unfolding position relative to the supporting platform 161, and at the moment, the claw module 170 located on the feeding platform 162 reaches a position under the missile 300, so that the ammunition is conveniently and quickly taken. When missile 300 is installed in jack module 170, feed platform 162 may be manually pushed to position feed platform 162 in a folded position relative to support platform 161 to facilitate loading missile 300 on missile loader 100.

Further, a limiting structure is arranged between the supporting platform 161 and the bearing platform 131, and the limiting structure can limit the relative movement of the supporting platform 161 and the bearing platform 131. Wherein, limit structure includes at least one in tenon fourth of twelve earthly branches mechanism, spacing hole, spacer pin, and limit structure's different forms can carry out spacingly to the motion of supporting platform 161 and plummer 131 equidirectional.

Specifically, as shown in fig. 5 and 10, the front end of the bearing table 131 has a notch 1312, and is connected with the supporting platform 161 above by using the mortise-tenon principle, so that the movement of the supporting platform 161 in the up-down left-right direction can be limited, the rear end of the bearing table 131 has two pin holes 1313, and a pin is inserted into the pin hole 1313, so that the movement of the supporting platform 161 relative to the bearing table 131 in the front-back direction can be limited, when the upper layer bullet supporting assembly 150 needs to be replaced, the supporting platform 161 and the bearing table 131 can be quickly separated only by pulling out the rear end pin, so that the separation of the bullet supporting assembly and the bearing table 131 is realized, and the operation is convenient.

Further, limiting protrusions are arranged above two ends of the feeding platform 162, limiting blocks are arranged at two ends of the inner side of the sliding groove 1611, and the limiting blocks and the limiting protrusions are matched to limit the movement of the feeding platform 162 relative to the supporting platform 161, so that the feeding platform 162 can move within a limited range, and the feeding platform 162 is prevented from being separated from the supporting platform 161.

Further, a fourth positioning hole is formed in the feeding platform 162, the supporting platform 161 is provided with a plurality of third positioning holes matched with the fourth positioning hole, and when the feeding platform 162 needs to be fixed, the fixing member penetrates through the fourth positioning hole and the third positioning hole, so that the movement of the feeding platform 162 relative to the supporting platform 161 can be limited, and the feeding platform 162 is fixed. Specifically, a row of third positioning holes is disposed in the middle of the supporting platform 161, a row of fourth positioning holes is disposed in the middle of the feeding platform 162, and when the feeding platform 162 needs to be fixed, a pin can be inserted into the fourth positioning holes and the third positioning holes to fix the feeding platform 162.

In the above embodiment, as shown in fig. 11, the jaw module 170 includes: a fixed seat 171, a fixed plate 172, an arc chute 173 and a supporting seat 174. Wherein, two fixing bases 171 set up relatively along the X axle direction, and feeding platform 162 is provided with a plurality of second locating holes 1621 along the X axle direction, and two fixing bases 171 are connected with feeding platform 162 through second locating hole 1621 respectively. Two fixed plates 172 are respectively arranged at one end of each other, which is far away from the two fixed seats 171, two arc chutes 173 are respectively connected with the two fixed plates 172, any arc chute 173 can slide in an appointed range relative to the fixed plates 172, the supporting seat 174 is arranged in the arc chute 173 and is close to the fixed seat 171, so as to support the guided missile 300.

The fourth positioning hole and the second positioning hole 1621 may be the same hole or different holes. The two fixing seats 171 are connected with different second positioning holes, so that the function of adjusting the distance between the jaw modules 170 can be realized. Specifically, fixing base 171 can be T type fixing base, and it has one row of screw hole to feed on the platform 162, is provided with the counter sink on the T type fixing base, reaches the effect of adjusting the jack catch module 170 interval through fixed T type fixing base on different screw holes. Specifically, the fixing seat 171 is connected with different second positioning holes 1621, so that the distance between the jaw modules 170 can be adjusted within 1200 ± 100 mm.

The arc-shaped sliding groove 173 can roll around the fixed plate 172 within a specified range, wherein the specified range can be angles meeting requirements such as more than or equal to +/-5 degrees and more than or equal to +/-3 degrees, and then the supporting seat 174 on the arc-shaped fixing groove can be driven to roll synchronously, so that the effect of rolling and adjusting the missile 300 is achieved.

As shown in fig. 11, a flexible member 1741 is disposed at an end of the support seat 174 away from the arc-shaped chute 173, and the missile 300 is directly supported by the flexible member 1741, so that the missile 300 can be protected by buffering.

As shown in fig. 11, the jaw module 170 further includes a pressing block mechanism 175, and the pressing block mechanism 175 is rotatably disposed on the arc-shaped sliding slot 173 to achieve auxiliary fixing of the missile 300. Specifically, the pressing block mechanism 175 may be arranged on the arc-shaped sliding groove 173 through a pin shaft in a swinging manner, and the pressing block mechanism 175 is fixed after being swung to a proper position to press the missile 300, so as to play a role in assisting in fixing the missile 300. Further, the briquetting mechanism 175 includes a flexible abutting portion, which is used for directly contacting the missile 300, and can play a role in shock absorption and protection.

Further, as shown in fig. 11, the jaw module 170 further includes a connecting rod 176, the connecting rod 176 connects the two arc-shaped sliding grooves 173 and is located below the supporting seat 174, and a bandage can be bound on the connecting rod 176 for fixing the missile 300, so as to further improve the reliability and stability of the fixing of the missile 300. Specifically, the number of links 176 may be one, two, three or other numbers that may be desirable.

As shown in fig. 1, fig. 9 and fig. 12, the embodiment of the present invention provides a supporting missile platform 130, which can be reliably locked at 0 °, ± 90 ° under the action of the adjusting device 140, and meanwhile, has flexible adjusting capability of multiple degrees of freedom, and can perform lifting/lowering operation in a rotation range, reliably clamp the missile 300, and contact the missile 300 with an elastic medium. Wherein, the adjusting device 140 and the bearing platform 131 are necessary, the upper layer of the missile support component is selectively used, and if the missile is a thicker missile 300, the missile support component is not needed; if the missile 300 is thin, the missile supporting assembly and the adjusting module are required to be combined for use.

As shown in fig. 13, an embodiment of the second aspect of the present invention provides a bullet hanging device with integrated transporting and hanging, including: a projectile transport assembly 210; and the ammunition carrier 100 of any of the first aspect, the ammunition transport assembly 210 is detachably connected with the ammunition carrier 100. Since the integrated bullet hanging and transporting device includes the bullet hanging vehicle 100 of any one of the first aspects, all the beneficial technical effects of the bullet hanging vehicle 100 are achieved, and are not described in detail herein.

The missile transporting assembly 210 is detachably connected with the missile hanging vehicle 100, so that the missile transporting assembly 210 can be selectively connected with the missile hanging vehicle 100, for example, the missile transporting assembly 210 is connected with the missile hanging vehicle 100 in the missile transporting process to realize the transportation of the missile 300, and when the missile hanging vehicle takes and places the missile 300, the conditions of structural interference or motion obstruction and the like with the missile hanging vehicle 100 can be avoided, for example, the missile transporting assembly 210 can be separated from the missile hanging vehicle 100.

In the above embodiment, as shown in fig. 13, the projectile assembly 210 includes a movable chassis 211, a drawbar 212, a bracket 213, a support base 214, and a support slide 215. The movable chassis 211 is provided with a traveling wheel, and the traction rod 212 is connected with the movable chassis 211 and the movable frame 110, so that the bullet transporting assembly 210 can be driven to move through the bullet hanging vehicle 100. The draw bar 212 is detachably connected with the movable chassis 211, which is beneficial to reducing the storage space of the projectile transporting assembly 210.

Wherein, the bracket 213 is arranged on the movable chassis 211, the bracket 213 is provided with a supporting base 214, the supporting slide 215 is slidably arranged on the supporting base 214, and the supporting slide 215 is used for supporting the missile 300. A plurality of support slides 215 may be disposed on the support base 214 to provide support for a plurality of missiles 300. The number of the supports 213 may be at least one, that is, one support 213, two supports 213, three supports 213, or multiple supports 213 may be disposed on the moving chassis, where the number of layers of each support 213 may be at least one, for example, the support 213 may be a single layer, a double layer, or multiple layers, so as to meet the requirement of transporting different numbers of missiles 300 at a time.

Further, each support 213 is provided with a support base 214 and a support slide 215, and the support slide 215 is slidable relative to the support base 214, so that the position of the support base 214 can be adjusted to adjust the position of the missile 300, and at the same time, the distance between two adjacent support bases 214 can be adjusted. Specifically, a slide rail along which the support slider 215 can move is provided above the support base 214. By providing the limit stoppers 216 at both ends of the support base 214, the moving range of the support slider 215 can be limited, and the support slider 215 can be prevented from being detached from the support base 214.

Specifically, as shown in fig. 13, the missile carrying assembly 210 is towed by the missile hooking vehicle 100 and can be towed by 5 persons at a short distance, the missile carrying assembly 210 can transport 8 missiles 300 at a time, and has an upper layer and a lower layer, the lower layer can be used for holding 4 missiles 300, and the upper layer can be used for holding 4 missiles 300. The missile diameter of the lower layer missile 300 and the missile diameter of the upper layer missile 300 can be the same or different, the missile diameter of the lower layer missile 300 is 203mm, the missile diameter of the upper layer missile 300 is 160mm, the total mass of the motion assembly is about 800kg, the total length of the traction rod 212 is 4900mm, the total width is 2047mm, the total height of the motion assembly is 826mm, and the ground clearance of the moving chassis is 493 mm.

The missile carrying assembly 210 is mechanically pulled to walk by the missile hooking vehicle 100 without hoisting equipment and can be matched with the missile hooking vehicle 100 to take and release missiles, the missiles 300 are supported and fixed by the supporting sliding seat 215, the supporting sliding seat 215 can move along the supporting base 214 to adjust the distance, and meanwhile, the spacing is limited by limit stops 216 at two ends of the supporting base 214 to prevent slipping. Meanwhile, when the ammunition is taken from or put on the ammunition carrier, the movement assembly can ensure that structural interference or movement blockage cannot occur with the ammunition carrier 100, and the requirements on positions of an aircraft landing gear, an antenna and the like are reduced.

The embodiment of the utility model provides a fortune is hung integration and is hung bullet equipment has following advantage:

the lifting device 120 is hinged with the movable frame 110 and the bullet supporting platform 130, the lifting device 120 is realized through the rotating motion of a group of hinged four-bar parallel mechanisms, the lifting height adjusting range of the whole lifting device 120 is 700mm at the lowest height and 2300mm at the highest height, and a hanging object at a low hanging point (such as under the belly) can be hung and unloaded, so that the using range of the equipment is expanded.

The bullet supporting platform 130 is divided into an upper layer and a lower layer of adjusting devices 140 and bullet supporting assemblies, the adjusting devices 140 and the bullet supporting assemblies are mutually independent and can be matched with each other to realize adjustment of multiple degrees of freedom, and bullet hanging precision and efficiency can be improved when a bullet is hung.

The missile transporting assembly 210 is detachably connected with the missile hooking vehicle 100, so that when the missile 300 is taken and placed from the missile hooking vehicle, the movement assembly does not structurally interfere or is blocked from the missile hooking vehicle 100, and the requirements on positions of an aircraft landing gear, an antenna and the like are reduced.

The workload of the airplane missile hanging operation accounts for eighty percent of the whole ground guarantee operation, and accounts for more than sixty percent of personnel. Utilize the embodiment of the utility model provides a bullet hanging vehicle 100 is owing to taken new gesture to adjust the structure, the part quantity that has significantly reduced, and not only manufacturing process has simplified many, and the performance is also showing and is improving, has created considerable military economic benefits in the aspect of improving aircraft ground guarantee operating efficiency.

The embodiment of the utility model provides a fortune is hung integration and is hung bullet equipment, it can take the bullet to go up, fall, actions such as longitudinal movement, lateral shifting, gyration, every single move, roll to hang bullet car 100, is sent to linkage with various ammunitions, then pinpoints and accomplish and hang. The missile hanging vehicle 100 can conveniently finish the missile transporting, missile taking/releasing and missile hanging/unloading work on a loader by 3 persons, is suitable for the product length of 3000mm to 4100mm, can meet the use requirements of various missile diameters, and has the advantages of simple structure, flexibility, reliability, convenient use and good maintainability.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the present disclosure, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A missile hooking vehicle is characterized by comprising:

the device comprises a movable frame, a lifting device and a bullet supporting platform;

the lifting device comprises: the hydraulic driving part is arranged on the moving frame, the two first supporting arms are connected, the two second supporting arms are distributed on two sides of the two first supporting arms, one end of any one first supporting arm and one end of any one second supporting arm are hinged with the moving frame, and the other end of any one first supporting arm and the other end of any one second supporting arm are hinged with the bullet supporting platform;

wherein, adjacent first support arm, the second support arm with hold in the palm and play the platform remove the frame and constitute four-bar parallel mechanism, the telescopic link of hydraulic drive portion with first support arm is connected, the telescopic link can drive along the first direction motion the support plays the platform and moves along the second direction, first direction with the second direction is perpendicular.

2. The ammunition hanging vehicle of claim 1, wherein the ammunition supporting platform comprises:

the adjusting device is hinged to one end, far away from the moving frame, of the first supporting arm and one end, far away from the moving frame, of the second supporting arm, the other end of the adjusting device is connected with the bearing table, and the adjusting device can adjust the position and the posture of the bearing table in multiple degrees of freedom.

3. The ammunition carrier of claim 2, wherein the adjustment device comprises:

the X-axis moving module, the Z-axis moving module and the Y-axis moving module;

the X-axis moving module is connected with the first supporting arm, the second supporting arm and the Z-axis moving module, and can drive the Z-axis moving module to move along the X-axis direction relative to the first supporting arm and/or the second supporting arm;

the Y-axis movement module is arranged on the Z-axis movement module, and the Z-axis movement module can drive the Y-axis movement module to move along the Z-axis direction relative to the X-axis movement module;

the bearing platform is arranged on the Y-axis movement module, and the Y-axis movement module can drive the bearing platform to rotate along the Y-axis direction relative to the Y-axis movement module.

4. The ammunition hanging vehicle of claim 3,

the X-axis moving module comprises: the X-axis platform, the connecting arm, the X-axis driving part and the X-direction slide rail are arranged on the X-axis platform, the connecting arm is hinged with the first supporting arm and the second supporting arm, and the X-axis driving part is connected with the X-direction slide block and used for driving the X-direction slide block to move along the X-direction slide rail;

the Z-axis moving module comprises: the Z-axis sliding device comprises a Z-axis platform, two Z-axis driving parts, two Z-axis sliding rails and two Z-axis sliders arranged in the two Z-axis sliding rails in a corresponding sliding manner, wherein the two Z-axis sliding rails are positioned on two sides of the Z-axis platform and are arranged in the X-axis sliding rails in a sliding manner, one Z-axis sliding rail is connected with the X-axis slider, and the two Z-axis driving parts are arranged on the Z-axis platform and are respectively connected with the two Z-axis sliders so as to drive the Z-axis sliders to move along the Z-axis sliding rails;

the Y-axis motion module comprises: the bearing platform is connected with the Y-axis platform, the rotating mechanism comprises an inner ring and an outer ring which rotate mutually along the Y axis, the outer ring is arranged on the Z-axis platform, and the inner ring is arranged on the Y-axis platform.

5. The missile hooking vehicle of claim 4, wherein the Y-axis motion module further comprises:

the bearing platform is hinged to one side, far away from the Z-axis platform, of the Y-axis platform, and the two hydraulic springs are distributed on two sides of the rotating mechanism, wherein one end of any one hydraulic spring is hinged to the Y-axis platform, and the other end of the hydraulic spring is hinged to the bearing platform;

and the elastic resetting component is arranged on at least one of the Y-axis platform and the Z-axis platform and is used for limiting when the inner ring rotates to a preset angle relative to the outer ring.

6. The ammunition hanging vehicle of claim 3,

a plurality of first positioning holes are formed in two sides of the center line of the bearing table in the X-axis direction.

7. The ammunition hanging cart of claim 6, wherein the ammunition supporting platform further comprises:

the support bullet subassembly, support the bullet subassembly with the plummer can be dismantled and be connected.

8. The ammunition hanging vehicle of claim 7,

the missile supporting assembly comprises a feeding module and a clamping jaw module which are detachably connected, the feeding module is detachably connected with the bearing table, and the clamping jaw module is used for being in contact with a missile;

the feed module can drive the jaw module to move in a telescopic mode along the Z-axis direction.

9. The ammunition hanging vehicle of claim 8, wherein the feed module comprises:

the supporting platform is detachably connected with the bearing table, and sliding grooves are formed in two ends of the supporting platform along the Z-axis direction;

the two ends of the feeding platform are connected with the sliding groove through rollers;

a limiting structure is arranged between the supporting platform and the bearing platform and comprises at least one of a mortise and tenon joint mechanism, a limiting hole and a limiting pin;

the top at the both ends of feeding platform is provided with spacing arch, the inboard both ends of spout are provided with the stopper, the stopper with spacing protruding phase adaptation is in order to right feeding platform for supporting platform's motion carries on spacingly.

10. The missile hooking vehicle of claim 9, wherein the jaw module comprises:

the feeding platform is provided with a plurality of second positioning holes along the X-axis direction, and the two fixing seats are respectively connected with the feeding platform through the second positioning holes;

the two fixing plates are respectively arranged at one ends of the two fixing seats far away from each other;

the two arc-shaped sliding chutes are respectively connected with the two fixing plates, and any one of the arc-shaped sliding chutes can slide in a specified range relative to the fixing plate;

the supporting seat is arranged inside the arc-shaped sliding chute and is close to the fixed seat;

the briquetting mechanism is rotationally arranged on the arc-shaped sliding chute;

and the connecting rod is connected with the two arc-shaped sliding grooves and is positioned below the supporting seat.

11. The utility model provides a fortune is hung integration and is hung bullet equipment which characterized in that includes:

a projectile transporting assembly; and

the ammunition carrier of any one of claims 1 to 10, wherein the ammunition transport assembly is removably attached to the ammunition carrier.

12. The apparatus of claim 11, wherein the projectile assembly comprises:

a movable chassis;

the traction rod is connected with the movable chassis and the movable frame;

the support is arranged on the movable chassis, and a supporting base is arranged on the support;

and the supporting sliding seat is arranged on the supporting base in a sliding manner and is used for supporting the missile.

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