CN106288981B - The installation centralising device of rocket rocket body - Google Patents
The installation centralising device of rocket rocket body Download PDFInfo
- Publication number
- CN106288981B CN106288981B CN201610786004.6A CN201610786004A CN106288981B CN 106288981 B CN106288981 B CN 106288981B CN 201610786004 A CN201610786004 A CN 201610786004A CN 106288981 B CN106288981 B CN 106288981B
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- rocket
- hydraulic cylinder
- fixed
- clamp
- ring support
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- 238000009434 installation Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 239000007787 solid Substances 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 10
- 238000003032 molecular docking Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 235000013290 Sagittaria latifolia Nutrition 0.000 description 1
- 235000015246 common arrowhead Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/36—Means for interconnecting rocket-motor and body section; Multi-stage connectors; Disconnecting means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention provides a kind of installation centralising devices of rocket rocket body, including rocket to grip mechanism and rocket fixing end mechanism；The rocket grips mechanism and is disposed adjacent with rocket fixing end mechanism；Wherein, rocket fixing end mechanism includes six-dimensional parallel mechanism, front end rocket centering body, end rocket fixed mechanism；One end of the six-dimensional parallel mechanism and the end rocket fixed mechanism are hinged, and the other end and the front end rocket centering body are hinged.The present invention uses six-dimensional parallel mechanism, realizes rapid positioning and installation when the installation of rocket rocket body, the series of advantages such as six-dimensional parallel mechanism has high rigidity, high speed, bearing capacity is strong, error is small, precision is high, power performance is good, control is easy.
Description
Technical field
The present invention relates to rocket centered assemblings, and in particular, to a kind of installation centralising device of rocket rocket body.
Background technique
With the rapid development of China's aerospace industry, aerospace manufacturing industry has welcome the opportunity period of great-leap-forward development, spacecraft
The important link that general assembly is manufactured as spacecraft decides the production capacity of spacecraft.Nowadays, various spacecrafts emerge one after another.
Docking for Large Spacecraft is also an important topic of current space flight circle research.Spacecraft mass is big, and volume is big.For
The docking problem of such huge monster, scientific research personnel are exploring always more appropriate docking facilities, interconnection method.Docking is system
Important link during making, the working efficiency and work quality of docking have the manufacturing cycle of product and the final mass of product
Very big influence.The merging precision of spacecraft has a great impact to the flying quality of spacecraft, safety coefficient.For as fire
Arrow is seldom overall processing for huge monster as spacecraft.What we understood is more segmentation manufacture, then
Block assembly, last whole assembly.Such docking technique is a kind of very advanced technology, is sufficiently made with this technology
Enterprise including Boeing goes huge advance.For the development of the spacecraft technology of our countries, this
Assembly, docking technique are highly used for reference.
After searching and discovering the prior art application No. is 201410387922.2, entitled rocket rocket body installation is automatic
Positioning centralising device has the disadvantage that the 1, device is unable to adjust the angle of rocket rocket body axis, is only limitted to axis alignment
Situation；2, the rocket bearing frame structure of the device is excessively thin, is easy to appear strength failure；3, rocket be fixed on the device it
Afterwards, not additional fixation device is easy to appear the case where causing sliding to rotate, reduces the efficiency of mounting and adjusting；4, the dress
Setting cannot effectively be assembled in the case where spatial axis dislocation.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of installation centralising devices of rocket rocket body.
The installation centralising device of the rocket rocket body provided according to the present invention, including rocket grips mechanism and rocket is fixed
Terminal structure；
The rocket grips mechanism and is disposed adjacent with rocket fixing end mechanism；
Wherein, rocket fixing end mechanism includes that six-dimensional parallel mechanism, front end rocket centering body, end rocket are fixed
Mechanism；
One end of the six-dimensional parallel mechanism and the end rocket fixed mechanism are hinged, the other end and the front end rocket
Centering body is hinged.
Preferably, it includes first movement trolley, first annular bracket, the first carrier structure that the rocket, which grips mechanism,
And rocket fixed caliper system；
Wherein, the rocket fixed caliper system includes the first lead screw and the first clamp；
First carrier structure is arranged on the first movement trolley；The first annular bracket setting is described the
On one carrier structure；The first movement trolley can be moved along track；
The first clamp are provided on the inside of the first annular bracket；First lead screw drives first clamp.
Preferably, the end rocket fixed mechanism includes the second moving trolley, the second bracket, the second ring support and determines
Position clamp system；
The positioning card forceps system includes the second lead screw and the second clamp；
Second carrier structure is arranged in second moving trolley；Second ring support setting is described the
On two carrier structures；Second moving trolley can be moved along track；
The second clamp are provided on the inside of second ring support；Second lead screw drives second clamp.
Preferably, the front end rocket centering body includes third ring support and fixed caliper system；
The fixed caliper system includes third lead screw and third clamp；Third is provided on the inside of the third ring support
Clamp；The third lead screw drives second clamp.
Preferably, the quantity of the positioning card forceps system is three, and three positioning card forceps systems are separated by 120 °；It is described
The quantity of fixed caliper system is four；Four fixed caliper systems are separated by 90 °.
Preferably, the six-dimensional parallel mechanism include first hydraulic cylinder, it is second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic
Cylinder, the 5th hydraulic cylinder, the 6th hydraulic cylinder, right part flange and left part flange；
Wherein, the first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder and the 6th
The cylinder body bottom end of hydraulic cylinder passes through hinged second ring support of right part flange respectively；
The right part flange is fixed on the second ring support by hexagon socket head cap screw；
The first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder and the 6th are hydraulic
The top of cylinder passes through respectively on the hinged third ring support of moving bar piece, left part flange；
The left part flange passes through on the fixed third ring support of hexagon socket head cap screw.
Preferably, the six-dimensional parallel mechanism is divided into 3 working groups, wherein two hydraulic cylinders of the same working group exist
The angle of projection in column foot plane is equal to 60 °.
Preferably, the first annular bracket is provided with fixing groove；Fixed column is arranged in fixing groove；The fixed column
One end resists on the limit inclined-plane of first carrier structure and connection bottom dustproof cover, the other end are disposed with hexagonal spiral shell
Mother, positioning card, annular adjustment gasket；
Fixed column is fixed for first annular bracket prevents ring support rotation or mobile；Positioning card is for limiting fixation
Column prevents fixed column by falling off in work process；Annular adjustment gasket is used to adjust the height of positioning card, hex nut
There is the fixation of hex nut for positioning card.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, of the invention to use six-dimensional parallel mechanism, rapid positioning and installation when the installation of rocket rocket body are realized, 6 DOF is simultaneously
Online structure has that high rigidity, that high speed, bearing capacity is strong, error is small, precision is high, power performance is good, control is easy etc. is a series of
Advantage；
2, the present invention can be realized the positioning, buffering integrated of rocket to be assembled, greatly reduce manufacturing cost；
3, there are 3 working groups in six-dimensional parallel mechanism of the present invention, and rocket to be assembled may be implemented in 3 working cell cooperatings
Rectifying for rocket overgauge and minus deviation to be assembled may be implemented in the correction of torsional deflection, the hydraulic cylinder in each working cell respectively
Just, while whens each hydraulic cylinder works, can provide biggish torque, and rocket flange to be assembled is enable to be aligned rapidly.It is correcting
When angular deviation, three working cells of six-dimensional parallel mechanism do not have in harness dead angle, can be in rocket rocket body and head axes
Cooperation is completed in the case where spatial offset, six-dimensional parallel mechanism can play the role of buffering when rocket to be assembled declines, subtract
Collision impact of the small rocket to be assembled to rocket mounting device；
4, the positioning of six-dimensional parallel mechanism right part flange is fixed using hexagon socket head cap screw in the present invention, and such positioning can
It is sufficiently positioned to flange, limits the translation and overturning of annulus；
5, rocket to be assembled uses two range sensors in the present invention, for the distance in real-time detection assembling process,
To guarantee the installation and fixation of next step.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is overall schematic of the invention；
Fig. 2 removes rocket for entirety of the invention and grips structural scheme of mechanism；
Fig. 3 removes rocket for entirety of the invention and grips mechanism partial cutaway schematic；
Fig. 4 removes rocket for entirety of the invention and grips mechanism partial side diagrammatic cross-section；
In figure: 1 being first movement trolley, 2 be the first carrier structure, 3 be the second ring support, 4 be rocket nose section, 5 be
Right part flange, 6 for six Cylinder for Parallel Connection cylinder body, 7 be the moving bar piece of six Cylinder for Parallel Connection, 8 be third ring support,
9 be rocket rocket body to be assembled, 10 be the first clamp, 11 be the first lead screw, 12 be hexagon socket head cap screw, 13 be hex nut, 14 be
Positioning card, 15 be annular brace pad, 16 be fixed column, 17 be bottom dustproof cover, 18 be location hole sensor light bulb, 19 be positioning
Hole sensor, 20 are flange bolt hole sensor light bulb.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the present embodiment, the installation centralising device of rocket rocket body provided by the invention, including rocket grip mechanism
With rocket fixing end mechanism；
The rocket grips mechanism and is disposed adjacent with rocket fixing end mechanism；
Wherein, rocket fixing end mechanism includes that six-dimensional parallel mechanism, front end rocket centering body, end rocket are fixed
Mechanism；
One end of the six-dimensional parallel mechanism and the end rocket fixed mechanism are hinged, the other end and the front end rocket
Centering body is hinged.
It includes first movement trolley, first annular bracket, the first carrier structure and fire that the rocket, which grips mechanism,
Arrow fixed caliper system；
Wherein, the rocket fixed caliper system includes the first lead screw and the first clamp；
First carrier structure is arranged on the first movement trolley；The first annular bracket setting is described the
On one carrier structure；The first movement trolley can be moved along track；
The first clamp are provided on the inside of the first annular bracket；First lead screw drives first clamp；
The end rocket fixed mechanism includes the second moving trolley, the second bracket, the second ring support and positioning clamp
System；
The positioning card forceps system includes the second lead screw and the second clamp；
Second carrier structure is arranged in second moving trolley；Second ring support setting is described the
On two carrier structures；Second moving trolley can be moved along track；
The second clamp are provided on the inside of second ring support；Second lead screw drives second clamp.
The front end rocket centering body includes third ring support and fixed caliper system；
The fixed caliper system includes third lead screw and third clamp；Third is provided on the inside of the third ring support
Clamp；The third lead screw drives second clamp.
The quantity of the positioning card forceps system is three, and three positioning card forceps systems are separated by 120 °；The fixing card
The quantity of forceps system is four；Four fixed caliper systems are separated by 90 °.
The six-dimensional parallel mechanism includes first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th
Hydraulic cylinder, the 6th hydraulic cylinder, right part flange and left part flange；
Wherein, the first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder and the 6th
The cylinder body bottom end of hydraulic cylinder passes through hinged second ring support of right part flange respectively；
The right part flange is fixed on the second ring support by hexagon socket head cap screw；The peace of right part flange 5 one shares 6, phase
It is evenly arranged on the second ring support 3 every 60 °.
The first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder and the 6th are hydraulic
The top of cylinder passes through respectively on the hinged third ring support of moving bar piece, left part flange；
The left part flange passes through on the fixed third ring support of hexagon socket head cap screw.
The six-dimensional parallel mechanism further includes hydraulic system, and the hydraulic system is for controlling first hydraulic cylinder, the second liquid
Cylinder pressure, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder, the 6th hydraulic cylinder.
The six-dimensional parallel mechanism is divided into 3 working groups, wherein two hydraulic cylinders of the same working group are in column foot plane
On projection angle be equal to 60 °
The first annular bracket is provided with fixing groove；Fixed column is arranged in fixing groove；One end of the fixed column is supported
Residence is stated on the limit inclined-plane of the first carrier structure and connection bottom dustproof cover, the other end be disposed with the hex nut,
Positioning card, annular adjustment gasket；
Fixed column is fixed for first annular bracket prevents ring support rotation or mobile；Positioning card is for limiting fixation
Column prevents fixed column by falling off in work process；Annular adjustment gasket is used to adjust the height of positioning card, hex nut
There is the fixation of hex nut for positioning card.Second ring support has above structure.
The rocket to be assembled includes rocket nose section and rocket body to be assembled, and the rocket nose section is mounted on end rocket and fixes
In mechanism, the rocket rocket body to be assembled passes through six-dimensional parallel mechanism and grips mechanism by front end rocket centering body and rocket
Clamping.Subsequent rocket assembly work can be carried out after rocket nose section 4 to be assembled, rocket rocket body 9 to be assembled are entirely on the center.
The abutting end of the rocket to be assembled has flange, and the flange and rocket to be assembled are integrally formed, in assembly；Two
A rocket rocket body needs to guarantee that flange is aligned and is overlapped, and realizes that the assembling on rocket rigging position is fixed, wherein in two fire
Two are separated by 180 ° above equipped with range sensor in the flange inner wall of arrow.In assembling process by the real-time measurement of sensor come
Determine whether to reach cooperation, then carries out fixed in next step.
The present embodiment, when the installation centralising device of the rocket rocket body provided through the invention carries out the installation of rocket to be assembled
Including following three installation steps:
The first step, rocket to be assembled loads and transport, specifically, rocket to be assembled is transported near the present invention, then will
Rocket to be assembled is loaded using lifting equipment to be finished, and moving forward and backward for moving trolley and HYDRAULIC CONTROL SYSTEM rocket to be assembled makes
Rocket to be assembled reaches suitable position.
Second step, rocket installation positioning fine tuning to be assembled, specifically, rocket rocket body to be assembled grips mechanism in rocket
Traction under, move to suitable position, then rocket grip mechanism cooperation front end rocket centering body using it is sextuple simultaneously
The online structure transport rocket rocket body rocket nose section flange appropriate position fixed to end rocket fixed mechanism；Pass through front end first
Rocket centering body clamps rocket rocket body towards the flange alignment movement of rocket nose section；Last six-dimensional parallel mechanism is by rocket rocket body
It is aligned with rocket nose section flange.Complete rocket installation positioning fine tuning to be assembled.
Third step, rocket installation to be assembled, specifically, moving forward and backward for rocket fixing end mechanism cooperates front end rocket pair
Sensor cooperating in middle mechanism and rocket flange, sensor be mounted on rocket rocket body to be assembled bottom positioning holes center and
On one threaded hole of flange, the movement of six-dimensional parallel mechanism is controlled by sensor, realizes rocket installation hour offset to be assembled
Buffering when rocket to be assembled decline is realized to just in the correction of angle and center.To realize rocket to be assembled
The rapid centering of position and installation, at the same reduce rocket to be assembled decline when, rocket bottom to be assembled with column foot collision rush
It hits.
The working principle of the present embodiment is as follows: rocket rocket body to be assembled and head are loaded to the present invention by lifting equipment
On.Second ring support 3 of rocket fixing end mechanism simultaneously prevents rotation or movement by fixed column 16 is fixed, and fixed column 16 is by fixed
Card 14 fixation in position prevents from falling off in work process, and annular adjustment gasket 15 is used to adjust the height of positioning card, positioning card
14 have hex nut 13 to fix.The rocket body 9 of rocket to be assembled passes through rocket and grips mechanism and fixed by the first clamp, leads to
It crosses front end rocket centering body and is stepped up by the third clamp on third ring support, the head 4 of rocket is solid across end rocket
Fixed end mechanism is simultaneously stepped up by the second clamp 10 on the second ring support.Pass through six Cylinder for Parallel Connection of six-dimensional parallel mechanism
Cooperate movement, so that rocket centering body guidance rocket rocket body in front end is mobile, while rocket grips mechanism and follows fortune
It is dynamic, guarantee that rocket rocket body smoothly advances.The fire for finally making the flange of rocket rocket body and being clamped by end rocket fixed mechanism
Arrow head flange alignment movement.The rocket body of rocket and rocket nose section flange are aligned by last six-dimensional parallel mechanism.It completes to be assembled
Rocket installation positioning fine tuning, i.e. connection of the six-dimensional parallel mechanism with rocket rocket body and rocket nose section to be assembled.Finally according to sensing
Device carries out seamless cooperation.It realizes the heavy assembly on rocket rocket body and head, and slows down the impact in assembling process.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (7)
1. a kind of installation centralising device of rocket rocket body, which is characterized in that grip mechanism and rocket fixing end including rocket
Mechanism；
The rocket grips mechanism and is disposed adjacent with rocket fixing end mechanism；
Wherein, rocket fixing end mechanism includes six-dimensional parallel mechanism, front end rocket centering body, the fixed machine of end rocket
Structure；
One end of the six-dimensional parallel mechanism and the end rocket fixed mechanism are hinged, the other end and the front end rocket centering
Mechanism is hinged；
It includes that first movement trolley, first annular bracket, the first carrier structure and first are solid that the rocket, which grips mechanism,
Fixed caliper system；
Wherein, the first fixed caliper system includes the first lead screw and the first clamp；
First carrier structure is arranged on the first movement trolley；The first annular bracket is arranged in first support
In frame structure；The first movement trolley can be moved along track；
The first clamp are provided on the inside of the first annular bracket；First lead screw drives first clamp.
2. the installation centralising device of rocket rocket body according to claim 1, which is characterized in that the fixed machine of the end rocket
Structure includes the second moving trolley, the second carrier structure, the second ring support and positioning card forceps system；
The positioning card forceps system includes the second lead screw and the second clamp；
Second carrier structure is arranged in second moving trolley；Second ring support is arranged in second support
In frame structure；Second moving trolley can be moved along track；
The second clamp are provided on the inside of second ring support；Second lead screw drives second clamp.
3. the installation centralising device of rocket rocket body according to claim 2, which is characterized in that the front end rocket transducer
Structure includes third ring support and the second fixed caliper system；
The second fixed caliper system includes third lead screw and third clamp；Third is provided on the inside of the third ring support
Clamp；The third lead screw drives the third clamp.
4. the installation centralising device of rocket rocket body according to claim 3, which is characterized in that the positioning card forceps system
Quantity is three, and three positioning card forceps systems are separated by 120 °；The quantity of the second fixed caliper system is four；Four
The second fixed caliper system is separated by 90 °.
5. the installation centralising device of rocket rocket body according to claim 2, which is characterized in that six-dimensional parallel mechanism packet
Include first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder, the 6th hydraulic cylinder, right part flange
And left part flange；
Wherein, the first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder and the 6th are hydraulic
The cylinder body bottom end of cylinder passes through hinged second ring support of right part flange respectively；
The right part flange is fixed on the second ring support by hexagon socket head cap screw；
The first hydraulic cylinder, second hydraulic cylinder, third hydraulic cylinder, the 4th hydraulic cylinder, the 5th hydraulic cylinder and the 6th hydraulic cylinder
Top passes through respectively on the hinged third ring support of moving bar piece, left part flange；
The left part flange passes through on the fixed third ring support of hexagon socket head cap screw.
6. the installation centralising device of rocket rocket body according to claim 5, which is characterized in that the six-dimensional parallel mechanism point
For 3 working groups, wherein the angle of projection of two hydraulic cylinders of the same working group in column foot plane is equal to 60 °.
7. the installation centralising device of rocket rocket body according to claim 1, which is characterized in that the first annular branch is set up
It is equipped with fixing groove；Fixed column is arranged in fixing groove；The limit that one end of the fixed column resists first carrier structure is oblique
On face and connection bottom dustproof cover, the other end are disposed with hex nut, positioning card, annular adjustment gasket；
Fixed column fixes for first annular bracket and prevents first annular holder pivots or movement；Positioning card is solid for limiting
Fixed column prevents fixed column from falling off during the work time；Annular adjustment gasket is used to adjust the height of positioning card, hex nut
Fixation for positioning card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786004.6A CN106288981B (en) | 2016-08-30 | 2016-08-30 | The installation centralising device of rocket rocket body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786004.6A CN106288981B (en) | 2016-08-30 | 2016-08-30 | The installation centralising device of rocket rocket body |
Publications (2)
| Publication Number | Publication Date |
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| CN106288981A CN106288981A (en) | 2017-01-04 |
| CN106288981B true CN106288981B (en) | 2019-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610786004.6A Expired - Fee Related CN106288981B (en) | 2016-08-30 | 2016-08-30 | The installation centralising device of rocket rocket body |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107894317B (en) * | 2017-11-10 | 2024-04-02 | 天津航天机电设备研究所 | Self-adaptive flexible support |
| CN109094897B (en) * | 2018-07-19 | 2020-07-24 | 芜湖固高自动化技术有限公司 | Rocket projectile boxing system and rocket projectile boxing method based on coordinate robot |
| CN109909979B (en) * | 2019-04-16 | 2022-01-07 | 上海交通大学 | Ship propeller shaft hole flexible assembly parallel robot |
| CN110509237B (en) * | 2019-08-15 | 2022-11-08 | 芜湖凯仁橡塑有限公司 | Gyration form automobile shock pad is with supplementary mount table |
| CN111637791B (en) * | 2020-04-30 | 2022-09-16 | 北京航天发射技术研究所 | Rocket loading system and loading method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596363A (en) * | 2015-02-06 | 2015-05-06 | 南京理工大学 | Space docking error compensation mechanism of carrier rocket connector system |
| CN104613826A (en) * | 2015-02-06 | 2015-05-13 | 南京理工大学 | Automatic docking and falling connector with active follow-up function of carrier rocket |
| CN105371711A (en) * | 2015-11-19 | 2016-03-02 | 江西洪都航空工业集团有限责任公司 | Multi-degree-of-freedom missile bay section butt joint device |
-
2016
- 2016-08-30 CN CN201610786004.6A patent/CN106288981B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596363A (en) * | 2015-02-06 | 2015-05-06 | 南京理工大学 | Space docking error compensation mechanism of carrier rocket connector system |
| CN104613826A (en) * | 2015-02-06 | 2015-05-13 | 南京理工大学 | Automatic docking and falling connector with active follow-up function of carrier rocket |
| CN105371711A (en) * | 2015-11-19 | 2016-03-02 | 江西洪都航空工业集团有限责任公司 | Multi-degree-of-freedom missile bay section butt joint device |
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| CN106288981A (en) | 2017-01-04 |
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