CN117346608A

CN117346608A - RGV-based multi-task missile auxiliary assembly system

Info

Publication number: CN117346608A
Application number: CN202311365343.3A
Authority: CN
Inventors: 王浩亮; 陈伟伟
Original assignee: Zhejiang Rifa Aviation Digital Equipment Co ltd
Current assignee: Zhejiang Rifa Aviation Digital Equipment Co ltd
Priority date: 2023-10-20
Filing date: 2023-10-20
Publication date: 2024-01-05

Abstract

The invention relates to the technical field of cabin butt joint, in particular to an RGV-based multi-task missile auxiliary assembly system, which comprises the following components: the RGV trolley is characterized in that a lower bedplate is fixedly arranged in the middle of an inner cavity of the RGV trolley, and a plurality of lifters which are distributed in a rectangular array along the horizontal direction and support the upper bedplate are arranged between the lower bedplate and the upper bedplate; the docking base is slidably arranged on the upper surface of the upper bedplate along the length direction of the RGV trolley, and a cabin clamp ring for binding the cabin is arranged at the upper part of the docking base; the beneficial effects are as follows: the device is characterized in that the lower bedplate is arranged in the middle of the inner cavity of the RGV trolley, a pressure sensor is arranged on the side face of the lifter and used for measuring the inclination of the upper bedplate when the lifter contracts, the cabin section clamping ring is fixed on the docking base and is in docking along with the sliding of the docking base, the detection of the mass center of the cabin section clamping ring can be realized by measuring the pressure of each point position of the upper bedplate, the docking and detection work is integrally installed, one machine is multifunctional, and the occupation of space is reduced.

Description

RGV-based multi-task missile auxiliary assembly system

Technical Field

The invention relates to the technical field of cabin butt joint, in particular to an RGV-based multi-task missile auxiliary assembly system.

Background

The cabin section is an independent structure of the missile body, has the main functions of loading a part of a fight, a propellant and various artificial devices, connecting the missile wing, a control surface, an engine and other parts, bearing and transmitting various loads, and is a key procedure in the process of assembling the missile body.

In the prior art, the cabin is arranged on the docking base, transported by the AGV trolley or the RGV trolley and subjected to docking work, and transferred to mass center detection equipment for detection after docking.

At present, cabin butt joint equipment and detection equipment are independent, the equipment is large in size, and the equipment occupies a large space, so that the problem to be solved is how to integrate and install the equipment on the same assembly system in the most compact mode. To this end, the present invention proposes an RGV-based multi-task missile auxiliary assembly system for solving the above-mentioned problems.

Disclosure of Invention

The invention aims to provide an RGV-based multi-task missile auxiliary assembly system, which is used for solving the problem that cabin butt joint equipment and mass center detection equipment in the background art occupy larger space.

In order to achieve the above purpose, the present invention provides the following technical solutions: an RGV-based multi-task missile assisted assembly system, comprising:

the RGV trolley is characterized in that a lower bedplate is fixedly arranged in the middle of an inner cavity of the RGV trolley, an upper bedplate is arranged above the lower bedplate, the upper surface of the upper bedplate is flush with the RGV trolley, a plurality of lifters which are distributed in a rectangular array along the horizontal direction and support the upper bedplate are arranged between the lower bedplate and the upper bedplate, and a pressure sensor fixed with the lower bedplate is arranged on the outer side of each lifter;

the docking base is slidably mounted on the upper surface of the upper bedplate along the length direction of the RGV trolley, and a cabin clamp ring used for tightly binding the cabin is mounted on the upper portion of the docking base.

Preferably, a gear motor is arranged in the middle of the lower bedplate, a transmission shaft is arranged on the outer side of the gear motor and drives the lifter to work, a sensor pressure head is arranged at the end part of the pressure sensor, and an installation upright post corresponding to the pressure sensor is fixedly installed on the upper bedplate.

Preferably, the docking base comprises an X-axis sliding seat, an X-axis sliding groove is formed in the bottom of the X-axis sliding seat, a guide rail is fixedly arranged on the surface of the upper platen, the X-axis sliding groove corresponds to the guide rail and is in sliding connection with the guide rail, a rack is fixedly arranged on the upper surface of the upper platen, a driving gear meshed with the rack is rotatably arranged on the side face of the X-axis sliding seat, and the driving gear is driven to rotate by an X-axis driver.

Preferably, the upper surface of the X-axis sliding seat is provided with a Y-axis sliding seat which is connected with the X-axis sliding seat in a sliding way, the Y-axis sliding seat is driven to move by a Y-axis driver arranged at the end part of the Y-axis sliding seat, the upper surface of the Y-axis sliding seat is provided with a bracket, and the bracket is driven to move up and down by a Z-axis driver arranged at the end part of the bracket.

Preferably, the upper surface of the bracket is arranged into an arc shape matched with the cabin section clamping ring, the two ends of the side surface of the bracket are movably penetrated and provided with rolling shafts, the cabin section clamping ring is pressed on the surface of the rolling shafts under the action of gravity, and the rolling shafts are driven to rotate by a rotary driver arranged on the side surface of the bracket.

Preferably, both ends of the bracket are vertically provided with side baffles fixed with the Y-axis sliding seat, and the surfaces of the side baffles are provided with graduation gauges, and the bracket is vertically and slidably arranged between the two side baffles.

Preferably, both ends of the upper surface of the bracket are fixedly provided with mounting frames, the mounting frames are arranged in a shape of with an upward opening, the end parts of the mounting frames are fixedly provided with limiting shaft bodies, the end parts of the limiting shaft bodies are rotatably provided with limiting rollers, the limiting rollers are arranged in two groups and respectively pressed on both sides of the cabin section clamping ring, and the side surfaces of the cabin section clamping ring are provided with annular flanges for guiding the limiting rollers.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the lower bedplate is arranged in the middle of an inner cavity of the RGV trolley, the upper bedplate is arranged above the lower bedplate, a plurality of lifters distributed in a rectangular array along the horizontal direction are arranged between the upper bedplate and the lower bedplate for supporting and lifting, the side surface of each lifter is provided with a pressure sensor for measuring the inclination of the upper bedplate when the lifter contracts, the surface of the upper bedplate is slidably provided with the docking base, the cabin clamp ring is fixed on the docking base and is in docking along with the sliding of the docking base, the detection of the mass center of the cabin clamp ring can be realized by measuring the pressure of each point of the upper bedplate, and the device integrates the docking and detection work, so that one machine has multiple functions and the occupation of space is reduced.

Drawings

FIG. 1 is a perspective view of the overall structure of the present invention;

FIG. 2 is a schematic perspective view of a docking station structure of the present invention;

FIG. 3 is a schematic side cross-sectional view of the upper platen structure of the present invention;

FIG. 4 is an enlarged schematic view of the structure A in FIG. 2 according to the present invention;

FIG. 5 is a schematic view of the structural connection of the lower platen and the upper platen of the present invention;

FIG. 6 is a schematic diagram of the overall structure docking operation of the present invention.

In the figure: 1. RGV trolley; 2. a lower platen; 3. an upper platen; 31. a guide rail; 32. a rack; 4. a lifter; 41. a transmission shaft; 42. a speed reducing motor; 5. a pressure sensor; 51. a sensor ram; 52. installing an upright post; 6. a butt joint base; 61. an X-axis sliding seat; 611. an X-axis chute; 612. a drive gear; 613. an X-axis driver; 614. a Y-axis driver; 62. a Y-axis slide; 621. a Z-axis driver; 622. side baffles; 63. a bracket; 631. a mounting frame; 632. a limiting shaft body; 633. limiting idler wheels; 634. a rolling shaft; 635. a slewing drive; 7. a cabin section clasp; 71. an annular flange.

Detailed Description

In order to make the objects, technical solutions, and advantages of the present invention more apparent, the embodiments of the present invention will be further described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are some, but not all, embodiments of the present invention, are intended to be illustrative only and not limiting of the embodiments of the present invention, and that all other embodiments obtained by persons of ordinary skill in the art without making any inventive effort are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "center," "middle," "upper," "lower," "left," "right," "inner," "outer," "top," "bottom," "side," "vertical," "horizontal," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "a," an, "" the first, "" the second, "" the third, "" the fourth, "" the fifth, "and the sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

For purposes of brevity and description, the principles of the embodiments are described primarily by reference to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one of ordinary skill in the art that the embodiments may be practiced without limitation to these specific details. In some instances, well-known methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.

Referring to fig. 1 to 6, the present invention provides a technical solution:

in a first embodiment, an RGV-based multi-tasking missile auxiliary assembly system includes: RGV cart 1 and docking cradle 6.

Specifically, a lower bedplate 2 is fixedly arranged in the middle of an inner cavity of the RGV trolley 1, an upper bedplate 3 is arranged above the lower bedplate 2, the upper surface of the upper bedplate 3 is flush with the RGV trolley 1, a plurality of lifters 4 which are distributed in a rectangular array along the horizontal direction and support the upper bedplate 3 are arranged between the lower bedplate 2 and the upper bedplate 3, the lifters 4 can stretch themselves, the lifters 4 can push the upper bedplate 3 to move in the vertical direction when synchronously stretching, the height position of the lifters can be changed, a pressure sensor 5 fixed with the lower bedplate 2 is arranged on the outer side of the lifters 4, the upper bedplate 3 can be contacted with the pressure sensor 5 and squeeze the pressure sensor 5 when the lifters 4 shrink to a certain length, at this time, the pressure sensor 5 can detect the pressure of the upper bedplate 3 at the corresponding position, the pressure sensor 5 of the device is provided with three lifters, and the lifters 5 are mutually matched at the same horizontal plane and form a triangle structure, and the pressure of each position of the upper bedplate 3 can be detected;

secondly, docking base 6 is installed on the upper surface of upper platen 3 along the length direction slidable of RGV dolly 1, and cabin section snap ring 7 that is used for binding the cabin section is installed to docking base 6's upper portion, and cabin section snap ring 7 removes along with docking base 6's removal to dock the cabin section, because cabin section snap ring 7 and docking base 6 all rely on gravity to arrange in upper platen 3 top, consequently a plurality of pressure sensor 5 mutually support and can carry out accurate detection to the mass center of cabin section.

In order to control synchronous operation of a plurality of lifters 4, the application is further provided with a gear motor 42 at the middle part of the lower bedplate 2, a transmission shaft 41 is arranged at the outer side of the gear motor 42 and drives the lifters 4 to operate, as shown in fig. 3, the gear motor 42 can simultaneously drive the lifters 4 at two sides of the gear motor to synchronously lift, the plurality of gear motors 42 are controlled by the same controller to simultaneously operate, the synchronous lifting of the lifters 4 can be ensured, a sensor pressure head 51 is arranged at the end part of the pressure sensor 5, a mounting upright post 52 corresponding to the pressure sensor 5 is fixedly arranged on the upper bedplate 3, a proper distance can be reserved between the upper bedplate 3 and the lower bedplate 2 due to the arrangement of the mounting upright post 52, so that the lifters 4 can be conveniently stretched out and contracted, the pressure sensor 5 can be disengaged when the lifter 4 of the device is lifted up, so as to play a role of protecting the pressure sensor 5, when the cabin is required to be detected by mass center, the lifter 4 is lowered, the pressure sensor 5 is stressed and detected, and the cabin is enabled to be at 0 DEG, 90 DEG, 180 DEG and 270 DEG position when the cabin is rotated, and the position of the pressure sensor 5 is detected when the corresponding to the four positions are detected.

In order to slide the docking base 6 in the X-axis direction, the docking base 6 of the present application includes an X-axis slide 61, an X-axis chute 611 is provided at the bottom of the X-axis slide 61, a guide rail 31 is fixedly installed on the surface of the upper platen 3, the X-axis chute 611 corresponds to the guide rail 31 and is slidingly connected, so that the X-axis slide 61 can only slide on the surface of the upper platen 3 along the X-axis direction, a rack 32 is fixedly provided on the upper surface of the upper platen 3, a driving gear 612 engaged with the rack 32 is rotatably installed on a side surface of the X-axis slide 61, and the driving gear 612 is driven to rotate by an X-axis driver 613, and the driving gear 612 and the rack 32 cooperate to drive the X-axis slide 61 to slide.

In order to adjust the position of the cabin section, the application is further provided with a Y-axis sliding seat 62 which is slidably connected with the upper surface of the X-axis sliding seat 61, the Y-axis sliding seat 62 is driven to move by a Y-axis driver 614 arranged at the end part of the Y-axis sliding seat, so that the Y-axis sliding seat 62 can slide along the Y-axis direction, a bracket 63 is arranged on the upper surface of the Y-axis sliding seat 62, the bracket 63 is driven to move up and down by a Z-axis driver 621 arranged at the end part of the Y-axis sliding seat 63, and the bracket 63 can slide along the Z-axis direction, so that the cabin section tightly bound by the cabin section clamping ring 7 can be sleeved at the positions of the X-axis direction, the Y-axis direction and the Z-axis direction, and subsequent butt joint work can be conveniently and normally carried out.

In order to adjust the barycenter position of cabin section in order to carry out the detection of multiunit data, the upper surface of the bracket 63 of this application sets up to the arc with cabin section snap ring 7 looks adaptation, the both ends of bracket 63 side all are movable to run through and are provided with roll axis 634, cabin section snap ring 7 is pressed under the action of gravity at roll axis 634 surface, the roll axis 634 is rotated the time accessible frictional force drive cabin section snap ring 7 and is rotated, and then carry out the angle adjustment to the cabin section, make it be in 0, 90, 180, 270 position, thereby change its barycenter position, roll axis 634 is by installing the gyration driver 635 drive rotation at bracket 63 side.

For the sliding guide to bracket 63, this application still has at the equal vertical side shield 622 that is provided with of both ends of bracket 63 with Y axle slide 62 is fixed, and the scale is seted up on side shield 622 surface for confirm the high position that current cabin section is located, bracket 63 vertical slidable mounting is between two side shields 622, and side shield 622's setting is used for guiding the slip of bracket 63, avoids it to take place to rock and sideslip.

In order to fix a position cabin section snap ring 7, this application still has the equal fixed mounting in both ends of the upper surface of bracket 63 and has mounting bracket 631, and mounting bracket 631 sets up to the ascending "" font of opening, the tip fixed mounting of mounting bracket 631 has spacing axis body 632, and spacing gyro wheel 633 is installed in the tip rotation of spacing axis body 632, spacing gyro wheel 633 sets up two a set of and presses the both sides at cabin section snap ring 7 respectively, as shown in fig. 4, spacing gyro wheel 633 presses can carry out spacing cabin section snap ring 7 in the side of cabin section snap ring 7, prevent that it from taking place the skew, and spacing gyro wheel 633 itself can rotate, in the in-process of cabin section snap ring 7 rotation and regulation cabin section barycenter, can reduce the resistance that cabin section snap ring 7 received, the side of cabin section snap ring 7 is provided with the annular flange 71 to spacing gyro wheel 633 direction, stability when cabin section snap ring 7 is placed can be improved, and prevent that cabin section snap ring 7 from taking place the position skew when rotating.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An RGV-based multi-task missile auxiliary assembly system, which is characterized in that: comprising the following steps:

the RGV trolley (1), lower bedplate (2) is fixedly arranged in the middle of an inner cavity of the RGV trolley (1), an upper bedplate (3) is arranged above the lower bedplate (2) and the upper surface of the upper bedplate (3) is flush with the RGV trolley (1), a plurality of lifters (4) which are distributed in a rectangular array along the horizontal direction and support the upper bedplate (3) are arranged between the lower bedplate (2) and the upper bedplate (3), and a pressure sensor (5) fixed with the lower bedplate (2) is arranged outside the lifters (4);

the docking station comprises a docking station base (6), wherein the docking station base (6) is slidably arranged on the upper surface of the upper bedplate (3) along the length direction of the RGV trolley (1), and a cabin section clamping ring (7) for tightly binding a cabin section is arranged on the upper portion of the docking station base (6).

2. The RGV based multi-task missile assist assembly system of claim 1, wherein: the middle part of lower platen (2) is provided with gear motor (42), the outside of gear motor (42) is provided with transmission shaft (41) and drives lift (4) work, the tip of pressure sensor (5) is provided with sensor pressure head (51), last fixed mounting has installation stand (52) that correspond with pressure sensor (5) on platen (3).

3. The RGV based multi-task missile assist assembly system of claim 1, wherein: the butt joint base (6) comprises an X-axis sliding seat (61), an X-axis sliding groove (611) is formed in the bottom of the X-axis sliding seat (61), a guide rail (31) is fixedly arranged on the surface of the upper platen (3), the X-axis sliding groove (611) corresponds to the guide rail (31) and is in sliding connection with the guide rail, a rack (32) is fixedly arranged on the upper surface of the upper platen (3), a driving gear (612) meshed with the rack (32) is rotatably arranged on the side face of the X-axis sliding seat (61), and the driving gear (612) is driven to rotate by an X-axis driver (613).

4. An RGV based multi-task missile assist assembly system according to claim 3 wherein: the upper surface of the X-axis sliding seat (61) is provided with a Y-axis sliding seat (62) which is connected with the X-axis sliding seat in a sliding way, the Y-axis sliding seat (62) is driven to move by a Y-axis driver (614) arranged at the end part of the Y-axis sliding seat, the upper surface of the Y-axis sliding seat (62) is provided with a bracket (63), and the bracket (63) is driven to move up and down by a Z-axis driver (621) arranged at the end part of the Y-axis sliding seat.

5. The RGV based multi-task missile assist assembly system of claim 4, wherein: the upper surface of the bracket (63) is arranged into an arc shape matched with the cabin section clamping ring (7), two ends of the side surface of the bracket (63) are movably penetrated through with rolling shafts (634), the cabin section clamping ring (7) is pressed on the surface of the rolling shafts (634) under the action of gravity, and the rolling shafts (634) are driven to rotate by a rotary driver (635) arranged on the side surface of the bracket (63).

6. The RGV based multi-task missile assist assembly system of claim 5, wherein: both ends of the bracket (63) are vertically provided with side baffles (622) fixed with the Y-axis sliding seat (62), and the surfaces of the side baffles (622) are provided with graduation gauges, and the bracket (63) is vertically and slidably arranged between the two side baffles (622).

7. The RGV based multi-task missile assist assembly system of claim 4, wherein: both ends of the upper surface of bracket (63) are all fixed mounting have mounting bracket (631), and mounting bracket (631) set up into the ascending "" font of opening, the tip fixed mounting of mounting bracket (631) has spacing axis body (632), and the tip rotation of spacing axis body (632) installs spacing gyro wheel (633), spacing gyro wheel (633) set up two a set of and respectively press in the both sides of cabin section snap ring (7), the side of cabin section snap ring (7) is provided with annular flange (71) to spacing gyro wheel (633) direction.