阅读说明：本技术 一种位置和姿态调整装置 (Position and posture adjusting device ) 是由 张鑫杰 项丹 王紫巍 安彤 黄凯洮 于 2020-07-01 设计创作，主要内容包括：本发明提供了一种位置和姿态调整装置,包括：平台框架；竖直调整机构以及水平调整机构,其中,平台框架具有呈对称分布的多个摇臂,竖直调整机构具有多个伸缩支撑脚以及设置在各个伸缩支撑脚上用于承托外挂物的承托部,伸缩支撑脚固定连接在对应的摇臂上,通过各个伸缩支撑脚在竖直方向上的延伸或收缩调整外挂物在竖直方向上的移动和倾斜角度,水平调整机构具有滚球滑动盘、多个滚球以及支撑脚板,滚球密布在滚球滑动盘内,支撑脚板一端与伸缩支撑脚连接,另一端放置在滚球上与滚球配合并可以在对应的滚球滑动盘内相对于滚球在水平方向上进行滑动,使得外挂物在水平方向上进行旋转和横向纵向的移动。(The invention provides a position and posture adjusting device, comprising: a platform frame; vertical guiding mechanism and horizontal guiding mechanism, wherein, the platform frame has a plurality of rocking arms that are the symmetric distribution, vertical guiding mechanism has a plurality of flexible supporting legs and sets up the bearing portion that is used for bearing the outward hanging thing on each flexible supporting leg, flexible supporting leg fixed connection is on the rocking arm that corresponds, through the ascending extension of each flexible supporting leg in vertical direction or shrink adjustment outward hanging thing removal and inclination in vertical direction, horizontal guiding mechanism has spin sliding tray, a plurality of spin and support sole, the spin is densely covered in spin sliding tray, supporting sole one end is connected with flexible supporting leg, the other end is placed on the spin and is cooperated with the spin and can slide on the horizontal direction for the spin in the corresponding spin sliding tray with the spin, make the outward hanging thing on the horizontal direction rotatory and horizontal fore-and-aft removal.)

1. A position and attitude adjustment device, mounted on a missile hooking vehicle, for adjusting the position and attitude of an external store placed thereon so that the external store is aligned with a hook of an on-board aircraft pylon, comprising:

a platform frame;

the vertical adjusting mechanism is used for adjusting the vertical position and the pitching attitude of the outer hanging object; and

a horizontal adjusting mechanism for adjusting the horizontal position of the outer hanging object,

wherein the platform frame is provided with a plurality of rocker arms which are symmetrically distributed,

the vertical adjusting mechanism is provided with a plurality of telescopic supporting feet and a bearing part which is arranged on each telescopic supporting foot and is used for bearing the outer hanging object, the telescopic supporting feet are fixedly connected on the corresponding rocker arms, the movement and the inclination angle of the outer hanging object in the vertical direction are adjusted through the extension or the contraction of each telescopic supporting foot in the vertical direction,

the horizontal adjusting mechanism is provided with a rolling ball sliding disc, a plurality of rolling balls and a supporting foot plate,

the rolling balls are densely distributed in the rolling ball sliding disc, one end of the supporting foot plate is connected with the telescopic supporting foot, and the other end of the supporting foot plate is placed on the rolling ball, is matched with the rolling ball and can slide in the horizontal direction relative to the rolling ball in the corresponding rolling ball sliding disc, so that the outer hanging object can rotate and transversely and longitudinally move in the horizontal direction.

2. The position and orientation adjustment apparatus according to claim 1, characterized in that:

the pitching mechanism is further provided with a telescopic cylinder, and the telescopic cylinder is connected with the telescopic supporting legs and used for driving the telescopic supporting legs to extend or contract.

3. The position and orientation adjustment apparatus according to claim 1, characterized in that:

the number of the rocker arms and the number of the telescopic supporting feet are 4, the rocker arms are respectively positioned at four corners of the platform frame, and the rocker arms extend through two adjacent telescopic supporting feet, so that the plug-in object is inclined relative to a horizontal plane.

4. The position and orientation adjustment apparatus according to claim 1, characterized in that:

the outer hanging object supported on the supporting part moves in the vertical direction by simultaneously extending or contracting all the telescopic supporting legs.

5. The position and orientation adjustment apparatus according to claim 1, characterized in that:

wherein the ball has a spherical convex surface,

the spherical convex surface is in contact with the bottom of the supporting foot plate, so that the supporting foot plate can slide relative to the rolling ball.

6. The position and orientation adjustment apparatus according to claim 1, characterized in that:

the supporting foot plate is provided with a ball head, the telescopic supporting legs are mounted on the ball head and can rotate relative to the ball head, and when the telescopic supporting legs on the same side extend or contract, all the telescopic supporting legs rotate relative to the ball head.

7. The position and orientation adjustment apparatus according to claim 1, characterized in that:

wherein the diameter of the bottom of the supporting foot plate is smaller than the inner diameter of the rolling ball sliding disc.

8. The position and orientation adjustment apparatus according to claim 1, characterized in that:

the platform frame is a rectangular frame and is provided with 4 frame strips, the two adjacent frame strips are fixedly connected with the end parts of the frame strips, and the rocker arms are symmetrically arranged on the two opposite frame strips.

9. The position and orientation adjustment apparatus according to claim 1, characterized in that:

wherein the ball sliding disk has a bottom disk and a disk wall extending vertically from the bottom disk circumference,

the distance between the top of the rolling ball and the chassis is less than the height of the wall of the chassis.

Technical Field

The invention belongs to the technical field of moving and aligning tools, and relates to a position and posture adjusting device.

Background

The missile hanging vehicle is special ground guarantee equipment for airborne suspended objects such as airborne pods, bombs or missiles and the like, and mainly functions in supporting the airborne suspended objects to be close to the airborne hanging rack under the airplane, and ensures that the suspended object lifting lugs are aligned with the airborne hanging rack hooks by adjusting the positions and postures of the suspended objects, so that the suspended objects are hung and unloaded from the airborne hanging rack. The common missile hanging vehicle consists of a vehicle frame, a lifting device, a pose adjusting device and a support bracket. Because the outer stores correspond to different models and the heights of the loaded machine hangers of different models are different, the height of the pose adjusting device in the initial state is as low as possible in order to be matched with a lower loaded machine hanger.

At present, a three-axis pose adjusting device is generally adopted on a missile hooking vehicle, and the pose adjusting device at least comprises three layers of mechanisms. In the prior art, a patent with publication number CN206984422U discloses a six-degree-of-freedom adjusting mechanism for a missile loading vehicle, which adopts a lead screw or a hydraulic cylinder, and is arranged in layers, one layer is arranged horizontally, one layer is arranged longitudinally, and one layer is rotated, and pitching adopts a design scheme of a transverse rotating shaft and a vertical lead screw or a hydraulic cylinder, and is respectively responsible for posture adjustment of horizontal rotation, longitudinal rotation, pitching and horizontal rotation.

However, the height of the adjusting mechanism is high, the height of the whole vehicle is affected, the adjusting mechanism is not suitable for a lower rack of a loaded machine, the adjusting mechanism is connected with the body only through a pitching rotating shaft and a vertical screw rod, the stability in the pitching direction is poor, and potential safety hazards exist when long and heavy objects to be hung are placed.

Disclosure of Invention

In order to solve the problems, the invention provides a position and posture adjusting device which has lower height and is used for meeting different machine types, and the invention adopts the following technical scheme:

the invention provides a position and posture adjusting device which is arranged on a missile hanging vehicle and used for adjusting the position and the posture of a plug-in object placed on the missile hanging vehicle so as to align the plug-in object with a hook of a hanging rack of an airplane loader, and the position and posture adjusting device is characterized by comprising: a platform frame; the vertical adjusting mechanism is used for adjusting the vertical position and the pitching attitude of the outer hanging object; and a horizontal adjusting mechanism for adjusting the horizontal position of the outer hanging object, wherein the platform frame is provided with a plurality of rocker arms which are symmetrically distributed, the vertical adjusting mechanism is provided with a plurality of telescopic supporting feet and supporting parts which are arranged on the telescopic supporting feet and used for supporting the outer hanging object, the telescopic supporting feet are fixedly connected on the corresponding rocker arms, through the extension of each flexible supporting legs in vertical direction or shrink adjustment outward hanging thing at ascending removal and inclination of vertical direction, horizontal adjustment mechanism has spin sliding tray, a plurality of spin and support sole, the spin gathers in spin sliding tray, support sole one end is connected with flexible supporting legs, the other end is placed on the spin and is cooperated with the spin and can slide on the horizontal direction for the spin in the corresponding spin sliding tray, make outward hanging thing go on rotatory and horizontal fore-and-aft removal on the horizontal direction.

The position and posture adjusting device provided by the invention can also have the characteristic that the pitching mechanism is also provided with a telescopic cylinder which is connected with the telescopic supporting foot and is used for driving the telescopic supporting foot to extend or contract.

The position and posture adjusting device provided by the invention can also have the characteristics that the number of the rocker arms and the number of the telescopic supporting feet are 4, the rocker arms are respectively positioned at four corners of the platform frame, and the outer hanging object is inclined relative to the horizontal plane through the extension of two adjacent telescopic supporting feet.

The position and posture adjusting device provided by the invention can also have the characteristic that the outsiders supported on the supporting part can move in the vertical direction by simultaneously extending or contracting all the telescopic supporting legs.

The position and posture adjustment device provided by the invention can also have the characteristic that the rolling ball is provided with a spherical convex surface, and the spherical convex surface is contacted with the bottom of the supporting foot plate, so that the supporting foot plate can slide relative to the rolling ball.

The position and posture adjusting device provided by the invention can also be characterized in that the supporting foot plate is provided with a ball head, the telescopic supporting feet are arranged on the ball head and can rotate relative to the ball head, and when the telescopic supporting feet on the same side extend or contract, all the telescopic supporting feet rotate relative to the ball head.

The position and posture adjusting apparatus provided by the present invention may further have a feature in which the diameter of the bottom of the supporting foot plate is smaller than the inner diameter of the ball sliding disk.

The position and posture adjusting device provided by the invention can also be characterized in that the platform frame is a rectangular frame and is provided with 4 frame strips, the end parts of two adjacent frame strips are fixedly connected, and the rocker arms are symmetrically arranged on the two opposite frame strips.

The position and posture adjustment apparatus provided by the present invention may also have a feature in which the ball sliding disk has a bottom disk and a disk wall extending vertically from the circumference of the bottom disk, and the distance between the top of the ball and the bottom disk is smaller than the height of the disk wall.

Action and Effect of the invention

The position and posture adjusting device according to the present invention includes a vertical adjusting mechanism for adjusting the vertical position and the pitch posture of the suspended object, and a horizontal adjusting mechanism for adjusting the horizontal position of the suspended object. Wherein, the vertical adjusting mechanism utilizes each telescopic cylinder to control the corresponding telescopic supporting foot to extend and contract simultaneously so as to control the movement of the outer hanging object in the Z-axis direction, meanwhile, the pitching attitude of the externally hung object is controlled by simultaneously extending and contracting two adjacent telescopic supporting feet, namely the inclination angle of the externally hung object is controlled, the horizontal adjusting mechanism realizes the control of the movement of the externally hung object in a horizontal plane and the rotation of the externally hung object in a vertical direction by utilizing the supporting foot plates to slide on the rolling balls in the rolling ball sliding disc, namely, the position and attitude adjusting device of the invention realizes the adjustment of six degrees of freedom of the externally hung object through two mechanisms, and the height of the horizontal adjusting mechanism is very low, so that the height of the whole device is lower than that of an adjusting device in the prior art, the device can be suitable for more machine types, and the requirements of lower loaded machine hanging racks are met.

Drawings

FIG. 1 is a schematic perspective view of a position and orientation adjusting apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of a vertical adjustment mechanism and a horizontal adjustment mechanism in an embodiment of the present invention;

FIG. 3 is a schematic perspective view of a ball sliding disk and a ball according to an embodiment of the present invention;

FIG. 4 is a schematic perspective view of a support foot plate according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a position and orientation adjustment apparatus in a coordinate system in an embodiment of the present invention;

FIG. 6 is a schematic view of a vertical adjustment mechanism adjusting the tilt of a store relative to the y-axis in an embodiment of the present invention;

FIG. 7 is a schematic diagram of the vertical adjustment mechanism adjusting the tilt of the external hanging object relative to the X-axis in the embodiment of the invention.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.

< example >

Fig. 1 is a schematic perspective view of a position and posture adjusting apparatus according to an embodiment of the present invention.

As shown in fig. 1, the present embodiment provides a position and posture adjusting apparatus 100, installed on a missile hooking vehicle, for adjusting the position and posture of an external hanger placed thereon so that the external hanger is aligned with a hook of an on-board hanger, including a platform frame 10, a vertical adjusting mechanism 20, and a horizontal adjusting mechanism 30. The missile hanging vehicle is provided with a lifting device.

The platform frame 10 is rectangular with 4 frame bars 11 and 4 swing arms 12. The ends of two adjacent frame bars 11 are fixedly connected together. The 4 rocker arms are symmetrically arranged on the 2 opposite frame strips 11 and are respectively positioned at the connecting part of the two adjacent frame strips 11.

The vertical adjustment mechanism 20 is mounted on the swing arm 12 for adjusting the vertical position and the pitch attitude of the suspended object.

Fig. 2 is a schematic perspective view of a vertical adjustment mechanism and a horizontal adjustment mechanism in an embodiment of the present invention.

As shown in fig. 2, the vertical adjustment mechanism 20 includes 4 telescopic support legs 21, 4 telescopic cylinders 22 corresponding to the telescopic support legs 21, and 4 receivers 23.

Telescopic support legs 21 are respectively mounted on the swing arms 12, and each telescopic support leg 21 can be extended or contracted in the vertical direction thereof. In this embodiment, the position where the swing arm 12 is connected to the telescopic supporting leg 21 is located on one side surface of the telescopic supporting leg 21 in the length direction near the bottom.

The telescopic cylinder 22 is connected to the telescopic supporting legs 21 for driving the extension and contraction of the telescopic supporting legs 21.

The supporting part 23 is positioned at the top of each telescopic supporting leg 21 and is used for supporting the objects hung on the outside.

The extension or contraction is simultaneously carried out through the 4 telescopic supporting legs 21, so that the outer hanging object moves in the vertical direction. The adjacent 2 telescopic supporting feet 21 are simultaneously extended or contracted, so that the plug-in object is inclined relative to the horizontal plane.

The horizontal adjustment mechanism 30 has a ball sliding plate 31, a ball 32, and a support leg plate 33, and adjusts the horizontal position of the hanging object.

FIG. 3 is a schematic perspective view of a ball sliding disk and a ball according to an embodiment of the present invention.

As shown in fig. 3, the rolling ball sliding plate 31 is mounted on a lifting device of a missile hooking vehicle, and includes a base plate 311 and a plate wall 312. The bottom plate 311 has a circular shape, and the plate wall 312 extends vertically from the circumference of the bottom plate 311.

The balls 32 are densely packed in the ball sliding disk 31 and have a spherical convex surface 321, and the distance between the top of the spherical convex surface 321 and the bottom disk 311 is smaller than the height of the disk wall 312 of the ball sliding disk 31.

Fig. 4 is a schematic perspective view of a supporting foot plate in an embodiment of the invention.

As shown in FIG. 4, the support foot plate 33 is pressed on the spherical convex surface 321 of the ball 32, has a bottom 331 and a ball head 332, and can slide relative to the ball 32. Bottom 331 abuts spherical convex surface 321. Bulb 332 is connected with telescopic supporting legs 21, and telescopic supporting legs 21 can rotate for bulb 332 for telescopic supporting legs 21 is when extending or shrink, and 4 supporting parts all support the thing of hanging in the coplanar.

By pushing the platform frame 10, the supporting foot plates 33 connected with the telescopic supporting feet 21 installed on the rocker arms 12 of the platform frame 10 slide in any direction within the range limited by the rolling ball sliding disc 31, namely, 4 supporting foot plates 33 can move transversely and longitudinally in the horizontal plane and rotate relative to the vertical center line of the whole device.

In this embodiment, the missile hooking vehicle can transport the external hanging object to a designated place, and at this time, in order to ensure that the lifting lug on the external hanging object is aligned with the hanging rack hook of the carrier, the range which needs to be adjusted in the horizontal direction is generally several millimeters. The user can push the platform frame 10 or the telescopic supporting legs 21 to move the supporting foot plate 33 connected to the push telescopic supporting legs 21, so that the outer hanging object can move and rotate in any direction in the horizontal plane.

Fig. 5 is a schematic diagram of a position and orientation adjusting apparatus in a coordinate system according to an embodiment of the present invention.

As shown in fig. 5, a three-dimensional coordinate system is established with the center of the bottom plate 311 of any one of the rolling ball sliding discs 31 as the origin, the length direction of the telescopic supporting leg 21 corresponding to the rolling ball sliding disc 31 as the Z-axis, and the connecting line between the telescopic supporting leg 21 and two adjacent telescopic supporting legs 21 as the X-axis and the Y-axis.

When the position of the outer hanging object in the horizontal plane is adjusted, the platform frame 10 or the telescopic supporting legs 21 are pushed to move along the X-axis direction and the Y-axis direction and rotate around the Z axis, and the moving distance is 0-10 mm. In this embodiment, when the position of the outer hanging object in the horizontal plane needs to be adjusted in a large range, the outer hanging object can be conveyed by starting the missile hanging vehicle, so that the outer hanging object can be moved by a large distance.

When the position of the outer hanging object in the vertical direction is adjusted, the 4 telescopic cylinders 22 push the telescopic supporting legs 21 to extend or contract in the vertical direction, so that the outer hanging object placed on the supporting part moves in the vertical direction.

When the pitching posture, namely the inclination angle, of the external hanging object is adjusted, any two adjacent telescopic supporting legs 21 extend or contract, so that the external hanging object placed on the supporting part is inclined.

FIG. 6 is a schematic diagram of the vertical adjustment mechanism adjusting the tilt of the external hanging object relative to the Y-axis in the embodiment of the invention.

As shown in fig. 6, 2 telescopic supporting feet 21 on the Y axis extend along the vertical direction, and at the same time, 4 telescopic supporting feet 21 rotate relative to the ball head 332 of the supporting foot plate 33, so that the contact surfaces of the 4 supporting parts 23 and the external hanging object are in the same plane, the rotation angle is 2.49 °, and at this time, the included angle between the external hanging object placed on the supporting parts 23 and the Y axis is 2.49 °.

FIG. 7 is a schematic diagram of the vertical adjustment mechanism adjusting the tilt of the external hanging object relative to the X-axis in the embodiment of the invention.

As shown in fig. 7, 2 telescopic supporting feet 21 on the X axis extend along the vertical direction, and at the same time, 4 telescopic supporting feet 21 rotate relative to the ball head 332 of the supporting foot plate 33, so that the contact surfaces of the 4 supporting parts 23 and the external hanging object are in the same plane, and the rotation angle is 2.59 °, and at this time, the included angle between the external hanging object placed on the supporting parts 23 and the X axis is 2.59 °.

Therefore, the horizontal adjusting mechanism 30 and the vertical adjusting mechanism 20 realize the movement of the hung object in the directions of the X axis, the Y axis and the Z axis and the rotation of the hung object around the X axis, the Y axis and the Z axis by a certain angle, that is, the adjustment of the hung object with six degrees of freedom is realized.