阅读说明：本技术 一种自适应重力平衡装置 (Self-adaptive gravity balancing device ) 是由 王亮 郭昊鑫 于 2019-08-23 设计创作，主要内容包括：本发明属于总装生产技术领域,具体涉及一种特别适用于导弹对接的自适应重力平衡装置。本发明采用拉压力传感器对导弹重力进行检测,并通过外部数控系统将信息经处理传递至伺服电机,伺服电机根据接收到的信号进行正向或反向转动,通过滚珠丝杠将伺服电机的旋转运动转化为直线运动,通过套筒带动支撑杆进行竖直运动,以实现使用较小的力而达到使装置移动以适应导弹对接位置的目的。(The invention belongs to the technical field of final assembly production, and particularly relates to a self-adaptive gravity balancing device particularly suitable for guided missile butt joint. The invention adopts the tension and pressure sensor to detect the gravity of the missile, processes and transmits information to the servo motor through the external numerical control system, the servo motor rotates forwards or backwards according to the received signal, the rotary motion of the servo motor is converted into linear motion through the ball screw, and the support rod is driven to move vertically through the sleeve, so that the aim of enabling the device to move to adapt to the butt joint position of the missile by using smaller force is achieved.)

1. A self-adaptive gravity balance device is characterized by comprising a servo motor, a planetary reducer, a plum blossom coupling, a ball screw, a motor fixing frame, an upper frame, a lower frame, a sliding rod, a thrust ball bearing, a base, a deep groove ball bearing, a bearing lower cover, a universal ball, a sleeve, a thin wedge key, a common wedge key, a pull pressure sensor upper cover, a pull pressure sensor, a pin, a supporting rod, a tray, a first screw and a second screw; wherein the content of the first and second substances,

the servo motor is connected with the planetary reducer, and the output end of the planetary reducer is connected to the ball screw through the plum coupling; the common wedge key is connected between the output end of the planetary reducer and the input end of the plum coupling; the planetary reducer is fixed on the motor fixing frame, and the motor fixing frame is fixed on the lower frame; the lower frame is fixed with the base through a second screw; the sliding rod is matched with a nut to connect and fix the upper frame and the lower frame, and the upper frame is used for being fixed on other platforms through bolts to complete the positioning of the frames; the ball screw is supported by a thrust ball bearing, positioned on the base and centered by a deep groove ball bearing; the deep groove ball bearing is supported by the bearing lower cover and is fixed in the base; the base is located on the lower frame through an embedded universal ball to realize translation and rotation in a horizontal plane; the sleeve is connected with the ball screw through internal threads, and the rotation of the sleeve is limited by the thin wedge key, so that the linear motion of the sleeve in the vertical direction is realized; the sleeve is connected with the upper cover of the pull pressure sensor through a pin; the pulling pressure sensor is positioned in a square groove at the top of the sleeve and is fixed by a first screw; the support rod is sleeved in the sleeve, the lower end of the support rod is contacted with the upper cover of the pull pressure sensor, and the ball head at the upper end of the support rod is tangent to the ball groove of the tray to realize free rotation.

Technical Field

The invention belongs to the technical field of final assembly production, and particularly relates to a self-adaptive gravity balancing device particularly suitable for guided missile butt joint.

Background

Because the missile has larger mass, the butt joint difficulty is higher only by manpower. The existing butt joint mode is that a six-axis platform is used for supporting, fine adjustment needs to be carried out on the six-axis platform in the butt joint process, and the process is complex. Or the ship is hoisted by using a navigation vehicle to carry out manual butt joint, the butt joint process is complicated, the risk is high, the assembly precision is poor, and the working efficiency is low.

Disclosure of Invention

Technical problem to be solved

The invention provides a self-adaptive gravity balance device, which aims to solve the technical problems of high risk, complexity and labor waste of the existing missile butt joint mode.

(II) technical scheme

In order to solve the technical problems, the invention provides a self-adaptive gravity balancing device which comprises a servo motor, a planetary reducer, a plum blossom coupling, a ball screw, a motor fixing frame, an upper frame, a lower frame, a sliding rod, a thrust ball bearing, a base, a deep groove ball bearing, a bearing lower cover, a universal ball, a sleeve, a thin wedge key, a common wedge key, a pull pressure sensor upper cover, a pull pressure sensor, a pin, a supporting rod, a tray, a first screw and a second screw; wherein the content of the first and second substances,

the servo motor is connected with the planetary reducer, and the output end of the planetary reducer is connected to the ball screw through the plum coupling; the common wedge key is connected between the output end of the planetary reducer and the input end of the plum coupling; the planetary reducer is fixed on the motor fixing frame, and the motor fixing frame is fixed on the lower frame; the lower frame is fixed with the base through a second screw; the sliding rod is matched with a nut to connect and fix the upper frame and the lower frame, and the upper frame is used for being fixed on other platforms through bolts to complete the positioning of the frames; the ball screw is supported by a thrust ball bearing, positioned on the base and centered by a deep groove ball bearing; the deep groove ball bearing is supported by the bearing lower cover and is fixed in the base; the base is located on the lower frame through an embedded universal ball to realize translation and rotation in a horizontal plane; the sleeve is connected with the ball screw through internal threads, and the rotation of the sleeve is limited by the thin wedge key, so that the linear motion of the sleeve in the vertical direction is realized; the sleeve is connected with the upper cover of the pull pressure sensor through a pin; the pulling pressure sensor is positioned in a square groove at the top of the sleeve and is fixed by a first screw; the support rod is sleeved in the sleeve, the lower end of the support rod is contacted with the upper cover of the pull pressure sensor, and the ball head at the upper end of the support rod is tangent to the ball groove of the tray to realize free rotation.

(III) advantageous effects

The invention provides a self-adaptive gravity balancing device which comprises a servo motor, a planetary reducer, a plum blossom coupling, a ball screw, a motor fixing frame, an upper frame, a lower frame, a sliding rod, a thrust ball bearing, a base, a deep groove ball bearing, a bearing lower cover, a universal ball, a sleeve, a thin wedge key, a common wedge key, a pull pressure sensor upper cover, a pull pressure sensor, a pin, a supporting rod, a tray, a first screw and a second screw.

The invention adopts the tension and pressure sensor to detect the gravity of the missile, processes and transmits information to the servo motor through the external numerical control system, the servo motor rotates forwards or backwards according to the received signal, the rotary motion of the servo motor is converted into linear motion through the ball screw, and the support rod is driven to move vertically through the sleeve, so that the aim of enabling the device to move to adapt to the butt joint position of the missile by using smaller force is achieved.

Drawings

FIG. 1 is a perspective view of an adaptive gravity balancing apparatus according to an embodiment of the present invention;

FIG. 2 is a front cross-sectional view of an adaptive gravity balancing apparatus according to an embodiment of the present invention;

FIG. 3 is a side view of an adaptive gravity balancing apparatus according to an embodiment of the present invention;

fig. 4 is a top view of an adaptive gravity balance device according to an embodiment of the present invention.

In the figure, 1-base, 2-support rod, 3-ball screw, 4-thrust ball bearing, 5-sleeve, 6-pull pressure sensor, 7-tray, 8-servo motor, 9-planetary reducer, 10-motor fixing frame, 11-universal ball, 12-upper frame, 13-lower frame, 14-pull pressure sensor upper cover, 15-first screw, 16-pin, 17-slide rod, 18-stainless steel deep groove ball bearing, 19-bearing lower cover, 20-nut, 21-plum coupling, 22-thin wedge key, 23-common wedge key and 24-second screw.

Detailed Description

In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.

The present embodiment provides a self-adaptive gravity balance device, which has a structure as shown in fig. 1 to 4. The gravity balancing device comprises a servo motor 8, a planetary reducer 9, a plum blossom coupling 21, a ball screw 3, a motor fixing frame 10, a lower frame 13, a sliding rod 17, an upper frame 12, a thrust ball bearing 4, a base 1, a deep groove ball bearing 18, a bearing lower cover 19, a universal ball 11, a sleeve 5, a thin wedge key 22, a pull pressure sensor upper cover 14, a pin 16, a pull pressure sensor 6, a first screw 15, a support rod 2, a tray 7, a common wedge key 23 and a second screw 24.

The servo motor 8 is connected to the planetary reducer 9, and the output end of the planetary reducer 9 is connected to the ball screw 3 through the plum coupling 21. The common wedge key 23 is connected between the output end of the planetary reducer 9 and the input end of the plum coupling 21. The planetary reducer 9 is fixed on the motor fixing frame 10, and the motor fixing frame 10 is fixed on the lower frame 13. The lower frame 13 is fixed to the base 1 by second screws 24. The sliding rod 17 is matched with a nut 20 to connect and fix the upper frame 12 and the lower frame 13, and the upper frame 12 is fixed on other platforms through bolts to complete the positioning of the frames. The ball screw 3 is supported by a thrust ball bearing 4, positioned on the base 1 and centered by a stainless steel deep groove ball bearing 18. The stainless steel deep groove ball bearing 18 is supported by a bearing lower cover 19 and is fixed in the base 1. The base 1 is seated on the lower frame 13 by the embedded universal ball 11, and translation and rotation in the horizontal plane are realized. The sleeve 5 is connected with the ball screw 3 through internal threads, and the rotation of the sleeve 5 is limited by the thin wedge keys 22, so that the sleeve 5 can linearly move in the vertical direction. The sleeve 5 is connected with the pull pressure sensor upper cover 14 through a pin 16. The pull pressure sensor 6 is located in a square recess in the top of the sleeve 5 and is secured by a first screw 15. The support rod 2 is sleeved in the sleeve 5, and the lower end of the support rod is contacted with the upper cover 14 of the pulling pressure sensor. The ball head at the upper end of the supporting rod 2 is tangent to the ball groove of the tray 7 to realize free rotation.

In the present embodiment, the servo motor 8, the support rod 2, and other components are fixed to the universal wheel and can translate and rotate in a plane. The frame of this device can be connected in the platform by the upper end and use, need not place in ground and use, and it is more various to use the sight.

The working principle of the device is as follows: place the guided missile on tray 7 on 2 upper portions of bracing piece, bracing piece 2 receives pressure, and pressure acts on drawing pressure sensor 6, draws pressure sensor 6 to detect guided missile gravity, through the processing of outside numerical control system to the signal, with signal transmission to servo motor 8, servo motor 8 carries out forward or reverse rotation according to the signal received to drive planetary reducer 9 and rotate, through plum blossom shaft coupling 21, drive ball 3's rotation. Due to the torque force provided by the thin wedge 22, the ball screw 3 converts the rotary motion of the servo motor 8 into a linear motion, which drives the sleeve 5 to move. The sleeve 5 drives the support rod 2 to move vertically, and the purpose of position self-balancing is achieved.

Wherein, the numerical control system judges the information of the pull pressure sensor 6 according to the setting. If the pressure is larger than a certain value, the device moves downwards; if the pressure is less than a certain value, the device moves upwards; if the pressure is within a certain range, the device remains stationary. Therefore, the aim of enabling the device to move to adapt to the butt joint position of the missile by using smaller force is fulfilled.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.