阅读说明：本技术 一种用于挂弹车的多自由度自动调整机构 (Multi-degree-of-freedom automatic adjusting mechanism for missile hanging vehicle ) 是由 李儒风 郭治川 李辛 李红振 于 2019-10-14 设计创作，主要内容包括：本发明公开了一种用于挂弹车的多自由度自动调整机构,包括：多自由度位姿调整机构、与所述多自由度位姿调整机构的下部铰接的平行四连杆变幅机构、与所述多自由度位姿调整机构通过螺栓固定方式连接的视觉系统。所述多自由度位姿调整机构,包括：横移回转机构、翻转机构、俯仰机构和纵移承载机构。本发明具备多个自由度位置调整机构,可实现导弹挂装过程中的灵活控制及位姿调整；可解决高、低多种挂点机翼导弹的挂载,具备良好的适应性及通用性；可实现导弹挂装的自动控制及精确位置调整,解决了传统导弹挂装过程中多人协同手动操作的局限性,减轻工人劳动强度,提高工作效率和安全性。(The invention discloses a multi-degree-of-freedom automatic adjusting mechanism for a missile hooking vehicle, which comprises: the multi-degree-of-freedom pose adjusting mechanism comprises a multi-degree-of-freedom pose adjusting mechanism, a parallel four-connecting-rod luffing mechanism hinged with the lower part of the multi-degree-of-freedom pose adjusting mechanism, and a vision system connected with the multi-degree-of-freedom pose adjusting mechanism in a bolt fixing mode. The multi-degree-of-freedom pose adjusting mechanism comprises: the transverse moving slewing mechanism, the turnover mechanism, the pitching mechanism and the longitudinal moving bearing mechanism. The missile hanging device is provided with a plurality of freedom degree position adjusting mechanisms, and can realize flexible control and pose adjustment in the missile hanging process; the mounting of the high-low wing missile with various mounting points can be realized, and the adaptability and the universality are good; the automatic control and the accurate position adjustment of guided missile hanging can be realized, the limitation of multi-user cooperation manual operation in the traditional guided missile hanging process is solved, the labor intensity of workers is reduced, and the working efficiency and the safety are improved.)

1. The utility model provides a multi freedom automatic adjustment mechanism for hanging bullet car which characterized in that includes: the multi-degree-of-freedom pose adjusting mechanism, the parallel four-connecting-rod luffing mechanism hinged with the lower part of the multi-degree-of-freedom pose adjusting mechanism and the vision system connected with the multi-degree-of-freedom pose adjusting mechanism in a bolt fixing mode; the multi-degree-of-freedom pose adjusting mechanism comprises: the device comprises a transverse moving swing mechanism, a turnover mechanism, a pitching mechanism and a longitudinal moving bearing mechanism, wherein the transverse moving swing mechanism is arranged at the lower end of the turnover mechanism, the turnover mechanism is arranged at the lower end of the pitching mechanism, and the pitching mechanism is arranged at the lower end of the longitudinal moving bearing mechanism.

2. The multiple degree of freedom automatic adjustment mechanism for a missile hooking vehicle as recited in claim 1, wherein the parallel four-bar linkage luffing mechanism comprises: the variable-amplitude oil cylinder comprises a variable-amplitude oil cylinder fixed hinged support, a variable-amplitude oil cylinder, an inner connecting rod fixed hinged support, an outer connecting rod fixed hinged support, a connecting rod, an inner connecting rod and an outer connecting rod, wherein a cylinder body of the variable-amplitude oil cylinder is hinged to the variable-amplitude oil cylinder fixed hinged support, an output shaft of the variable-amplitude oil cylinder is hinged to the connecting rod, the inner connecting rod is arranged at each of two ends of the connecting rod, the outer connecting rod is arranged below each inner connecting rod, one end of each inner connecting rod is provided with the inner connecting rod fixed hinged support, one end of each outer connecting rod is provided with the outer connecting rod fixed hinged support, and the other end of each inner connecting rod and the other end of.

3. The multiple degree of freedom automatic adjustment mechanism for a ammunition carrier of claim 2, wherein the traverse swing mechanism comprises: the device comprises a fixed base, a rotary platform, a turnover oil cylinder support, a turnover oil cylinder, a rotary gear ring, a rotary support, a transverse moving base, a driving rack, a rack fixing seat, a rotary driving guide slide rail, a transverse moving guide slide rail, a rack driving oil cylinder and a transverse moving driving oil cylinder, wherein the transverse moving guide slide rail is arranged on two sides of the transverse moving base, the transverse moving guide slide rail is fixedly connected with the fixed base, the transverse moving driving oil cylinder is fixed on the fixed base, a piston rod of the transverse moving driving oil cylinder is fixedly connected with the transverse moving base, the transverse moving base is provided with the rotary support, the rotary support is connected with the rotary gear ring, one side of the rotary support is also provided with the driving rack, the driving rack is meshed with the rotary gear ring, the driving rack is connected with the rack fixing seat, and the inner side of, the front end of the rack fixing seat is connected with a piston rod of the rack driving oil cylinder, the rotary platform is connected with the rotary gear ring through a bolt, the turnover oil cylinder support is fixedly connected with the rotary platform through a bolt, the turnover oil cylinder body is hinged with the turnover oil cylinder support, and the fixing base is connected with the inner connecting rod and the outer connecting rod of the parallel four-bar linkage mechanism.

4. the multiple degree of freedom automatic adjusting mechanism for a missile hooking vehicle as recited in claim 3, wherein the overturning mechanism comprises: the pitching oil cylinder connecting seat comprises a turning platform, a pitching oil cylinder fixing seat, a pitching oil cylinder and a turning oil cylinder connecting seat. The overturning platform is hinged to the upper end of the rotary platform, the overturning oil cylinder connecting seat is connected with the overturning platform through a bolt, and the overturning oil cylinder connecting seat is further hinged to a piston rod of the overturning oil cylinder; the pitching oil cylinder fixing seat is arranged at the edge of the overturning platform, and the body of the pitching oil cylinder is hinged with the pitching oil cylinder fixing seat.

5. The multiple degree of freedom automatic adjustment mechanism for a missile hooking vehicle of claim 4, wherein the pitching mechanism comprises: the pitching platform is hinged to the upper end of the overturning platform, a plurality of linear bearings are arranged at the edge of the pitching platform, the pitching oil cylinder connecting seat is arranged on the upper surface of the pitching platform and hinged to a piston rod of the pitching oil cylinder, and two sides of the pitching platform are respectively provided with one vertical jacking oil cylinder.

6. The multiple degree of freedom automatic adjustment mechanism for a missile hooking vehicle as recited in claim 5, wherein the longitudinal movement bearing mechanism comprises: the missile loading platform comprises a bearing bottom plate, a plurality of guide shafts, a transverse linear sliding rail, a missile loading platform, supporting rolling shafts, a connecting plate and a longitudinal-moving driving oil cylinder, wherein the lower surface of the bearing bottom plate is provided with the guide shafts, each guide shaft is connected with one matched linear bearing, two sides of the upper surface of the bearing bottom plate are respectively provided with one transverse linear sliding rail, the missile loading platform is installed on the transverse linear sliding rail, the upper surface of the missile loading platform is provided with a plurality of supporting rolling shafts, every two supporting rolling shafts are symmetrically arranged, the two missile loading platforms are also connected through the connecting plate, the connecting plate is connected with a piston rod of the longitudinal-moving driving oil cylinder, a cylinder body of the longitudinal-moving driving oil cylinder is arranged on the bearing bottom plate, and the bearing bottom plate is also connected with a piston rod of the vertical jacking.

7. The multiple degree of freedom automatic adjustment mechanism for a missile hooking vehicle of claim 1, wherein the vision system comprises: the camera fixing support is arranged on the multi-degree-of-freedom pose adjusting mechanism, and the 3D camera is arranged at the upper end of the camera fixing support.

8. the multiple degree of freedom automatic adjusting mechanism for a missile hooking vehicle as recited in claim 6, wherein the load-bearing bottom plate is further provided with a dual-axis tilt angle displacement sensor.

9. the multi-degree-of-freedom automatic adjusting mechanism for a missile hooking vehicle as claimed in claim 6, wherein the rack driving cylinder, the traverse driving cylinder, the vertical jacking cylinder and the longitudinal driving cylinder are all internally provided with linear displacement sensors.

Technical Field

The invention relates to the technical field of missile hanging vehicles, in particular to a multi-degree-of-freedom automatic adjusting mechanism for a missile hanging vehicle.

background

At present, domestic hanging equipment in China mainly meets hanging operation of fixed wing airplanes and the like with high hanging points and heavy ammunition weight. In the missile mounting process, the missile body position adjusting and mounting mechanism is used as a core component of the missile mounting vehicle, and the convenience of missile mounting is directly influenced by the quality of performance. Under the normal condition, the position adjustment and hanging of the missile hanging vehicle are mainly realized by a lifting type multi-degree-of-freedom adjusting mechanism and a vertical scissor fork lifting type multi-degree-of-freedom adjusting mechanism, but the adjusting mechanism generally has the defects of large volume, higher operation position and the need of manual coordination operation by multiple persons. Especially for the missile mounting of the wings of the helicopter, the missile mounting is mostly completed by adopting a mode of multi-person cooperative manual mounting at present, and the problems of low operation efficiency and insufficient safety exist.

Disclosure of Invention

In view of the above, in order to solve the above problems, an object of the present invention is to provide an automatic adjustment mechanism with multiple degrees of freedom for a missile hooking vehicle, comprising: the multi-degree-of-freedom pose adjusting mechanism, the parallel four-connecting-rod luffing mechanism hinged with the lower part of the multi-degree-of-freedom pose adjusting mechanism and the vision system connected with the multi-degree-of-freedom pose adjusting mechanism in a bolt fixing mode; the multi-degree-of-freedom pose adjusting mechanism comprises: the device comprises a transverse moving swing mechanism, a turnover mechanism, a pitching mechanism and a longitudinal moving bearing mechanism, wherein the transverse moving swing mechanism is arranged at the lower end of the turnover mechanism, the turnover mechanism is arranged at the lower end of the pitching mechanism, and the pitching mechanism is arranged at the lower end of the longitudinal moving bearing mechanism.

In another preferred embodiment, the parallel four-bar linkage horn comprises: the variable-amplitude oil cylinder comprises a variable-amplitude oil cylinder fixed hinged support, a variable-amplitude oil cylinder, an inner connecting rod fixed hinged support, an outer connecting rod fixed hinged support, a connecting rod, an inner connecting rod and an outer connecting rod, wherein a cylinder body of the variable-amplitude oil cylinder is hinged to the variable-amplitude oil cylinder fixed hinged support, an output shaft of the variable-amplitude oil cylinder is hinged to the connecting rod, the inner connecting rod is arranged at each of two ends of the connecting rod, the outer connecting rod is arranged below each inner connecting rod, one end of each inner connecting rod is provided with the inner connecting rod fixed hinged support, one end of each outer connecting rod is provided with the outer connecting rod fixed hinged support, and the other end of each inner connecting rod and the other end of.

In another preferred embodiment, the traverse swing mechanism includes: the device comprises a fixed base, a rotary platform, a turnover oil cylinder support, a turnover oil cylinder, a rotary gear ring, a rotary support, a transverse moving base, a driving rack, a rack fixing seat, a rotary driving guide slide rail, a transverse moving guide slide rail, a rack driving oil cylinder and a transverse moving driving oil cylinder, wherein the transverse moving guide slide rail is arranged on two sides of the transverse moving base, the transverse moving guide slide rail is fixedly connected with the fixed base, the transverse moving driving oil cylinder is fixed on the fixed base, a piston rod of the transverse moving driving oil cylinder is fixedly connected with the transverse moving base, the transverse moving base is provided with the rotary support, the rotary support is connected with the rotary gear ring, one side of the rotary support is also provided with the driving rack, the driving rack is meshed with the rotary gear ring, the driving rack is connected with the rack fixing seat, and the inner side of, the front end of the rack fixing seat is connected with a piston rod of the rack driving oil cylinder, the rotary platform is connected with the rotary gear ring through a bolt, the turnover oil cylinder support is connected with the rotary platform through a bolt, the turnover oil cylinder body is hinged with the turnover oil cylinder support, and the fixing base is connected with the inner connecting rod and the outer connecting rod of the parallel four-bar linkage mechanism.

In another preferred embodiment, the canting mechanism comprises: the pitching oil cylinder connecting seat comprises a turning platform, a pitching oil cylinder fixing seat, a pitching oil cylinder and a turning oil cylinder connecting seat. The overturning platform is hinged above the rotary platform, the overturning oil cylinder connecting seat is connected with the overturning platform through a bolt, and the overturning oil cylinder connecting seat is also hinged with a piston rod of the overturning oil cylinder; the pitching oil cylinder fixing seat is arranged at the edge of the overturning platform, and the body of the pitching oil cylinder is hinged with the pitching oil cylinder fixing seat.

In another preferred embodiment, the pitch mechanism comprises: the pitching platform is hinged to the upper end of the overturning platform, a plurality of linear bearings are arranged at the edge of the pitching platform, the pitching oil cylinder connecting seat is arranged on the upper surface of the pitching platform and hinged to a piston rod of the pitching oil cylinder, and two sides of the pitching platform are respectively provided with one vertical jacking oil cylinder.

in another preferred embodiment, the longitudinal movement bearing mechanism comprises: the missile loading platform comprises a bearing bottom plate, a plurality of guide shafts, a transverse linear sliding rail, a missile loading platform, supporting rolling shafts, a connecting plate and a longitudinal-moving driving oil cylinder, wherein the lower surface of the bearing bottom plate is provided with the guide shafts, each guide shaft is connected with one matched linear bearing, two sides of the upper surface of the bearing bottom plate are respectively provided with one transverse linear sliding rail, the missile loading platform is installed on the transverse linear sliding rail, the upper surface of the missile loading platform is provided with a plurality of supporting rolling shafts, every two supporting rolling shafts are symmetrically arranged, the two missile loading platforms are also connected through the connecting plate, the connecting plate is connected with a piston rod of the longitudinal-moving driving oil cylinder, a cylinder body of the longitudinal-moving driving oil cylinder is arranged on the bearing bottom plate, and the bearing bottom plate is also connected with a piston rod of the vertical jacking.

In another preferred embodiment, the vision system comprises: the camera fixing support is arranged on the multi-degree-of-freedom pose adjusting mechanism, and the 3D camera is arranged at the upper end of the camera fixing support.

In another preferred embodiment, a dual-axis tilt angle displacement sensor is further arranged on the bearing bottom plate.

In another preferred embodiment, linear displacement sensors are arranged in the rack driving oil cylinder, the transverse moving oil cylinder, the vertical jacking oil cylinder and the longitudinal moving oil cylinder.

due to the adoption of the technical scheme, compared with the prior art, the invention has the following positive effects:

(1) The missile hanging device is provided with a plurality of freedom degree position adjusting mechanisms, and can realize flexible control and pose adjustment in the missile hanging process;

(2) the mounting of the high-low wing missile with various mounting points can be realized, and the adaptability and the universality are good;

(3) according to the invention, the corresponding detection device is configured for adjusting the position of each degree of freedom, so that the accurate adjustment and control of the position of the missile can be realized, and meanwhile, under the action of a 3D vision system, the automatic control and position adjustment during the hanging of the missile can be realized, so that the automatic operation during the hanging of the missile is realized, the limitation of multi-person cooperative manual operation in the traditional missile hanging process is solved, the labor intensity of workers is reduced, and the working efficiency and safety are improved.

Drawings

FIG. 1 is a schematic structural view of an automatic adjustment mechanism with multiple degrees of freedom for a missile hooking vehicle according to the invention;

FIG. 2 is a view of the parallel four-bar linkage luffing mechanism of the present invention;

FIG. 3 is a structural diagram of a multi-degree-of-freedom pose adjusting mechanism of the present invention;

FIG. 4 is a schematic view of a partial structure of the traverse swing mechanism of the present invention;

FIG. 5 is a schematic view of a partial structure of the traverse swing mechanism of the present invention;

FIG. 6 is a schematic view of a local structure of the multi-degree-of-freedom pose adjustment mechanism of the present invention;

FIG. 7 is a schematic view B of a local structure of the multi-degree-of-freedom pose adjustment mechanism of the present invention;

FIG. 8 is a schematic structural view of a longitudinal movement support mechanism according to the present invention;

FIG. 9 is a schematic view of the vision system of the present invention;

Fig. 10 is a schematic view of the structure of the present invention in a retracted state.

In the drawings: 1. a parallel four-bar linkage luffing mechanism; 11. a luffing cylinder fixed hinged support; 12. a variable amplitude oil cylinder; 13. the inner connecting rod is fixed with the hinged support; 14. the outer connecting rod is fixed with the hinged support; 15. an inner link; 16. an outer link; 17. a connecting rod; 2. a multi-degree-of-freedom pose adjusting mechanism; 21. a transverse moving swing mechanism; 211. a fixed base; 212. a rotating platform; 213. turning over the oil cylinder support; 214. turning over the oil cylinder; 215. a rotary gear ring; 216. a slewing bearing; 217. transversely moving the base; 218. a drive rack; 219. a rack fixing seat; 2110. a rotary drive guide slide rail; 2111. transversely moving the guide slide rail; 2112. the rack drives the oil cylinder; 2113. a transverse moving driving oil cylinder; 22. a turnover mechanism; 221. overturning the platform; 222. a pitching oil cylinder fixing seat; 223. a pitching oil cylinder; 224. turning over the connecting seat of the oil cylinder; 23. a pitch mechanism; 231. a pitching platform; 232. a vertical jacking cylinder; 233. a linear bearing; 234. a pitching oil cylinder connecting seat; 24. longitudinally moving the bearing mechanism; 241. a load floor; 242. a guide shaft; 243. transversely moving the linear slide rail; 244. a missile bearing platform; 2441. a support roller; 245. a connecting plate; 246. longitudinally moving the driving oil cylinder; 247. a dual-axis tilt displacement sensor; 3. a vision system; 31. a camera fixing support; 32. a 3D camera; 4. missile hanger system.

Detailed Description

The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.

as shown in fig. 1, 2, 3 and 9, an automatic adjustment mechanism with multiple degrees of freedom for a missile hooking vehicle according to a preferred embodiment is shown, and comprises: the multi-degree-of-freedom pose adjusting mechanism 2, a parallel four-bar linkage luffing mechanism 1 hinged with the lower part of the multi-degree-of-freedom pose adjusting mechanism 2 and a vision system 3 connected with the multi-degree-of-freedom pose adjusting mechanism 2 in a bolt fixing mode; the multi-degree-of-freedom pose adjusting mechanism 2 comprises: the transverse moving and rotating mechanism 21, the turnover mechanism 22, the pitching mechanism 23 and the longitudinal moving and bearing mechanism 24, wherein the transverse moving and rotating mechanism 21 is arranged at the lower end of the turnover mechanism 22, the turnover mechanism 22 is arranged at the lower end of the pitching mechanism 23, and the pitching mechanism 23 is arranged at the lower end of the longitudinal moving and bearing mechanism 24. Furthermore, the whole body has six degrees of freedom of movement along the direction of the X, Y, Z shaft and rotation around the X, Y, Z shaft.

Further, as a preferred embodiment, the parallel four-bar linkage luffing mechanism 1 comprises: the variable-amplitude oil cylinder comprises a variable-amplitude oil cylinder fixed hinged support 11, a variable-amplitude oil cylinder 12, an inner connecting rod fixed hinged support 13, an outer connecting rod fixed hinged support 14, a connecting rod 17, inner connecting rods 15 and outer connecting rods 16, wherein a cylinder body of the variable-amplitude oil cylinder 12 is hinged to the variable-amplitude oil cylinder fixed hinged support 11, an output shaft of the variable-amplitude oil cylinder 12 is hinged to the connecting rod 17, the two ends of the connecting rod 17 are respectively provided with the inner connecting rods 15, an outer connecting rod 16 is arranged below each inner connecting rod 15, one end of each inner connecting rod 15 is provided with the inner connecting rod fixed hinged support 13, one end of each outer connecting rod 16 is provided with the outer connecting rod fixed hinged support 14, and the other end. Further, under the action of the amplitude variation oil cylinder 12, the structure can rotate around the inner connecting rod 15 fixed hinged support 13 and the outer connecting rod fixed hinged support 14, so that the initial adjustment of the whole position is realized.

As a preferred embodiment, as shown in fig. 3, 4, 5, 6 and 7, the traverse swing mechanism 21 includes: the device comprises a fixed base 211, a rotary platform 212, a turnover oil cylinder support 213, a turnover oil cylinder 214, a rotary gear ring 215, a rotary support 216, a traverse base 217, a driving rack 218, a rack fixing seat 219, a rotary driving guide slide 2110, a traverse guide slide 2111, a rack driving oil cylinder 2112 and a traverse driving oil cylinder 2113, wherein the traverse guide slide 2111 is arranged at two sides of the traverse base 217, the traverse guide slide 2111 is fixedly connected with the fixed base 211, the traverse driving oil cylinder 2113 is fixed on the fixed base 211, a piston rod of the traverse driving oil cylinder 2113 is fixedly connected with the traverse base 217, the traverse base 217 is provided with the rotary support 216, the rotary support 216 is connected with the rotary gear ring 215, one side of the rotary support 216 is also provided with the driving rack 218, the driving rack 218 is meshed with the rotary gear ring 215, the driving rack 218 is connected with the rack fixing seat 219, the inner side, the front end of the rack fixing seat 219 is connected with a piston rod of a rack driving oil cylinder 2112, the rotary platform 212 is connected with the rotary gear ring 215 through a bolt, the rotary platform 212 is connected with the overturning oil cylinder support 213 through a bolt, the overturning oil cylinder support 213 is hinged with the overturning oil cylinder 214, and the fixing base is connected with an inner connecting rod and an outer connecting rod of the parallel four-bar linkage mechanism. Further, under the action of the traversing driving oil cylinder 2113, the traversing base 217 and the related structure on the upper part thereof can be driven to do linear motion along the X axis; under the action of the rack driving oil cylinder 2112, the rack 218 can be driven to move back and forth, so that the rotary gear ring 215 is driven to perform rotary motion around the Z axis, and the rotary position adjustment of the whole superstructure is realized.

further, as a preferred embodiment, the turnover mechanism 22 includes: the overturning platform 221, the pitching cylinder fixing seat 222, the pitching cylinder 223 and the overturning cylinder connecting seat 224 are hinged to the upper end of the rotating platform 212, the overturning cylinder connecting seat 224 is connected with the overturning platform 221 through bolts, the overturning cylinder connecting seat 224 is further hinged to a piston rod of the overturning cylinder 214, the pitching cylinder 223 fixing seat is arranged at the edge of the overturning platform 221, and a cylinder body of the pitching cylinder 223 is hinged to the pitching cylinder fixing seat 222. Further, under the action of the flipping cylinder 214, the flipping platform 221 and the related upper structure thereof can rotate around the Y-axis.

Further, as a preferred embodiment, the pitching mechanism 23 includes: the pitching platform 231 is hinged to the upper end of the overturning platform 221, a plurality of linear bearings 233 are arranged at the edge of the pitching platform 231, the pitching cylinder connecting seat 234 is arranged on the upper surface of the pitching platform 231 and hinged to a piston rod of the pitching cylinder 223, and two sides of the pitching platform 231 are respectively provided with a vertical jacking cylinder 232. Further, under the action of the pitch cylinder 223, the rotational movement of the pitch platform 231 and the upper related structure thereof around the X axis can be realized.

As a preferred embodiment, as shown in fig. 8, the longitudinal movement bearing mechanism 24 includes: the missile loading platform comprises a bearing bottom plate 241, guide shafts 242, transverse linear sliding rails 243, a missile loading platform 244, supporting rollers 2441, a connecting plate 245 and a longitudinal lifting oil cylinder 246, wherein the lower surface of the bearing bottom plate 241 is provided with a plurality of guide shafts 242, each guide shaft 242 is connected with a matched linear bearing 233, two sides of the upper surface of the bearing bottom plate 241 are respectively provided with the transverse linear sliding rails 243, the missile loading platform 244 is installed on the transverse linear sliding rails 243, the upper surface of the missile loading platform 244 is provided with a plurality of supporting rollers 2441, every two supporting rollers 2441 are symmetrically arranged, the two missile loading platforms 244 are further connected through the connecting plate 245, the connecting plate 245 is connected with a piston rod of the longitudinal lifting oil cylinder 246, a cylinder body of the longitudinal lifting oil cylinder 246 is arranged on the bearing bottom plate 241, and the bearing bottom plate 241 is further connected. Furthermore, a plurality of symmetrically arranged supporting rollers 2441 can support the lower end of the missile hanging rack system 4, and can drive the missile bearing platform 244 and the longitudinal position of the upper missile hanging mechanism 4 to move linearly (along the Y axis) under the action of the longitudinal movement driving oil cylinder 246; the jacking cylinder 232 can drive the vertical position adjustment (along the Z-axis direction) of the longitudinal movement bearing mechanism 24 and the upper structure.

The above are merely preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.

The present invention also has the following embodiments in addition to the above:

In a further embodiment of the invention, as shown in fig. 9, the vision system 3 comprises: the multi-degree-of-freedom pose adjusting mechanism comprises a camera fixing support 31 and a 3D camera 32, wherein the camera fixing support 31 is arranged on the multi-degree-of-freedom pose adjusting mechanism 2, and the 3D camera 32 is arranged at the upper end of the camera fixing support 31. Further, the vision system 3 is used for detecting the position relation between the missile hanging mechanism 4 above the multi-degree-of-freedom pose adjusting mechanism and a wing hanging point (not shown in the figure), transmitting the position relation between the missile hanging mechanism 4 and the wing hanging point to the control system, and then the control system automatically controls the correct adjustment and matching of the mutual positions, so that the automatic hanging of the missile is realized.

In a further embodiment of the present invention, a dual-axis tilt sensor 247 is further disposed on the supporting base plate 241. Further, the dual-axis tilt displacement sensor 247 is used for detecting the movement angles of the tilting mechanism 22 and the pitching mechanism 23 in real time, so as to realize the precise control of the rotational movement in two directions (the rotation around the X axis and the Y axis).

In a further embodiment of the present invention, linear displacement sensors (not shown) are disposed inside the rack driving cylinder 2112, the traverse driving cylinder 2113, the vertical jacking cylinder 232, and the longitudinal driving cylinder 246. Further, the motion stroke of the oil cylinder can be accurately monitored in real time, so that the rotation angle around the Z axis and the accurate control of the movement along X, Y, Z three directions can be realized.

Fig. 10 shows an application example of the invention in the retracted state of the luffing cylinder 12.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.