CN112338518A - Driving device suitable for rocket assembly - Google Patents
Driving device suitable for rocket assembly Download PDFInfo
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- CN112338518A CN112338518A CN202010944014.4A CN202010944014A CN112338518A CN 112338518 A CN112338518 A CN 112338518A CN 202010944014 A CN202010944014 A CN 202010944014A CN 112338518 A CN112338518 A CN 112338518A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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Abstract
The invention provides a drive device suitable for rocket assembly, comprising: a first drive assembly including an arcuate conformal device shaped to conform to the rocket section, the first drive assembly for regulating rotation of the rocket section along the X-axis; a first frame, the first drive assembly mounted on the first frame. The driving device for rocket assembly can realize accurate rotation of the rocket section along the X axial direction, and meets the driving requirement.
Description
Technical Field
The invention relates to the field of rocket large part installation, in particular to a driving device suitable for rocket assembly.
Background
The carrier rocket is used as a main carrier of satellites and other spacecrafts, and the requirements on the number and the quality of the carrier rocket are higher and higher along with the development of aerospace technology, the diversity of launch loads and the density of launch times. The carrier rocket assembly is a complex assembly process and mainly comprises three parts, namely structural installation, equipment cable installation and power system installation, wherein the structural installation is an important component in the rocket assembly.
The intermediate section assembly of the domestic rocket assembly mainly depends on shouting and visual observation to adjust the postures of the rocket parts, and the manual mode not only needs more tools and more operators, but also has complex coordination relationship among rocket tube sections and needs repeated coordination; in addition, because the diameter of the rocket barrel section and the length of the parts are both large, the posture is difficult to adjust, and the positioning accuracy is poor; in addition, the positioning accuracy of the butt joint surface is poor, extrusion assembly can be caused, the assembly efficiency and the assembly quality of the wings are seriously influenced by the mode, and the requirements of high efficiency and high quality cannot be met.
In view of this, it is desirable to design a driving device suitable for rocket assembly, which can realize automatic posture adjustment and increase working efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a driving device suitable for rocket assembly.
The invention provides a driving device suitable for rocket assembly, which comprises: a first drive assembly including an arcuate conformal device shaped to conform to the rocket section, the first drive assembly for regulating rotation of the rocket section along the X-axis; a first frame, the first drive assembly mounted on the first frame.
According to one embodiment of the invention, the conformal means is a circular frame structure that wraps around the rocket section.
According to one embodiment of the invention, the conformal means is a semi-circular frame structure that wraps around the lower half of the rocket section.
According to one embodiment of the invention, the conformal device comprises: the first arc plate and the second arc plate are arranged at intervals along the length direction of the rocket section and are used for supporting two ends of the rocket section, wherein the inner arc surfaces of the first arc plate and the second arc plate are matched with the circumferential direction of the rocket section; at least three or more flat plates connected between the first arc plate and the second arc plate.
According to an embodiment of the invention, the first drive assembly further comprises: the guide rails are arranged on the first arc plates and the second arc plates, and the track extending direction of the guide rails is consistent with the circumferential direction of the rocket section; and the guide groove is fixed on the first frame and used for sliding support of the guide rail.
According to one embodiment of the invention, the length of the guide groove is smaller than the length of the guide rail.
According to one embodiment of the invention, the guide slot is connected to the first frame by at least two support posts.
According to an embodiment of the invention, the first drive assembly further comprises: a first gear disposed on the shape-retaining device and parallel to the guide rail; a second gear engaged with the first gear and having a smaller shape than the first gear; and the first driving motor provides driving force for the second gear to drive the first gear to rotate.
According to one embodiment of the invention said first gear wheel is mounted at an intermediate position of said conformal device in the axial direction.
According to an embodiment of the invention, the first drive assembly further comprises: the first speed reducer is connected to the first driving motor; the first support is arranged on the first frame and used for fixing the first speed reducer.
The combination of the first driving component and the first frame of the driving device for rocket assembly can realize the accurate rotation of the rocket section along the X-axis direction and meet the driving requirement.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a perspective view of an attitude adjustment apparatus for rocket assembly according to one embodiment of the present invention;
FIG. 2 is a side view of an attitude adjustment apparatus for rocket assembly according to yet another embodiment of the present invention;
FIG. 3 is a side view of an attitude adjustment apparatus for rocket assembly according to another embodiment of the present invention;
FIG. 4 is a perspective view of a drive device for a rocket assembly according to one embodiment of the present invention;
FIG. 5 is a partial schematic view of a first drive assembly in accordance with an embodiment of the invention;
FIG. 6 is a side view of a drive device for a rocket assembly according to another embodiment of the present invention;
FIG. 7 is a front view of a drive device for a rocket mount according to yet another embodiment of the present invention;
FIG. 8 is a partial schematic view of a second drive assembly in accordance with an embodiment of the invention;
fig. 9 is a perspective view of an attitude adjusting apparatus for rocket assembly according to still another embodiment of the present invention.
Description of reference numerals:
100-a first driving assembly, 101-a shape-preserving device, 102-a guide rail, 103-a guide groove, 104-a first gear, 105-a second gear, 106-a first driving motor, 107-a first speed reducer, 108-a first bracket, 110-a first arc plate, 111-a second arc plate and 112-a flat plate;
200-a second drive assembly, 201-a first frame, 202-a second frame, 203-a lead screw mechanism, 204-a slewing bracket, 205-a lead screw mounting seat, 206-a drive nut, 207-a drive lead screw, 208-a second drive motor, 209-a first rotating shaft, 210-a second rotating shaft, 211-a pin shaft, 212-a first belt pulley, 213-a second belt pulley, 214-a synchronous belt, 215-a second bracket, 216-a nut mounting seat;
300-a third driving assembly, 301-a third gear, 302-a fourth gear, 303-a third driving motor, 304-a supporting seat, 305-a second speed reducer, 306-a third support.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention, for the purposes of illustrating the principles of the invention. Additionally, the components in the drawings are not necessarily to scale. For example, the dimensions of some of the elements or regions in the figures may be exaggerated relative to other elements or regions to help improve understanding of embodiments of the present invention.
The directional terms used in the following description are used in the illustrated directions, and do not limit the specific configurations of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
Furthermore, the terms "comprises," "comprising," "includes," "including," "has," "having" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure or component comprising a list of elements does not include only those elements but may include other mechanical components not expressly listed or inherent to such structure or component. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
Spatially relative terms such as "below," "… below," "lower," "above," "… above," "upper," and the like are used for convenience in describing the positioning of one element relative to a second element and are intended to encompass different orientations of the device in addition to different orientations than those illustrated in the figures. Further, for example, the phrase "one element is over/under another element" may mean that the two elements are in direct contact, or that there is another element between the two elements. Furthermore, terms such as "first", "second", and the like, are also used to describe various elements, regions, sections, etc. and should not be taken as limiting. Like terms refer to like elements throughout the description.
It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
FIG. 1 is a perspective view of an attitude adjustment apparatus for rocket assembly according to one embodiment of the present invention; FIG. 2 is a side view of an attitude adjustment apparatus for rocket assembly according to yet another embodiment of the present invention; FIG. 3 is a side view of an attitude adjustment apparatus for rocket assembly according to another embodiment of the present invention; FIG. 4 is a perspective view of a drive device for a rocket assembly according to one embodiment of the present invention; FIG. 5 is a partial schematic view of a first drive assembly in accordance with an embodiment of the invention; FIG. 6 is a side view of a drive device for a rocket assembly according to another embodiment of the present invention; FIG. 7 is a front view of a drive device for a rocket mount according to yet another embodiment of the present invention; FIG. 8 is a partial schematic view of a second drive assembly in accordance with an embodiment of the invention; fig. 9 is a perspective view of an attitude adjusting apparatus for rocket assembly according to still another embodiment of the present invention.
Along with the development of aerospace technology in the field of carrier rocket aerospace, the diversity of launch loads and the density of launch times, the demands on the number and the quality of carrier rockets are higher and higher. The structural installation of the carrier rocket is an important component in rocket assembly, in particular to assembly work of butt joint of a rocket engine and a transition section, butt joint of an oxidant tank and a tank interval section, butt joint of a fuel tank and the tank interval section, butt joint of a tail section and the transition section, butt joint of an interstage rod system and an oxidant tank, butt joint of the interstage section and a fuel tank, butt joint of a combination body and the like.
With the development of the technology, the industries of large-scale electromechanical equipment, ships, airplanes and the like widely use a large-size measuring system to guide the butt joint assembly of large components, and particularly in the aviation field, the automatic butt joint assembly system consisting of the large-size measuring system, the attitude adjusting system and the servo control system greatly improves the assembly efficiency and quality of airplanes.
The invention provides a driving device for rocket assembly, comprising: a first drive assembly 100 comprising an arcuate conforming device 101 shaped to conform to the rocket section, the first drive assembly 100 for adjusting the rotation of the rocket section along the X-axis; a first frame 201, and a first driving assembly 100 mounted on the first frame 201.
Specifically, the posture adjusting device for rocket assembly is composed of three driving components, and can rotate around three coordinate axes of a space coordinate X, Y and a Z axis respectively, so that posture adjustment in three directions is performed. According to the assembly characteristics of small adjustment range and high precision requirement of rocket assembly, the posture adjusting device for rocket assembly realizes rotation of space around X, Y, Z three axes through a three-layer structure, and can accurately control rotation in three directions by applying the first driving assembly 100, the second driving assembly 200 and the third driving assembly 300 below a rocket part respectively, so that the posture can be accurately adjusted and controlled during rocket assembly.
As shown in FIG. 1, rotation of the rocket section about the X-axis is achieved by a first drive assembly 100, rotation of the rocket section about the Y-axis is achieved by a second drive assembly 200, and rotation of the rocket section about the Z-axis is achieved by a third drive assembly 300. Wherein the shape of conformal device 101 in first drive assembly 100 can be adapted to the shape of rocket segments, which are typically curved, in this embodiment curved conformal device 101 is illustrated. The first frame 201 and the second frame 202 of the second driving assembly 200 are arranged in parallel along the Z-axis, and when the lead screw mechanism 203 performs length adjustment, the swivel bracket 204 can be used as a fulcrum of the first frame 201 and the second frame 202 to realize rocket section pitch adjustment. A third drive assembly 300 is provided on the side of the second frame 202 remote from the first frame 201 for adjusting the rocket section to rotate along the Z-axis.
According to one embodiment of the invention, conformal device 101 is a circular frame structure that wraps around rocket segments.
As one mode in this embodiment, the shape-preserving device 101 is a circular frame structure wrapping the rocket section, and the integral circular wrapping mode can protect the rocket section from shifting in all directions, increase the attachment area of the shape-preserving device 101 and the rocket section, increase the friction force, and ensure that the rocket barrel section rotates more smoothly along the X-axis direction.
According to one embodiment of the invention, conformal device 101 is a semi-circular frame structure that wraps around the lower half of the rocket section.
As shown in fig. 1 to 3, as one mode in this embodiment, the conformal device 101 may adopt a semicircular frame structure wrapping the lower half part of the rocket section, and the semicircular arc structure can save the frame material and facilitate the staff to check the moving state of the rocket section. In order to increase the friction force between conformal device 101 and the rocket section, a frame of rubber with a matched structure can be arranged at the interface where conformal device 101 is contacted with the rocket section, so that the rocket barrel section can rotate more smoothly along the X-axis direction.
As shown in FIG. 4, in accordance with one embodiment of the present invention, conformal device 101 includes: the first arc plate 110 and the second arc plate 111 are arranged at intervals along the length direction of the rocket section and are used for supporting two ends of the rocket section, wherein the inner arc surfaces of the first arc plate 110 and the second arc plate 111 are matched with the circumferential direction of the rocket section; at least three or more flat plates 112 are connected between the first arc plate 110 and the second arc plate 111.
Specifically, the shape-preserving device 101 is formed by arranging a first arc plate 110 and a second arc plate 111 at intervals and connecting at least three flat plates 112, and the shape-preserving device 101 of the structure has a good force bearing space and uniformly distributes the weight of rocket sections to the shape-preserving device 101.
According to an aspect of the present invention, the first driving assembly 100 further includes: the guide rails 102 are arranged on the support frames at two ends of the shape-preserving device 101; and a guide groove 103 fixed to the first frame 201 for slidably supporting the guide rail 102.
Specifically, the shape-preserving device 101 is of an arc-shaped frame structure, the guide rails 102 are arranged on support frames at two ends of the shape-preserving device 101, the guide grooves 103 are arranged for embedding the guide rails 102 in the guide grooves 103, the guide grooves 103 are fixed on the first frame 201, and the guide rails 102 are slidably arranged in the guide grooves 103. In this embodiment, a force is provided in the direction of the guide rail 102 to effect rotation of the rocket section along the X-axis.
As shown in fig. 4, according to an embodiment of the present invention, the first driving assembly 100 further includes: the guide rail 102 is arranged on the first arc plate 110 and the second arc plate 111, and the track extending direction of the guide rail 102 is consistent with the circumferential direction of the rocket section; and a guide groove 103 fixed to the first frame 201 for slidably supporting the guide rail 102.
Specifically, because the shape-preserving device 101 is an arc-shaped frame structure, the guide rail 102 is arranged on the first arc plate 110 and the second arc plate 111 at two ends of the shape-preserving device 101, the guide groove 103 is arranged for embedding the guide rail 102 in the guide groove 103, the guide groove 103 is fixed on the first frame 201, and the guide rail 102 is slidably arranged in the guide groove 103. In this embodiment, a force is provided in the direction of the guide rail 102 to effect rotation of the rocket section along the X-axis.
According to one embodiment of the invention, the length of the guide groove 103 is smaller than the length of the guide rail 102. In this embodiment, the arc-shaped middle position of the guide groove 103 is fixed on the first frame 201, the arc-shaped total length of the guide groove 103 is smaller than the arc-shaped total length of the guide rail 102, and the length of the guide rail 102 at least reaches half of the circumference of the rocket section.
According to one embodiment of the present invention, the guide groove 103 is connected to the first frame 201 by at least two support columns. Because the guide groove 103 is of an arc-shaped structure, the installation mode that the guide groove 103 is connected to the first frame 201 through a single point at the arc-shaped midpoint is unstable, and more than two support columns are added at two ends of the arc-shaped structure of the guide groove 103, so that the guide groove 103 is stably fixed on the first frame 201, and the guide rail 102 can be safely operated to move in the guide groove 103.
As shown in fig. 5, according to an aspect of the present invention, the first driving assembly 100 further includes: a first gear 104, arranged on the conforming device 101 and parallel to the guide rail 102; a second gear 105 engaged with the first gear 104 and having a smaller shape than the first gear 104; the first driving motor 106 provides a driving force to the second gear 105 to drive the first gear 104 to rotate.
In this embodiment, the first driving motor 106 provides driving force to provide a driven component, that is, the shape-preserving device 101 is provided with the first gear 104 parallel to the guide rail 102, and since the size of the first gear 104 is adapted to the shape-preserving device 101, the second gear 105 needs to be provided with a shape smaller than that of the first gear 104, so that the first driving motor 106 first acts on the second gear 105, and the second gear 105 and the first gear 104 are meshed with each other to drive the first gear 104 to rotate, thereby driving the guide rail 102 to rotate along the guide groove 103, and the shape-preserving device 101 carries the rocket section to rotate along the central axis thereof.
According to one embodiment of the invention, first gear 104 is mounted at an intermediate position along the axial direction of conformable device 101, for example, disposed outside of at least three or more plates 112. Wherein, since the first gear 104 is parallel to the guide rail 102 and also has an arc-shaped structure, the arc-shaped first gear 104 is mounted on the flat plate 112 between the first arc plate 110 and the second arc plate 111. As an embodiment, the first gear 104 may be installed on at least three or more plates 112 at the middle position in the axial direction of the shape-keeping device 101, so that the force applied to the first gear 104 is uniform.
According to an aspect of the present invention, the first driving assembly 100 further includes: a first speed reducer 107 connected to the first drive motor 106; the first bracket 108 is provided on the first frame 201 to fix the first reduction gear 107.
Specifically, the first speed reducer 107 is mounted on the first driving motor 106 to enable effective output of driving force, the first bracket 108 is arranged at a corresponding position of the first frame 201 and is used for supporting the first speed reducer 107, so that the first driving motor 106 outputs the driving force of the first speed reducer 107 to the second gear 105, the second gear 105 drives the first gear 104 to rotate, the conformal device 101 and the rocket section are driven to move in the guide groove 103 through the guide rail 102, and the rocket section rotates along the X axis.
As shown in fig. 6 and 7, according to one embodiment of the present invention, the length of the first frame 201 and the second frame 202 in the X-axis direction is adapted to the length of the rocket section, and the length in the Y-axis direction is adapted to the diameter of the rocket section.
Specifically, the size of the first frame 201 and the second frame 202 is adapted to the size of the rocket section, the length along the X-axis direction is adapted to the length of the rocket section, the length along the Y-axis direction is adapted to the diameter of the rocket section, and the whole rocket section is rectangular, so that the rocket section is supported.
As shown in fig. 8, according to an aspect of the present invention, the screw mechanism 203 includes: a screw mount 205 fixed to one side of the first frame 201 in the X-axis direction; a drive nut 206 fixed to the second frame 202 at a position corresponding to the screw mount 205; a drive screw 207 rotatably disposed within the screw mount 205 and the drive nut 206; and a second driving motor 208 for providing a driving force to the driving screw 207 to move the driving screw 207 in the Z-axis direction.
Specifically, the screw mechanism 203 in the second driving mechanism 200 is a main component providing a driving force, the driving screw 207 penetrates through the screw mount 205 and the driving nut 206 and is rotatably screwed by mounting the screw mount 205 and the driving nut 206 on the first frame 201 and the second frame 202, respectively, and the driving screw 207 can move a certain distance in the Z-axis direction when the driving force is provided by the second driving motor 208 to rotate the driving screw 207. The whole screw mechanism 203 is located on the same side of the first frame 201 and the second frame 202 in the X-axis direction, and the parts can cooperate with each other to drive the screw mechanism 203.
As shown in fig. 6 and 7, according to an aspect of the present invention, the swing bracket 204 includes: first rotation shafts 209 fixed to both sides of the first frame 201 in the Y-axis direction; a second rotating shaft 210 fixed to both sides of the second frame 202 in the Y-axis direction, the second rotating shaft 210 being disposed to intersect the first rotating shaft 209; and a pin shaft 211 penetrating the first rotating shaft 209 and the second rotating shaft 210.
Specifically, the slewing bracket 204 not only functions to support and isolate the first frame 201 and the second frame 202, but also performs a pitching motion of the first frame 201 around the slewing bracket 204, and the second frame 202 is fixedly held. The pivoting bracket 204 of the second driving mechanism 200 realizes the pitching motion of the first frame 201 and the second frame 202 by the mutual cooperation of the first rotating shaft 209 and the second rotating shaft 210, the first rotating shaft 209 is fixed with the first frame 201, the second rotating shaft 210 is fixed with the second frame 202, and the first rotating shaft 209 and the second rotating shaft 210 are rotatably connected together by the pin shaft 211. The pivoting bracket 201 is disposed on both sides of the first frame 201 and the second frame 202 in the Y-axis direction, and provides a stable supporting environment. The first rotating shaft 209 and the second rotating shaft 210 are movably connected together through a pin shaft 211, and the first frame 201 rotates around the slewing bracket 204 around the Y axis under the condition that the second frame 202 is kept still, and the rotating angle is influenced by the moving displacement of the lead screw mechanism 203.
According to an embodiment of the present invention, the first rotating shaft 209 and the second rotating shaft 210 are disposed at the middle position of the first frame 201 and the second frame 202 along the X-axis direction. In the embodiment, because the first frame 201 performs the pitching motion around the revolving support 204, the position of the revolving support 204 determines the rotation angle, and in the embodiment, the revolving support 204 is selectively installed at the middle position of the first frame 201 and the second frame 202 along the X-axis, so that the stress on the first rotating shaft 209 and the second rotating shaft 210 is uniform, and the vertical offset of the two ends of the first frame 201 along the X-axis is the same
According to an embodiment of the present invention, the first rotating shaft 209 and the second rotating shaft 210 are semi-arc-shaped plate-shaped structures. In order to facilitate the reliable rotation of the pivoting bracket 204, the first rotating shaft 209 and the second rotating shaft 210 are configured to be semi-arc-shaped, so as to provide a reliable rotating space when the pivoting bracket 204 rotates around the pin 219.
As shown in fig. 8, according to an aspect of the present invention, the screw mechanism 203 further includes: a first pulley 212 provided on the second drive motor 208; a second pulley 213 disposed at an end of the drive screw 207 remote from the drive nut 206; and a timing belt 214 fitted around the first pulley 212 and the second pulley 213.
Specifically, the driving force between the second driving mechanism 208 and the driving screw 207 can be transmitted through a first pulley 212, a second pulley 213 and a timing belt 214, the first pulley 212 is adapted to the power output part of the second driving motor 208, the second pulley 213 is adapted to the size of one end of the driving screw 207, and the transmission of the driving force is realized by sleeving the timing belt 214 on the first pulley 212 and the second pulley 213.
According to an aspect of the present invention, the screw mechanism 203 further comprises: a second bracket 215 for fixing the second driving motor 208 to the screw mount 205; a nut mount 216 for securing the drive nut 206 to the second frame 202.
Specifically, in order to fix the second driving motor 208 to the screw mount 205 more stably, the second bracket 215 is disposed on the screw mount 205, and the second driving motor 208 is inserted into the second bracket 215. Also, to better secure the drive nut 206 to the second frame 202, a nut mount 216 is provided that is coupled to the second frame 202.
As shown in fig. 9, according to an aspect of the present invention, the third driving assembly 300 includes: a third gear 301 which is adapted to the second frame 202 in size and fixed to a side of the second frame 202 away from the first frame 201; a fourth gear 302 meshed with the third gear 301 and having a smaller shape than the third gear 301; and a third driving motor 303 for providing a driving force to the fourth gear 302 to drive the third gear 301 to rotate.
Specifically, the third driving assembly 300 drives the second frame 202 to rotate along the Z-axis by the driving force of the third driving motor 303 through the cooperation of the third gear 301 and the fourth gear 302. The third gear 301 is adapted to the second frame 202 in size and fixed to the side of the second frame 202 away from the first frame 201, and in order to facilitate the output of the driving force of the third driving motor 303, a fourth gear 302 is provided to be engaged with the third gear 301 and to be smaller in shape than the third gear 301.
According to an aspect of the present invention, the third driving assembly 300 further includes: the supporting seat 304 is matched with the third gear 301 in size and can be movably connected to the third gear 301; a second reduction gear 305 connected to the third drive motor 303; and a third bracket 306 arranged on the support base 304 and used for fixing the second speed reducer 305.
Specifically, in order to enable the third gear 303 to rotate, the supporting seat 304 needs to be disposed on a fixed platform, and the size of the supporting seat 304 matches with that of the third gear 301 and is movably connected to the third gear 301. In order to achieve effective output of the driving force of the third driving motor 303, a second speed reducer 305 is provided to be connected to the third driving motor 303. A third bracket 306 is provided at one side of the support base 304 for fixing the second speed reducer 305.
The invention realizes the following technical effects:
1. the single posture adjusting device for rocket assembly can realize posture adjustment of three spatial rotational degrees of freedom;
2. the driving position is applied to the edge of the frame, so that the adjusting precision of posture adjustment is greatly improved, and the accurate regulation and control of the posture are realized;
3. the three layers of frames realize posture adjustment in three directions, and the structure is compact;
4. the device is conveniently integrated with a robot or other three-freedom-degree mobile equipment to form full-freedom-degree space attitude adjustment of six spatial degrees of freedom.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A drive mechanism adapted for rocket assembly, comprising:
a first drive assembly including an arcuate conformal device shaped to conform to the rocket section, the first drive assembly for regulating rotation of the rocket section along the X-axis;
a first frame, the first drive assembly mounted on the first frame.
2. The drive of claim 1, wherein the conformal device is a circular frame structure that encases rocket segments.
3. The drive of claim 1, wherein the conformal device is a semi-circular frame structure that wraps around a lower half of the rocket section.
4. The drive arrangement of claim 3, wherein the conformal arrangement comprises:
the first arc plate and the second arc plate are arranged at intervals along the length direction of the rocket section and are used for supporting two ends of the rocket section, wherein the inner arc surfaces of the first arc plate and the second arc plate are matched with the circumferential direction of the rocket section;
at least three or more flat plates connected between the first arc plate and the second arc plate.
5. The drive of claim 4, wherein the first drive assembly further comprises:
the guide rails are arranged on the first arc plates and the second arc plates, and the track extending direction of the guide rails is consistent with the circumferential direction of the rocket section;
and the guide groove is fixed on the first frame and used for sliding support of the guide rail.
6. The drive of claim 5, wherein the length of the guide slot is less than the length of the guide rail.
7. The drive of claim 5, wherein the guide slot is connected to the first frame by at least two support posts.
8. The drive of claim 5, wherein the first drive assembly further comprises:
a first gear disposed on the shape-retaining device and parallel to the guide rail;
a second gear engaged with the first gear and having a smaller shape than the first gear;
and the first driving motor provides driving force for the second gear to drive the first gear to rotate.
9. The drive of claim 8, wherein the first gear is mounted at an intermediate position of the conformal device in the axial direction.
10. The drive of claim 8, wherein the first drive assembly further comprises:
the first speed reducer is connected to the first driving motor;
the first support is arranged on the first frame and used for fixing the first speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010944014.4A CN112338518A (en) | 2020-09-10 | 2020-09-10 | Driving device suitable for rocket assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010944014.4A CN112338518A (en) | 2020-09-10 | 2020-09-10 | Driving device suitable for rocket assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112338518A true CN112338518A (en) | 2021-02-09 |
Family
ID=74357228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010944014.4A Withdrawn CN112338518A (en) | 2020-09-10 | 2020-09-10 | Driving device suitable for rocket assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112338518A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115648131A (en) * | 2022-11-11 | 2023-01-31 | 天津航天长征火箭制造有限公司 | Six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket encircling assembly |
-
2020
- 2020-09-10 CN CN202010944014.4A patent/CN112338518A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115648131A (en) * | 2022-11-11 | 2023-01-31 | 天津航天长征火箭制造有限公司 | Six-degree-of-freedom automatic posture adjusting equipment for rocket all-rocket encircling assembly |
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Application publication date: 20210209 |
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| WW01 | Invention patent application withdrawn after publication |