CN111332602A - Lower clamp and rocket locking mechanism - Google Patents

Lower clamp and rocket locking mechanism Download PDF

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Publication number
CN111332602A
CN111332602A CN202010146992.4A CN202010146992A CN111332602A CN 111332602 A CN111332602 A CN 111332602A CN 202010146992 A CN202010146992 A CN 202010146992A CN 111332602 A CN111332602 A CN 111332602A
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CN
China
Prior art keywords
direction driving
driving mechanism
rocket
guide sleeve
hinged
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010146992.4A
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Chinese (zh)
Other versions
CN111332602B (en
Inventor
王永刚
滕瑶
刘仁昌
杨毅强
兰公英
胡小伟
王寿军
周龙
高鹏
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Beijing Zhongke Aerospace Technology Co Ltd
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Beijing Zhongke Aerospace Technology Co Ltd
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Priority to CN202010146992.4A priority Critical patent/CN111332602B/en
Publication of CN111332602A publication Critical patent/CN111332602A/en
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Publication of CN111332602B publication Critical patent/CN111332602B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D61/00—External frames or supports adapted to be assembled around, or applied to, articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D85/00—Containers, packaging elements or packages, specially adapted for particular articles or materials
    • B65D85/68—Containers, packaging elements or packages, specially adapted for particular articles or materials for machines, engines or vehicles in assembled or dismantled form
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2585/00—Containers, packaging elements or packages specially adapted for particular articles or materials
    • B65D2585/68—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form
    • B65D2585/6802—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form specific machines, engines or vehicles
    • B65D2585/6897—Containers, packaging elements or packages specially adapted for particular articles or materials for machines, engines, or vehicles in assembled or dismantled form specific machines, engines or vehicles others

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Clamps And Clips (AREA)

Abstract

The invention provides a lower clamp and a rocket locking mechanism, wherein the lower clamp is used for locking a rocket and comprises a base, an X-direction driving mechanism, a Y-direction driving mechanism, a Z-direction driving mechanism and a rocket locking pin. The X-direction driving mechanism can drive the Y-direction driving mechanism to move along the X direction; the Z-direction driving mechanism can drive the Y-direction driving mechanism to move along the Z direction; the first end of the arrow locking pin is fixedly connected with the driving end of the Y-direction driving mechanism, and the Y-direction driving mechanism can drive the arrow locking pin to move along the Y direction. In the invention, the rocket locking pin is inserted into the joint bearing of the lower support ring of the rocket to lock the rocket. And the arrow locking pin can move in the direction X, Y, Z under the drive of the X-direction drive mechanism, the Y-direction drive mechanism and the Z-direction drive mechanism. Therefore, when the position of the rocket in the erecting frame is deviated, the position of the rocket locking pin can be adjusted to adapt to the position of the rocket, so that the rocket is locked, and the transportation safety of the rocket is ensured.

Description

Lower clamp and rocket locking mechanism
Technical Field
The invention relates to the field of rocket transportation and fixation, in particular to a lower clamp and a rocket locking mechanism.
Background
The rocket is large in volume and weight, and needs to be locked in a transportation process so as to prevent accidents of the rocket in the transportation process, but the existing locking mechanism is poor in adjustment capability and cannot be adjusted in multiple dimensions, when the rocket is hoisted and enters the erecting frame, if a certain error occurs in the position, the rocket cannot be effectively locked, and therefore the possibility of accidents in the transportation process exists.
Therefore, it is an urgent technical problem to design a locking mechanism capable of adjusting position.
Disclosure of Invention
The invention aims to provide a lower clamp and a rocket locking mechanism, which are used for solving the problems and can effectively lock a rocket to ensure the transportation safety of the rocket when the rocket is lifted in a vertical frame and has position deviation.
The lower clamp provided by the invention is used for clamping a rocket and comprises a base, an X-direction driving mechanism, a Y-direction driving mechanism, a Z-direction driving mechanism and a rocket locking pin;
the first end of the X-direction driving mechanism is hinged with the first end of the base, the second end of the X-direction driving mechanism is hinged with the first side of the middle part of the Y-direction driving mechanism, and the X-direction driving mechanism can drive the Y-direction driving mechanism to move along the X direction;
the first end of the Z-direction driving mechanism is hinged with the second end of the base, the second end of the Z-direction driving mechanism is fixedly connected with the second side of the middle part of the Y-direction driving mechanism, and the Z-direction driving mechanism can drive the Y-direction driving mechanism to move along the Z direction;
the first end of the arrow locking pin is connected with the driving end of the Y-direction driving mechanism, and the Y-direction driving mechanism can drive the arrow locking pin to move along the Y direction.
The lower clamp as described above, wherein preferably, the Y-direction driving mechanism includes a base, a Y-direction guide sleeve, and a Y-direction driving member;
the base is fixedly connected with one end of the Y-direction guide sleeve, the fixed end of the Y-direction driving part is connected with the base, and the Y-direction driving part is positioned in the Y-direction guide sleeve;
the second end of the X-direction driving mechanism is hinged with the first side of the Y-direction guide sleeve;
the second end of the Z-direction driving mechanism is fixedly connected with the second side of the Y-direction guide sleeve;
the driving end of the Y-direction driving part is connected with the first end of the arrow locking pin, and the first end of the arrow locking pin is slidably sleeved inside the Y-direction guide sleeve.
Preferably, the arrow locking pin is provided with a blind hole at a first end, the driving end of the Y-direction driving part is located in the blind hole, and the driving end of the Y-direction driving part is connected with the bottom wall of the blind hole.
The lower clamp as described above, preferably, a threaded hole is opened in the bottom wall of the blind hole, a thread is provided at the front end of the driving end of the Y-direction driving part, and the driving end of the Y-direction driving part is fixedly connected to the bottom wall of the blind hole by the cooperation of the thread and the threaded hole.
The lower clamp as described above, preferably, a guide post is further fixedly disposed at a front portion of the driving end of the Y-direction driving member, the guide post is slidably disposed in the blind hole, and a diameter of the guide post matches a diameter of the blind hole.
The lower clamp as described above, wherein preferably, the arrow locking pin is radially provided with a first through hole, and the first through hole is close to the bottom wall and is communicated with the blind hole;
a second through hole is formed at the position, close to the bottom wall, of the driving end of the Y-direction driving part;
and the pin shaft penetrates through the first through hole and the second through hole, so that the driving end of the driving part is hinged with the arrow locking pin.
The lower clamp as described above, wherein preferably, the Z-direction driving mechanism includes a mounting seat, a Z-direction guide sleeve, a Z-direction push rod, and a Z-direction driving member;
the lower end of the Z-direction guide sleeve is fixedly connected with the mounting seat, the fixed end of the Z-direction driving part is hinged with the mounting seat, the Z-direction driving part is positioned in the Z-direction guide sleeve, the first end of the Z-direction push rod is hinged with the driving end of the Z-direction driving part, and the first end of the Z-direction push rod is positioned in the Z-direction guide sleeve;
the lower end of the mounting seat is hinged with the second end of the base;
and the second end of the Z-direction push rod is fixedly connected with the second side of the Y-direction guide sleeve.
The lower clamp as described above, wherein preferably, the side wall of the Z-guide sleeve is provided with two guide holes, and the two guide holes are symmetrical with respect to a plane where the X-axis and the Z-axis are located as a symmetry plane; and the Z-direction push rod is provided with two guide blocks which are respectively arranged in the guide holes in a sliding manner so as to prevent the Z-direction push rod from rotating.
The lower clamp as described above, wherein, preferably, the base includes a triangular arm and a flange plate, and the triangular arm is vertically and fixedly connected with the flange plate;
the first end of the X-direction driving mechanism is hinged with the first end of the triangular arm;
the lower end of the mounting seat is hinged with the second end of the triangular arm.
The invention also provides a rocket locking mechanism, which comprises a vertical frame and two lower clamps, wherein the lower clamps are any one of the lower clamps;
an arc-shaped supporting groove is formed in the upper end face of the vertical frame and used for loading rockets; the two lower clamps are respectively fixedly arranged on two sides of the vertical frame, and the second ends of the rocket locking pins in the two lower clamps are inserted into the knuckle bearings of the rocket lower support ring so as to lock and fix the rocket.
The invention provides a lower clamp and a rocket locking mechanism, wherein the lower clamp is used for locking a rocket and comprises a base, an X-direction driving mechanism, a Y-direction driving mechanism, a Z-direction driving mechanism and a rocket locking pin. The first end of the X-direction driving mechanism is hinged with the first end of the base, the second end of the X-direction driving mechanism is hinged with the first side of the middle part of the Y-direction driving mechanism, and the X-direction driving mechanism can drive the Y-direction driving mechanism to move along the X direction; the first end of the Z-direction driving mechanism is hinged with the second end of the base, the second end of the Z-direction driving mechanism is fixedly connected with the second side of the middle part of the Y-direction driving mechanism, and the Z-direction driving mechanism can drive the Y-direction driving mechanism to move along the Z direction; the first end of the arrow locking pin is connected with the driving end of the Y-direction driving mechanism, and the Y-direction driving mechanism can drive the arrow locking pin to move along the Y direction. In the invention, the rocket locking pin is inserted into the knuckle bearing of the lower support ring of the rocket to lock the rocket, and the rocket locking pin can move in the direction X, Y, Z under the drive of the X-direction drive mechanism, the Y-direction drive mechanism and the Z-direction drive mechanism. Therefore, when the position of the rocket in the erecting frame is deviated, the position of the rocket locking pin can be adjusted to adapt to the position of the rocket, so that the rocket is locked. The transportation risk caused by the fact that the rocket cannot be locked due to the fact that the position of the rocket in the erecting frame is deviated is avoided, and therefore the positioning difficulty that the rocket is hoisted to enter the erecting frame is reduced, and the transportation safety of the rocket is guaranteed.
Drawings
FIG. 1 is a schematic structural view of a lower clamp according to an embodiment of the present invention;
FIG. 2 is a schematic view of an arrow-locking pin in the lower clamp according to an embodiment of the present invention;
FIG. 3 is a schematic view of a rocket locking mechanism according to an embodiment of the present invention in a rocket transport state;
fig. 4 is a schematic view illustrating a rocket locking mechanism according to an embodiment of the present invention in a fire-starting vertical state.
Description of the reference numerals
100-lower clamp; 110-a base; 111-triangular arms; 112-flange plate; a 120-X direction drive mechanism; a 130-Y direction driving mechanism; 131-a base; a 132-Y direction guide sleeve; a 133-Y direction driving part; 1331-a guide post; a 140-Z direction drive mechanism; 141-a mounting seat; 142-Z guide sleeves; 1421-pilot hole; 143-Z direction push rods; 1431 — a guide block; 150-locking arrow pins; 151-blind hole; 152-chamfering; 200-erecting frame; 300-a rocket; 310-oscillating bearing.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
Referring to fig. 1 and 2, hereinafter, referring to the coordinate system of fig. 1, the lower clamp 100 according to the embodiment of the present invention is used for locking the rocket 300, and particularly, for locking the rocket 300 by a support ring disposed at the tail of the rocket 300. Specifically, lower jaw 100 includes base 110, X-drive mechanism 120, Y-drive mechanism 130, Z-drive mechanism 140, and arrow-locking pin 150. Wherein, the first end of the X-direction driving mechanism 120 is hinged to the first end of the base 110, the second end of the X-direction driving mechanism 120 is hinged to the first side of the middle part of the Y-direction driving mechanism 130, and the X-direction driving mechanism 120 can drive the Y-direction driving mechanism 130 to move along the X-direction; a first end of the Z-direction driving mechanism 140 is hinged to a second end of the base 110, a second end of the Z-direction driving mechanism 140 is fixedly connected to a second side of the middle portion of the Y-direction driving mechanism 130, and the Z-direction driving mechanism 140 can drive the Y-direction driving mechanism 130 to move along the Z direction; a first end of arrow locking pin 150 is coupled to a drive end of Y-drive mechanism 130, and Y-drive mechanism 130 is capable of driving arrow locking pin 150 in the Y-direction. In the present embodiment, the rocket locking pin 150 is inserted into the knuckle bearing 310 disposed on the support ring at the tail of the rocket 300 to lock the rocket 300, and the rocket locking pin 150 can move in the direction X, Y, Z under the driving of the X-direction driving mechanism 120, the Y-direction driving mechanism 130 and the Z-direction driving mechanism 140. Therefore, when the rocket 300 has a position deviation in the erecting frame 200, the rocket 300 can be locked by adjusting the position of the rocket locking pin 150 to adapt to the position of the rocket 300. The transportation risk caused by the fact that the rocket 300 cannot be locked and fixed due to the position deviation in the erecting frame 200 is avoided, and therefore the problem that the rocket 300 is difficult to hoist and enter the erecting frame 200 in a positioning mode is solved, and the transportation safety of the rocket 300 is guaranteed.
In one embodiment, the Y-direction driving mechanism 130 includes a base 131, a Y-direction guide sleeve, and a Y-direction driving part 133; the base 131 is fixedly connected with one end of the Y-direction guide sleeve, the fixed end of the Y-direction driving part 133 is connected with the base 131, and the Y-direction driving part 133 is positioned in the Y-direction guide sleeve 132; a second end of the X-direction drive mechanism 120 is hinged to a first side of the Y-direction guide sleeve 132; a second end of the Z-drive mechanism 140 is fixedly connected to a second side of the Y-guide 132; the driving end of the Y-direction driving part 133 is fixedly connected to the first end of the arrow-locking pin 150, and the first end of the arrow-locking pin 150 is slidably sleeved inside the Y-direction guide sleeve. Those skilled in the art can understand that the Y-direction driving component 133 may be a cylinder or an oil cylinder, and in this embodiment, it is preferably a double-acting hydraulic cylinder, and the double-acting hydraulic cylinder is implemented by oil pressure during the extension or contraction of the driving end, so as to improve the performance of the Y-direction driving component 133 and ensure that the Y-direction driving component 133 is unlocked smoothly. In this embodiment, the Y-guide bushing is sleeved outside the arrow-locking pin 150, so as to provide a guiding function for the movement of the arrow-locking pin 150 and ensure the accuracy of the operation of the arrow-locking pin 150. It will be further understood by those skilled in the art that the fixed end of the Y-driving member 133 and the base 131 may be fixedly connected or hinged. When the fixed end of the Y-direction driving part 133 is fixedly connected with the base 131, it can be realized by a bolt; when the fixed end of the Y-direction driving component 133 is hinged to the base 131, only one side of the base 131 close to the arrow locking pin 150 needs to be provided with a hinge ear plate, the fixed end of the Y-direction driving component 133 is also provided with a hinge ear plate, and the hinge ear plate passes through a hinge hole in the hinge ear plate through a pin shaft, so that the fixed end of the Y-direction driving component 133 is hinged to the base 131. In this embodiment, the fixed end of the Y-direction driving member 133 is preferably fixedly connected to the base 131.
In one embodiment, the first end of the arrow-locking pin 150 is provided with a blind hole 151, the driving end of the Y-direction driving component 133 is located in the blind hole 151, and the driving end of the Y-direction driving component 133 is fixedly connected with the bottom wall of the blind hole 151. In the present embodiment, the blind hole 151 is opened at the first end of the arrow locking pin 150, and the Y-direction driving member 133 is disposed in the blind hole 151, so as to reduce the installation space of the Y-direction driving mechanism 130. It will be understood by those skilled in the art that the blind hole 151 may be specifically configured according to the shape of the Y-directional driving component 133, so as to ensure that the Y-directional driving component 133 can be installed in the blind hole 151. In the present embodiment, the blind hole 151 is designed as a stepped hole.
In one embodiment, a threaded hole is formed in the bottom wall of the blind hole 151, a screw thread is disposed at the front end of the driving end of the Y-directional driving component 133, and the driving end of the Y-directional driving component 133 is fixedly connected with the bottom wall of the blind hole 151 through the matching of the screw thread and the threaded hole. In order to facilitate the installation and fixation of the Y-direction driving component 133 and the lock arrow pin 150, in this embodiment, a threaded hole is formed in the bottom wall of the blind hole 151, and a thread is arranged at the front end of the driving end of the Y-direction driving component 133, so that the Y-direction driving component 133 and the lock arrow pin 150 can be conveniently and simply fixedly connected through the matching of the thread and the threaded hole.
In another embodiment, the arrow-locking pin 150 has a first through hole along the radial direction, and the first through hole is close to the bottom wall and is communicated with the blind hole 151; a second through hole is formed at the position, close to the bottom wall, of the driving end of the Y-direction driving part 133; the driving end of Y-drive feature 133 is hinged to lock arrow pin 150 by the pin shaft passing through the first and second through holes. In this embodiment, when the driving end of the Y-direction driving part 133 receives a large radial force, the guide post 1331 can transmit the radial force to the Y-direction guide sleeve after contacting the blind hole 151, so as to prevent the driving end of the Y-direction driving part 133 from being broken due to the large radial force, and ensure the safety of the driving end of the Y-direction driving part 133.
In one embodiment, a guide post 1331 is fixedly disposed at the front portion of the driving end of the Y-driving member 133, the guide post 1331 is slidably disposed in the blind hole 151, and the diameter of the guide post 1331 matches the diameter of the blind hole 151. Those skilled in the art will appreciate that the diameter of the guiding post 1331 is a clearance fit with the blind hole 151, and that, in order to facilitate the sliding of the guiding post 1331 between the blind holes 151, the outer peripheral surface of the guiding post 1331 and the inner peripheral surface of the blind hole 151 need to have a high degree of finish during machining. In this embodiment, the guiding post 1331 is provided to guide the screw connection between the Y-direction driving member 133 and the blind hole 151, so as to facilitate the connection. Y-shaped guide sleeve
In one embodiment, Z-drive mechanism 140 includes a mounting base 141, a Z-guide sleeve 142, a Z-push rod 143, and a Z-drive component; the lower end of the Z-direction guide sleeve 142 is fixedly connected with the mounting seat 141, the fixed end of the Z-direction driving part is hinged with the mounting seat 141, the Z-direction driving part is positioned in the Z-direction guide sleeve 142, the first end of the Z-direction push rod 143 is hinged with the driving end of the Z-direction driving part, and the first end of the Z-direction push rod 143 is positioned in the Z-direction guide sleeve 142; the lower end of the mounting seat 141 is hinged with the second end of the base 110; a second end of Z-pushrod 143 is fixedly attached to a second side of Y-guide sleeve 132. In this embodiment, the Y-direction driving member 133 is also preferably a double acting cylinder. In this embodiment, the second end of the Z-push rod 143 is fixedly connected to the second side of the Y-guide sleeve, so as to ensure the certainty of the movement of the arrow-locking pin 150. In this embodiment, the Y-direction guide sleeve is driven by the Z-direction driving member to move in the Z-direction, and the arrow locking pin 150 is slidably disposed in the Y-direction guide sleeve, so that the arrow locking pin 150 is driven by the Z-direction driving member to move in the Z-direction. For the same reason, the driving member of the X-direction driving member mechanism is also preferably a double-acting cylinder, and the driving member of the X-direction driving mechanism drives the Y-guide sleeve to move in the X direction, which is equivalent to driving the arrow locking pin 150 to move in the X direction. Therefore, the arrow-locking pin 150 can move in five degrees of freedom under the combined action of the X-direction driving mechanism 120, the Y-direction driving mechanism 130 and the Z-direction driving mechanism 140, so that when the position of the rocket 300 in the erector frame 200 deviates, the rocket 300 can be locked through the degree of freedom movement of the arrow-locking pin 150. It will be understood by those skilled in the art that the deviation of the position of the rocket 300 in the erector 200 should be within an allowable range, and when the allowable range is exceeded, the rocket 300 can be lifted by the lifting device. Therefore, the strokes of the X-direction driving mechanism 120, the Y-direction driving mechanism 130, and the Z-direction driving mechanism 140 are all small, and in the present embodiment, the strokes are controlled within a range of 200 mm.
In one embodiment, two guiding holes 1421 are formed in the sidewall of the Z-guiding sleeve 142, and the two guiding holes 1421 are symmetrical with respect to a plane where the X-axis and the Z-axis are located as a symmetry plane; the Z-direction push rod 143 is provided with two guide blocks 1431, and the two guide blocks 1431 are respectively slidably disposed in the guide holes 1421. In this embodiment, the guide block 1431 and the guide opening 1421 are provided for the purpose of providing a guide for the Z motion while limiting the rotation of the Z push rod. In this embodiment, the number of the guide holes 1421 is two, and the two guide holes 1421 are symmetrical by taking the plane where the X axis and the Z axis are located as a symmetry plane, because the rocket 300 has a certain inclination in the transportation process, the lower clamp 100 can receive a larger acting force in the X direction, at this time, the guide block 1431 contacts with the guide sleeve, so that the force applied to the Z-direction push rod 143 is transmitted to the Z-direction guide sleeve 142, and the two guide blocks 1431 are provided to ensure the force balance, so as to ensure the safety of the Z-direction push rod 143.
In one embodiment, the base 110 includes a triangular arm 111 and a flange 112, the triangular arm 111 is vertically and fixedly connected with the flange 112; a first end of the X-direction driving mechanism 120 is hinged with a first end of the triangular arm 111; the lower end of the mounting seat 141 is hinged to the second end of the triangular arm 111. It will be understood by those skilled in the art that a plurality of mounting holes are formed around the flange 112, and the base 110 is fixedly connected to the stand 200 by the mounting holes. In the present embodiment, the triangular arm 111 is formed by welding a plurality of metal plates, and is intended to reduce the weight of the base 110 while ensuring the strength of the base 110.
As one example, the second end of lock arrow pin 150 is provided with a chamfer 152. As will be understood by those skilled in the art, the chamfer 152 provided at the second end of the arrow-locking pin 150 can provide a guiding function for the insertion of the arrow-locking pin 150 into the knuckle bearing 310 of the rocket 300, so that the insertion of the arrow-locking pin 150 into the knuckle bearing 310 of the rocket 300 is facilitated, and the operation difficulty is reduced.
Referring to fig. 3 and 4, the present application further provides a rocket locking mechanism, which includes a vertical frame 200 and two lower clamps 100. Wherein the lower clamp 100 is any one of the lower clamps 100 described above; the upper end surface of the erecting frame 200 is provided with an arc-shaped supporting groove for loading the rocket 300; the two lower clamps 100 are respectively fixedly disposed at both sides of the vertical frame 200, and the second ends of the rocket locking pins 150 in the two lower clamps are inserted into the knuckle bearings 310 of the lower support ring of the rocket 300 to lock the rocket 300. In this embodiment, the rocket 300 is placed in the supporting slot of the erecting frame 200, and the tail end of the rocket 300 is locked by the lower clamp 100 fixed on both sides of the erecting frame, thereby ensuring the safety of the rocket 300 during transportation.
The construction, features and functions of the present invention have been described in detail for the purpose of illustration and description, but the invention is not limited to the details of construction and operation, and is capable of other embodiments without departing from the spirit and scope of the invention.

Claims (10)

1. A lower clamp is used for locking a rocket and is characterized by comprising a base, an X-direction driving mechanism, a Y-direction driving mechanism, a Z-direction driving mechanism and a rocket locking pin;
the first end of the X-direction driving mechanism is hinged with the first end of the base, the second end of the X-direction driving mechanism is hinged with the first side of the middle part of the Y-direction driving mechanism, and the X-direction driving mechanism can drive the Y-direction driving mechanism to move along the X direction;
the first end of the Z-direction driving mechanism is hinged with the second end of the base, the second end of the Z-direction driving mechanism is fixedly connected with the second side of the middle part of the Y-direction driving mechanism, and the Z-direction driving mechanism can drive the Y-direction driving mechanism to move along the Z direction;
the first end of the arrow locking pin is connected with the driving end of the Y-direction driving mechanism, and the Y-direction driving mechanism can drive the arrow locking pin to move along the Y direction.
2. The lower clamp according to claim 1, wherein the Y-drive mechanism includes a base, a Y-guide sleeve, and a Y-drive member;
the base is fixedly connected with one end of the Y-direction guide sleeve, the fixed end of the Y-direction driving part is connected with the base, and the Y-direction driving part is positioned in the Y-direction guide sleeve;
the second end of the X-direction driving mechanism is hinged with the first side of the Y-direction guide sleeve;
the second end of the Z-direction driving mechanism is fixedly connected with the second side of the Y-direction guide sleeve;
the driving end of the Y-direction driving part is connected with the first end of the arrow locking pin, and the first end of the arrow locking pin is slidably sleeved inside the Y-direction guide sleeve.
3. The lower clamp according to claim 2, wherein the first end of the arrow locking pin is provided with a blind hole, the driving end of the Y-direction driving part is positioned in the blind hole, and the driving end of the Y-direction driving part is connected with the bottom wall of the blind hole.
4. The lower clamp according to claim 3, wherein a threaded hole is formed in the bottom wall of the blind hole, a thread is arranged at the front end of the driving end of the Y-direction driving part, and the driving end of the Y-direction driving part is fixedly connected with the bottom wall of the blind hole through the matching of the thread and the threaded hole.
5. The lower clamp according to claim 3, wherein a guide post is fixedly arranged at the front part of the driving end of the Y-direction driving part, the guide post is slidably arranged in the blind hole, and the diameter of the guide post is matched with that of the blind hole.
6. The lower clamp according to claim 3, wherein the bolt pin is radially provided with a first through hole, and the first through hole is close to the bottom wall and is communicated with the blind hole;
a second through hole is formed at the position, close to the bottom wall, of the driving end of the Y-direction driving part;
and the pin shaft penetrates through the first through hole and the second through hole, so that the driving end of the driving part is hinged with the arrow locking pin.
7. The lower clamp of claim 1, wherein the Z-drive mechanism includes a mount, a Z-guide sleeve, a Z-push rod, and a Z-drive member;
the lower end of the Z-direction guide sleeve is fixedly connected with the mounting seat, the fixed end of the Z-direction driving part is hinged with the mounting seat, the Z-direction driving part is positioned in the Z-direction guide sleeve, the first end of the Z-direction push rod is hinged with the driving end of the Z-direction driving part, and the first end of the Z-direction push rod is positioned in the Z-direction guide sleeve;
the lower end of the mounting seat is hinged with the second end of the base;
and the second end of the Z-direction push rod is fixedly connected with the second side of the Y-direction guide sleeve.
8. The lower clamp according to claim 6, wherein the side wall of the Z-direction guide sleeve is provided with two guide holes, and the two guide holes are symmetrical by taking the plane where the X axis and the Z axis are located as a symmetrical plane; and the Z-direction push rod is provided with two guide blocks which are respectively arranged in the guide holes in a sliding manner so as to prevent the Z-direction push rod from rotating.
9. The lower clamp according to claims 1 to 8, wherein the base comprises a triangular arm and a flange plate, and the triangular arm is vertically and fixedly connected with the flange plate;
the first end of the X-direction driving mechanism is hinged with the first end of the triangular arm;
the lower end of the mounting seat is hinged with the second end of the triangular arm.
10. A rocket locking mechanism, comprising a vertical frame and two lower clamps according to any one of claims 1 to 9;
an arc-shaped supporting groove is formed in the upper end face of the vertical frame and used for loading rockets; the two lower clamps are respectively fixedly arranged on two sides of the vertical frame, and the second ends of the rocket locking pins in the two lower clamps are inserted into the knuckle bearings of the rocket lower support ring so as to lock and fix the rocket.
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