JP2016068876A - Fixation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a fixation device for making an attitude angle of an attaching-detaching body coincide with an attitude angle of an arm.SOLUTION: A fixation device is the fixation device arranged on a movable body and fixing an attaching-detaching body by fixing a fixation member provided in three places or more (except when the whole is on the same axis) of the attachable-detachable attaching-detaching body, and is arranged only in an arm rotatably connected via a frame and a joint arranged in the movable body, and comprises three pieces or more of holding parts for fitting the fixation member. The three pieces or more of holding parts comprise a vertical positioning part for positioning an upper end position or a lower end position of the fixation member and a fixation part for fixing the vertical direction of the fixation member in a positioning position, and two pieces or more of holding parts comprise a lateral positioning part for positioning a lateral position of the fixation member and a fixation part for fixing the lateral direction of the fixation member in a positioning position, and one or more of holding parts comprise a rear positioning part for positioning a rear end position of the fixation member and a fixation part for limiting the rear end of the fixation member in a positioning position.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a fixing device for a rocket launcher using a detachable body vehicle. More specifically, the present invention fixes a fixing member provided on three or more places (except when all are on the same axis) of a detachable detachable body disposed on a moving body. It is related with the fixing device which fixes a desorption body by.

  2. Description of the Related Art Conventionally, as a loading / unloading device for a carton in a vehicle, at least one slideway that can freely slide and guide a right-angle member that is freely controlled and moved is attached to the vehicle chassis, and the slideway is mounted on the vehicle chassis. At least one jack is provided so as to be able to rotate around its attachment point, and the hook provided at the free end of the right-angle member is engaged with one end of the cargo box by the operation of the jack. There is known one in which an end portion can perform an arc motion (see Patent Document 1).

Japanese Patent Publication No.49-45806

However, in the loading / unloading device described in Patent Document 1, the detachable body is held by hooks, stoppers, container locks, and the like provided on a plurality of arms. In addition, since the detachable body is held, the posture angle of the detachable body and the posture angle of the arm do not always coincide with each other due to the holding method and backlash.
As one form of such a detachable body vehicle, there is a rocket launcher using a detachable body having a rocket launch canister (this is called a “rocket launch pallet”). Since the attitude angle of the rocket launcher pallet does not always match, there was a problem that the launch angle of the rocket bullet could not be set precisely.

  The present invention has been made in view of such problems of the prior art. An object of the present invention is to provide a fixing device that can be applied to a rocket launcher by holding and fixing the posture angle of the detachable body and the posture angle of the arm so as to coincide with each other.

  The present inventor has intensively studied to achieve the above object. As a result, the arm is provided with three or more predetermined holding portions into which the fixing members provided at three or more places (except when all are on the same axis) of the detachable detachable body are fitted. Thus, the inventors have found that the above object can be achieved, and have completed the present invention.

That is, the fixing device of the present invention fixes fixing members provided on three or more places (except when all are on the same axis) of a detachable detachable body that is disposed on a moving body. Is a fixing device for fixing the detachable body, and is provided only on an arm that is rotatably connected via a frame and a joint provided on the moving body, and is fitted with three or more fitting members. A holding part is provided.
And three or more holding parts of the holding parts are vertically held with a vertical positioning part for determining the upper end position or the lower end position of the fixing member and a fixing part for fixing the vertical direction of the fixing member at the positioning position. Left and right holding parts, wherein two or more holding parts of the holding parts include a left and right positioning part that determines the left and right position of the fixing member, and a fixing part that fixes the left and right direction of the fixing member at the positioning position. And at least one holding portion of the holding portion includes a rear positioning portion that determines a rear end position of the fixing member, and a front and rear holding portion that restricts the rear end of the fixing member at the positioning position. It is. In addition, each of the upper and lower holding units, the left and right holding units, and the front and rear holding units may be the same or different. Further, at least two of the left and right holding portions are arranged with a width in the front-rear direction, at least two of the upper and lower holding portions are arranged with a width in the front-rear direction, and at least two of the upper and lower holding portions are in the left-right direction. Are arranged with a width.

According to the present invention, the detachable body is fixed by fixing the fixing members provided on the movable body and provided at the three or more positions (except when all are on the same axis) of the detachable detachable body. 3 or more holding portions that are provided only on an arm that is rotatably connected to a frame and a joint provided on a movable body, and to which a fixing member is fitted. And three or more holding parts of the holding parts are provided with a vertical positioning part for determining the upper end position or the lower end position of the fixing member, and a fixing part for fixing the vertical direction of the fixing member at the positioning position. Left and right holdings, each of which is a holding unit, wherein two or more of the holding units include a left and right positioning unit that determines the left and right position of the fixing member, and a fixing unit that fixes the left and right direction of the fixing member at the positioning position. One or more holding parts of the holding part. Is a front / rear holding part including a rear positioning part for determining the rear end position of the fixing member and a fixing part for restricting the rear end of the fixing member at the positioning position. Each of the portions may be the same or different, and at least two of the left and right holding portions are arranged with a width in the front-rear direction, and at least two of the upper and lower holding portions have a width in the front-rear direction. The at least two of the upper and lower holding portions are arranged with a width in the left-right direction.
Therefore, it is possible to provide a fixing device that matches the posture angle of the detachable body with the posture angle of the arm.

FIG. 1 is an explanatory diagram showing an outline of a movement control device in which a fixing device according to an embodiment of the present invention can be mounted. FIG. 2 is an explanatory diagram showing an outline of another movement control device in which the fixing device according to the embodiment of the present invention can be mounted. 3A is a plan view showing an outline of a fixing device according to an embodiment of the present invention, and FIG. 3B is a diagram of a portion surrounded by an encircling line B of the fixing device shown in FIG. An enlarged view and FIG. 3C are enlarged views of a portion surrounded by an encircling line C shown in FIG. 4A is a side view showing an outline of a fixing device according to an embodiment of the present invention, and FIG. 4B is a diagram of a portion surrounded by a surrounding line B of the fixing device shown in FIG. An enlarged view and FIG. 4C are enlarged views of a portion surrounded by an encircling line C of the fixing device shown in FIG. FIGS. 5A to 5C are explanatory views showing an operation when the detachable body is fixed in the fixing device according to the embodiment of the present invention. FIGS. 6A to 6C are enlarged views of the portions surrounded by the surrounding lines VI _{a to} VI _c shown in FIGS. 5A to 5C, respectively. FIGS. 7A to _7C are enlarged views of the portions surrounded by the surrounding lines VII _{a to} VII _c shown in FIGS. 6A to 6C, respectively.

  Hereinafter, a fixing device according to an embodiment of the present invention will be described in detail with reference to the drawings. In addition, the dimension ratio of drawing is exaggerated on account of description, and may differ from an actual ratio.

FIG. 1 is an explanatory diagram showing an outline of a movement control device in which the fixing device of this embodiment can be mounted.
As shown in FIG. 1A, the movement control device 1 is disposed on a vehicle that is a kind of the moving body 100, and controls the movement of the detachable detachable body 200. The first arm 10, the second arm 20, the third arm 30, the slide drive cylinder 40, the height drive cylinder 50, and the pivot drive cylinder 60 are provided.

The detachable body 200 has a fixing member 200 </ b> A composed of protruding fixing blocks provided at three or more locations on the bottom surface 200 b (except when they are all on the same axis), which will be described in detail later. ing.
In this embodiment, a detachable body having a rocket launch canister (this is called a “rocket launch pallet”) is applied.

The first arm 10 includes three or more holding portions (fixing devices) 70 into which the fixing member 200A is fitted, and the subframe SF and the first joint 12 disposed in the moving body (vehicle) 100. It is connected so that rotation is possible.
Further, the second arm 20 is rotatably connected to the first arm 10 and the second joint 22.
Further, the third arm 30 has an L-shaped structure, the front end side 30a has a hook 30A on which the detachable body 200 is hooked, and the rear end side 30b is connected to the second arm 20 so as to be slidable. ing.

The slide driving cylinder 40 connects the second arm 20 and the third arm 30, and the high / low driving cylinder 50 includes a subframe SF and a first arm arranged in a moving body (vehicle) 100. 10, and the pivot driving cylinder 60 connects the first arm 10 and the second arm 20. In this embodiment, the slide drive cylinder 40 is included in the second arm 20 and the third arm 30, and the second arm 20 further includes the rear end 30b of the third arm 30 inside. It has a tubular structure that can be slidably accommodated.
Furthermore, in this embodiment, the pivot drive cylinder 60 also controls switching of the movable or fixed state of the second joint 22.

As shown in FIG. 1B, when the movement control device 1 lifts the detachable body 200, the first arm 10 and the second arm 20 are in a straight state via the second joint 22. In addition, the high / low drive cylinder 50 operates while the slide drive cylinder 40 is fixed or held in an extended state and the first joint 12 is movable.
Thereby, the 1st arm 10, the 2nd arm 20, and the 3rd arm 30 rotate in one, and the front surface 200a of the attachment / detachment body 200 turns to the front diagonally upward direction.
In the present invention, “the first arm and the second arm are in a linear state via the second joint” means that the angle formed by the first arm and the second arm via the second joint is The angle is not limited to 180 degrees, and is not 180 degrees as long as the detachable body supported in cooperation with the first arm, the second arm, and the third arm is stably supported. It is meant to include cases.

On the other hand, as shown in FIGS. 1 (C) and (D), when the movement control device 1 wholesales the detachable body 200, first, as shown in FIG. The slide drive cylinder 40 is fixed or held in a contracted state, and then, as shown in FIG. 1D, the high and low drive cylinder 50 and the pivot drive with the first joint 12 and the second joint 22 movable. Either one or both of the working cylinders 60 operate.
Thereby, first, the rear end side 30b of the third arm 30 is slid and stored in the second arm 20, then the first arm 10 is rotated backward, and the second arm 20 is further rotated backward. The bottom surface 200b of the detachable body 200 comes into contact with the ground or the like (not shown).
In mounting the detachable body, the operation is the reverse of the case where the detachable body shown in FIGS. 1C and 1D is wholesaled. Although not shown, a roller that facilitates wholesale or mounting is attached to the bottom surface of the detachable body. Furthermore, although not shown in the figure, for example, when the wholesaler or the detachable body to be mounted is located on the ground higher than the ground on which the vehicle is located or is located on a table such as a connecting trailer, only the pivot driving cylinder is operated. Thus, the detachable body can be wholesaled or mounted.

  On the other hand, FIG. 2 is an explanatory diagram showing an outline of another movement control device in which the fixing device of this embodiment can be mounted. In addition, about the thing equivalent to what was demonstrated in said form, the code | symbol same as them is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 2 (A), the movement control device 2 is disposed on a vehicle that is a kind of the moving body 100 and controls the movement of the detachable detachable body 200. The first arm 10, the second arm 20, the third arm 30, the slide driving cylinder 40, and the common cylinder 80 are provided.

The detachable body 200 has a fixing member 200 </ b> A composed of protruding fixing blocks provided at three or more locations on the bottom surface 200 b (except when they are all on the same axis), which will be described in detail later. ing.
In this embodiment, a rocket launch pallet is applied as the detachable body.

The first arm 10 includes three or more holding portions (fixing devices) 70 into which the fixing member 200A is fitted, and the subframe SF and the first joint 12 disposed in the moving body (vehicle) 100. It is connected so that rotation is possible.
Further, the second arm 20 is rotatably connected to the first arm 10 and the second joint 22.
Furthermore, the third arm 30 has an L-shaped structure, the front end side 30a has a hook 30A on which the detachable body 200 is hooked, and the rear end side 30b is connected to the second arm 20 so as to be slidable. Has been.

The slide driving cylinder 40 connects the second arm 20 and the third arm 30, and the common cylinder 80 includes a subframe SF and a second arm 20 disposed in the moving body (vehicle) 100. Is connected.
Furthermore, in the conventional form, the switching control means (not shown) controls the switching of the movable or fixed state of the second joint.

As shown in FIG. 2B, when the movement control device 2 lifts the detachable body 200, the first arm 10 and the second arm 20 are in a linear state via the second joint 22. The common cylinder 80 is operated while the first joint 12 is fixed and held in a state where the slide driving cylinder 40 is extended and the first joint 12 is movable.
Thereby, the 1st arm 10, the 2nd arm 20, and the 3rd arm 30 rotate in one, and the front surface 200a of the attachment / detachment body 200 turns to the front diagonally upward direction.

On the other hand, as shown in FIGS. 2C and 2D, when the movement control device 2 wholesales the detachable body 200, first, as shown in FIG. The slide drive cylinder 40 is fixed or held in a contracted state, and then, as shown in FIG. 2D, the angle formed by the first arm 10 and the subframe SF via the first joint 12 is 0 degree. The common cylinder 80 operates with the second joint 22 being fixed and movable.
Thereby, first, the rear end side 30b of the third arm 30 is slid and housed in the second arm 20, and then the second arm 20 is rotated rearward while the first arm 10 is fixed, so that the detachable body is removed. The bottom surface 200b of 200 is in contact with the ground or the like (not shown).
Although not shown in detail, when the detachable body is mounted, the operation is the reverse of the case where the detachable body shown in FIGS. 2C and 2D is wholesaled.

Hereinafter, the fixing device of this embodiment mounted on the above-described movement control device 1 will be described in more detail with reference to the drawings.
Here, FIG. 3A is a plan view showing an outline of the fixing device of the present embodiment. FIG. 3B is an enlarged view of a portion surrounded by the encircling line B of the fixing device shown in FIG. FIG. 3C is an enlarged view of a portion surrounded by the encircling line C shown in FIG. Further, FIG. 4A is a side view showing an outline of the fixing device of the present embodiment. FIG. 4B is an enlarged view of a portion surrounded by a surrounding line B of the fixing device shown in FIG. Further, FIG. 4C is an enlarged view of a portion surrounded by an encircling line C of the fixing device shown in FIG. In FIG. 3 and FIG. 4, 10A denotes a rear hinge roller. Moreover, about the thing equivalent to what was mentioned above, the code | symbol same as them is attached | subjected and description is abbreviate | omitted.

  As shown in FIGS. 3 and 4, the fixing device 70 of the present embodiment includes four holding portions 70 </ b> A, 70 </ b> B, 70 </ b> C, and 70 </ b> D that are disposed on the first arm 10 and into which the fixing member 200 </ b> A is fitted. To do.

And holding part 70A, 70B is provided with front positioning part 71A, 71B which determines the front-end position of 200 A of fixing members.
The holding portions 70A and 70C include vertical positioning seats 72A and 72C and vertical positioning portions 73A and 73C that determine the upper end position and the lower end position of the fixing member 200A.
Although not shown, the holding portions 70B and 70D are also provided with the same components as the vertical positioning seats 72A and 72C and the vertical positioning portions 73A and 73C, respectively.

  In the present embodiment, the vertical positioning portions 73A, 73C and the like each have a spring mechanism such as a disc spring, and are fixed to the upper surfaces of the vertical positioning seats 72A, 72C that are the mounting reference surfaces of the first arm 10. Vertical positioning is performed by pressing the lower surface of the working member 200A by gravity, spring force, or the like. Thereby, holding | maintenance part 70A, 70B, 70C, 70D functions as an up-and-down holding | maintenance part.

The holding portions 70A and 70C include left and right positioning portions (and fixing portions) 76A and 76C that determine the left and right positions of the fixing member 200A, and these function as left and right holding portions.
In the present embodiment, the left and right positioning portions (and the fixing portion) are constituted by positioning pins 76A and 76C protruding from the upper and lower positioning seats 72A and 72C, respectively, and left and right provided on the fixing members 200A and 200A. The direction positioning grooves 75A and 75C are fitted.

Furthermore, the holding portion 70A includes a rear positioning portion 77A that determines the rear end position of the fixing member 200A, and a fixing portion 79A that fixes the rear positioning portion 77A, and these are held back and forth in cooperation with the front positioning portion 71A. It functions as a part.
The holding portion 70B also includes the same holding portion 70A as the holding portion 70B and a fixing portion 79B that fixes the holding portion 70B, and these also function as front and rear holding portions in cooperation with the front positioning portion 71B.

Further, in the present embodiment, a claw structure in which the vertical positioning portion 73A and the rear positioning portion 77A in the holding portion 70A that functions as the front and rear holding portion can be opened and closed is formed, and the holding portion 70A can lock the fixing member 200A. It has a simple nail mechanism.
Although not shown, in the present embodiment, the holding portion 70B that functions as the front and rear holding portion also forms a similar claw structure and has a similar claw mechanism.
77A with a solid lead line indicates a case where the claw mechanism is in a closed state, and 77A with a dotted line lead line indicates a case where the claw mechanism is in an open state.
Furthermore, in this embodiment, the claw mechanism is in an open state in a normal state by a spring mechanism such as a torsion spring.

Further, in the present embodiment, the fixing portion 79A that fixes the rear positioning portion 77A can be opened and closed and has a lock mechanism that is controlled by hydraulic pressure or the like.
In the present embodiment, the fixing portion 79B that fixes the rear positioning portion of the holding portion 70B can also be opened and closed and has a lock mechanism that is controlled by hydraulic pressure or the like.
79A and 79B with solid lead lines indicate the case where the lock mechanism is in a closed state, and 79A and 79B with dotted line lead lines indicate the case where the lock mechanism is in an open state.
Furthermore, since the locking mechanism slides while receiving the reaction force of a spring such as a disc spring that presses the fixing member against the mounting surface, it is preferable to use hydraulic control.

  With such a configuration, the holding / fixing of the detachable body is simplified only to the first arm, and no factors such as the second arm, which is another component, are interposed. By positioning, it is possible to design the posture angles of the first arm and the detachable body to coincide with each other. That is, the roll angle is determined by left-right positioning of at least two holding portions arranged in the front-rear direction, the pitch angle is determined by vertical positioning of at least two holding portions arranged in the front-rear direction, and at least two holding portions arranged in the left-right direction. By matching the yaw angles by vertical positioning, the posture angles of the first arm and the detachable body can be matched. Note that the backlash due to the structural gap of the holding portion is absorbed by being pressed against the reference surface by a disc spring or the like and held. In a rocket launcher that launches rockets from a rocket launch pallet, the attitude angles of the first arm and the rocket launch pallet match, so by measuring the attitude angle of the first arm and controlling the elevation angle It is possible to precisely set the launch direction of the rocket, that is, the launch angle. In addition, the front-rear holding unit having the claw mechanism can release the reaction in the launch of the rocket to the moving body through the fixing device and the movement control device.

Hereinafter, the operation of the fixing device of this embodiment mounted on the above-described movement control device 1 will be described in more detail with reference to the drawings.
FIGS. 5A to 5C are explanatory views showing an operation when the detachable body is fixed in the fixing device of the present embodiment. 6 (A) to 6 (C) are enlarged views of the portions surrounded by the surrounding lines VI _{a to} VI _c shown in FIGS. 5 (A) to 5 (C), respectively. Further, FIGS. 7A to _7C are enlarged views of the portions surrounded by the surrounding lines VII _{a to} VII _c shown in FIGS. 6A to 6C, respectively. In the figure, MF indicates a main frame of the vehicle. Moreover, about the thing equivalent to what was demonstrated in said form, the code | symbol same as them is attached | subjected and description is abbreviate | omitted.

  FIGS. 5A, 6A, and 7A show a state immediately after a detachable body (not shown) is mounted on a vehicle. Thereafter, when a slide driving cylinder (not shown) extends, the fixing member 200A slides forward of the vehicle (left side in the drawing) as shown by an arrow in FIGS. 5 (A) and 6 (A).

Next, as shown in FIGS. 5B, 6B, and 7B, the fixing member 200A contacts the front positioning portions 71A and 71C of the holding portions 70A and 70C.
In the present embodiment, the claw mechanism is normally opened by a spring mechanism such as a torsion spring, but the fixing member 200A that slides moves to the front positioning portions 71A and 71C of the holding portions 70A and 70C. The claw mechanism is brought into a closed state by abutting and further pressing the end of the vertical positioning portion 73A.

  Thereafter, as shown in FIGS. 5 (C), 6 (C) and 7 (C), the fixing portion 79A controlled by hydraulic pressure fixes the rear positioning portion 77A, so that the front positioning portion 71A The fixing member 200A is fixed in cooperation with the positioning portion 73A, the left and right positioning portions (not shown), the rear positioning portion 77A, and the fixing portion 79A.

  As mentioned above, although this invention was demonstrated by some embodiment, this invention is not limited to these, A various deformation | transformation is possible within the range of the summary of this invention.

  The configuration is not limited to the configuration described in the above-described embodiment. For example, details of the configuration of the frame, the arm, the holding unit, and the slide drive cylinder, the high / low drive cylinder, and the pivot drive cylinder are changed. Can do.

DESCRIPTION OF SYMBOLS 1, 2 Movement control apparatus 10 1st arm 10A Rear hinge roller 12 1st joint 20 2nd arm 22 2nd joint 30 3rd arm 30A Hook 30a One end side 30b The other end side 40 Slide drive cylinder 50 High / low drive cylinder 60 Pivot drive cylinder 70 Fixing device 70A, 70B, 70C, 70D Holding part 71A, 71B, 71C, 71D Front positioning part 72A, 72C Vertical positioning seat 73A, 73C Vertical positioning part 75A, 75C Positioning groove 76A, 76C Left and right positioning part 77A Rear positioning part 79A, 79B Fixed part 80 Common cylinder 100 Moving object (vehicle)
200 Desorption body 200A Fixing member 200a Front surface 200b Bottom surface MF Main frame SF Sub frame

Claims (4)

A fixing device that fixes a detachable body by fixing fixing members provided on three or more places (except when all are on the same axis) of a detachable detachable body that is disposed on a moving body. There,
It is provided only on an arm that is pivotally connected via a frame and a joint provided on the movable body, and includes three or more holding portions to which the fixing member is fitted,
Three or more holding parts of the holding parts are provided with a vertical positioning part for determining the upper end position or the lower end position of the fixing member, and a fixing part for fixing the vertical direction of the fixing member at the positioning position. Holding part,
Two or more holding portions of the holding portions are left and right holding portions each including a left and right positioning portion that determines the left and right position of the fixing member, and a fixing portion that fixes the left and right direction of the fixing member at the positioning position. Yes,
One or more holding parts of the holding parts include a rear positioning part that determines a rear end position of the fixing member, and a front and rear holding part that restricts the rear end of the fixing member at the positioning position. And
Each of the upper and lower holding parts, the left and right holding parts and the front and rear holding parts may be the same or different,
At least two of the left and right holding parts are arranged with a width in the front-rear direction,
At least two of the upper and lower holding parts are arranged with a width in the front-rear direction,
A fixing device, wherein at least two of the upper and lower holding portions are arranged with a width in the left-right direction.   2. The fixing device according to claim 1, wherein a claw structure in which the vertical positioning portion and the rear positioning portion in the front and rear holding portion can be opened and closed and the holding portion can be locked is provided. .   The fixing device according to claim 1, wherein the fixing portion has a lock mechanism that can be opened and closed. The moving body is a vehicle,
The fixing device according to any one of claims 1 to 3, wherein the detachable body has a rocket launching canister.

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