CN105172650B - Large Launch Vehicle automatic Loading rehandling facilities and reprinting method - Google Patents
Large Launch Vehicle automatic Loading rehandling facilities and reprinting method Download PDFInfo
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- CN105172650B CN105172650B CN201510570510.7A CN201510570510A CN105172650B CN 105172650 B CN105172650 B CN 105172650B CN 201510570510 A CN201510570510 A CN 201510570510A CN 105172650 B CN105172650 B CN 105172650B
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Abstract
The present invention relates to rocket body to reprint technical field, in particular to Large Launch Vehicle automatic Loading rehandling facilities and reprints method.The rehandling facilities includes：Container group and transfer platform car；The container group includes more than one special container, transport support car is assembled in each special container, the top of the transport support car is the bracket for supporting rocket rocket body module, and bottom is chassis, and the chassis is fixedly connected with the bracket；The transfer platform car is provided with the first guide rail of single gauge, and each special container is equipped with the guide rail of gauge identical second with first guide rail；The bottom of the chassis of the transport support car is provided with the wheel group for navigating on second guide rail.The present invention solves large-scale rocket body and uses the reprinting problem brought after highway transportation and sea-freight instead, and by improving docking, filling process automaticity, reduces personnel demand.
Description
Technical field
The present invention relates to rocket body to reprint technical field, in particular to Large Launch Vehicle automatic Loading rehandling facilities
And reprint method.
Background technology
In space industry, rocket is generally transported by box car, before transport, is needed first by box car with being located at
Articulated car docking in factory building, then docks at railway transportation unwheeling on articulated car, rocket is put off in railway transportation frame
Che Shanghou, it is artificial to carry out to box car, complete to reprint entrucking.Reprinting process of unloading is opposite to that.The transloading mode is whole
It is accomplished manually, it is higher to personnel and operating space demand.
With the development of carrier rocket technology, rocket body diameter is increasing, under the combined influence of the factors such as transport gauge,
Highway transportation, sea-freight, air transport turn into optional means of transportation, if U.S. universe god 5 (ATLASV) is by being lifted into carriage of special cargo
Large transport airplane is driven on car and implements air transport, DELTA IV carrier rockets are driven into specially by being lifted on extraordinary self propelled transport vehicle
With sea-freight is implemented in roll-on-roll-off ship cabin, after 5 rocket bodies at different levels of European Space Agency Ariane lift open type special container, by road
Transport vehicle reprinting is driven into roll-on-roll-off ship and transported by sea, and Japanese H-2A carrier rockets are by lifting rocket body to upper open type special container
Afterwards, transported by road transport vehicle to harbour, container crane is filled into cargo ship implements sea-freight, the reprinting shape of above-mentioned various rocket bodies
Formula is directly put off to realizing in transport vehicle or container by lifting.
The large-scale rocket body means of transportation in China is similar to Japanese H-2A, difference be special container for end opening door and
It is not upper open type, therefore, rocket body can not be realized directly by lifting mode reprints the container that comes in and goes out, and need to be set by special reprinting
Standby and flow and method is realized.
The content of the invention
It is an object of the invention to provide Large Launch Vehicle automatic Loading rehandling facilities and method is reprinted, so that reach will be big
The problem of automatic Loading of each rocket body module of type rocket and reprinting.
The invention provides a kind of Large Launch Vehicle automatic Loading rehandling facilities, it includes：Container group and reprinting are flat
Chassis；The container group includes more than one special container, and transport support is assembled in each special container
Car, the top of the transport support car are the bracket for supporting rocket rocket body module, and bottom is chassis, the chassis and described
Bracket is fixedly connected；
The transfer platform car is provided with the first guide rail of single gauge, and each special container is equipped with leads with described first
The guide rail of gauge identical second of rail；The bottom of the chassis of the transport support car is provided with the wheel for navigating on second guide rail
Group.
In certain embodiments, it is preferably, the transfer platform car is provided with automatic centering component, the automatic centering component
Including：Controller, deviation measuring appliance, six degree of freedom adjusting module, the controller and the deviation measuring appliance, described six are freely
Spend adjusting module connection.
In certain embodiments, it is preferably, the bracket of the transport support car is provided with securing device.
In certain embodiments, it is preferably that the Undercarriage structure of the transport support in all special containers is identical, support
Holder structure is different.
In certain embodiments, it is preferably, the wheel of the transport support is assembled with motor, controller and position sensing
Device, the controller respectively with the motor, the position sensor.
Another aspect of the present invention, which additionally provides, a kind of is reprinted using Large Launch Vehicle automatic Loading rehandling facilities
Method, it includes：
Special container drives into transit hall, and is docked with transfer platform car；
Transport support garage in special container on guide rail is proceeded on the transfer platform car guide rail；
Rocket body is put off on the transport support car and is consolidated with the rocket body system；
The transport support car drives rocket body to enter in the special container, and consolidates with the special container system；
Release the docking of the special container and the transfer platform car；
The special container rolls the transit hall away from, completes to reprint vanning.
In certain embodiments, it is preferably that the docking mode that is docked with transfer platform car is：The special container
The second guide rail it is conllinear with the first guide rail of the transfer platform car.
In certain embodiments, it is preferably that the transport support car, which drives rocket body to enter in the special container, to be included：
The wheel group of the chassis bottom of the transport support car drives into the second guide rail in the presence of motor from the first guide rail, drives arrow
Body enters inside the special container.
In certain embodiments, it is preferably that the special container rolls the transit hall away from, completes after reprinting vanning, institute
Stating method also includes：
The special container for being mounted with rocket body drives into the second transit hall；
It is to be solidly connected to release between the transport support car and the special container；
The second transfer platform car in second transit hall docks with being mounted with the special container of rocket body；
The transport support car drives rocket body to march on the guide rail of the second transfer platform car；
It is to be solidly connected to release between the transport support car and rocket body；
Rocket body is hung from the transport support car.
In certain embodiments, be preferably, it is described hang rocket body from the transport support car after, methods described is also wrapped
Include：
The transport support car is return back in the special container；
Release the docking of the special container and the second transfer platform car；
The special container rolls the second transit hall away from.
Large Launch Vehicle automatic Loading rehandling facilities provided in an embodiment of the present invention and reprinting method, with prior art phase
Than being dispatched from the factory for large-scale rocket body and transporting the reprinting demand after preceding and launch mission is marched into the arena, devised special container and reprint flat
Chassis, the rocket body module that the interior configuration transport support car of special container, wherein special container correspond to rocket diverse location are carried out
Design.Distribution is provided with the second guide rail, the first guide rail of unified gauge on special container and transfer platform car, when the two docking is same
After line, the wheel group on transport support car can drive into the first guide rail from the second guide rail, and rocket body can be fallen on transport support car, with
Transport support car drives rocket body to drive into again in special container afterwards, is basically completed reprinting.Unloading is opposite with filling reprinting step
Both fully loaded rocket body can be transferred in storage factory building.Solve after large-scale rocket body uses highway transportation and sea-freight instead and bring
Problem is reprinted, and by improving docking, filling process automaticity, reduces personnel demand.
Brief description of the drawings
Fig. 1 is the structural representation of the medium-and-large-sized carrier rocket automatic Loading rehandling facilities of one embodiment of the invention；
Fig. 2 is Fig. 1 of the present invention main structure diagram；
Fig. 3 is the process signal that the rocket body filling of the medium-and-large-sized carrier rocket automatic Loading rehandling facilities of Fig. 1 of the present invention is reprinted
Figure；
Fig. 4 is the process signal that the rocket body unloading of the medium-and-large-sized carrier rocket automatic Loading rehandling facilities of Fig. 1 of the present invention is reprinted
Figure.
Embodiment
The present invention is described in further detail below by specific embodiment combination accompanying drawing.
Generally transported in view of rocket by box car, before transport, need box car first and be located at factory building
Interior articulated car docking, then docks at railway transportation unwheeling on articulated car, rocket is put off in railway transportation unwheeling
Afterwards, it is artificial to carry out to box car, complete to reprint entrucking.Reprinting process of unloading is opposite to that.The transloading mode is whole artificial
Complete, the problem of to personnel and higher operating space demand, the invention provides a kind of reprinting of Large Launch Vehicle automatic Loading
Device and reprinting method, solve large-scale rocket body and use the reprinting problem brought after highway transportation and sea-freight instead, and pass through raising pair
Connect, load process automaticity, reduce personnel demand.
A kind of Large Launch Vehicle automatic Loading rehandling facilities, it includes：Container group and transfer platform car；The packaging
Case group includes more than one special container, and transport support car, the transport branch are assembled in each special container
The top of unwheeling is the bracket for supporting rocket rocket body module, and bottom is chassis, and the chassis is fixedly connected with the bracket；
The transfer platform car is provided with the first guide rail of single gauge, and each special container is equipped with leads with described first
The guide rail of gauge identical second of rail；The bottom of the chassis of the transport support car is provided with the wheel for navigating on second guide rail
Group.
The method reprinted using Large Launch Vehicle automatic Loading rehandling facilities, it includes：
Special container drives into transit hall, and is docked with transfer platform car；
Transport support garage in special container on guide rail is proceeded on the transfer platform car guide rail；
Rocket body is put off on the transport support car and is consolidated with the rocket body system；
The transport support car drives rocket body to enter in the special container, and consolidates with the special container system；
Release the docking of the special container and the transfer platform car；
The special container rolls the transit hall away from, completes to reprint vanning.
Dispatched from the factory for large-scale rocket body and transport the reprinting demand after preceding and launch mission is marched into the arena, devised special container and turn
Carrying platform car, the interior configuration transport support car of special container, wherein special container correspond to the rocket body module of rocket diverse location
It is designed.Distribution is provided with the second guide rail, the first guide rail of unified gauge on special container and transfer platform car, when the two is right
Connect it is collinear after, the wheel group on transport support car can drive into the first guide rail from the second guide rail, and arrow can be fallen on transport support car
Body, subsequent transport support car drive rocket body to drive into again in special container, are basically completed reprinting.Unloading reprints step with filling
Conversely fully loaded rocket body can be both transferred in storage factory building.Solve after large-scale rocket body uses highway transportation and sea-freight instead and bring
Reprinting problem, and pass through improve docking, filling process automaticity, reduce personnel demand.
Next, the reprinting technology is described in detail：
A kind of Large Launch Vehicle automatic Loading rehandling facilities, such as Fig. 1, shown in 2, special container 4 is used in rocket body 3
(end opening door) loads, and by highway and on the premise of being transported, is configured with container group and transfer platform car 2；Institute
Stating container group includes more than one special container 4, assembles transport support car 1 in each special container 4, often
Individual special container 4 is all different, is respectively applied to reprint the different module of rocket body 3 of rocket, the top of the transport support car 1 is
For supporting the bracket of the module of rocket rocket body 3, bottom is chassis, and the chassis is fixedly connected with the bracket；
The transfer platform car 2 is provided with the first guide rail of single gauge, and each special container 4 is equipped with and described first
The guide rail of gauge identical second of guide rail；The bottom of the chassis of the transport support car 1 is provided with and navigates on second guide rail
Wheel group, the first guide rail, the uniform specification of the second guide rail, convenience in transport stent car 1 move between.
Because the modular shape of each position rocket body 3 of rocket, structure are different, therefore, the corresponding module of reprinting each position rocket body 3
The Undercarriage structure of transport support in special container 4 is identical, and bracket structure is different.To improve versatility, on transfer platform car 2
Single gauge guide rail is laid, same unified gauge guide rail, the transport supports of rocket body 3 at different levels are laid in each special container 4
Car 1 is advanced using matching wheelspan realization on transfer platform car 2 and the guide rail of special container 4 second, transport support car 1
Chassis is standardized, and different according to the module of rocket body 3 carry out adaptability design, unified gauge and mark to stent car bracket
Standardization chassis has ensured the versatility of the present invention, is allowed to can be applied to any end door-opening mode loading arrow of use special container 4
In the transfer system of body 3.
In order to reach the first guide rail, the second guide rail it is conllinear, the transfer platform car 2 is provided with automatic centering component, described
Automatic centering component includes：Controller, deviation measuring appliance, six degree of freedom adjusting module, the controller and the deviation measure
Device, six degree of freedom adjusting module connection.This automatic centering is designed to raising automaticity, the automatic centering group
Part possesses six degree of freedom adjust automatically ability, it is possible to achieve and the deviation automatic measurement of special container 4, it is fast automatic adjustment,
The flows such as judgement are adjusted in place, realize closed-loop control, and accuracy of alignment is higher.
In order to improve the stability of rocket body 3, and the stabilization in special container 4 of transport support car 1 in transshipment
In the presence of, not rocking back and forth, the bracket of the transport support car 1 is provided with securing device, and convenience in transport stent car 1 is consolidated with the system of rocket body 3,
And the inwall system of transport support car 1 and special container 4 consolidates.
Because the shape of rocket is increasing, the volume of each module of rocket body 3 is larger, the fortune being fully loaded with after the module of rocket body 3
Defeated stent car 1 is very heavy, therefore, transport support car 1 using being electric-only propulsion, the wheel of the transport support be assembled with motor,
Controller and position sensor, the controller respectively with the motor, the position sensor.Controller receiving position
The signal of sensor, and operated according to the signal manipulation motor.The design realizes that rocket body 3 comes in and goes out container automatically, avoids
It is in the past artificial promote required for a large amount of operating personnel and operating space demand, reduce labor intensity, improve reprinting and make
Industry efficiency.
The Large Launch Vehicle automatic Loading rehandling facilities can adapt to the transport of large-scale rocket body (diameter is more than 3.35 meters)
Reprint and require, loading chute automaticity is high, and personnel and operating space demand are low, and rehandling facilities versatility is high.
The method reprinted using Large Launch Vehicle automatic Loading rehandling facilities is：
Rocket general assembly is dispatched from the factory before transport, is reprinted vanning flow and is, as shown in Figure 3：
(1) the special container sternway of road transport vehicle loading enters transit hall gate, opens special container gate；
(2) transfer platform car carries out automatic centering, advances and completes to dock with special container, first leads on transfer platform car
Rail is conllinear with the second guide rail in special container, and the transport support car parked in special container on the second guide rail is pushed out to
On the guide rail of transfer platform car first；
(3) rocket body is parked into lifting in equipment from factory building to put off to transport support car, connection rocket body and transport support car,
Start motor, driving arm car drives rocket body to enter inside special container；
(4) it is solid for being carried out inside transport support car and special container, releases transfer platform car and special container pair
State is connect, closes special container gate, highway car loads special container and outputs transit hall, reprints vanning and completes.
Other module rocket bodies reprinting flows are same, and so series connection is reciprocal, complete the reprinting vanning of all rocket body modules.
Outlet is reprinted to operate then in contrast.
After rocket body reaches launching site, the flow for reprinting outlet is, as shown in Figure 4：
(1) road transport vehicle loads the transit hall gate that special container (fully loaded) sternway enters launching site, opens extraordinary collection
Vanning gate, it is to be solidly connected to release between transport support car and special container；
(2) transfer platform car carries out automatic centering, advances and completes to dock with special container, first leads on transfer platform car
Rail is conllinear with the second guide rail in special container；
(3) motor is started, transport support car carrying rocket body is travelled to the guide rail of transfer platform car first along the second guide rail
On, it is to be solidly connected to release between transport support car and rocket body；
(4) rocket body is hung from transport support car, promotes and park in transport support car to special container and be connected
Connect, release transfer platform car and special container mated condition, close special container gate, highway car outputs transit hall；
(5) rocket body puts off to factory building and parked in equipment, reprints outlet and completes.
The preferred embodiments of the present invention are these are only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (8)
- A kind of 1. Large Launch Vehicle automatic Loading rehandling facilities, it is characterised in that including：Container group and transfer platform car； The container group includes more than one special container, and transport support car, institute are assembled in each special container The top for stating transport support car is the bracket for supporting rocket rocket body module, and bottom is chassis, the chassis and the bracket It is fixedly connected；The transfer platform car is provided with the first guide rail of single gauge, and each special container is equipped with and first guide rail The guide rail of gauge identical second；The bottom of the chassis of the transport support car is provided with the wheel group for navigating on second guide rail；The transfer platform car is provided with automatic centering component, and the automatic centering component includes：Controller, deviation measuring appliance, six Free degree adjusting module, the controller and the deviation measuring appliance, six degree of freedom adjusting module connection；The wheel of the transport support car is assembled with motor, controller and position sensor, the controller respectively with it is described Motor, position sensor electrical connection.
- 2. Large Launch Vehicle automatic Loading rehandling facilities as claimed in claim 1, it is characterised in that the transport support car Bracket be provided with securing device.
- 3. Large Launch Vehicle automatic Loading rehandling facilities as claimed in claim 1, it is characterised in that all extraordinary collection The Undercarriage structure of transport support car in vanning is identical, and bracket structure is different.
- 4. a kind of method that Large Launch Vehicle automatic Loading rehandling facilities using described in claim 1 is reprinted, it is special Sign is, including：Special container drives into transit hall, and is docked with transfer platform car；Transport support garage in special container on guide rail is proceeded on the transfer platform car guide rail；Rocket body is put off on the transport support car and is consolidated with the rocket body system；The transport support car drives rocket body to enter in the special container, and consolidates with the special container system；Release the docking of the special container and the transfer platform car；The special container rolls the transit hall away from, completes to reprint vanning.
- 5. the method as claimed in claim 4 reprinted using Large Launch Vehicle automatic Loading rehandling facilities, its feature It is, the docking mode that is docked with transfer platform car is：Second guide rail of the special container and the transfer platform First guide rail of car is conllinear.
- 6. the method as claimed in claim 4 reprinted using Large Launch Vehicle automatic Loading rehandling facilities, its feature It is, the transport support car, which drives rocket body to enter in the special container, to be included：The wheel group of the chassis bottom of the transport support car drives into the second guide rail, band in the presence of motor from the first guide rail Dynamic rocket body enters inside the special container.
- 7. the side reprinted using Large Launch Vehicle automatic Loading rehandling facilities as described in claim any one of 4-6 Method, it is characterised in that the special container rolls the transit hall away from, completes after reprinting vanning, methods described also includes：The special container for being mounted with rocket body drives into the second transit hall；It is to be solidly connected to release between the transport support car and the special container；The second transfer platform car in second transit hall docks with being mounted with the special container of rocket body；The transport support car drives rocket body to march on the guide rail of the second transfer platform car；It is to be solidly connected to release between the transport support car and rocket body；Rocket body is hung from the transport support car.
- 8. the method as claimed in claim 7 reprinted using Large Launch Vehicle automatic Loading rehandling facilities, its feature Be, it is described hang rocket body from the transport support car after, methods described also includes：The transport support car is return back in the special container；Release the docking of the special container and the second transfer platform car；The special container rolls the second transit hall away from.
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| CN105172650B true CN105172650B (en) | 2017-11-28 |
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| CN105460393B (en) * | 2016-01-06 | 2018-08-07 | 北京航天发射技术研究所 | Large rocket sea-freight securing device and securing method |
| CN106078190B (en) * | 2016-07-07 | 2018-09-21 | 上海航天设备制造总厂 | The total Butt Assembling device and method of rocket level segment flexible digitalization |
| CN106225555B (en) * | 2016-08-23 | 2017-10-10 | 成都航天万欣科技有限公司 | Multiple degrees of freedom filling device |
| CN106740383A (en) * | 2016-11-28 | 2017-05-31 | 北京航天发射技术研究所 | A kind of transport support car system for the transhipment of Large Launch Vehicle multimode |
| CN107985323A (en) * | 2017-12-07 | 2018-05-04 | 上海宇航系统工程研究所 | A kind of carrier rocket entrucking and railway transportation method |
| CN109094897B (en) * | 2018-07-19 | 2020-07-24 | 芜湖固高自动化技术有限公司 | Rocket projectile boxing system and rocket projectile boxing method based on coordinate robot |
| CN109612332B (en) * | 2018-12-13 | 2021-04-30 | 湖北航天飞行器研究所 | Filling device and method for filling rocket into storage and transportation launching box |
| CN111113018B (en) * | 2019-12-25 | 2021-05-04 | 厦门理工学院 | Precise shaft butt joint equipment and precise shaft butt joint method |
| CN111532458B (en) * | 2020-06-15 | 2020-10-27 | 蓝箭航天空间科技股份有限公司 | Transfer butt joint locking device for spacecraft |
| CN111483623A (en) * | 2020-06-28 | 2020-08-04 | 蓝箭航天空间科技股份有限公司 | System and method for controlling transfer, butt joint and locking of spacecraft |
| CN113771735B (en) * | 2021-09-13 | 2024-10-22 | 重庆零壹空间科技集团有限公司 | Automatic docking and separating system and method for rocket launching container and auxiliary motorized bridge |
| CN114777568B (en) * | 2022-05-09 | 2023-09-29 | 鲁东大学 | Four-container type offshore launching rocket erection device and erection method |
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| GB2211155B (en) * | 1987-10-16 | 1991-03-27 | British Aerospace | Take off trolleys for flight vehicles |
| CN2085359U (en) * | 1991-01-03 | 1991-09-25 | 孔文铭 | Easy-to-load and-unload quakeproof container |
| NO951695L (en) * | 1995-05-02 | 1996-11-04 | Kvaerner Maritime As | Platform for rocket launch |
| RU2192360C2 (en) * | 2000-12-08 | 2002-11-10 | Федеральное государственное унитарное предприятие "Центральное конструкторское бюро транспортного машиностроения" | Rail car for carrying long loads |
| UA16034U (en) * | 2006-02-16 | 2006-07-17 | Valentyna Oleksiivna Bilousova | Protective cover for transportation of the rocket block on the railway onboard platform |
| RU2354593C1 (en) * | 2007-10-01 | 2009-05-10 | Сергей Евгеньевич Варламов | Installation to launch rockets from moon and method of preparing rocket for launching |
| CN103588104B (en) * | 2012-08-17 | 2015-08-26 | 北京航天发射技术研究所 | The using method of the fast automatic rehandling facilities of the large mass objects of a kind of movable type |
| CN104148932B (en) * | 2014-08-07 | 2016-08-24 | 天津航天长征火箭制造有限公司 | A kind of four-degree-of-freedom adjusting apparatus for the docking of rocket section |
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