CN106428655A - Self-adaptive propulsion mounting system for erecting frame of launch vehicle - Google Patents
Self-adaptive propulsion mounting system for erecting frame of launch vehicle Download PDFInfo
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- CN106428655A CN106428655A CN201510496618.6A CN201510496618A CN106428655A CN 106428655 A CN106428655 A CN 106428655A CN 201510496618 A CN201510496618 A CN 201510496618A CN 106428655 A CN106428655 A CN 106428655A
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- vertical frame
- transport vehicle
- positioning
- oil cylinder
- erecting frame
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Abstract
The invention discloses a self-adaptive propulsion mounting system for an erecting frame of a launch vehicle. The self-adaptive propulsion mounting system comprises a reversal docking device and a transport vehicle, wherein the erecting frame is arranged on the transport vehicle; a plurality of lateral fine-tuning mechanisms are respectively mounted on the two sides of the erecting frame; a plurality of universal swing mechanisms are mounted at the top surface of the transport vehicle, and the universal swing mechanisms are abutted against the bottom end surface of the erecting frame; a propulsion mounting support is fixedly connected to the erecting frame; the propulsion mounting support is hinged to the output end of a propulsion mounting oil cylinder; through a hinge seat A, the tail end of the propulsion mounting oil cylinder is hinged to the front end of a tailstock fixed to the top of the transport vehicle; a positioning guide rail is arranged at the top of the reversal docking device; the universal swing mechanisms, which are matched with the bottom end of the positioning guide rail and are inverted, are fixedly connected to the bottom at the front end of the erecting frame; a positioning support is fixedly connected to the front end of the erecting frame; a positioning pin which is matched with the positioning support is fixedly connected to left end of the positioning guide rail; and a positioning switch is mounted in a position close to the positioning pin. Through the adoption of the self-adaptive propulsion mounting system disclosed by the invention, the propulsion mounting cost of the launch vehicle is effectively reduced, and the accuracy and efficiency are improved.
Description
Technical field
The present invention relates to Launch Vehicle Ground supports guarantee technical field is and in particular to one kind
Carrier rocket plays vertical frame self adaptation and pushes away dress system.
Background technology
With the development of space technology, require launch site site facility simple under the new situation, transmitting
System possesses certain survival ability, is capable of rapid fire.Traditional emission system is general
For fixed launching tower, and the capital construction cycle length of fixed launching tower, maintenance cost are taken
Gradually revealed with high shortcoming.For this problem, abroad occur in that a kind of new at present
Radiation pattern, i.e. " three flat one erect " (level assembling, horizontal checkout, level transhipment and vertical
Directly play perpendicular launch scenario) mode.Being mainly characterized by of this launch scenario：" three flat one erect "
(vertical assembling, vertical checkout, vertical transhipment and Distance Test launch scenario) launch scenario
On eliminate fixing pylon on launching site, and replaced with movable vertical frame, both played vertical frame
Play supporting in horizontal transport process for the rocket, play simultaneously again and integrally rise perpendicular for rocket and face
Play vertical frame rewind before penetrating, and penetrate front azimuth aiming, air-conditioning, filling for realization and supply distribution
There is provided ground supports guarantee effect etc. demand.This radiation pattern can enter in the simple place of facility
The survey launch mission that row is simple, fast and automatically change.Quickly can integrally play perpendicular, transmitting, with
When possess ability and the survival ability adapting to fixing pylon transmitting and relying on minimum facility transmitting.
The feature of " the three flat one erect " radiation pattern based on carrier rocket under the new situation understands,
Rise after vertical frame band arrow is transported to launching site, vertical rise perpendicular before an important step be exactly
Vertical frame load arrow carries out level with the fixing upset docking facilities on launching site and docks, due to difference
The situation at launching site is different, after overturning docking facilities fixation, if the ground at launching site is uneven,
Can lead to push away fills unsuccessfully, and this is because carrier rocket is transported by transport vehicle, and site factors can be led
Cause transport vehicle can not keep horizontality, that is, carrier rocket cannot be accurately right with upset docking facilities
Connect, needing to expend substantial amounts of manpower is to be adjusted the time.And do not have related technology at present,
No design experiences are used for reference, and therefore to have solved vertical frame in the urgent need to developing a kind of new docking system
Dock problem with the level of upset docking facilities.
Content of the invention
The present invention is intended to provide a kind of carrier rocket plays vertical frame self adaptation pushes away dress system, to solve to pass
The capital construction cycle length of fixed launching tower, the maintenance cost of uniting is costly and transmitter site
Lead to the problem that carrier rocket accurately cannot be docked with upset docking facilities.
The present invention is achieved by following technical solution：
A kind of carrier rocket plays vertical frame self adaptation and pushes away dress system, including upset docking facilities and transport
Car, described transport vehicle has been provided with vertical frame, plays vertical frame both sides and is separately installed with some lateral fine settings
Mechanism, transport vehicle top surface is provided with some universal turning mechanisms, universal turning mechanism and a vertical frame
Bottom face offsets, and plays to be connected with pushing away dress bearing in vertical frame, pushes away dress bearing and the output pushing away charge of oil cylinder
End is hinged, and pushes away charge of oil cylinder end and is hinged on the tail being fixed on top of transport vehicle by hinged seat A
Seat front end；Described upset docking facilities top is provided with positioning guide rail, described vertical frame front bottom end
It is connected with and matches with positioning guide rail bottom and in inverted universal turning mechanism, play vertical frame front end
It is connected with positioning support, described positioning guide rail left end is connected with the positioning matching with positioning support
Pin, is provided with position-sensing switch by alignment pin.
Described lateral micro-adjusting mechanism includes slide, is slidably fitted with sliding axle, sliding axle in slide
Front end is provided with the bearing pin of vertical arrangement by bearing, and bearing pin outer wall is socketed with limited roller, limit
Position roller outer wall be socketed with rubber wheel, bearing pin top pass through retainer ring spacing, rubber wheel end with rise
Vertical frame both sides outer wall offsets, and sliding axle right-hand member is connected with hinged seat B, by hinged seat B and
The outfan of fine setting oil cylinder is hinged.
Described universal turning mechanism includes shell, and shell inner bottom part is provided with base, base top
Face has hemispheric groove, uniformly lays one layer of secondary ball, secondary ball is pacified by pressing plate in groove
Equipped with main ball.
Described pushing away is provided with auxiliary support bar between charge of oil cylinder and transport vehicle.
Described transport vehicle both sides are mounted on hydraulic leg.
Described positioning guide rail front end is tubaeform.
The invention has the beneficial effects as follows：
Compared with prior art, the carrier rocket that the present invention provides plays vertical frame self adaptation and pushes away dress system
System, the level having realized vertical frame by pushing away charge of oil cylinder pushes away dress, then by the lateral freqency fine adjustment machine of both sides
Structure realizes lateral fine setting, and has realized vertical frame vertical adjusting by hydraulic leg, finally achieves
Three axles playing vertical frame are adjusted, and can quickly push away dress what the launching site of varying environment carried out carrier rocket
Prepare with transmitting, substantial amounts of manpower need not be expended and the time is adjusted pushing away dress, compared to tradition
Fixed transmitting and push away assembling device, the present invention effectively reduces cost and improves degree of accuracy,
Trueness error≤1mm, and time-consuming short, push away ETL estimated time of loading and be less than 15min.
Brief description
Fig. 1 is the front view of the present invention；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structure chart after the completion of the present invention pushes away dress；
Fig. 4 is the enlarged drawing of dotted portion I in Fig. 3；
Fig. 5 is the structure chart of lateral micro-adjusting mechanism in the present invention；
Fig. 6 is lateral micro-adjusting mechanism operating diagram in the present invention；
Fig. 7 is the structure chart of universal turning mechanism in the present invention；
Fig. 8 is to push away in the present invention to reinstall road hydraulic schematic diagram；
Fig. 9 is that the present invention plays vertical frame band arrow state diagram；
In figure：1- overturns docking facilities, 2- transport vehicle, and 3- plays vertical frame, 4- universal turning mechanism,
5- hydraulic leg, 6- pushes away dress bearing, and 7- pushes away charge of oil cylinder, 8- auxiliary support bar, 9- hinged seat A,
10- alignment pin, 11- positioning seat, 12- tailstock, 13- wheel, the lateral micro-adjusting mechanism of 14-, 15-
Positioning guide rail, 16- position-sensing switch, 17- limited roller, 18- rubber wheel, 19- bearing pin, 20- axle
Hold, 21- back-up ring, 22- sliding axle, 23- finely tunes oil cylinder, 24- hinged seat B, 25- slide, 26-
Main ball, 27- shell, 28- pair ball, 29- base, 30- carrier rocket.
Specific embodiment
Below in conjunction with drawings and Examples, technical scheme is described further, but institute
The protection domain requiring is not limited to described；
As shown in Figure 1-2, the carrier rocket that the present invention provides plays vertical frame self adaptation and pushes away dress system,
Including upset docking facilities 1 and transport vehicle 2, described transport vehicle 2 has been provided with vertical frame 3, plays vertical frame
3 both sides are separately installed with some lateral micro-adjusting mechanisms 14, and transport vehicle 2 top surface is provided with some universal
Slew gear 4, universal turning mechanism 4 offsets with playing vertical frame 3 bottom face, rises and is connected with vertical frame 3
Push away dress bearing 5, push away dress bearing 6 and be hinged with the outfan pushing away charge of oil cylinder 7, push away charge of oil cylinder 7 end
It is hinged on tailstock 12 front end being fixed on transport vehicle 2 top by hinged seat A9；Described upset is right
Connection device 1 top is provided with positioning guide rail 15, and described vertical frame 3 front bottom end is connected with and is led with positioning
Rail 15 bottom matches and is in inverted universal turning mechanism 4, plays vertical frame 3 front end and is connected with positioning
Bearing 11, described positioning guide rail 15 left end is connected with the alignment pin matching with positioning support 11
10, position-sensing switch 16 is installed by alignment pin 10.
As seen in figs. 5-6, described lateral micro-adjusting mechanism 14 includes slide 25, slides in slide 25
Sliding axle 22 is installed, sliding axle 22 front end is provided with the bearing pin of vertical arrangement by bearing 20
19, bearing pin 19 outer wall is socketed with limited roller 17, and limited roller 17 outer wall is socketed with rubber wheel 18,
Bearing pin 19 top is spacing by back-up ring 21, and rubber wheel 18 end offsets with playing a vertical frame 3 both sides outer wall,
Sliding axle 22 right-hand member is connected with hinged seat B24, by hinged seat B24 and fine setting oil cylinder 23
Outfan is hinged.Realized to the lateral fine setting playing vertical frame 3 by lateral micro-adjusting mechanism 14.
As shown in fig. 7, described universal turning mechanism 4 includes shell 27, shell 27 inner bottom part is installed
There is base 29, base 29 top end face has hemispheric groove, in groove, uniformly lay one layer of secondary ball
28, secondary ball 28 is provided with main ball 26 by pressing plate.
In order to improve the stability pushing away charge of oil cylinder 7, it is to avoid skew occurs or drops, described push away dress
Auxiliary support bar 8 is installed between oil cylinder 7 and transport vehicle 2.
Guarantee while adjustment in order to realize vertical frame 3 vertical height pushes away the firm of dress process
Property, described transport vehicle 2 both sides are mounted on hydraulic leg 5.
For the ease of playing the insertion of vertical frame 3 front end, described positioning guide rail 15 front end is tubaeform.
Embodiment：
As shown in figure 9, transport vehicle 2 is self-propelled whole rocket transport vehicle, realize carrying arrow, support navigation
Positioning and fixed high leveling, require transport vehicle 2 afterbody to be less than headstock, anterior-posterior horizontal precision during leveling
It is not more than 20 points, after leveling, lateral Displacement is carried out to playing vertical frame 3 by lateral micro-adjusting mechanism 14,
Under the impetus pushing away charge of oil cylinder 7, achieve perpendicular through hydraulic control system as shown in Figure 8
Frame 3, to overturning on docking facilities 1 by coarse positioning to fine positioning process, is braked after the completion of pushing away dress,
Finally achieve vertical frame 3 to the purpose of upset docking facilities 1 automatic water horizontal sliding dress docking.
Detailed process is：When need to rise a vertical frame 3 carry out level push away dress docking when, make fortune first
Defeated car 2 has delivered vertical frame 3 and has carried out navigator fix on the position of upset docking facilities 1, works as car load
When navigation and positioning accuracy satisfaction requires, you can start the hydraulic leg 5 of transport vehicle 2, so that car load is entered
The fixed high leveling of row.Ensure during leveling that vertical frame 3 bottom surface is higher than plane one on upset docking facilities 1
Fixed distance, distance be after 5-10mm, and transport vehicle 2 hydraulic leg 5 about leveling precision and
Hydraulic leg 5 leveling precision reaches certain precision (headstock is higher than tailstock 8-12mm) in front and back.It
After make to push away charge of oil cylinder 7 with push away dress bearing 6 be connected, click step during connection and carry out：Push away charge of oil cylinder
7 by hinged seat A9 rotate up 10-30 ° → push away charge of oil cylinder 7 piston rod stretch out 10-25cm →
Push away the piston rod on charge of oil cylinder 7 drop to push away dress bearing 6 draw-in groove in → finally use pressing plate spacing
Fixing.Push away charge of oil cylinder 7 with push away dress bearing 6 be connected after the completion of proceeded by vertical frame 3 push away fill spacing
Work, makes before transport vehicle 2 rubber wheel 18 end face of micro-adjusting mechanism 14 and plays vertical frame 3 side when spacing
Gap meet require after stopping action, play a vertical frame 3 and push away filling spacing action and complete.
Rise vertical frame 3 push away dress docking preparation after the completion of, you can carried out vertical frame 3 automatic water horizontal sliding
Dress work, level push away during dress start transport vehicle 2 on automatically push away dress hydraulic control system, hydraulic pressure
Control system control pushes away charge of oil cylinder 7 development and pushes away dress action, in the presence of pushing away charge of oil cylinder 7, realizes
Rise vertical frame 3 in some universal turning mechanisms 4 in transport vehicle 2 slow to being fixed on position
Upset docking facilities 1 slide, due to upset docking facilities 1 on positioning guide rail 15 front end be loudspeaker
Shape, rising when vertical frame 3 initially enters is coarse positioning, then in positioning guide rail 15 stage casing and tail end
Alignment pin 10 effect under start to be accurately positioned, when rise vertical frame 3 upset docking facilities 1 on will
When slip puts in place, the inversion universal turning mechanism 4 playing vertical frame 3 front bottom end is rolled to upset docking
In the groove of device 1, play vertical frame 3 bottom surface and fit with plane on upset docking facilities 1, with
Push away the carrying out of dress, the positioning support 11 playing vertical frame 3 front end is gradually drawn close with alignment pin 10, finally
In alignment pin 10 insertion positioning support 11, as shown in Figure 3-4, now it is arranged on upset to tipping
The position-sensing switch 16 putting 1 afterbody has sensed that vertical frame 3 pushes away and has been attached to a signal, program stopped pushes away charge of oil
Cylinder 7 action, thus reached a vertical frame 3 to upset docking facilities 1 automatic water horizontal sliding dress docking
Purpose.
Above-described embodiment is only a preferred embodiment of the present invention, is not intended to limit the present invention
Protection domain, all done deformation on the basis of technical scheme, modify or wait
With replacement etc., protection scope of the present invention all should be fallen into.
Claims (6)
1. a kind of carrier rocket plays vertical frame self adaptation and pushes away dress system, including upset docking facilities (1)
With transport vehicle (2) it is characterised in that：Described transport vehicle (2) has been provided with vertical frame (3),
Play vertical frame (3) both sides and be separately installed with some lateral micro-adjusting mechanisms (14), transport vehicle (2)
Top surface is provided with some universal turning mechanisms (4), universal turning mechanism (4) and a vertical frame (3)
Bottom face offsets, rise vertical frame (3) on be connected with pushing away dress bearing (5), push away dress bearing (6) with
The outfan pushing away charge of oil cylinder (7) is hinged, and pushes away charge of oil cylinder (7) end and passes through hinged seat A (9)
It is hinged on tailstock (12) front end being fixed on transport vehicle (2) top；Described upset is to tipping
Put (1) top and be provided with positioning guide rail (15), described vertical frame (3) front bottom end is connected with
Match with positioning guide rail (15) bottom and in inverted universal turning mechanism (4), play vertical frame
(3) front end is connected with positioning support (11), described positioning guide rail (15) left end be connected with
The alignment pin (10) that positioning support (11) matches, is provided with positioning by alignment pin (10)
Switch (16).
2. carrier rocket according to claim 1 plays vertical frame self adaptation and pushes away dress system, and it is special
Levy and be：Described lateral micro-adjusting mechanism (14) includes slide (25), sliding in slide (25)
Move and sliding axle (22) is installed, sliding axle (22) front end is provided with by bearing (20) perpendicular
The bearing pin (19) of straight arrangement, bearing pin (19) outer wall is socketed with limited roller (17), spacing rolling
Wheel (17) outer wall is socketed with rubber wheel (18), and back-up ring (21) is passed through on bearing pin (19) top
Spacing, rubber wheel (18) end offsets with playing vertical frame (3) both sides outer wall, sliding axle (22)
Right-hand member is connected with hinged seat B (24), by hinged seat B (24) and fine setting oil cylinder (23)
Outfan be hinged.
3. carrier rocket according to claim 1 plays vertical frame self adaptation and pushes away dress system, and it is special
Levy and be：Described universal turning mechanism (4) includes shell (27), shell (27) inner bottom part
Base (29) is installed, base (29) top end face has hemispheric groove, uniformly spreads in groove
If one layer of secondary ball (28), secondary ball (28) is upper to be provided with main ball (26) by pressing plate.
4. carrier rocket according to claim 1 plays vertical frame self adaptation and pushes away dress system, and it is special
Levy and be：Described pushing away is provided with auxiliary support bar (8) between charge of oil cylinder (7) and transport vehicle (2).
5. carrier rocket according to claim 1 plays vertical frame self adaptation and pushes away dress system, and it is special
Levy and be：Described transport vehicle (2) both sides are mounted on hydraulic leg (5).
6. carrier rocket according to claim 1 plays vertical frame self adaptation and pushes away dress system, and it is special
Levy and be：Described positioning guide rail (15) front end is tubaeform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510496618.6A CN106428655B (en) | 2015-08-13 | 2015-08-13 | A kind of carrier rocket plays vertical frame and adaptively pushes away dress system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510496618.6A CN106428655B (en) | 2015-08-13 | 2015-08-13 | A kind of carrier rocket plays vertical frame and adaptively pushes away dress system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106428655A true CN106428655A (en) | 2017-02-22 |
| CN106428655B CN106428655B (en) | 2019-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510496618.6A Active CN106428655B (en) | 2015-08-13 | 2015-08-13 | A kind of carrier rocket plays vertical frame and adaptively pushes away dress system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108548451A (en) * | 2018-03-20 | 2018-09-18 | 西安航天动力技术研究所 | A kind of perpendicular elevator of rocket projector helps protection unit |
| CN108562189A (en) * | 2018-03-20 | 2018-09-21 | 西安航天动力技术研究所 | A kind of sounding rocket emitter |
| CN108725838A (en) * | 2018-04-28 | 2018-11-02 | 北京机械设备研究所 | A kind of guided flight vehicle launching simulation platform |
| CN110406386A (en) * | 2018-04-26 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Mechanical guide means for magnetic levitation sled vehicle and the magnetic levitation sled vehicle with it |
| CN110862057A (en) * | 2019-10-30 | 2020-03-06 | 中船华南船舶机械有限公司 | Integrated form filling box is with standing up frame |
| CN110949694A (en) * | 2018-12-20 | 2020-04-03 | 中国船舶重工集团应急预警与救援装备股份有限公司 | Self-adaptive adjusting system for lifting arm of rocket transport lifting vehicle |
| 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 |
| CN111532458A (en) * | 2020-06-15 | 2020-08-14 | 蓝箭航天空间科技股份有限公司 | Transfer butt joint locking device for spacecraft |
| CN111750740A (en) * | 2020-06-15 | 2020-10-09 | 蓝箭航天空间科技股份有限公司 | Rocket transfer, butt joint and locking control system and method |
| CN112061980A (en) * | 2018-03-28 | 2020-12-11 | 蓝箭航天技术有限公司 | Erecting device and crane for rocket erecting |
| CN112902747A (en) * | 2021-03-03 | 2021-06-04 | 北京航天发射技术研究所 | Whole arrow transferring and erecting system and method |
| CN114919778A (en) * | 2022-05-16 | 2022-08-19 | 北京中科宇航技术有限公司 | Carrier rocket support ring |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108562189A (en) * | 2018-03-20 | 2018-09-21 | 西安航天动力技术研究所 | A kind of sounding rocket emitter |
| CN108548451B (en) * | 2018-03-20 | 2019-08-16 | 西安航天动力技术研究所 | A kind of perpendicular elevator of rocket projector helps protection unit |
| CN108548451A (en) * | 2018-03-20 | 2018-09-18 | 西安航天动力技术研究所 | A kind of perpendicular elevator of rocket projector helps protection unit |
| CN112061980A (en) * | 2018-03-28 | 2020-12-11 | 蓝箭航天技术有限公司 | Erecting device and crane for rocket erecting |
| CN110406386A (en) * | 2018-04-26 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Mechanical guide means for magnetic levitation sled vehicle and the magnetic levitation sled vehicle with it |
| CN108725838B (en) * | 2018-04-28 | 2020-06-16 | 北京机械设备研究所 | System leads aircraft transmission simulation platform |
| CN108725838A (en) * | 2018-04-28 | 2018-11-02 | 北京机械设备研究所 | A kind of guided flight vehicle launching simulation platform |
| CN110949694A (en) * | 2018-12-20 | 2020-04-03 | 中国船舶重工集团应急预警与救援装备股份有限公司 | Self-adaptive adjusting system for lifting arm of rocket transport lifting vehicle |
| CN110862057A (en) * | 2019-10-30 | 2020-03-06 | 中船华南船舶机械有限公司 | Integrated form filling box is with standing up frame |
| CN110862057B (en) * | 2019-10-30 | 2021-08-06 | 中船华南船舶机械有限公司 | Integrated form filling box is with standing up frame |
| CN111532458A (en) * | 2020-06-15 | 2020-08-14 | 蓝箭航天空间科技股份有限公司 | Transfer butt joint locking device for spacecraft |
| CN111750740A (en) * | 2020-06-15 | 2020-10-09 | 蓝箭航天空间科技股份有限公司 | Rocket transfer, butt joint and locking control system and method |
| 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 |
| CN112902747A (en) * | 2021-03-03 | 2021-06-04 | 北京航天发射技术研究所 | Whole arrow transferring and erecting system and method |
| CN114919778A (en) * | 2022-05-16 | 2022-08-19 | 北京中科宇航技术有限公司 | Carrier rocket support ring |
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