CN110953940B - Method for assembling, erecting and withdrawing binding type carrier rocket - Google Patents
Method for assembling, erecting and withdrawing binding type carrier rocket Download PDFInfo
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- CN110953940B CN110953940B CN201811578110.0A CN201811578110A CN110953940B CN 110953940 B CN110953940 B CN 110953940B CN 201811578110 A CN201811578110 A CN 201811578110A CN 110953940 B CN110953940 B CN 110953940B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B33/00—Manufacture of ammunition; Dismantling of ammunition; Apparatus therefor
- F42B33/001—Devices or processes for assembling ammunition, cartridges or cartridge elements from parts
Abstract
The invention discloses a method for assembling, erecting and withdrawing a bundled carrier rocket, and belongs to the technical field of aerospace ground support equipment. The method comprises the steps that firstly, a core-grade and boosting transport vertical lift vehicle is utilized to horizontally assemble and load core-grade arrow bodies and boosting arrow bodies in a technical area storehouse; then the core-grade transportation vertical vehicle drives into a preset area of the launching area and then integrally erects the core-grade arrow body and completes the butt joint with the launching platform; the boosting transport erecting vehicle carries the boosting arrow body and drives the boosting arrow body into a preset area of a launching area, and then the boosting transport erecting vehicle and the core-level arrow body are erected and then are bound and assembled; if the launching task is executed, the job is completed; if the launching task is not executed, the no-load boosting transport vertical lift vehicle and the core-grade transport vertical lift vehicle are sequentially utilized to finish the boosting and the reverse withdrawing of the core-grade arrow body in a preset area of a launching area; the invention has the advantages of simple operation process, high automation degree and safe and reliable performance on the premise of not changing the prior state of the rocket.
Description
Technical Field
The invention relates to an assembly operation process method of a carrier rocket, in particular to an operation process method of a bundled carrier rocket, and belongs to the technical field of aerospace ground support equipment.
Background
The traditional launching mode of the parallel carrier rocket in China mainly comprises the operation processes of rocket body hoisting, horizontal transportation, vertical hoisting, reverse withdrawing and the like. The boosting and core-level rocket bodies are respectively hoisted to a transport vehicle through a traveling crane in a technical area, and the transport vehicle respectively transports the rocket bodies at all levels to a launching area to realize transition operation. After entering a launching area, firstly, a tower crane or other cranes arranged on a launching tower and an operator cooperate to lift the core first-stage arrow body from transportation, the core first-stage arrow body is gradually turned from a horizontal state to a vertical state, and then the arrow body is vertically lifted by the crane to be aligned to a launching platform, so that the core first-stage butt joint is completed; then, the assembly of other core-level arrow bodies and the boosting arrow body is completed in sequence in the same way. When the assembled rocket bodies need to be reversely withdrawn under special conditions, the adopted operation flow is opposite to the assembly flow.
At present, the domestic carrier rocket launching mode has the disadvantages of complex operation, low standardization and automation degree, high requirement on the skills of operators, high difficulty in field command and coordination, and great influence on the safety of the hoisting process by human factors. In addition, the traditional launching mode has the practical problems of low operation efficiency, long time for occupying a launching station, easy influence of wind power on a hoisting link and the like. With the increasing competition of the carrier rocket market at home and abroad, the defects of the existing rocket assembly launching mode are gradually shown, and the requirement of commercial operation can not be met. The launching of the carrier rocket urgently needs an operation mode which is simpler and more convenient, has standardized operation flow and higher automation degree.
Disclosure of Invention
In view of the above, the invention provides a method for assembling, erecting and withdrawing a bundled launch vehicle, which has the advantages of simple operation process, high automation degree and safe and reliable performance on the premise of not changing the prior technical state of the rocket.
A method for assembling, erecting and withdrawing a bundled carrier rocket comprises the following steps:
the method comprises the following steps: horizontally assembling the core-grade arrow bodies in the technical area storehouse by using a core-grade transportation and erecting vehicle; meanwhile, a boosting transport vertical lift truck is used for horizontally loading boosting arrow bodies in a storehouse in a technical area;
step two: after the core-grade transportation vertical vehicle drives into a preset area of the launching area, the core-grade arrow body is integrally erected and is in butt joint with the launching platform;
step three: the boosting transport erecting vehicle carries a boosting arrow body and drives the boosting arrow body into a preset area of a launching area to integrally erect the boosting arrow body, and the boosting arrow body and the core-level arrow body are positioned, bound and assembled;
step four: judging whether to execute the transmitting task, and if so, finishing the operation; if the transmission task is not executed, the next step is executed;
step five: the no-load boosting transport vertical lift truck is used for completing the reverse retraction of the boosting arrow body in a preset area of a launching area;
step six: and the unloaded core-grade transport vertical lift vehicle drives into a preset area of the launching area to finish the withdrawing of the core-grade arrow body.
Further, the horizontal assembly transportation process in the first step comprises the following steps:
step 1: a core-level rocket lifting vehicle is driven into a technical area storehouse, and the longitudinal axis of the vehicle is parallel to the axis of the rocket body;
step 2: hoisting the core first-level arrow body to a corresponding support of the core-level transportation vertical lift vehicle by using storehouse hoisting equipment;
and step 3: the posture of the core-level arrow body is adjusted by an arrow body posture adjusting device arranged on the core-level transportation vertical lift vehicle, so that the core-level arrow body meets the precision requirement of a preset position; the arrow body posture adjusting device can realize that the arrow body moves and rotates along the axial direction and moves along the direction vertical to the axial line;
and 4, step 4: sequentially hoisting other core-level arrow bodies to the support by using storehouse hoisting equipment, and adjusting the postures of the arrow bodies by using an arrow body posture adjusting device to enable the arrow bodies to be in butt joint with the core-level arrow bodies;
and 5: after the assembly and butt joint of the core-grade arrow bodies are completed, the core-grade arrow bodies are fixed through a locking device on the core-grade transportation and erecting vehicle;
step 6: and the core-level transport lifting vehicle is driven away from the technical area storehouse, and the core-level arrow body is integrally transported to the launching area.
Further, the horizontal loading and transporting process of the boosting arrow body in the first step comprises the following steps:
step 1: the boosting transport vertical lift vehicle enters a technical area storehouse, and the longitudinal axis of the vehicle is parallel to the axis of the boosting arrow body;
and 2, step: hoisting the boosting arrow body to a corresponding support of the boosting transport vertical lift vehicle by using storehouse hoisting equipment;
and step 3: the boosting arrow body is fixed through a locking device on the boosting transport vertical lifting vehicle;
and 4, step 4: the boosting transport erecting vehicle drives away from a technical area storehouse and transfers the boosting arrow body to a launching area.
Further, the whole erecting process of the core-level arrow body in the second step comprises the following steps:
step 1: the core-level transport vertical lift vehicle drives into a predetermined area of the launching area;
step 2: the core-grade arrow body integrally turns 90 degrees along with the vertical arm arranged on the core-grade transportation vertical vehicle;
and 3, step 3: after the relative position of the core-level arrow body and the launching platform is adjusted to meet the requirement, the locking device is loosened;
and 4, step 4: the core-level arrow body is moved downwards through a pull rod assembly arranged on the vertical arm, and the butt joint of the core-level arrow body and the launching platform is completed;
and 5: the bearing point connected between the core-level arrow body and the vertical lifting arm is separated, the vertical lifting arm is reversed to the original position, and the core-level transportation vertical lifting vehicle drives away from the launching area;
step 6: the core-level arrow body above the launching platform synchronously rotates for a certain angle through the rotary motion of the launching platform until the boosting binding point faces one side of the preset area of the boosting transport vertical lift truck.
Further, the process of positioning, binding and assembling the boosting arrow body with the core-level arrow body after the boosting arrow body is erected in the third step comprises the following steps:
step 1: the boosting transport erecting vehicle carries a boosting arrow body and drives into a preset area of a launching area;
step 2: the boosting arrow body integrally turns for 90 degrees along with the vertical arm arranged on the boosting transport vertical vehicle;
and step 3: the relative positions of the boosting arrow body and the core-level arrow body are adjusted through an adjusting device arranged on the vertical arm;
and 4, step 4: when the positions of the boosting and core-level binding points meet the requirements, connecting the front binding point and the rear binding point;
and 5: loosening a locking device on the vertical lifting arm and a force bearing point connected between the boosting arrow body and the vertical lifting arm, then reversing the vertical lifting arm to the original position, and sequentially driving the boosting transport vertical lifting vehicle away from a launching area;
step 6: the core-level arrow body above the launching platform synchronously rotates for a certain angle through the rotary motion of the launching platform until the boosting binding point faces one side of a preset area of the boosting transport vertical lift truck;
and 7: and after the other group of boosting arrow bodies are transported to the launching area by the boosting transport erecting vehicle, repeating the steps 1-5 until the binding assembly between the other group of boosting arrow bodies and the core-level arrow bodies is completed.
Further, the process of withdrawing the boosting arrow body in the fifth step comprises the following steps:
step 1: the no-load boosting transport vertical lift trucks respectively drive into the preset areas of the launching areas;
step 2: synchronously adjusting the turning angle of a vertical arm on the boosting transport vertical lift vehicle to 90 degrees;
and step 3: adjusting the position of a hoisting point of the boosting transport vertical lifting vehicle to enable the hoisting point to be positioned right above the axis of the boosting arrow body to be retracted;
and 4, step 4: connecting and pre-tightening bearing points between the boosting transport vertical vehicle and the boosting arrow body;
and 5: separating the boosting arrow body from the front binding point and the rear binding point of the core-grade arrow body;
step 6: fixing the boosting arrow body and a vertical arm of the boosting transport vertical lift vehicle through a locking device, then, reversing the vertical arm to the original position, and sequentially driving the boosting transport vertical lift vehicle away from a launching area;
and 7: the rocket body above the launching platform synchronously rotates for a certain angle through the rotary motion of the launching platform until the boosting binding point faces one side of a preset area of the boosting transport vertical lift truck;
and 8: after the boosting arrow body is unloaded to a specified place, the boosting transport vertical lift vehicle returns to the no-load way and respectively drives into the preset area of the launching area;
and step 9: and (5) repeating the steps 2-6 until the reverse withdrawing between the rest boosting arrow bodies and the core-level arrow bodies is completed.
Further, the process of withdrawing the core-grade arrow body in the sixth step comprises the following steps:
step 1: the core-grade transport vertical lift vehicle drives into a predetermined area of a launching area in a no-load way;
step 2: the whole vertical arm on the core-grade transportation vertical vehicle is turned for 90 degrees;
and step 3: connecting and pre-tightening bearing points connected between the core-level arrow body and the vertical arm;
and 4, step 4: loosening the connection between the core-level arrow body and the launching platform;
and 5: the core-level arrow body is integrally moved upwards through a pull rod assembly arranged on the vertical arm, so that the core-level arrow body is separated from the launching platform;
step 6: the core-level arrow body and the core-level transportation vertical lift vehicle are fixed through the locking device, then the vertical lift arm is turned back to the original position, and the core-level transportation vertical lift vehicle is driven away from the launching area.
Further, the launching platform consists of a launching platform base and a revolving part, wherein the revolving part is built on the launching platform base, and the revolving part realizes circumferential rotation on the launching platform base.
Has the advantages that:
1. according to the invention, the core-level docking procedure of the core-level rocket is completed in the technical area storeroom, and the whole docking and transporting link is realized by the core-level transportation lifting vehicle, so that the operation difficulty of the preparation work of the whole launching link is simplified, and the operation equipment and the working time are reduced; is beneficial to improving the standardization and automation level of rocket launching.
2. The launching platform is designed into a circumferential rotating structure, and the rotation of the rotating part of the launching platform meets the alignment assembly between the core-level arrow bodies and the boosting arrow bodies, so that the automation level of the whole process is further improved.
3. The assembling, erecting and withdrawing method can meet the launching requirements of the parallel carrier rockets and realize the integration of the functions of assembling, transporting and erecting (withdrawing) the rockets.
4. The integrated operation mode of assembly, transportation, erection and butt joint in the rocket launching preparation flow provided by the invention has obvious advancement compared with the 'one-in-one-two-in-one-perpendicular' launching mode of the domestic carrier rocket at present, and provides technical research reserve for realizing the 'three-in-one-out' launching mode of the domestic carrier rocket in the future.
Drawings
FIG. 1 is a flow chart of the steps of the assembly, erection and retraction method of the present invention;
FIG. 2 is a schematic view of the structural components of the core transport lift truck;
FIG. 3 is a schematic diagram of the structural components of the booster transport lift truck;
FIG. 4 is a schematic diagram of a transmitting station;
FIG. 5 is a schematic view of the launch pad in rotation;
FIG. 6 is a schematic view of a core-level arrow body erecting process;
FIG. 7 is a schematic view of the core-level arrow body in complete docking with the launch pad;
FIG. 8 is a schematic view of a second booster arrow body installation process;
FIG. 9 is a schematic view of the completion of the installation of a second booster arrow body;
fig. 10 is a schematic view of a third booster arrow body assembly (rotation of the rotary portion 90 °).
Wherein: the system comprises a 1-core-level transport vertical lift truck, a 2-holding arm, a 3-posture adjusting device, a 4-vertical lift arm, a 5-pull rod assembly, a 6-boosting transport vertical lift truck, a 7-lifting adjusting device, an 8-vertical lift arm, a 9-lifting platform, a 10-holding arm, an 11-launching platform base and a 12-revolving part.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a method for assembling, erecting and withdrawing a bundled carrier rocket, which adopts a core-grade transportation erecting vehicle 1 and a boosting transportation erecting vehicle 6 to realize the whole process of assembling, erecting and withdrawing.
As shown in the attached figure 2, the vertical arm 4 on the core-grade transportation vertical lift truck 1 realizes the vertical lifting at 90 degrees and horizontal falling of the vertical arm 4 under the action of the oil cylinder; the holding arm 2 arranged on the vertical arm 4 realizes locking and unlocking of the core-level arrow body, the posture adjusting device 3 is also arranged on the vertical arm 4 to support the core-level arrow body, and the holding arm 2 and the posture adjusting device 3 have the functions of translation of three degrees of freedom in a graphic coordinate system and adjustment of degrees of freedom of rotation around an X axis; the lifting device 5 is arranged at the tail part of the vertical arm 4, and the pull rod assembly 5 realizes the height adjustment of the core-level arrow body in the vertical direction after the vertical arm 4 is erected.
As shown in the attached figure 3, a vertical arm 8 on a boosting transportation vertical lift truck 6 realizes the vertical lifting and horizontal falling of the vertical arm 8 by 90 degrees under the action of an oil cylinder, a holding arm 10 arranged on the vertical arm 8 realizes the locking and the releasing of a boosting arrow body, a lifting adjusting device 7 is arranged at the head of the vertical arm 4, and the lifting adjusting device 7 realizes the height adjustment of a core-level arrow body in the horizontal plane in the transverse and longitudinal directions and the vertical direction after the vertical arm 4 is lifted; lifting platform 9 installs on rising to erect arm 8, and lifting platform 9 carries on operating personnel and moves from top to bottom along the core level arrow body under actuating mechanism's drive, and the operating personnel of being convenient for binds the connection operation to the tie point of core level arrow body and boosting arrow body.
As shown in fig. 4 and 5, the launching platform is composed of a launching platform base 11 and a revolving part 12, the revolving part 12 is built on the launching platform base 11, and the revolving part 12 can realize circumferential rotation on the launching platform base 11.
The core-level rocket comprises a core first level and a core second level in the embodiment, the boosting rocket bodies are four, and the transportation and erection vehicle comprises a core-level transportation and erection vehicle and two boosting transportation and erection vehicles.
As shown in the attached figure 1, the parallel carrier rocket assembling, erecting and withdrawing method comprises the following steps:
the method comprises the following steps: core-level arrow body horizontal assembly transportation and boosting arrow body horizontal loading transportation
The horizontal assembly and transportation process of the core-grade arrow body is as follows:
(1) the core-level transportation vertical lift vehicle enters a technical area storehouse, and the longitudinal axis of the vehicle is parallel to the axis of the core-level arrow body;
(2) hoisting the core first-level arrow body to a corresponding support of the core-level transportation vertical lift vehicle by using storehouse hoisting equipment;
(3) the posture adjusting device 3 arranged on the core-grade transportation vertical lifting vehicle is used for adjusting the posture of the core-grade arrow body, so that the core-grade arrow body meets the precision requirement of a preset position;
(4) sequentially hoisting other core-level arrow bodies to the support by using storehouse hoisting equipment, and adjusting the postures of the arrow bodies by using the posture adjusting device 3 to enable the arrow bodies to be in butt joint with the core-level arrow bodies;
(5) after the assembly and butt joint of the core-grade arrow bodies are completed, the core-grade arrow bodies are fixed through a locking device on the core-grade transportation and erecting vehicle;
(6) and the vehicle leaves the technical area storeroom, and the core-level arrow body is integrally transported to the launching area.
The horizontal loading and transporting process of the boosting arrow body is as follows:
(1) the boosting transport vertical lift vehicle enters a technical area storehouse, and the longitudinal axis of the vehicle is parallel to the axis of the boosting arrow body;
(2) hoisting the boosting arrow body to a corresponding support of the boosting transport vertical lift vehicle by using storehouse hoisting equipment;
(3) the boosting arrow body is fixed through a locking device on the boosting transport vertical trolley;
(4) the vehicle leaves the technical area storeroom and transfers the boosting arrow body to the launching area.
Step three: core-level arrow body integral erection
(1) The core-level transportation vertical truck drives into the area opposite to the launching tower;
(2) the core-grade arrow body integrally turns for 90 degrees along with the vertical lifting arm arranged on the core-grade transportation vertical lifting vehicle; as shown in the attached figure 6 of the drawings,
(3) when the relative position of the core-level arrow body and the rotary part 12 of the launching platform meets the requirement, the locking device is loosened;
(4) the core-level arrow body is moved downwards through a pull rod assembly 5 arranged on the vertical arm 4, and the butt joint of the core-level arrow body and a revolving part 12 of the launching platform is completed, as shown in the attached figure 7;
(5) separating a bearing point connected between the core-grade arrow body and the vertical lifting arm 4, returning the vertical lifting arm 4 to the original position, and driving the core-grade transportation vertical lifting vehicle away from the launching area;
(6) the core-level arrow body above the launching platform synchronously rotates for 45 degrees through the rotary motion of the rotary part 12 of the launching platform until the boosting binding point faces one side of the preset area of the boosting transport vertical lift truck;
step four: boosting arrow body erecting and binding assembly
(1) Two boosting transport vertical lifting vehicles carry boosting arrow bodies to respectively drive into 90-degree azimuth areas on two sides of the launching platform;
(2) the two boosting arrow bodies turn over for 90 degrees along with the vertical arm 8 arranged on the boosting transport vertical vehicle;
(3) the relative position of the boosting arrow body and the core-level arrow body is adjusted through a lifting adjusting device 7 arranged on the vertical arm;
(4) when the positions of the boosting and core-level binding points meet the requirements, connecting the front binding point and the rear binding point, as shown in the attached figures 8 and 9;
(5) loosening the arm 10 on the vertical lifting arm 8 and a bearing point connected between the boosting arrow body and the vertical lifting arm, then reversing the vertical lifting arm 8 to the original position, and sequentially driving the two boosting transport vertical lifting vehicles away from the launching area;
(6) the arrow body above the rotating part 12 of the launching platform synchronously rotates for 90 degrees through the rotating motion of the rotating part;
(7) and (3) after the two boosting transportation vertical trucks transport the other two boosting arrow bodies to the launching area, repeating the steps (1) to (5) until the binding assembly between the other two boosting arrow bodies and the core-level arrow body is completed, as shown in the attached drawing 10.
Step four: judging whether to execute the transmitting task, and if so, finishing the operation; if the transmission task is not executed, the next step is executed;
step five: boosting arrow withdrawing device
(1) Two no-load boosting transport vertical trucks respectively drive into the 90-degree azimuth areas on two sides of the launching platform;
(2) the vertical arm on the boosting transportation vertical vehicle is turned for 90 degrees;
(3) adjusting the position of a hoisting point of the boosting transport vertical lifting vehicle to enable the hoisting point to be positioned right above the axis of the boosting arrow body to be retracted;
(4) connecting and pre-tightening a bearing point between the boosting transport vertical vehicle and the boosting arrow body;
(5) separating the boosting arrow body from the front binding point and the rear binding point of the core-grade arrow body;
(6) fixing the boosting arrow body and the boosting transport vertical lift vehicle through a locking device, then reversing the vertical lift arm to the original position, and sequentially driving the two boosting transport vertical lift vehicles away from a launching area;
(7) the arrow body above the rotating part 12 of the launching platform synchronously rotates for 90 degrees through the rotating motion of the rotating part;
(8) after the two boosting arrow bodies are unloaded to a specified place, the two boosting transport vertical trucks return in no-load way and respectively drive into the 90-degree azimuth areas on the two sides of the launching platform;
(9) and (4) repeating the steps (2) to (6) until the reverse retraction between the other two boosting arrow bodies and the core-level arrow body is completed.
Step six: core-level arrow body withdrawing device
(1) The core-grade transport vertical lift vehicle drives into the area opposite to the launching tower in a no-load way;
(2) the vertical arm 4 on the core-grade transportation vertical vehicle is integrally turned for 90 degrees;
(3) connecting and pre-tightening the bearing points connected between the core-level arrow body and the vertical arm;
(4) loosening the connection between the core-grade arrow body and the launching platform rotary part 12;
(5) the core-level arrow body is integrally moved upwards through a pull rod assembly 5 arranged on the vertical arm, so that the core-level arrow body is separated from the launching platform;
(6) the core-level arrow body and the core-level transportation vertical lift vehicle are fixed through the locking device, then the vertical lift arm is turned back to the original position, and the core-level transportation vertical lift vehicle is driven away from the launching area.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A method for assembling, erecting and withdrawing a bundled carrier rocket is characterized by comprising the following steps:
the method comprises the following steps: horizontally assembling the core-grade arrow bodies in the technical area storehouse by using a core-grade transportation and erecting vehicle; meanwhile, a boosting transport vertical lift truck is used for horizontally loading boosting arrow bodies in a storehouse in a technical area;
step two: after the core-grade transportation vertical vehicle drives into a preset area of the launching area, the core-grade arrow body is integrally erected and is in butt joint with the launching platform;
step three: the boosting transport erecting vehicle carries a boosting arrow body and drives the boosting arrow body into a preset area of a launching area to integrally erect the boosting arrow body, and the boosting arrow body and the core-level arrow body are positioned, bound and assembled;
step four: judging whether to execute the transmitting task, and if so, finishing the operation; if the transmission task is not executed, the next step is executed;
step five: the reverse withdrawing of the boosting arrow body is finished in a preset area of a launching area by using a no-load boosting transport vertical lift truck;
the specific steps of the reverse withdrawing of the boosting arrow body are as follows:
s1: the no-load boosting transport vertical trucks respectively drive into the preset areas of the launching areas;
s2: synchronously adjusting the turning angle of a vertical arm on the boosting transport vertical lift vehicle to 90 degrees;
s3: adjusting the position of a hoisting point of the boosting transport vertical lifting vehicle to enable the hoisting point to be positioned right above the axis of the boosting arrow body to be retracted;
s4: connecting and pre-tightening bearing points between the boosting transport vertical vehicle and the boosting arrow body;
s5: separating the boosting arrow body from the front binding point and the rear binding point of the core-grade arrow body;
s6: fixing the boosting arrow body and a vertical arm of the boosting transport vertical lift vehicle through a locking device, then, reversing the vertical arm to the original position, and sequentially driving the boosting transport vertical lift vehicle away from a launching area;
s7: the rocket body above the launching platform synchronously rotates for a certain angle through the rotary motion of the launching platform until the boosting binding point faces one side of a preset area of the boosting transport vertical lift truck;
s8: after the boosting arrow body is unloaded to a specified place, the boosting transport vertical lift vehicle returns to the no-load way and respectively drives into the preset area of the launching area;
s9: repeating the steps 2-6 until the reverse retraction between the residual boosting arrow bodies and the core-level arrow bodies is completed;
step six: the empty-load core-level transport vertical lift vehicle is driven into a preset area of the launching area to complete the retraction of the core-level arrow body;
the horizontal assembly transportation process in the first step comprises the following steps:
step 1: a core-level rocket lifting vehicle is driven into a technical area storehouse, and the longitudinal axis of the vehicle is parallel to the axis of the rocket body;
step 2: hoisting the core first-level arrow body to a corresponding support of the core-level transportation vertical lift vehicle by using storehouse hoisting equipment;
and step 3: the arrow body posture adjusting device arranged on the core-level transportation vertical lift vehicle is used for adjusting the posture of the core-level arrow body to meet the precision requirement of a preset position; the arrow body posture adjusting device can realize that the arrow body moves and rotates along the axial direction and moves along the direction vertical to the axial line;
and 4, step 4: sequentially hoisting other core-grade arrow bodies to the support by using storehouse hoisting equipment, and adjusting the postures of the arrow bodies by using an arrow body posture adjusting device to enable the arrow bodies to be in butt joint with the core-grade arrow bodies;
and 5: after the assembly and butt joint of the core-grade arrow bodies are completed, the core-grade arrow bodies are fixed through a locking device on the core-grade transportation and erection vehicle;
step 6: the core-level transportation lifting vehicle is driven away from the technical area storehouse, and the whole core-level arrow body is transported to the launching area;
the horizontal loading and transporting process of the boosting arrow body comprises the following steps:
step 1: the boosting transport lifting vehicle drives into a technical area storehouse, and the longitudinal axis of the vehicle is parallel to the axis of the boosting arrow body;
step 2: hoisting the boosting arrow body to a corresponding support of the boosting transport vertical lift vehicle by using storehouse hoisting equipment;
and step 3: the boosting arrow body is fixed through a locking device on the boosting transport vertical trolley;
and 4, step 4: the boosting transport erecting vehicle drives away from the technical area storehouse and transfers the boosting arrow body to the launching area;
in the second step, the whole erecting process of the core-level arrow body comprises the following steps:
step 1: the core-level transport vertical lift vehicle drives into a predetermined area of the launching area;
step 2: core-level arrow body integrally overturns 90 along with erecting arm arranged on core-level transportation erecting vehicleo；
And step 3: after the relative position of the core-level arrow body and the launching platform is adjusted to meet the requirement, the locking device is loosened;
and 4, step 4: the core-level arrow body is moved downwards through a pull rod assembly arranged on the vertical arm, and the butt joint of the core-level arrow body and the launching platform is completed;
and 5: the bearing point connected between the core-level arrow body and the vertical lifting arm is separated, the vertical lifting arm is reversed to the original position, and the core-level transportation vertical lifting vehicle drives away from the launching area;
step 6: the core-level arrow body above the launching platform synchronously rotates for a certain angle through the rotary motion of the launching platform until the boosting binding point faces one side of a preset area of the boosting transport vertical lift truck;
the process of positioning, binding and assembling the boosting arrow body with the core-level arrow body after the boosting arrow body is erected in the third step comprises the following steps:
step 1: the boosting transport erecting vehicle carries a boosting arrow body and drives into a preset area of a launching area;
step 2: the boosting arrow body integrally turns for 90 degrees along with the vertical arm arranged on the boosting transport vertical vehicle;
and step 3: the relative positions of the boosting arrow body and the core-level arrow body are adjusted through a lifting adjusting device arranged on the vertical arm;
and 4, step 4: when the positions of the boosting and core-level binding points meet the requirements, connecting the front binding point and the rear binding point;
and 5: loosening a locking device on the vertical arm and a bearing point connected between the boosting arrow body and the vertical arm, then reversing the vertical arm to the original position, and sequentially driving the boosting transport vertical vehicle away from the launching area;
step 6: the core-level arrow body above the launching platform synchronously rotates for a certain angle through the rotary motion of the launching platform until the boosting binding point faces one side of a preset area of the boosting transport vertical lift truck;
and 7: after the other group of boosting arrow bodies are transported to the launching area by the boosting transport vertical lift truck, repeating the steps 1-5 until the other group of boosting arrow bodies and the core-level arrow bodies are bound and assembled;
the process of withdrawing the core-level arrow body in the sixth step comprises the following steps:
step 1: the core-grade transport vertical lift vehicle drives into a predetermined area of a launching area in a no-load way;
step 2: integral overturning 90 of erecting arm on core-level transportation erecting vehicleo；
And step 3: connecting and pre-tightening a bearing point connected between the core-level arrow body and the vertical arm;
and 4, step 4: loosening the connection between the core-level arrow body and the launching platform;
and 5: the core-grade arrow body is integrally moved upwards through the pull rod assembly arranged on the vertical arm, so that the core-grade arrow body is separated from the launching platform;
step 6: fixing the core-level arrow body and the core-level transportation vertical lift vehicle through a locking device, then, returning the vertical lift arm to the original position, and driving the core-level transportation vertical lift vehicle away from the launching area;
the launching platform consists of a launching platform base and a rotary part, wherein the rotary part is built on the launching platform base, and the rotary part realizes circumferential rotation on the launching platform base.
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| CN201811578110.0A CN110953940B (en) | 2018-12-20 | 2018-12-20 | Method for assembling, erecting and withdrawing binding type carrier rocket |
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| CN201811578110.0A CN110953940B (en) | 2018-12-20 | 2018-12-20 | Method for assembling, erecting and withdrawing binding type carrier rocket |
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| CN111928740A (en) * | 2020-07-23 | 2020-11-13 | 西安现代控制技术研究所 | Vertical-horizontal switching device |
| CN112987767B (en) * | 2021-01-19 | 2023-07-25 | 中国人民解放军63921部队 | Carrier rocket attitude control method with integrated boosting and core level |
| CN115930696A (en) * | 2022-12-29 | 2023-04-07 | 北京天兵科技有限公司 | Medium-large low-temperature carrier rocket test and launch system and implementation method |
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