CN112623284B - Rocket booster binding and rocket docking device and method - Google Patents
Rocket booster binding and rocket docking device and method Download PDFInfo
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- CN112623284B CN112623284B CN202011602564.4A CN202011602564A CN112623284B CN 112623284 B CN112623284 B CN 112623284B CN 202011602564 A CN202011602564 A CN 202011602564A CN 112623284 B CN112623284 B CN 112623284B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
Abstract
The invention discloses a rocket booster binding and rocket docking device, which comprises a bracket, a supporting plate and a sliding support, wherein pulleys are arranged at the bottom of the sliding support, a lifting mechanism is arranged on the sliding support, the supporting plate is connected above the lifting mechanism, and the lifting mechanism is used for adjusting the supporting plate to move along the vertical direction; a bracket is arranged above the supporting plate, a sliding mechanism is arranged between the supporting plate and the bracket, and the bracket is adjusted to move along the horizontal direction through the sliding mechanism; the top of the bracket is an arc-shaped plate, rollers are arranged on the arc-shaped plate, the booster or the rocket core stage is placed in the bracket, and the booster or the rocket core stage is adjusted to rotate along the axis of the booster or the rocket core stage through the rollers. The invention has the beneficial effects that: the six-degree-of-freedom adjustment of the booster or the rocket core stage in the axial direction, the vertical axial direction, the up-down direction and the left-right direction can be realized, so that the accurate butt joint of the rocket is realized. The rocket core stage and the rocket booster are bundled in a horizontal bundling mode, and the operation complexity of bundling the rocket booster can be reduced.
Description
Technical Field
The invention relates to the technical field of carrier rocket assembly, in particular to a rocket booster binding and rocket docking device and method.
Background
At present, all bundled rockets with boosters in China are vertically assembled, vertically tested and vertically transported, the three-perpendicular mode needs to build a vertical assembly plant, the cost is huge, meanwhile, the safety of the vertical assembly hoisting process is difficult to control, the operation is complex, the requirement on the skill of operators is high, frequent high-altitude operation is needed in the assembly, measurement and control processes, and a lot of potential risks are brought. At present, the rapid development of civil aviation and aerospace urgently needs a horizontal binding device and a rocket docking method of a binding type rocket, which are low in cost, high in efficiency, safe and reliable.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a device and a method for binding a rocket booster in a horizontal mode, so that the rocket booster, core stages of a rocket and a star cover assembly can be quickly and accurately assembled and butted in the horizontal direction.
In order to achieve the above object, the present invention provides a rocket booster binding and rocket docking device, comprising: comprises a bracket, a supporting plate and a sliding support; wherein the content of the first and second substances,
the bottom of the sliding support is provided with a pulley, a lifting mechanism is arranged on the sliding support, the supporting plate is arranged above the sliding support and connected with the lifting mechanism, and the lifting mechanism is used for adjusting the supporting plate to move along the vertical direction so as to enable the booster or the rocket core stage to move along the vertical direction;
a bracket is arranged above the supporting plate, a sliding mechanism is arranged between the supporting plate and the bracket, and the bracket is adjusted to move along the horizontal direction through the sliding mechanism so as to enable the booster or the rocket core stage to move along the vertical direction;
the top of the bracket is an arc-shaped plate, rollers are arranged on the arc-shaped plate, the booster or the rocket core stage is placed in the bracket, and the rollers are used for adjusting the booster to rotate along the axis of the booster or the rocket core stage to rotate along the axis of the rocket core stage.
As a further improvement of the invention, the sliding support is provided with a lifting guide rod, the supporting plate is provided with a guide hole, and the lifting guide rod extends into the guide hole, so that the rocket core stage and the booster move in the vertical direction under the driving of the supporting plate.
As a further improvement of the invention, the sliding mechanism comprises a slide block, a guide rail and a driving device, the guide rail is fixed on the upper surface of the supporting plate, the slide block is arranged on the guide rail, the slide block is fixedly connected with the bottom of the bracket, the guide rail is arranged along the horizontal direction, and the driving device drives the slide block to move on the guide rail along the horizontal direction, so that the rocket core stage and the booster move along the vertical direction under the driving of the sliding mechanism.
As a further improvement of the invention, the driving device comprises a screw and a hand wheel, the hand wheel is arranged at one end of the screw, the screw is rotated by the hand wheel and fixed on the supporting plate, the slide block is provided with a thread matched with the screw, the screw is in threaded connection with the slide block, and the slide block is adjusted to move along the horizontal direction by rotating the screw, so that the rocket core stage and the booster move along the vertical direction under the driving of the screw and the hand wheel.
The invention also provides a rocket booster binding and rocket docking method, which comprises the following steps: each core level of the rocket is horizontally butted, the core level rocket is horizontally butted with the star cover assembly, and the booster is horizontally bound with the core level rocket; wherein the content of the first and second substances,
each core level horizontal butt joint of the rocket comprises the following steps: respectively placing the core stages of the rocket on a first butt joint device, and adjusting the first butt joint device to ensure that the core stages of the rocket are sequentially connected end to form a core-stage rocket (combination A);
the horizontal butt joint of the core-level rocket and the star cover assembly comprises: placing the star cover assembly on a second butt joint device, and adjusting the second butt joint device to connect the core-stage rocket with the star cover assembly to form an assembly B;
the horizontal binding of the booster and the core-level rocket comprises the following steps: respectively horizontally placing a first booster, a second booster, a third booster and a fourth booster on third butt joint devices, adjusting each third butt joint device, and sequentially horizontally binding and connecting the first booster, the second booster, the third booster and the fourth booster with the core-stage rocket, wherein the first booster, the second booster, the third booster and the fourth booster are uniformly arranged along the circumferential direction of the core-stage rocket;
the first butt joint device, the second butt joint device and the third butt joint device respectively adopt the rocket booster binding and the rocket butt joint device. Namely, the first docking device, the second docking device and the third docking device comprise a bracket, a supporting plate and a sliding support; wherein the content of the first and second substances,
the bottom of the sliding support is provided with a pulley, a lifting mechanism is arranged on the sliding support, the supporting plate is arranged above the sliding support and connected with the lifting mechanism, and the lifting mechanism is used for adjusting the supporting plate to move along the vertical direction so as to enable the booster or the rocket core stage to move along the vertical direction;
a bracket is arranged above the supporting plate, a sliding mechanism is arranged between the supporting plate and the bracket, and the bracket is adjusted to move along the horizontal direction through the sliding mechanism so as to enable the booster or the rocket core stage to move along the vertical direction;
the top of the bracket is an arc-shaped plate, rollers are arranged on the arc-shaped plate, the booster or the rocket core stage is placed in the bracket, and the rollers are used for adjusting the booster to rotate along the axis of the booster or the rocket core stage to rotate along the axis of the rocket core stage.
As a further improvement of the invention, the sliding support is provided with a lifting guide rod, the supporting plate is provided with a guide hole, and the lifting guide rod extends into the guide hole, so that the rocket core stage and the booster move in the vertical direction under the driving of the supporting plate.
As a further improvement of the invention, the sliding mechanism comprises a slide block, a guide rail and a driving device, the guide rail is fixed on the upper surface of the supporting plate, the slide block is arranged on the guide rail, the slide block is fixedly connected with the bottom of the bracket, the guide rail is arranged along the horizontal direction, and the driving device drives the slide block to move on the guide rail along the horizontal direction, so that the rocket core stage and the booster move along the vertical direction under the driving of the sliding mechanism.
As a further improvement of the invention, the driving device comprises a screw and a hand wheel, the hand wheel is arranged at one end of the screw, the screw is rotated by the hand wheel and fixed on the supporting plate, the slide block is provided with a thread matched with the screw, the screw is in threaded connection with the slide block, and the slide block is adjusted to move along the horizontal direction by rotating the screw, so that the rocket core stage and the booster move along the vertical direction under the driving of the screw and the hand wheel.
As a further improvement of the present invention, the first and second thrusters are located above the third and fourth thrusters.
As a further improvement of the invention, the apparatus further comprises a lifting device, and the method comprises:
after the first booster and the second booster are horizontally bound and connected with the core-level rocket, the first booster and the second booster are hoisted through the hoisting device;
and after a third pair of devices of the first booster and the second booster are removed, the third booster and the fourth booster are horizontally bound and connected with the core-stage rocket.
As a further improvement of the present invention, the hoisting device comprises:
the supporting frame is fixed on the ground and provides supporting force for the device;
the hoisting mechanisms are arranged in at least one group and fixed on the support frame, and are used for hoisting the hoisting pieces so as to keep the hoisting pieces uniformly loaded in the horizontal direction, wherein the hoisting pieces are rockets or boosters thereof;
wherein, the elevating mechanism includes:
the pulley block provides tension for the hoisting mechanism;
the steel wire rope sequentially bypasses each pulley in the pulley block and is fixed on the support frame, and the length of the steel wire rope can be adjusted to adjust the height of the pulley block so as to enable the pulley block to provide balance tension for the hoisting mechanism;
and the hanging strip is connected with the pulley block and used for hanging the hanging piece so as to enable the hanging piece to be stressed uniformly under the driving of the pulley block.
As a further improvement of the invention, the pulley block comprises at least two movable pulleys and at least one fixed pulley positioned between the at least two movable pulleys, the device comprises a plurality of groups of hoisting and loading mechanisms,
the fixed pulleys of the plurality of groups of hoisting mechanisms are positioned on the same horizontal line, so that the tension of the fixed pulleys at the hoisting point of the support frame is the same;
and the movable pulleys of the multiple groups of hoisting mechanisms are positioned on the same horizontal line, so that the tension provided by each movable pulley for each hoisting belt is the same.
As a further improvement of the invention, the length of the steel wire rope is adjusted by an adjusting device,
the adjusting device comprises a first adjusting device and a second adjusting device which are fixed on the supporting frame, the first adjusting device is connected with one end of the steel wire rope, and the second adjusting device is connected with the other end of the steel wire rope.
As a further improvement of the invention, a lifting hook is arranged on the movable pulley, and the hanging belt is connected to the lifting hook.
As a further improvement of the present invention, the adjusting device is an electric hoist.
As a further improvement of the invention, the supporting frame is of an inverted L-shaped structure and comprises a horizontal section and a vertical section, and the hoisting mechanism is arranged on the horizontal section. The horizontal segment comprises a fixed segment and a telescopic segment, the telescopic segment is fixed on the fixed segment in a telescopic mode along the axis direction, and the hoisting mechanism is arranged on the telescopic segment.
As a further improvement of the invention, each core stage of the rocket is respectively supported by at least two butt joint devices, and the two butt joint devices are respectively positioned at two ends of the core stage of the rocket;
the star cover assembly is supported by at least two butt joint devices, wherein the two butt joint devices are respectively positioned at two ends of the star cover assembly;
the first booster, the second booster, the third booster and the fourth booster are respectively supported by at least two butt joint devices, wherein the two butt joint devices are respectively positioned at two ends of the booster supported by the first booster and the second booster.
The invention has the beneficial effects that: in the process of binding the rocket booster and butting the rocket core stage, six-degree-of-freedom adjustment of the booster or the rocket core stage in the axial direction, the vertical axial direction, the up-down direction and the left-right direction can be realized, so that the accurate butting of the rocket is realized. The rocket core stage and the rocket booster are bound in a horizontal binding mode, the operation complexity of binding the rocket booster can be reduced, the rocket booster can be quickly bound, meanwhile, the safety of binding the booster and the rocket butt joint operation can be improved in the horizontal binding process, and the rocket core stage can be quickly butted.
Drawings
FIG. 1 is a schematic structural diagram of a rocket booster binding and rocket docking device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a binding of a first booster and a second booster according to an embodiment of the present invention;
FIG. 3 is a schematic view of the relative positions of the first booster and the second booster to the core primary rocket in accordance with an embodiment of the present invention;
FIG. 4 is a schematic view of a third booster and a fourth booster bundled together in accordance with an embodiment of the invention;
FIG. 5 is a schematic view of the relative positions of a third booster and a fourth booster to a core first stage rocket in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of the rocket core stage of the present invention positioned horizontally prior to docking;
FIG. 7 is a schematic view of a rocket core stage after horizontal docking according to an embodiment of the present invention;
FIG. 8 is a schematic view of the horizontal placement of the booster according to the embodiment of the present invention;
FIG. 9 is a schematic view of a rocket core stage and booster after being bundled in accordance with an embodiment of the present invention;
FIG. 10 is a schematic structural view of a lifting booster of a lifting device according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of four thrusters bundled with a core first-stage rocket in accordance with an embodiment of the present invention;
FIG. 12 is a flow chart of a rocket booster bundling and rocket docking method according to an embodiment of the present invention;
fig. 13 is a flowchart of another method for rocket booster bundling and rocket docking according to an embodiment of the present invention.
In the figure, the position of the upper end of the main shaft,
1. a bracket; 2. a support plate; 3. a sliding support; 4. a lifting mechanism; 5. a pulley; 6. an arc-shaped plate; 7. A roller; 8. a carrier; 9. a lifting guide rod; 10. a screw; 11. a hand wheel; 12. a slider; 13. a rocket core stage; 14. a booster; 15. a star shroud assembly; 16. a docking device; 101. a support frame; 102. a wire rope; 103. a fixed pulley; 104. a movable pulley; 105. an adjustment device; 106. a sling; 108. a hook; 131. a core first-stage rocket; 132. a core secondary rocket; 133. a core three-stage rocket; 141. a first booster; 142. a second booster; 143. a third booster; 144. and a fourth booster.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention. The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
It should be noted that the directions or positional relationships indicated by "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. used in the present invention are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to be referred must have a specific direction, be configured and operated in a specific direction, and thus, cannot be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The rocket booster binding and rocket docking device disclosed by the embodiment of the invention comprises a bracket 1, a supporting plate 2 and a sliding support 3, as shown in figure 1; wherein the content of the first and second substances,
the bottom of the sliding support 3 is provided with a pulley 5, the upper surface of the sliding support 3 is provided with a lifting mechanism 4, the supporting plate 2 is arranged above the sliding support 3 and is connected with the lifting mechanism 4, and the lifting mechanism 4 is used for adjusting the supporting plate 2 to move along the vertical direction so as to enable the booster 14 or the rocket core stage 14 to move along the vertical direction. The lifting mechanism 4 is, for example, a screw elevator, and the upper pallet 2 is connected to the lower slide holder 3 by the screw elevator, and the screw elevator drives the pallet 2 and the bracket 1 connected to the pallet 2 to move up and down together. The sliding direction of the pulley 5 can be set to drive the rocket core stage 13 or the booster 14 to move along the rocket axis direction, or a guide rail can be laid along the rocket axis direction, and the pulley 5 slides along the guide rail, so that the stability of the device during moving is improved. To facilitate movement of the rocket core stage 13 or booster 14 in different directions, the pulley 5 may be a universal wheel. The pulley 5 is also provided with a locking structure, and when the locking structure is locked, the pulley 5 does not slide, and the butt joint device 16 is fixed at a certain position.
In order to increase the stability when the lifting mechanism 4 drives the supporting plate 2 to move, the sliding support 3 may be provided with a lifting guide rod 9, the supporting plate 2 is provided with a guide hole, and the lifting guide rod 9 extends into the guide hole, so that the rocket core stage 13 and the booster 14 move in the vertical direction under the driving of the supporting plate 2. The lifting guide rod 9 is a telescopic rod, and along with the up-and-down motion of the supporting plate 2, the lifting guide rod 9 is also synchronously telescopic, so that the lifting guide rod 9 is ensured to be always in the guide hole, the supporting plate 2 is prevented from swinging, and the stability of the device is ensured.
The top of bracket 1 is arc 6, sets up gyro wheel 7 on the arc 6, and booster 14 or rocket core stage 13 are placed in bracket 1, adjusts booster 14 through gyro wheel 7 and follows booster 14 or rocket core stage 13 along axis rotary motion. The number of the rollers 7 can be determined according to the size of the arc-shaped plate 6 and the weight of the bearing object, if the size of the arc-shaped plate 6 is large and the weight of the bearing object is large, a larger number of rollers 7 are selected, the rollers 7 are uniformly distributed on the upper surface of the arc-shaped plate 6, and the rolling directions of the rollers 7 are consistent, for example, as shown in fig. 2, two rollers 7 are arranged on the arc-shaped plate 6. The roller 7 may be mounted, for example, in the following manner: a groove matched with the size of the roller 7 is formed in the arc-shaped plate 6, rolling shafts are arranged at two ends of the roller 7 and rotatably fixed on the wall of the groove, and the upper surface of the roller 7 is higher than that of the arc-shaped plate 6. The booster 14 is placed in the bracket 1, and the booster 14 is regulated to move in the direction S3 by the roller 7, that is, to rotate in the axial direction of the booster 14. The radian of the arc-shaped plate 6 is matched with the outer dimension of the rocket core stage 13 or the booster 14 on the arc-shaped plate, when the rocket core stage 13 or the booster 14 is placed in the arc-shaped plate 6, the rocket core stage 13 or the booster 14 is directly contacted with the roller 7, due to the supporting effect of the roller 7, a gap is formed between the rocket core stage 13 or the booster 14 and the arc-shaped plate 6, and the rocket core stage 13 or the booster 14 can rotate along with the rotation of the roller 7. The roller 7 can be driven manually or by a motor, and when the roller is driven manually, the roller can directly act on the rocket core stage 13 or the booster 14, and the rocket core stage 13 or the booster 14 drives the roller 7 to rotate; when the motor is driven, the roller shaft of the roller 7 is connected with the output shaft of the driving motor, the roller 7 is driven to rotate through the driving motor, the rocket core stage 13 or the booster 14 is driven to rotate, and a rubber layer is arranged on the roller 7 in order to increase friction and prevent the rocket core stage 13 or the booster 14 from being damaged.
The rocket booster binding and rocket docking device (for short, docking device 16) can realize the adjustment of the rocket core stage 13, the booster 14 and the star cover assembly 15 in all directions. Wherein, the pulley of the butt joint device 16 moves along the guide rail to realize that the rocket core stage 13, the booster 14 and the star cover assembly 15 horizontally move (front and back) along the axial direction; the sliding mechanism of the docking device 16 can realize the horizontal movement (transverse movement) of the rocket core stage 13, the booster 14 and the star cover assembly 15 along the direction vertical to the axis; the lifting mechanism 4 of the docking device 16 can move (lift) the rocket core stage 13, the booster 14, and the satellite dish assembly 15 up and down. Two butt joints 16 are respectively arranged at two ends of the rocket core stage 13 or the booster 14 or the star cover assembly 15, and the two butt joints 16 at the two ends can be adjusted to realize the adjustment of pitching or front-back yawing of the rocket core stage 13, the booster 14 and the star cover assembly 15. The docking device 16 can adjust the rocket core stage 13, the booster 14 and the satellite cover assembly 15 to realize the adjustment actions of moving forwards and backwards, lifting, traversing, rolling along the axis, pitching, yawing forwards and backwards and 6 degrees of freedom, thereby realizing the horizontal docking of the booster bundled rocket.
The rocket booster binding and rocket docking method provided by the embodiment of the invention has the docking process as shown in figure 12, and comprises the following steps: the core stages of the rockets are horizontally butted, the core-stage rockets are horizontally butted with the star cover assembly 15, and the booster 14 is horizontally bound with the core-stage rockets. Each core stage of the rocket is placed on the first docking device, the star-cover assembly is placed on the second docking device, and each booster is horizontally placed on the third docking device, wherein the first docking device, the second docking device and the third docking device are of the same structure, and the rocket booster binding and rocket docking devices described in the foregoing embodiments are all adopted (hereinafter, the first docking device, the second docking device and the third docking device are all referred to as the docking device 16).
Each core level of the rocket is horizontally butted with each other and comprises the following steps: the core stages of the rocket are respectively placed on a butt joint device 16 (the rocket booster is bound and the rocket butt joint device is called as a butt joint device 16 for short), and the butt joint device 16 is adjusted to enable the core stages of the rocket to be sequentially connected end to form a core-stage rocket (namely a combination A).
The horizontal butt joint of the core-level rocket and the star cover assembly 15 comprises the following steps: and placing the star cover assembly 15 on a butting device 16, and adjusting the butting device 16 to enable each core stage of the rocket to be horizontally butted to form an assembly A which is connected with the star cover assembly 15 to form an assembly B.
The horizontal binding of the booster and the core-level rocket comprises the following steps: horizontally placing a first booster 141, a second booster 142, a third booster 143 and a fourth booster 144 on the docking assembly 16, respectively; and adjusting the docking assembly 16, sequentially binding and connecting the first booster 141, the second booster 142, the third booster 143 and the fourth booster 144 with the core-stage rocket in a horizontal binding manner, and uniformly arranging the first booster 141, the second booster 142, the third booster 143 and the fourth booster 144 along the circumferential direction of the core-stage rocket.
It should be noted that, in the embodiment, the sequence of the core-stage rocket docking, the horizontal binding of each booster, and the horizontal docking of the star cover assembly 15 may be adjusted according to the actual working conditions.
In this embodiment, the rocket is, for example, a four-booster liquid-bundled rocket, the core-stage rocket is three-stage, and includes a core-stage rocket 131, a core-stage rocket 132, and a core-stage rocket 133, the first booster 141, the second booster 142, the third booster 143, and the fourth booster 144 are bundled on the core-stage rocket 131, and the core-stage rocket 133 is connected with the boot assembly 15.
To facilitate the binding of the four thrusters, for example, the binding points on the core three-stage rocket 133 are arranged to be two on the top, as shown in fig. 2 and 4, and two on the bottom, the two on the top are on a horizontal line, the relative positions of the first thruster and the second thruster to the core one-stage rocket are shown in fig. 3, the two on the bottom are on a horizontal line, the two on the top and the bottom on the same side are on a same vertical line, and the relative positions of the third thruster and the fourth thruster to the core one-stage rocket are shown in fig. 5, that is, the four binding points are connected to form a square. In the present embodiment, the first and second boosters 141 and 142 are located above the third and fourth boosters 143 and 144.
In the binding, the first booster 141 and the second booster 142 located above are bound first, and then the third booster 143 and the fourth booster 144 located below are bound. Since the docking unit 16 for supporting the first booster 141 and the second booster 142 is removed when the third booster 143 and the fourth booster 144 are bound, the bound first booster 141 and second booster 142 can be suspended by the suspending unit in order to avoid the rocket core stage 13 from being excessively loaded and the booster from being unevenly stressed. The hoisting device in this embodiment has the following structure: as shown in fig. 10, the device includes a support frame 101 and a lifting mechanism fixed to the support frame. The support frame 101 is fixed on the ground and provides a supporting force for the device; at least one group of hoisting mechanisms is arranged to hoist the booster 14 or the rocket core stage 13 so as to keep uniform load in the horizontal direction; the elevating mechanism comprises: pulley blocks, wire ropes 102 and harnesses 106; the pulley block provides tension for the hoisting mechanism; the steel wire rope 102 bypasses each pulley in the pulley block and is fixed on the support frame 101, and the length of the steel wire rope 102 can be adjusted to adjust the height of the pulley block so that the pulley block provides a balance tension for the hoisting mechanism; the hanging belt 106 is connected with the pulley block and is used for hanging and carrying the booster 14 or the rocket core stage 13 so as to enable the booster 14 or the rocket core stage 13 to be stressed uniformly under the driving of the pulley block.
For example, the pulley block of the hoisting device may include at least one fixed pulley 103 and at least two movable pulleys 102, and both ends of the steel wire rope are respectively wound around the fixed pulley 103 and the movable pulley 104 and fixed on the support frame 101; the pulling force of the steel wire rope 102 on the two sides of each movable pulley 104 is in the vertical direction, the pulling force of the steel wire rope 102 between each fixed pulley 103 is in the horizontal direction, and the pulling force of the steel wire rope between the adjacent movable pulleys and the fixed pulleys is in the vertical direction. When the distance between the two fixed pulleys 104 needs to be increased, the fixed pulley 103 may be additionally provided between the two fixed pulleys 104, and the two fixed pulleys 104 may be spaced apart by a predetermined distance by continuously providing the plurality of fixed pulleys 103. The number of straps 106 is adapted to the number of movable pulleys 104, so that the load-bearing points of the respective straps 6 are balanced after the respective strap 106 has been lifted off the booster 14 or the rocket core stage 13.
For example, multiple hoists may also be included; wherein, each fixed pulley 104 of the plurality of hoisting devices is positioned on the same horizontal line, so that the tension of each fixed pulley 104 at the hoisting point of the support frame 101 is the same; the respective movable pulleys 104 of the plurality of lifting devices are located in the same horizontal line so that the respective movable pulleys 104 provide the same tension to the respective straps 106. One or more thrusters 14 or rocket core stages 13 may be simultaneously suspended by multiple suspension devices.
The length of the steel cable 102 is adjusted by an adjusting device 105, wherein the adjusting device 105 comprises a first adjusting device and a second adjusting device fixed on the support frame, the first adjusting device is connected with one end of the steel cable 102, and the second adjusting device is connected with the other end of the steel cable 102. The length of the wire rope 102 is adjusted simultaneously by the two adjusting devices 105, and the adjusting efficiency is higher. The adjusting device 105 may be implemented by, for example, a rotating shaft and a driving motor, the driving motor drives the rotating shaft to rotate, the end of the steel wire rope 102 is fixed to the rotating shaft, the steel wire rope 102 is wound around the rotating shaft by rotation, so as to adjust the length of the steel wire rope 102, and in order to achieve a better adjusting effect, the adjusting device 105 may be implemented by, for example, an electric hoist.
For ease of lifting, the fixed pulley 104 may be provided with a hook 108, for example, and the strap 106 may be attached to the hook 108. The number of the movable pulleys 104 and the fixed pulleys 103 is determined according to the length of the booster 14 and the interval between the straps 106, and when the length of the booster 14 is long, a large number of the movable pulleys 104 and the fixed pulleys 103 are used, and when the weight of the booster 14 is large, a small interval is used for the interval between the straps 106. To maintain the balance of booster 14, a harness 106 is required at each end of booster 14. A plurality of movable pulleys 104 are used, and the plurality of movable pulleys 104 are uniformly arranged along the length direction of the booster 14, so that the whole booster 14 is uniformly stressed.
For example, as shown in fig. 1, the lifting device is provided with three movable pulleys 4 and two fixed pulleys 3, a fixed pulley 3 is arranged between every two movable pulleys 4, after a steel wire rope 2 sequentially bypasses the movable pulleys 4 and the fixed pulleys 3, two ends of the steel wire rope 2 are connected to the support frame 1, the steel wire rope 2 adjusts the length of the steel wire rope 2 through an adjusting device 5, and the lifting height of the movable pulleys 4 is adjusted.
When the docking device 16 of the embodiment of the invention is used for docking each core stage of the rocket, each core stage rocket, the star shroud assembly 15 and the booster 14 can be suspended and placed on the docking device 16 through the suspension device. As shown in fig. 6-8, the core first-stage rocket 131 is horizontally placed on the docking device 16, the core second-stage rocket 132 is horizontally placed on the docking device 16, the core third-stage rocket 133 is horizontally placed on the docking device 16, the docking device 16 is adjusted to enable the core first-stage rocket 131, the core second-stage rocket 132 and the core third-stage rocket 133 to move in the vertical direction (the direction shown by S1 in fig. 1), the horizontal direction (the direction shown by S2 in fig. 1) and the axial direction (the direction shown by S3 in fig. 1), and the docking device 16 is used for sequentially horizontally docking the core first-stage rocket 131, the core second-stage rocket 132 and the core third-stage rocket 133 to form a combined body a.
The star cover assembly 15 is horizontally placed on the docking device 16, the docking device 16 is adjusted to enable the star cover assembly 15 and the assembly A to do vertical lifting, horizontal traversing and rotation around the axis of the star cover assembly 15 and the assembly A, and the core three-stage rocket 133 of the star cover assembly 15 and the assembly A are horizontally docked to form an assembly B.
The first booster 141 is horizontally placed on the docking unit 16, the first booster 141 and the core primary rocket 131 are horizontally bound and connected by the docking unit 16, the second booster 142 is horizontally placed on the docking unit 16, and the second booster 142 and the core primary rocket 131 are horizontally bound and connected by the docking unit 16. After the binding connection of the first booster 141 and the second booster 142 is completed, the first booster 141 and the second booster 142 are hoisted by using a hoisting device, the docking device 16 supporting the first booster 141 and the second booster 142 is removed, and then the horizontal binding connection of the third booster 143 and the fourth booster 144 with the binding core-level rocket is performed in the same manner.
The pitching adjustment of the front end and the rear end of the rocket body is conveniently carried out when the rocket core stages 13 are horizontally butted, each stage of rocket core stages 13 is respectively supported by at least two butting devices 16, wherein the two butting devices 16 are respectively positioned at the two ends of the rocket core stages 13 supported by the two butting devices; the star cover assembly 15 is supported by at least two butt joint devices 16, wherein the two butt joint devices 16 are respectively positioned at two ends of the star cover assembly 15; each booster 14 is supported by at least two docking assemblies 16, wherein two docking assemblies 16 are located at each end of the booster 14 supported thereby. The pitching action of the upper bearing body 8 is realized by adjusting the butting devices 16 at the two ends, for example, by single-side lifting or single-side descending, the adjustment of the upper, lower, left and right directions of the bearing body 8 or the combination body is realized by simultaneously adjusting the plurality of butting devices 16 to simultaneously lift, and in addition, the arrow body, the combination body and the single bearing body 8 can be driven to move in a translation way along the axis direction of the rocket by sliding the pulley 5 at the bottom of the support 3 through the butting devices 16, so that the accurate butting of the rocket is realized.
In an alternative embodiment, the docking device 16 is used for horizontally docking the core-level rocket horizontally placed on the docking device, and comprises docking the core-level rocket 131 with the core-level rocket 132, and docking the core-level rocket 133 with the core-level rocket assembly; horizontally binding and connecting two lower boosters (a third booster 143 and a fourth booster 144) horizontally placed on the docking unit 16 with the core-stage rocket 13; the two upper boosters (a first booster 141 and a second booster 142) and the core-level rocket are horizontally bound and connected by using a hoisting device; and the docking device 16 is used for completing the docking of the satellite cover assembly 15 and the satellite and rocket of the rocket. The docking process is as described in fig. 13, wherein,
the horizontal docking process of the core first-stage rocket 131, the core second-stage rocket 132 and the core third-stage rocket 133 is, for example: horizontally hoisting the core first-stage rocket 131 and stopping the core first-stage rocket 131 on two butting devices 16 (one at each of two ends), and horizontally adjusting the core first-stage rocket 131 by adjusting the butting devices 16; horizontally hoisting the core second-stage rocket 132 and parking the core second-stage rocket 132 on the two docking devices 16 according to the docking sequence, and adjusting the docking devices 16 to realize that the horizontal adjustment and the height of the core second-stage rocket 132 are the same as the height of the core first-stage rocket 131; moving and adjusting the docking device 16 supporting the core secondary stage to align the interface of the core secondary stage rocket 132 with the docking surface of the core primary stage rocket 131, and horizontally docking and assembling the core primary stage rocket 131 and the core secondary stage rocket 132; horizontally hoisting the core third-stage rocket 133 and parking the core third-stage rocket 133 on the two docking devices 16 according to the docking sequence, and realizing the horizontal adjustment and the height of the core third-stage rocket 133 to be the same as the height of the core second-stage rocket assembly through the docking devices 16; and moving and adjusting the butt joint device 16 supporting the core third-stage rocket 133 to align the interface of the butt joint surface of the core third-stage rocket 133 and the interface of the core second-stage combination, and horizontally butt-jointing and assembling the core third-stage rocket 133 and the core second-stage combination to form a combination A.
The horizontal binding connection process of the booster 14 is, for example: horizontally hoisting and parking the boosters 14 on two docking devices 16 according to the docking sequence, and horizontally adjusting the boosters through the docking devices 16; and moving and adjusting the docking device 16 for supporting the boosters 14 to align the binding interfaces of the boosters with the binding interfaces below the first-stage rocket 131 of the central core of the combination A, and installing a binding mechanism to finish the horizontal binding connection of the two lower boosters 14, namely the horizontal binding connection of the third booster 143 and the fourth booster 144. And (3) hoisting the first booster 141 and the second booster 142 by using a hoisting device to the same height as the binding interface above the core-level rocket 13, and carrying out installation and connection of the binding mechanism. The rocket after the booster and the rocket core stage are mounted is shown in fig. 11 to form a combined body B.
The horizontal docking process of the star cover assembly 15 and the assembly B is as follows: horizontally placing the star cover assembly 15 on two docking devices 16 according to a docking sequence, adjusting the docking devices 16 to enable the star cover assembly 15 and the assembly B to do vertical lifting, horizontal transverse moving and rotation around the axis of the star cover assembly 15 and the assembly B, and adjusting the docking devices 16 to achieve horizontal adjustment of the star cover assembly 15 and the same height as the assembly B; and moving and adjusting the docking device 16 supporting the star cover assembly 15 to align the star cover assembly 15 with the interface of the assembly B (core-level rocket), so as to complete the star and rocket docking of the star cover assembly 15 and the core-level rocket.
The traditional binding rocket is assembled by adopting vertical hoisting. The assembly mode of vertical hoisting has high operation height and great danger and uncertainty. The operation of many people high altitude construction is required, and the butt joint precision is low through the butt joint of manpower promotion rocket. According to the invention, the overturning and hoisting operation with complicated construction and operation of a vertical assembly factory building in a 'three-plumb' mode is omitted by a booster rocket horizontal butt joint mode, so that the binding interfaces of the core-level rocket and the booster are aligned simply, the rocket booster is bound quickly, and frequent high-altitude operation in vertical assembly is avoided. And a horizontal binding mode is adopted, so that the safety of booster binding and rocket docking operation is improved, and the core-level rapid docking of the rocket can be realized.
In the embodiment of the present invention, the docking connection mechanism of each rocket core stage 13, the docking connection mechanism of the star shroud assembly 15 and the rocket core stage 13, and the binding connection mechanism of the booster 14 and the rocket core stage 13 are not specifically described, and the existing docking connection structure of the rocket core stages 13 or the binding connection structure of the booster 14 may be adopted.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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 (10)
1. A rocket booster bundling and rocket docking method is characterized by comprising the following steps: each core level of the rocket is horizontally butted, the core level rocket is horizontally butted with the star cover assembly, and the booster is horizontally bound with the core level rocket; wherein the content of the first and second substances,
each core level horizontal butt joint of the rocket comprises the following steps: respectively placing the core stages of the rocket on a first butt joint device, and adjusting the first butt joint device to ensure that the core stages of the rocket are sequentially connected end to form a core-stage rocket;
the horizontal butt joint of the core-level rocket and the star cover assembly comprises: placing the star cover assembly on a second butt joint device, and adjusting the second butt joint device to connect the core-stage rocket with the star cover assembly to form an assembly B;
the horizontal binding of the booster and the core-level rocket comprises the following steps: respectively horizontally placing a first booster, a second booster, a third booster and a fourth booster on third butt joint devices, adjusting each third butt joint device, and sequentially horizontally binding and connecting the first booster, the second booster, the third booster and the fourth booster with the core-stage rocket, wherein the first booster, the second booster, the third booster and the fourth booster are uniformly arranged along the circumferential direction of the core-stage rocket;
the first docking device, the second docking device and the third docking device structurally comprise brackets, supporting plates and sliding supports; wherein the content of the first and second substances,
the bottom of the sliding support is provided with a pulley, a lifting mechanism is arranged on the sliding support, the supporting plate is arranged above the sliding support and connected with the lifting mechanism, and the lifting mechanism is used for adjusting the supporting plate to move along the vertical direction so as to enable the booster or the rocket core stage to move along the vertical direction;
a bracket is arranged above the supporting plate, a sliding mechanism is arranged between the supporting plate and the bracket, and the bracket is adjusted to move along the horizontal direction through the sliding mechanism so as to enable the booster or the rocket core stage to move along the vertical direction;
the top of the bracket is an arc-shaped plate, rollers are arranged on the arc-shaped plate, the booster or the rocket core stage is placed in the bracket, and the rollers are used for adjusting the booster to rotate along the axis of the booster or the rocket core stage to rotate along the axis of the rocket core stage.
2. A rocket booster bundling and rocket docking method according to claim 1, wherein a lifting guide bar is provided on the sliding support, a guide hole is provided on the supporting plate, and the lifting guide bar extends into the guide hole, so that the rocket core stage and the booster move in a vertical direction under the driving of the supporting plate.
3. A rocket booster bundling and rocket docking method according to claim 1, wherein the sliding mechanism comprises a sliding block, a guide rail and a driving device, the guide rail is fixed on the upper surface of the supporting plate, the sliding block is arranged on the guide rail, the sliding block is fixedly connected with the bottom of the bracket, the guide rail is arranged along the horizontal direction, and the driving device drives the sliding block to move on the guide rail along the horizontal direction, so that the rocket core stage and the booster move along the vertical direction under the driving of the sliding mechanism.
4. A rocket booster bundling and rocket docking method according to claim 3, wherein said driving device comprises a screw and a handwheel, said handwheel being disposed at one end of said screw, said screw being rotated by said handwheel.
5. The rocket booster binding and rocket docking method according to claim 4, wherein the screw is fixed on the supporting plate, the slider is provided with threads matched with the screw, the screw is in threaded connection with the slider, and the slider is adjusted to move in the horizontal direction by rotating the screw, so that the rocket core stage and the booster move in the vertical direction under the driving of the screw and the handwheel.
6. A rocket booster bundling and rocket docking method according to claim 1, wherein said first booster and said second booster are located above said third booster and said fourth booster.
7. A rocket booster bundling and rocket docking method according to claim 6, wherein said device further comprises a payload device, said method comprising:
after the first booster and the second booster are horizontally bound and connected with the core-level rocket, the first booster and the second booster are hoisted through the hoisting device;
and after a third pair of devices of the first booster and the second booster are removed, the third booster and the fourth booster are horizontally bound and connected with the core-stage rocket.
8. The method of claim 7, wherein the overhead device comprises:
the supporting frame is fixed on the ground and provides supporting force for the device;
the hoisting mechanisms are arranged in at least one group and fixed on the support frame, and are used for hoisting the hoisting pieces so as to keep the hoisting pieces uniformly loaded in the horizontal direction, wherein the hoisting pieces are rockets or boosters thereof;
wherein, the elevating mechanism includes:
the pulley block provides tension for the hoisting mechanism;
the steel wire rope sequentially bypasses each pulley in the pulley block and is fixed on the support frame, and the length of the steel wire rope can be adjusted to adjust the height of the pulley block so as to enable the pulley block to provide balance tension for the hoisting mechanism;
and the hanging strip is connected with the pulley block and used for hanging the hanging piece so as to enable the hanging piece to be stressed uniformly under the driving of the pulley block.
9. The method of claim 8, wherein the pulley block comprises at least one fixed pulley and at least two movable pulleys, wherein two ends of the wire rope are respectively wound around the two movable pulleys and fixed on the support frame,
the tension of the steel wire rope on two sides of each movable pulley is in the vertical direction, the tension of the steel wire rope between each fixed pulley is in the horizontal direction, and the tension of the steel wire rope between the adjacent movable pulleys and the adjacent fixed pulleys is in the vertical direction;
the number of the hanging strips is matched with that of the movable pulleys, so that after the hanging and carrying piece is hung and carried by each hanging strip, the bearing part of each hanging strip is balanced in stress.
10. The method of claim 5, wherein each core stage of the rocket is supported by at least two respective abutments of the same structure as the first abutment, and wherein the at least two abutments are located at respective ends of the core stage of the rocket;
the star cover assembly is supported by at least two butt joint devices with the same structure as the first butt joint device, wherein the at least two butt joint devices are respectively positioned at two ends of the star cover assembly;
the first booster, the second booster, the third booster and the fourth booster are respectively supported by at least two butt joint devices with the same structure as the first butt joint device, wherein the at least two butt joint devices are respectively positioned at two ends of the booster supported by the butt joint devices.
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| CN115072159B (en) * | 2022-07-07 | 2023-09-29 | 鲁东大学 | Uniform load bracket and load bearing device for rocket transportation |
| CN115108055B (en) * | 2022-08-12 | 2023-11-03 | 东方空间技术(山东)有限公司 | Petal type multifunctional erection service platform and booster installation method |
| CN116294841B (en) * | 2023-02-13 | 2023-08-11 | 东方空间技术(山东)有限公司 | Automatic butt joint device for rocket air conditioner winch |
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| RU2272758C2 (en) * | 2003-12-26 | 2006-03-27 | Закрытое акционерное общество "Конструкторское бюро "Полет" (ЗАО КБ "Полет") | Method for horizontal assembly of space rocket with expanded nose fairing and device for its realization |
| CN103626063B (en) * | 2013-12-11 | 2016-01-06 | 江苏沃得起重机有限公司 | Large-sized gantry crane wire rope winding device and rope-winding method |
| CN204035935U (en) * | 2014-08-07 | 2014-12-24 | 天津航天长征火箭制造有限公司 | A kind of posture adjustment assembly system for rocket part docking |
| CN106892130B (en) * | 2017-02-20 | 2023-04-14 | 西安爱生技术集团公司 | Unmanned aerial vehicle booster rocket adjusting and positioning device and method |
| CN109502059A (en) * | 2018-11-15 | 2019-03-22 | 上海宇航系统工程研究所 | A kind of carrier rocket boost motor nose cone six degree of freedom docking trolley |
| CN110953926B (en) * | 2018-12-20 | 2022-04-12 | 中国船舶重工集团应急预警与救援装备股份有限公司 | Booster and core-level rocket binding and butting horizontal butting adjusting system and method |
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