CN113320650B - Fixing device and method for recovering and transporting marine rocket - Google Patents
Fixing device and method for recovering and transporting marine rocket Download PDFInfo
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- CN113320650B CN113320650B CN202110537733.9A CN202110537733A CN113320650B CN 113320650 B CN113320650 B CN 113320650B CN 202110537733 A CN202110537733 A CN 202110537733A CN 113320650 B CN113320650 B CN 113320650B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
- B63B25/24—Means for preventing unwanted cargo movement, e.g. dunnage
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention provides a fixing device and a fixing method for recovering and transporting a marine rocket, wherein a slide rail of a sliding mechanism is laid outside a rocket recovery area, a clamping groove is arranged on the inner side of the slide rail, and a sliding wedge block is arranged on the slide rail and driven by a feeding motor to slide; the rotating mechanism comprises a turntable, an installation frame and a rotating motor, the turntable is installed on the sliding wedge block, the installation frame is hinged to the turntable, and the turntable and the installation frame are driven to rotate by the rotating motor; the folding mechanism comprises a folding rod and a folding motor, the folding rod is hinged to the mounting frame and is driven by the folding motor to rotate; locking fixed establishment installs in the folding rod, including locking arm, hydraulic cylinder, staple bolt and rubber gasket, and the locking arm is installed in the folding rod, is flexible by hydraulic cylinder control, and the staple bolt is connected in the locking arm front end. The invention can ensure the stability of the vertical rocket in the process of recovering and transporting the offshore rocket, can not lead the rocket to overturn because of the shaking generated by the navigation of the recovery ship, and has the advantages of simplicity, effectiveness, easy installation and the like.
Description
Technical Field
The invention relates to a fixing device and a fixing method for recovering and transporting a marine rocket, and belongs to the technical field of marine rocket launching and recovering.
Background
With the rapid development of commercial aerospace, rocket recovery technology based on the concept of "reusable vehicles (RLV)" is receiving more and more attention. The rocket recovery means that after the rocket finishes a preset launching task, the rocket is recovered by adopting a series of technical means, and then the launching task can be executed again after overhauling, maintenance and fuel filling. Compared with the traditional land rocket recovery, although the technical difficulty of the offshore rocket recovery is higher, the offshore rocket recovery has the advantages of flexible site selection, fuel saving, small safety influence range, good economic benefit and the like, thereby raising a research enthusiasm of offshore rocket recovery technology in the world.
In the whole process of recovering the offshore rocket, on one hand, the recovery ship body can shake due to high temperature and high pressure gas generated by rocket tail flame, and on the other hand, the recovery ship body can shake due to complex marine environment, so that the rocket can shake or even overturn after being safely landed and in the later transportation process, further, residual fuel of the rocket leaks, serious explosion accidents can happen, and huge property loss is caused. Therefore, in order to ensure the standing stability of the marine rocket after the marine rocket is safely landed and in the transportation process, effective measures must be taken to lock and fix the rocket which is safely landed, and the recovery safety of the marine rocket is effectively ensured.
Aiming at the problem of the standing stability of the offshore rocket after being safely landed and in the transportation process, the invention provides the fixing device and the fixing method for recovering and transporting the offshore rocket, which can effectively ensure the standing stability of the rocket after being safely landed and in the transportation process, effectively ensure the recovery and transportation safety of the offshore rocket, and have the characteristics of simple structure, safety, economy and the like.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provide a fixing device and a method for recovering and transporting a marine rocket.
The purpose of the invention is realized as follows: the device comprises four sets of sliding mechanisms, four sets of rotating mechanisms, four sets of folding mechanisms and four sets of locking and fixing mechanisms which are arranged on a recovery ship deck in a square shape, wherein each set of sliding mechanism comprises a sliding rail, a clamping groove, a sliding wedge block and a feeding motor; the rotating mechanism comprises a turntable, a mounting frame and a rotating motor, the turntable is arranged on the sliding wedge block, the mounting frame is hinged on the turntable, and the turntable and the mounting frame are driven by the rotating motor to rotate; the folding mechanism comprises a folding rod and a folding motor, and the folding rod is hinged to the mounting frame and is driven by the folding motor to rotate; the locking fixing mechanism comprises a locking arm, a hydraulic oil cylinder, a hoop and a rubber gasket, the locking arm is installed in the folding rod and is controlled to stretch out and draw back by the hydraulic oil cylinder, the hoop is connected to the front end of the locking arm, and the rubber gasket is additionally installed on the inner side of the hoop.
The invention also includes such structural features:
1. the recovery area is divided into four parts, the device is started at three close sides according to the rocket landing partition positions, and the rockets are locked and fixed in a triangular mode.
2. When the rocket is in a working state, the locking and fixing mechanism locks and fixes the rocket from three sides, so that the vertical stability of the rocket in the rocket recovery and transportation process is ensured; when the device is in a non-operation state, the device can be folded and recovered on a deck of the recovery ship, the occupied space is small, and the performance and other operation requirements of the recovery ship are not influenced.
3. A fixing method for recovering and transporting a marine rocket comprises the following steps:
step S1: when the recovery rocket lands to a recovery area of the recovery ship, determining the position of a three-side locking mechanism needing to perform locking and fixing work according to the position of a landing zone;
step S2: the feeding motor drives the sliding wedge blocks to move to proper clamping grooves along the sliding rail to be fixed, and the included angle between each two side wedge blocks and the rocket is ensured to be close to 120 degrees;
step S3: the rotating motor drives the mounting rack and the rotating turntable to rotate, so that the mounting rack is perpendicular to the deck of the recovery ship, and the folding rod on the inner side of the mounting rack points to the rocket;
step S4: the folding motor drives the folding rod to rotate to a position vertical to the mounting rack and point to the rocket;
step S5: the locking arms are driven by the hydraulic oil cylinder to extend out, the hoops at the end parts of the locking arms on the three sides are gradually close to the rocket until the rubber gaskets on the hoops in the three directions are completely contacted and locked with the rocket, and the fixing of the rocket is realized;
step S6: after the recovery ship is navigated back to a shore-based recovery point, the hydraulic oil cylinder drives the locking arm and the hoop to retract into the folding rod, and the rocket locking and fixing are released;
step S7: after the rocket recovery operation is finished, the folding motor drives the folding rod to be folded to the inner side of the mounting rack, and the rotating motor drives the rotary table to return and drives the mounting rack to be rotationally folded to the inner part of the slide rail;
step S8: and the feeding motor drives the sliding wedge block to move to the end point of the sliding rail, so that the resetting of the device is completed.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a fixing device and a fixing method for recovering and transporting a marine rocket, which can lock and fix the rocket after the rocket is safely landed in the process of recovering and transporting the marine rocket, effectively prevent the rocket from toppling and ensure the safety of recovering and transporting the marine rocket. The invention provides a fixing device for recovering and transporting a marine rocket, which has the characteristics of safety, economy, small occupied space and the like, can realize the locking and fixing of the rocket at any position in a recovery area through simple mechanical sliding and rotating motion, and can be folded and recovered to a limited area of a recovery ship deck after the recovery and transportation operation of the marine rocket is finished without influencing the normal operation of the recovery ship.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention in a non-operating state;
2a-b are schematic diagrams of the sliding mechanism and the rotating mechanism of the device of the invention;
FIG. 3 is a schematic view of the folding mechanism and locking and fixing mechanism of the device of the present invention;
FIGS. 4a-d are schematic views of four operation states of the apparatus of the present invention;
in the figure, 1-rocket, 2-recovery ship, 3-recovery area, 4-recovery subarea, 5-slide rail, 6-clamping groove, 7-sliding wedge block, 8-feeding motor, 9-rotary table, 10-mounting rack, 11-rotating motor, 12-folding rod, 13-folding motor, 14-locking arm, 15-hydraulic oil cylinder, 16-hoop and 17-rubber gasket.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1 to 4d, the fixing device for recovering and transporting a marine rocket of the present invention comprises a sliding mechanism, a rotating mechanism, a folding mechanism and a locking fixing mechanism. The sliding mechanism comprises a slide rail, a clamping groove, a sliding wedge block and a feeding motor; the sliding rail is laid outside the rocket recovery area, and a clamping groove is formed in the inner side of the sliding rail; the sliding wedge block is arranged on the sliding rail, the sliding wedge block is driven by the feeding motor to move on the sliding rail, and the sliding wedge block can be fixed in the clamping groove through a buckle. The rotating mechanism comprises a turntable, a mounting rack and a rotating motor; the rotary table is arranged on the sliding wedge block; the mounting frame is hinged to the rotary table, the rotary table and the mounting frame are driven to rotate by the rotary motor, and rotation of the rotary table on the horizontal plane and erection of the mounting frame are achieved. The folding mechanism comprises a folding rod and a folding motor; the folding rod is hinged to the mounting frame and is driven by the folding motor to extend and fold. The locking fixing mechanism comprises a locking arm, a hydraulic oil cylinder, a hoop and a rubber gasket; the locking arm is arranged in the folding rod, and is controlled to stretch by a hydraulic oil cylinder, so that the locking arm can stretch and retract; the hoop is fixed at the front end of the locking arm, and a rubber gasket is additionally arranged on the inner side of the hoop and used for locking and fixing the rocket.
The sliding mechanism, the rotating mechanism, the folding mechanism and the locking and fixing mechanism are arranged on the bow, the stern and the side of the recovery ship and surround the whole recovery area; the whole recovery area is divided into four parts, and then the device is started on three near sides according to the rocket landing zone positions to lock and fix the rocket in a triangular mode.
When the locking fixing mechanism is in a working state, the locking fixing mechanism locks and fixes the rocket from three sides, so that the standing stability of the rocket in the process of recovering and transporting the rocket is ensured; when the device is in a non-operation state, the device can be folded and recovered on a deck of the recovery ship, the occupied space is small, and the performance and other operation requirements of the recovery ship are not influenced.
FIG. 1 is a schematic view of the apparatus of the present invention in a non-operating state. Referring to fig. 1, when in the non-operational state, the folding bar 12 is folded inside the mounting frame 10, the mounting frame 10 is retracted inside the skid 5, the sliding wedge 7 is moved to the end of the skid 5, and the whole device is folded around the recovery area 3 and retracted to the deck of the recovery vessel 2.
Fig. 2a-b show schematic views of the sliding mechanism and the rotating mechanism of the device of the invention. Referring to fig. 2, the sliding mechanism includes a slide rail 5, a slot 6, a sliding wedge 7 and a feed motor 8, the slide rail 5 is laid on the outer side of the rocket recovery area 3, the slot 6 is arranged on the inner side of the slide rail 5, the sliding wedge 7 is mounted on the slide rail 5, and is driven by the feed motor 8 to realize the movement of the wedge 7 on the slide rail 5 and fixed on the slot 6; the rotating mechanism comprises a rotating disc 9, a mounting frame 10 and a rotating motor 11, the rotating disc 9 is mounted on the sliding wedge block 7, the mounting frame 10 is hinged to the rotating disc 9, the rotating motor 11 drives the rotating disc 9 and the mounting frame 10 to rotate, and rotation of the rotating disc 9 on the horizontal plane and erection of the mounting frame 10 are achieved.
Fig. 3 shows a schematic diagram of the folding mechanism and the locking and fixing mechanism of the device. Referring to fig. 3, the folding mechanism includes a folding rod 12 and a folding motor 13, the folding rod 12 is hinged to the mounting frame 10, and the folding rod 12 is driven to rotate by the folding motor 13 to extend and fold; the locking fixing mechanism comprises a locking arm 14, a hydraulic oil cylinder 15, a hoop 16 and a rubber gasket 17, wherein the locking arm 14 is connected inside the folding rod 12, and the stretching and retracting of the locking arm 14 are realized by controlling the stretching and retracting of the hydraulic oil cylinder 15; the anchor ear 16 is connected with the front end of the locking arm 14, and the inner side of the anchor ear is additionally provided with a rubber gasket 17 for locking and fixing the rocket.
Fig. 4a-d show the structure of the device in four states of use. Referring to fig. 4a-d, the above mentioned glide mechanism, rotation mechanism, folding mechanism and locking and fixing mechanism are installed on the bow, stern and side of the recovery vessel 2, surrounding the whole recovery area 3; the whole recovery area 3 is divided into four parts, and then the position of the three-side locking mechanism needing locking and fixing work is determined according to the position of the rocket 1 falling on the recovery subarea 4 to lock and fix the rocket 1 in a triangular shape.
The invention also provides a fixing method for recovering and transporting the offshore rocket based on the device, which comprises the following specific steps:
step S1: when the recovery rocket 1 lands in a recovery area 3 of a recovery ship, determining the position of a three-side locking mechanism needing locking and fixing work according to the position of a landing subarea 4;
step S2: the feeding motor 8 drives the sliding wedge blocks 7 to move to the appropriate clamping grooves 6 along the sliding rails 5 for fixing, and the included angle between each two side wedge blocks 7 and the rocket 1 is close to 120 degrees;
step S3: the rotating motor 11 drives the mounting rack 10 and the rotating turntable 9 to rotate, so that the mounting rack 10 is perpendicular to the deck of the recovery ship 2 and the folding rod 12 inside the mounting rack 10 points to the rocket 1;
step S4: the folding motor 13 drives the folding rod 12 to rotate to a position vertical to the mounting rack 10 and points to the rocket 1;
step S5: the hydraulic oil cylinder 15 drives the locking arm 14 to extend out, the hoops 16 at the end parts of the locking arms 14 on the three sides gradually approach the rocket 14 until the rubber gaskets 17 on the hoops 16 in the three directions are completely contacted and locked with the rocket 1, and the rocket 1 is fixed;
step S6: after the recovery ship 2 is navigated back to a shore-based recovery point, the hydraulic oil cylinder 15 drives the locking arm 14 and the hoop 16 to retract into the folding rod 12, so that the rocket 1 is unlocked and fixed;
step S7: after the recovery operation of the rocket 1 is finished, the folding motor 13 drives the folding rod 12 to be folded to the inner side of the mounting rack 10, and the rotating motor 11 drives the rotary table 9 to return and drives the mounting rack 10 to rotate and fold to the inner part of the slide rail 5;
step S8: and the feeding motor 8 drives the sliding wedge 7 to move to the end point of the sliding rail 5, so that the device is reset.
In summary, the invention provides a fixing device and a method for recovering and transporting a marine rocket, wherein the device comprises a sliding mechanism, a rotating mechanism, a folding mechanism and a locking and fixing mechanism; the sliding mechanism is arranged on a deck of the recovery ship and comprises a slide rail, a clamping groove, a sliding wedge block and a feeding motor, the slide rail is laid on the outer side of a rocket recovery area, the clamping groove is formed in the inner side of the slide rail, and the sliding wedge block is arranged on the slide rail and driven to slide by the feeding motor; the rotating mechanism comprises a turntable, an installation frame and a rotating motor, the turntable is installed on the sliding wedge block, the installation frame is hinged to the turntable, and the turntable and the installation frame are driven to rotate by the rotating motor; the folding mechanism is arranged on the mounting frame and comprises a folding rod and a folding motor, and the folding rod is hinged to the mounting frame and driven by the folding motor to rotate; the locking fixing mechanism is arranged on the folding rod and comprises a locking arm, a hydraulic oil cylinder, a hoop and a rubber gasket, the locking arm is arranged in the folding rod and is controlled to stretch, the hoop is connected to the front end of the locking arm, and the rubber gasket is additionally arranged on the inner side of the hoop. The device can ensure the stability of the vertical rocket in the process of recovering and transporting the offshore rocket, can not lead the rocket to overturn because of the shaking generated by the navigation of a recovery ship, and has the advantages of simplicity, effectiveness, easy installation and the like.
Claims (5)
1. A fixing device for offshore rocket recovery and transportation is characterized in that: the device comprises four sets of sliding mechanisms, four sets of rotating mechanisms, four sets of folding mechanisms and four sets of locking and fixing mechanisms which are arranged on a recovery ship deck in a square shape, wherein each set of sliding mechanism comprises a sliding rail, a clamping groove, a sliding wedge block and a feeding motor; the rotating mechanism comprises a turntable, a mounting frame and a rotating motor, the turntable is arranged on the sliding wedge block, the mounting frame is hinged on the turntable, and the turntable and the mounting frame are driven to rotate by the rotating motor; the folding mechanism comprises a folding rod and a folding motor, and the folding rod is hinged to the mounting frame and is driven by the folding motor to rotate; the locking fixing mechanism comprises a locking arm, a hydraulic oil cylinder, a hoop and a rubber gasket, the locking arm is installed in the folding rod and is controlled to stretch out and draw back by the hydraulic oil cylinder, the hoop is connected to the front end of the locking arm, and the rubber gasket is additionally installed on the inner side of the hoop.
2. A fixture for offshore rocket recovery and transportation according to claim 1, wherein: the recovery area is divided into four parts, the device is started on three near sides according to the rocket landing zone positions, and the rockets are locked and fixed in a triangular mode.
3. A fixture for offshore rocket recovery and transportation according to claim 1 or 2, wherein: when the rocket is in a working state, the locking and fixing mechanism locks and fixes the rocket from three sides, so that the vertical stability of the rocket in the rocket recovery and transportation process is ensured; when the device is in a non-operation state, the device can be folded and recovered on a deck of the recovery ship, the occupied space is small, and the performance and other operation requirements of the recovery ship are not influenced.
4. A method for fixing a fixing device for offshore rocket recovery and transportation according to claim 1 or 2, characterized in that: the method comprises the following steps:
step S1: when the recovery rocket lands to a recovery area of the recovery ship, determining the position of a three-side locking mechanism needing to perform locking and fixing work according to the position of a landing zone;
step S2: the feeding motor drives the sliding wedge blocks to move to proper clamping grooves along the sliding rail to be fixed, and the included angle between each two side wedge blocks and the rocket is ensured to be close to 120 degrees;
step S3: the rotating motor drives the mounting rack and the rotating turntable to rotate, so that the mounting rack is perpendicular to a deck of the recovery ship and the folding rod on the inner side of the mounting rack points to the rocket;
step S4: the folding motor drives the folding rod to rotate to a position vertical to the mounting rack and point to the rocket;
step S5: the locking arms are driven by the hydraulic oil cylinder to extend out, the hoops at the end parts of the locking arms on the three sides are gradually close to the rocket until the rubber gaskets on the hoops in the three directions are completely contacted and locked with the rocket, and the fixing of the rocket is realized;
step S6: after the recovery ship is navigated back to a shore-based recovery point, the hydraulic oil cylinder drives the locking arm and the hoop to retract into the folding rod, and the rocket locking and fixing are released;
step S7: after the rocket recovery operation is finished, the folding motor drives the folding rod to be folded to the inner side of the mounting rack, and the rotating motor drives the turntable to return and drives the mounting rack to rotate and fold to the inner part of the sliding rail;
step S8: and the feeding motor drives the sliding wedge block to move to the end point of the sliding rail, so that the device is reset.
5. A method of securing a securing device for offshore rocket recovery and transportation according to claim 3, characterized in that: the method comprises the following steps:
step S1: when the recovery rocket lands to a recovery area of a recovery ship, determining the position of a three-side locking mechanism needing to perform locking and fixing work according to the position of a landing zone;
step S2: the feeding motor drives the sliding wedge blocks to move to proper clamping grooves along the sliding rail to be fixed, and the included angle between each two side wedge blocks and the rocket is ensured to be close to 120 degrees;
step S3: the rotating motor drives the mounting rack and the rotating turntable to rotate, so that the mounting rack is perpendicular to a deck of the recovery ship and the folding rod on the inner side of the mounting rack points to the rocket;
step S4: the folding motor drives the folding rod to rotate to a position vertical to the mounting rack and point to the rocket;
step S5: the locking arms are driven by the hydraulic oil cylinder to extend out, the hoops at the end parts of the locking arms on the three sides are gradually close to the rocket until the rubber gaskets on the hoops in the three directions are completely contacted and locked with the rocket, and the fixing of the rocket is realized;
step S6: after the recovery ship is navigated back to a shore-based recovery point, the hydraulic oil cylinder drives the locking arm and the hoop to retract into the folding rod, and the rocket locking and fixing are released;
step S7: after the rocket recovery operation is finished, the folding motor drives the folding rod to be folded to the inner side of the mounting rack, and the rotating motor drives the rotary table to return and drives the mounting rack to be rotationally folded to the inner part of the slide rail;
step S8: and the feeding motor drives the sliding wedge block to move to the end point of the sliding rail, so that the device is reset.
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| CN202110537733.9A CN113320650B (en) | 2021-05-18 | 2021-05-18 | Fixing device and method for recovering and transporting marine rocket |
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| CN202110537733.9A CN113320650B (en) | 2021-05-18 | 2021-05-18 | Fixing device and method for recovering and transporting marine rocket |
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| CN113320650B true CN113320650B (en) | 2022-06-21 |
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