CN114701665A - Offshore launching device leveling structure and control method thereof - Google Patents
Offshore launching device leveling structure and control method thereof Download PDFInfo
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- CN114701665A CN114701665A CN202210408895.7A CN202210408895A CN114701665A CN 114701665 A CN114701665 A CN 114701665A CN 202210408895 A CN202210408895 A CN 202210408895A CN 114701665 A CN114701665 A CN 114701665A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/002—Launch systems
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Abstract
The invention discloses and provides a leveling structure marine launching device, which comprises the following structures: the launching platform support is at least provided with two girders arranged along the two sides of the length direction of the launching platform support; the leveling support leg assemblies are respectively arranged on the outer sides of the girders, and the installation positions are distributed in a rectangular shape; the leveling support leg assembly comprises a rotating arm hinged with the girder, the outer end of the rotating arm is fixedly connected with a leveling support leg which is vertically arranged, the leveling support leg comprises a fixed end and a telescopic end, the fixed end is fixedly connected with the rotating arm, and the telescopic end vertically extends downwards; the leveling supporting leg assembly further comprises a swing oil cylinder, one end of the swing oil cylinder is hinged to the middle of the rotating arm, the other end of the swing oil cylinder is hinged to the girder, and the angle between the rotating arm and the girder can be adjusted when the swing oil cylinder stretches. Meanwhile, a control method of the leveling structure is also provided, and the structure has stronger environment adaptation capability, good stability and higher emission efficiency.
Description
Technical Field
The invention relates to the field of leveling mechanisms, in particular to a leveling structure of an offshore launching device and a control method thereof.
Background
Leveling support legs of a traditional launching device are arranged on two sides of a girder of the launching device, and the leveling of the launching device is realized by lifting the leveling support legs, and generally the leveling support legs have the following defects:
(1) the leveling support legs are directly arranged on two sides of a girder of the launching device, the distance of the leveling support legs in the transverse direction (along the width direction of the girder) is small, and the stability after leveling is poor;
(2) the lateral unfolding structures of the leveling supporting legs are generally arranged on the front side and the rear side of a beam of a launching device or a launching vehicle, the front length and the rear length are occupied, and the space utilization rate is poor;
(3) the horizontal adjustment of the radiation device can be realized only by the lifting of the leveling supporting legs, and the radiation device can be only used for the environment with stable land or bearing plane and has poor environmental adaptability.
In order to solve the problems, a leveling structure of the launching device needs to be designed so as to be suitable for the launching environment at sea.
Disclosure of Invention
In order to solve the problem that the leveling supporting leg is not suitable for the marine launching environment in the prior art, the invention provides the leveling structure of the marine launching device and the control method thereof, and the environmental adaptability is good.
In a first aspect of the invention, a leveling structure marine launching device is provided, which comprises the following structures:
the launching platform support is at least provided with two girders arranged along the two sides of the length direction of the launching platform support;
the leveling support leg assemblies are respectively arranged on the outer sides of the girders, and the installation positions are distributed in a rectangular shape;
the leveling support leg assembly comprises a rotating arm hinged with the girder, the outer end of the rotating arm is fixedly connected with a leveling support leg which is vertically arranged, the leveling support leg comprises a fixed end and a telescopic end, the fixed end is fixedly connected with the rotating arm, and the telescopic end vertically extends downwards; the leveling supporting leg assembly further comprises a swing oil cylinder, one end of the swing oil cylinder is hinged to the middle of the rotating arm, the other end of the swing oil cylinder is hinged to the girder, and the angle between the rotating arm and the girder can be adjusted when the swing oil cylinder stretches.
Further, the girder outside still sets up the boundary beam, the boundary beam includes the protective edge with girder parallel arrangement, protective edge passes through tie-beam fixed connection with the girder, the boundary beam width is greater than leveling landing leg maximum diameter.
Furthermore, the end of the telescopic end is provided with an anti-skid mechanism.
Furthermore, the boundary beam sets up in leveling landing leg subassembly both sides, and the swinging boom can be followed the pin joint 180 rotation and mutually noninterfere with the boundary beam between the both sides roof beam.
Furthermore, a horizontal sensor and an angle sensor are installed on the girder, and an azimuth sensor is further arranged on the launching platform support.
In another aspect of the present invention, a method for controlling a leveling structure of an offshore launching device is provided, which comprises the following steps:
s1, leveling the launching platform support according to the preset levelness and the direction after the launching preparation is carried out;
s2, detecting the supporting levelness of the launching platform according to the horizontal sensor and the angle sensor, and entering the step S3 if the levelness reaches the standard;
s3, detecting whether the orientation of the water sending platform changes according to the orientation sensor, and if the orientation does not change, entering the step S4;
and S4, emission.
Further, in step S1, the rotating arm is controlled to rotate by adjusting the swing cylinder to adjust the supporting position of the launching platform, the swing cylinder is locked after the position reaches the standard, and the leveling legs are adjusted to adjust the supporting levelness of the launching platform.
Further, in step S2, if the levelness is not up to the standard, step S1 is repeated.
Further, in step S3, if the azimuth is changed, steps S1 and S2 are repeated.
Compared with the prior art, the invention has the following advantages:
1. the leveling support legs are arranged on two sides of the launching platform support, the front space and the rear space are not occupied, the leveling support legs have the rotating function, the structure is compact when the leveling support legs are not used, and the space utilization rate is higher; when the leveling support leg is used, the rotation function is realized by the way of the telescopic oil cylinder, so that the distribution range of the leveling support points is larger, and the stability of the leveling process is higher.
2. The mode of combining the lifting of the leveling supporting leg and the rotation control of the leveling supporting leg by the swing oil cylinder can adjust the support levelness of the launching platform and finely adjust the supporting direction of the launching platform at the same time, so that the launching platform is suitable for launching at sea and is convenient to adjust the supporting direction change of the launching platform caused by uncontrollable sea waves during launching;
3. besides marine launching, the device is used for land launching, after leveling, the launching angle is adjusted directly through azimuth angle adjustment, the launching angle is prevented from being adjusted through adjusting the whole launching device, the environment adaptation capacity is stronger, and the launching efficiency is higher.
Drawings
FIG. 1 is a schematic diagram of a top view of a leveling leg assembly of a leveling structure of an offshore launch device in an embodiment of the invention when retracted;
FIG. 2 is a schematic cross-sectional view of a leveling leg assembly of a leveling structure of an offshore launch device according to an embodiment of the invention as it extends;
FIG. 3 is a structural schematic diagram of a leveling state of a leveling structure of an offshore launch device in an embodiment of the invention;
FIG. 4 is a structural schematic diagram of another leveling state of a leveling structure of an offshore launching device in an embodiment of the invention;
FIG. 5 is a schematic control flow diagram of a leveling structure of an offshore launch device according to an embodiment of the present invention;
the reference numbers are as follows:
1. supporting the launching platform; 101. a girder; 102. a connecting beam; 103. boundary beam
2. Leveling the leg assembly; 201. a rotating arm; 202. leveling the supporting legs; 203. a fixed end; 204; a telescopic end; 205. a swing oil cylinder; 206. an anti-skid mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following further describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the marine launching device for leveling structure comprises the following structures:
launch platform supports 1 has two girders 101 that set up along launch platform supports 1 length direction both sides at least, fixes through tie-beam 102 between the girder 101 and forms launch platform supports 1, and launch platform supports 1 upper surface and installs various other subassemblies that the transmission needs as required, specifically refers to prior art
The launching platform support 1 is at least provided with four leveling leg assemblies 2, six or eight leveling leg assemblies 2, generally even number of the leveling leg assemblies are arranged on the outer side of the girder 101, and the leveling leg assemblies are symmetrically arranged at the mounting positions in a rectangular distribution;
as shown in fig. 2, the leveling leg assembly 2 includes a rotating arm 201 hinged to the girder 101, the outer end of the rotating arm 201 is fixedly connected with a vertically arranged leveling leg 202, the leveling leg 202 generally uses a hydraulic cylinder and includes a fixed end and a telescopic end, the fixed end is welded with the rotating arm 201, the telescopic end extends vertically and downwardly, and when the telescopic end extends, the height and the levelness of the launching platform support 1 can be adjusted; the leveling leg assembly 2 further comprises a swing oil cylinder 205, one end of the swing oil cylinder 205 is hinged to the middle of the rotating arm 201, the other end of the swing oil cylinder 205 is hinged to the girder 101, and the angle between the rotating arm 201 and the girder 101 can be adjusted when the swing oil cylinder 205 stretches.
In the use process of the structure, the running track of the leveling supporting leg 202 is in a semicircular arc outside the girder 101, and compared with the traditional telescopic form perpendicular to the girder 101, the leveling structure can not only adjust the levelness, but also change the angle of the rotating arm 201 through the swing oil cylinder 205 under the condition that the supporting leg is fixed, so that the position of the launching platform can be adjusted, and the adjustable range is larger.
In one case, the rotating arm 201 may also be provided with a hydraulic cylinder inside so that the rotating arm 201 forms a telescopic structure, similar to a telescopic crane beam of a crane, so that the adjustable range of the leveling leg assembly 2 is located in a sector, and the adjustable range is larger.
In a preferred embodiment of the invention, the outer side of the girder 101 is further provided with an edge beam 103, the edge beam 103 comprises a protective edge arranged in parallel with the girder 101, the protective edge is fixedly connected with the girder 101 through a connecting beam 102, and the width of the edge beam 103 is larger than the maximum diameter of the leveling leg 202; the edge beams 103 are disposed on both sides of the leveling leg assembly 2, and the rotating arm 201 can rotate between the two edge beams 103 along the hinge point 180 ° without interfering with the edge beams 103, as shown in fig. 1. When the launching platform does not work, the rotating arm 201 is retracted to a position close to the girder 101, and the edge beam 103 can protect the leveling leg assembly 2, so that the launching platform support 1 is prevented from colliding with the periphery in the mounting, dismounting or transferring process to damage the leveling leg assembly 2.
In a preferred embodiment of the present invention, the end of the telescopic end is provided with an anti-skid mechanism 206, and in general, the end of the telescopic end is provided with a platform contacting with the ground, and the platform surface is provided with a plastic anti-skid pad, and the thickness of the anti-skid pad does not need to be too thick, so as to prevent the leveling effect from being affected.
In a preferred embodiment of the present invention, the girder 101 is provided with a level sensor, and the launch platform support 1 is further provided with an orientation sensor. The level sensor is connected with the controller and used for detecting the levelness of the girder 101, the levelness generally has a preset value, and the deviation is not more than 0.1; the azimuth sensor is used for detecting whether the transmitting platform deviates from a preset transmitting point, and if the transmitting platform deviates, the transmitting platform can be corrected through the leveling mechanism.
In a preferred embodiment of the present invention, an angle sensor is further disposed on the launching platform support 1. The angle sensor can adjust the angle of the launching platform according to the requirement so as to control the launching angle, and the angle adjustment of the launching platform is generally small and is not obvious in display in the figure, so that the attached drawing is not provided.
In the above embodiment, the installation positions and the number of the horizontal sensor, the angle sensor and the azimuth sensor are not limited, and the horizontal sensor, the angle sensor and the azimuth sensor can be installed according to specific needs, and the specific installation mode can refer to the prior art.
In a preferred embodiment of the present invention, a method for controlling a leveling structure of an offshore launching device is provided, as shown in fig. 5, comprising the following steps:
s1, leveling the launching platform support 1 according to the preset levelness and the direction after the launching preparation is carried out;
s2, detecting the levelness of the launching platform support 1 according to the level sensor and the angle sensor, and entering the step S3 if the levelness reaches the standard;
s3, detecting whether the orientation of the water sending platform changes according to the orientation sensor, and if the orientation does not change, entering the step S4;
and S4, emission.
Specifically, in step S1, when the leveling legs 202 do not work, the leveling legs 202 are collected at two sides of the girder 101 of the launching device and are flush with the edge beam 103; when the adjustment is started, the leveling supporting legs 202 extend out in a rotating mode under the action of the swing oil cylinder 205; after the leveling supporting legs 202 rotate to the preset positions, the swing oil cylinders 205 are locked, the leveling supporting legs 202 extend out, and the launching device conducts horizontal leveling. The predetermined position of the leveling leg 202 is generally calculated by integrating the coordinates and orientation of the launch platform for the first leveling, and may be repeatedly adjusted during each subsequent leveling.
Further, in step S2, if the levelness is not up to the standard, step S1 is repeated.
Further, in step S3, if the azimuth is changed, steps S1 and S2 are repeated. Fig. 3 and 4 show two leveling states of the present embodiment, and it can be clearly seen that four sets of leveling leg assemblies 2 are linked to form a parallelogram, in the leveling condition, the angles between the leveling leg assemblies 2 and the girder 101 are not necessarily in a vertical state, and by using the deformation principle of the parallelogram, the orientation of the launching device can be adjusted freely by the swing cylinder 205 in the case of locking the levelness. Through the linkage with horizontal leveling, the shaking (especially launching at sea) of the launching device caused by an external environment can be counteracted, and the launching angle is ensured.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A leveling structure marine launching device is characterized by comprising the following structures:
the launching platform support is at least provided with two girders arranged along the two sides of the length direction of the launching platform support;
the leveling support leg assemblies are respectively arranged on the outer sides of the girders, and the installation positions are distributed in a rectangular shape;
the leveling support leg assembly comprises a rotating arm hinged with the girder, the outer end of the rotating arm is fixedly connected with a leveling support leg which is vertically arranged, the leveling support leg comprises a fixed end and a telescopic end, the fixed end is fixedly connected with the rotating arm, and the telescopic end vertically extends downwards; the leveling supporting leg assembly further comprises a swing oil cylinder, one end of the swing oil cylinder is hinged to the middle of the rotating arm, the other end of the swing oil cylinder is hinged to the girder, and the angle between the rotating arm and the girder can be adjusted when the swing oil cylinder stretches.
2. The marine launcher leveling structure according to claim 1, wherein an edge beam is further disposed outside the girder, the edge beam comprises a protective edge disposed parallel to the girder, the protective edge is fixedly connected to the girder through a connecting beam, and the width of the edge beam is greater than the maximum diameter of the leveling leg.
3. The offshore launching device leveling structure as recited in claim 1, wherein the telescopic end is provided with an anti-slip mechanism.
4. The offshore launching device leveling structure as recited in claim 2, wherein the side beams are disposed on both sides of the leveling leg assembly, and the swivel arm is capable of rotating 180 ° between the side beams along the hinge point without interfering with the side beams.
5. The offshore launching device leveling structure of claim 1, wherein the girder is provided with a level sensor, and the launching platform support is further provided with an orientation sensor.
6. The offshore launcher leveling structure according to claim 5, wherein an angle sensor is further disposed on the launch platform support.
7. The method for controlling the leveling structure of the marine launching device as claimed in claim 6, comprising the steps of:
s1, leveling the launching platform support according to the preset levelness, the preset azimuth and the preset angle after the launching preparation is carried out;
s2, detecting the support of the launching platform according to the horizontal sensor and the angle sensor, and entering the step S3 if the levelness reaches the standard;
s3, detecting whether the orientation of the water sending platform changes according to the orientation sensor, and if the orientation does not change, entering the step S4;
and S4, emission.
8. The method as claimed in claim 6, wherein in step S1, the swinging cylinder is adjusted to control the rotation of the rotating arm to adjust the supporting orientation of the launching platform, the swinging cylinder is locked after the orientation reaches the standard, and the leveling legs are adjusted to adjust the supporting levelness of the launching platform.
9. The method as claimed in claim 6, wherein in step S2, if the levelness is not reached, repeating step S1.
10. The method as claimed in claim 6, wherein in step S3, if the orientation is changed, the steps S1 and S2 are repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210408895.7A CN114701665A (en) | 2022-04-19 | 2022-04-19 | Offshore launching device leveling structure and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210408895.7A CN114701665A (en) | 2022-04-19 | 2022-04-19 | Offshore launching device leveling structure and control method thereof |
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| CN114701665A true CN114701665A (en) | 2022-07-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210408895.7A Pending CN114701665A (en) | 2022-04-19 | 2022-04-19 | Offshore launching device leveling structure and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872932A (en) * | 2022-07-11 | 2022-08-09 | 东方空间技术(山东)有限公司 | Control system for controlling spacecraft to launch at sea |
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2022
- 2022-04-19 CN CN202210408895.7A patent/CN114701665A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872932A (en) * | 2022-07-11 | 2022-08-09 | 东方空间技术(山东)有限公司 | Control system for controlling spacecraft to launch at sea |
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