CN209258424U - Vehicle-mounted movable hydraulic cushion landing platform for rocket recycling - Google Patents
Vehicle-mounted movable hydraulic cushion landing platform for rocket recycling Download PDFInfo
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- CN209258424U CN209258424U CN201822025609.0U CN201822025609U CN209258424U CN 209258424 U CN209258424 U CN 209258424U CN 201822025609 U CN201822025609 U CN 201822025609U CN 209258424 U CN209258424 U CN 209258424U
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Abstract
The utility model relates to a kind of vehicle-mounted movable hydraulic cushion landing platforms for rocket recycling, including mobile hydraulic flat car, leveling system console, buffer platform hydraulic cylinder, Landing stage, piggyback pod and manipulator platform, positioning system is housed by two, it is driven by piggyback pod and the mobile hydraulic flat car that is controlled by leveling system console is as rocket receiving platform, buffer platform hydraulic cylinder group is equipped on platform, the upper installation manipulator platform of buffer platform hydraulic cylinder group, manipulator platform includes telescopic outrigger, driving hydraulic cylinder, mechanical arm and gripper, manipulator platform is equipped with Landing stage.The device integrates movement, posture adjustment, recycling and multilayer damping; great force when can weaken due to rocket and receiving platform rigid contact; effectively prevent the generation that rocket is damaged accident; recycling by receiving platform to rocket; launching costs can be greatly reduced, and protect environment.
Description
Technical field
The utility model relates to field of aerospace technology, and in particular to a kind of vehicle-mounted movable for rocket recycling
Hydraulic cushion landing platform.
Background technique
The transmitting and recycling of repeatable carrier rocket are studied, main purpose is exactly to reduce launch cost.Many institute's weeks
Know, space launch cost is high all the time, transports the object heaven of 1kg, cost is about 1 to 20,000 dollar, mainly
Because carrier rocket is disposable reason.First-stage vehicle recycles successfully, and cost-saved 80%, if second
Grade also recycles, and can reduce cost 99%, but the Technical comparing of second level recycling is difficult.
The cost of carrier rocket, the fuel cost of carrier rocket are only about the 1/200 of launch cost, the navigation control of rocket
The part such as system, fuel tank and rocket engine processed is main expenditure item.If rocket may be reused,
Substantially reduce launch cost.Manufacture and recycling can repeat the rocket of delivery, be the trend of the following space flight.
Utility model content
The utility model aim is to solve the problems, such as that rocket recycles and reuses, and provides a kind of vehicle for rocket recycling
It carries movable type hydraulic and buffers landing platform, it flexibly can recycle rocket to reuse.
The utility model provides a kind of vehicle-mounted movable hydraulic cushion landing platform for rocket recycling, including movement
Formula hydraulic flat car, leveling system console, hydraulic suspension, buffer platform hydraulic cylinder, buffer platform, Landing stage, Landing stage liquid
Cylinder pressure, controller, piggyback pod and manipulator platform, the leveling system console are set to the bottom of the mobile hydraulic flat car
Portion front end, the controller and the piggyback pod are set in the middle part of the bottom of mobile hydraulic flat car；The of the hydraulic suspension
One end and the bottom of the mobile hydraulic flat car are connected, and the second end of the hydraulic suspension and the shaft of wheel are connected；Institute
State mobile hydraulic flat car quantity be two, Side by side groupings be recycling platform, it is described recycling platform upper surface with it is described
The first end of buffer platform hydraulic cylinder is connected, and the second end of the buffer platform hydraulic cylinder is connected with the buffer platform；It is described
Manipulator platform includes telescopic support legs, mechanical arm, the drive being attached to the telescopic support legs and the mechanical arm
Hydrodynamic cylinder pressure, and the mechanical paw set on the mechanical arm end, the manipulator platform pass through the telescopic support legs
It is supported in the top of the buffer platform, to guarantee the stability of manipulator platform described in removal process；The Landing stage liquid
The first end of cylinder pressure is connected with the manipulator platform, and the second end of the Landing stage hydraulic cylinder is connected with the Landing stage.
Preferably, the bottom of the mobile hydraulic flat car is equipped with 12 wheels by the hydraulic suspension, adapts to each
Kind landform carries out mobile and has pooling feature.
Preferably, the quantity of the buffer platform hydraulic cylinder is 15, the buffer platform hydraulic cylinder and the buffer platform
Constitute buffering hydraulic platform.
Preferably, the quantity of the mechanical arm is 3, is uniformly distributed around the Landing stage.
Preferably, the mechanical paw is arc plate, and inside has cushion gum layer, described to protect the quiver wall of rocket
The inside circle diameter of mechanical paw and the quiver diameter of rocket are equal.
The beneficial effects of the utility model are as follows:
(1) be adapted to various complicated landforms, and can fast accurate the position for being moved to rocket whereabouts, carry out rocket
Recycling, more efficiently and reliably than previous marine recycling.
(2) vehicle-mounted suspension system, buffer platform hydraulic cylinder, Landing stage hydraulic cylinder three-level buffer unit can be in removal process
In adequately absorb various impact forces, robot device can steadily embrace recycling rocket, solve recycling it is difficult and
The problem of recycling accident.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model vehicle-mounted movable hydraulic cushion landing platform；
Fig. 2 is the structural representation top view of the utility model vehicle-mounted movable hydraulic cushion landing platform；
Fig. 3 is the work structure diagram of the utility model vehicle-mounted movable hydraulic cushion landing platform；And
Fig. 4 is that the intelligent leveling system hardware of the utility model forms figure.
Appended drawing reference:
Mobile hydraulic flat car 1；Leveling system console 2；Hydraulic suspension 3；Buffer platform hydraulic cylinder 4；Buffer platform
5；Telescopic support legs 6；Driving hydraulic cylinder 7；Mechanical arm 8；Mechanical paw 9；Landing stage 10；Landing stage hydraulic cylinder 11；Controller
12；Piggyback pod 13；Manipulator platform 14.
Specific embodiment
By the technology contents of detailed the utility model, structure feature, reach purpose and efficacy, below with reference to specification
Attached drawing is described in detail.
As shown in Figs 1-4, a kind of vehicle-mounted movable hydraulic cushion landing platform for rocket recycling, including movable type
Hydraulic flat car 1, leveling system console 2, hydraulic suspension 3, buffer platform hydraulic cylinder 4, buffer platform 5, telescopic support legs 6,
Driving hydraulic cylinder 7, mechanical arm 8, mechanical paw 9, Landing stage 10, Landing stage hydraulic cylinder 11, controller 12, piggyback pod 13 and machine
Tool hand platform 14, recycling rocket 15.Mobile hydraulic flat car 1 has two, and by its Side by side groupings, head and the tail alignment is fixed together
Platform is recycled needed for being formed, every mobile hydraulic flat car 1 is respectively provided with 12 wheels, and a point two sides are distributed, and every side is 6,
Each equidistant be equipped with is 3 wheels before and after every side, and each wheel is connected to 1 bottom of mobile hydraulic flat car by hydraulic suspension 3,
Hydraulic suspension 3 can be played in the landform for making mobile hydraulic flat car 1 adapt to various complexity, and in removal process
The effect of buffering；Assembled moving formula hydraulic flat car 1, can be with the arrival specific bit of fast and flexible under the driving of piggyback pod 13
It sets.
Leveling system console 2 is mounted on the forefront of flat car, when one-stage rocket landing area ground is not flat, passes through
System feedback adjusting makes landing platform 10 remain that horizontality, the adjustment process of leveling system console 2 are using most
High point levels method and buffer platform 5 is transferred to horizontality, as shown in figure 4, specific adjustment process are as follows: according to the inclination angle of equipment surface
The signal of sensor, determines the highest point of platform, and calculates each supporting point to the location error of highest point, this error amount is sent
To control device-single-chip microcontroller, on the one hand the design parameter of control device is passed to the interface of keyboard and display panel by control device,
The case where system down, can be arranged parameter manually with this and guarantee going on smoothly for recycling, and keyboard and display panel passes through vehicular electricity storage
Pond provides its electricity demand；On the other hand drive each oil cylinder motor to turn over certain angle by leveling procedure, another hydraulic pump to
4 fuel feeding of buffer platform hydraulic cylinder, so that oil cylinder is risen given distance makes landing platform always so that each point is in sustained height
In horizontality, this set of close-loop control mode can guarantee the landing of the steady safety of rocket；Buffer platform hydraulic cylinder 4 is mounted on
The top of mobile hydraulic flat car 1, the buffering hydraulic cylinder of this type have 15, they and buffer platform 5 constitute buffering hydraulic
Platform can play important buffer function in rocket removal process.
Manipulator platform 14 includes telescopic support legs 6, driving hydraulic cylinder 7, mechanical arm 8 and is set to 8 end of mechanical arm
Mechanical paw 9, the both ends of driving hydraulic cylinder 7 are attached with telescopic support legs 6 and mechanical arm 8 respectively, telescopic support legs 6
Entire manipulator platform 14 is supported on buffer platform 5, the work that manipulator platform 14 can be stable in removal process is made
Make；Driving hydraulic cylinder 7 is mounted on the middle part of mechanical arm 8, when idle it be in contraction state, at work its
In stretching state promotion robot arm 8 to drive gripper 9 to fix rocket；Mechanical arm 8 and the quantity of gripper 9 are equal
It is 3, and is uniformly distributed around Landing stage in 120 °, mechanical arm 8 is installed together with the one-to-one correspondence of gripper 9, when rocket lands,
Long rocket is erected in order to prevent and is glanced off and is toppled over, and is received using three grippers 9, the structure of gripper 9 is arc plate, mechanical
After 9 three-jaw of pawl closes up, just forms an annulus and surround rocket launcher, gripper 9 is damaged rocket barrel in order to prevent, gripper
9 inside has cushion gum layer, and circle diameter is equal to rocket launcher diameter；Landing stage 10 is mounted in the top of Landing stage hydraulic cylinder 11,
Its area is slightly larger than rocket quiver diameter；Controller 12 is installed on the middle position of 1 bottom of mobile hydraulic flat car, it can be with
The real-time position information of rocket is received, and information makes accurate judgement based on the received, rapidly piggyback pod is passed in instruction
13, to make flat car reach designated position, realize accurately rocket recovery operation.
A kind of vehicle-mounted movable hydraulic cushion landing platform course of work for rocket recycling of the utility model is as follows:
When rocket constantly can send controller 12 for location information in dropping process, pass through accurate point of controller 12
Analysis, then passes to piggyback pod 13 for instruction, and two mobile hydraulic flat cars 1 can be quickly moved into accurate designated position,
If land ground out-of-flatness at this time, leveling system console 2 will level method by highest point and buffer platform 5 is transferred to level
State, specifically: according to the signal of obliquity sensor, determine the highest point of platform, and calculate each supporting point to highest point position
Error is set, gives this error amount to control device-single-chip microcontroller, control device drives each oil cylinder motor to turn by leveling procedure
Certain angle is crossed, hydraulic pump makes oil cylinder rise given distance to 4 fuel feeding of buffer platform hydraulic cylinder, so that each point is in same
One height, platform reach horizontality.Telescopic outrigger 6 stretches out at this time, 14, manipulator platform is got up, driving at this time is hydraulic
Cylinder 7 is in contraction state, and when rocket, which reaches, will contact in Landing stage 10 in gripper 9, driving hydraulic cylinder 7 is stretched out, and is pushed
Mechanical arm 8 and gripper 9 firmly catch rocket quiver, can generate after rocket quiver is contacted with Landing stage 10 huge
Impact force, Landing stage hydraulic cylinder 11, buffering hydraulic cylinder platform 5, hydraulic suspension 3 and wheel can all play the work of buffering at this time
With, while rocket quiver can be with 10 run-off the straight of Landing stage, similarly leveling system console 2 will level method by highest point and adjust
The stroke of Landing stage hydraulic cylinder 11 guarantees that rocket keeps vertical state with landing platform always with this.It is final successfully to complete
The recycling task of rocket.
It is the preferred embodiment of the application above, the protection scope of the utility model is not limited with this, it is noted that is right
For those skilled in the art, under the premise of not departing from this technology principle, can also make it is several improvement and
Retouching, these improvements and modifications also should be regarded as the protection scope of the application.
Claims (5)
1. a kind of vehicle-mounted movable hydraulic cushion landing platform for rocket recycling, which is characterized in that including mobile liquid
Flatten wooden handcart, leveling system console, hydraulic suspension, buffer platform hydraulic cylinder, buffer platform, Landing stage, Landing stage hydraulic cylinder
B, controller, piggyback pod and manipulator platform,
The leveling system console is set to the bottom front of the mobile hydraulic flat car, the controller and the power
Cabin is set in the middle part of the bottom of mobile hydraulic flat car；
The bottom of the first end of the hydraulic suspension and the mobile hydraulic flat car is connected, the second end of the hydraulic suspension
It is connected with the shaft of wheel；
The quantity of the mobile hydraulic flat car is two, and Side by side groupings is recycling platform, the upper surface of the recycling platform
It is connected with the first end of the buffer platform hydraulic cylinder, the second end of the buffer platform hydraulic cylinder and the buffer platform phase
Even；
The manipulator platform includes telescopic support legs, mechanical arm, carries out to the telescopic support legs and the mechanical arm
The driving hydraulic cylinder of connection, and the mechanical paw set on the mechanical arm end, the manipulator platform are stretched by described
Contracting supporting leg is supported in the top of the buffer platform, to guarantee the stability of manipulator platform described in removal process, and
The first end of the Landing stage hydraulic cylinder is connected with the manipulator platform, the second end of the Landing stage hydraulic cylinder and institute
Landing stage is stated to be connected.
2. the vehicle-mounted movable hydraulic cushion landing platform according to claim 1 for rocket recycling, feature exist
In the bottom of the mobile hydraulic flat car is equipped with 12 wheels by the hydraulic suspension, adapts to various landform and is moved
It moves and there is pooling feature.
3. the vehicle-mounted movable hydraulic cushion landing platform according to claim 2 for rocket recycling, feature exist
In the quantity of the buffer platform hydraulic cylinder is 15, and the buffer platform hydraulic cylinder and the buffer platform constitute buffering hydraulic
Platform.
4. the vehicle-mounted movable hydraulic cushion landing platform according to claim 3 for rocket recycling, feature exist
In the quantity of the mechanical arm is 3, is uniformly distributed around the Landing stage.
5. the vehicle-mounted movable hydraulic cushion landing platform according to claim 4 for rocket recycling, feature exist
Be arc plate in, the mechanical paw, inside has cushion gum layer, to protect the quiver wall of rocket, the mechanical paw it is interior
Side ring diameter is equal with the quiver diameter of rocket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822025609.0U CN209258424U (en) | 2018-12-04 | 2018-12-04 | Vehicle-mounted movable hydraulic cushion landing platform for rocket recycling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822025609.0U CN209258424U (en) | 2018-12-04 | 2018-12-04 | Vehicle-mounted movable hydraulic cushion landing platform for rocket recycling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209258424U true CN209258424U (en) | 2019-08-16 |
Family
ID=67561997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822025609.0U Active CN209258424U (en) | 2018-12-04 | 2018-12-04 | Vehicle-mounted movable hydraulic cushion landing platform for rocket recycling |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720608A (en) * | 2018-12-04 | 2019-05-07 | 燕山大学 | Vehicle-mounted movable hydraulic cushion landing platform for rocket recycling |
| CN112179208A (en) * | 2020-09-30 | 2021-01-05 | 湖北航天技术研究院总体设计所 | Quick-acting linkage releasing mechanism |
| CN114459297A (en) * | 2022-03-04 | 2022-05-10 | 航天科工火箭技术有限公司 | Ground recovery platform of reusable carrier rocket |
-
2018
- 2018-12-04 CN CN201822025609.0U patent/CN209258424U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720608A (en) * | 2018-12-04 | 2019-05-07 | 燕山大学 | Vehicle-mounted movable hydraulic cushion landing platform for rocket recycling |
| CN109720608B (en) * | 2018-12-04 | 2023-08-18 | 燕山大学 | Vehicle-mounted movable hydraulic buffer landing platform for rocket recovery |
| CN112179208A (en) * | 2020-09-30 | 2021-01-05 | 湖北航天技术研究院总体设计所 | Quick-acting linkage releasing mechanism |
| CN114459297A (en) * | 2022-03-04 | 2022-05-10 | 航天科工火箭技术有限公司 | Ground recovery platform of reusable carrier rocket |
| CN114459297B (en) * | 2022-03-04 | 2024-06-04 | 航天科工火箭技术有限公司 | Ground recovery platform capable of reusing carrier rocket |
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