JP2022536348A - rocket standing arm - Google Patents

Abstract

The present application provides a rocket standing arm, the rocket standing arm includes a standing arm body, and along the length of the standing arm body, the standing arm body has a rocket support and holding device, a rocket auxiliary hydraulic support device and a rocket rear part. a fulcrum support and adjustment device, wherein the rocket support and cradle device is configured to adjustably support and cradle the forward end of the rocket being supported; and the rocket auxiliary hydraulic support device is the supported rocket. The rocket rear fulcrum support adjustment device is configured to float the middle part of the rocket, and the rocket rear fulcrum support adjustment device supports the rear end of the rocket so that it can be adjusted. is configured to adjust According to the present application, the rocket can be safely and reliably supported and erected, and multiple degrees of freedom can be easily adjusted for the rocket during the supporting and docking process, effectively reducing the difficulty of docking and adjusting when the rocket is transferred. According to the present application, the launch time of the rocket can be greatly shortened and the launch efficiency can be significantly improved. [Selection drawing] Fig. 1

Description

The present application belongs to the technical field of rocket raising, and specifically relates to a rocket raising arm.

With the development of spaceflight technology, especially the rapid development of commercial spaceflight in recent years, the traditional "three vertical" launch mode requires a fixed launch tower, which requires a long infrastructure construction period and maintenance. As the drawback of high cost becomes increasingly apparent, rapid, flexible and low-cost launch modes are needed to meet the launch needs of the current stage of commercial spaceflight.

Many of the successful commercial spaceflight companies abroad have adopted the "three horizontals" test and launch model: horizontal assembly, horizontal transfer, horizontal test, and standing launch. Therefore, in the process of loading, transporting and erecting the rocket, the rocket body must be supported and transported, and the rocket body will not be subjected to any additional force other than its own gravity. It is particularly important and vital to reduce the risk of collisions with

SUMMARY OF THE INVENTION To overcome at least some of the problems that exist in the related art, the present application provides a rocket riser arm.

According to an embodiment of the present application, the present application provides a rocket stand-up arm, the rocket stand-up arm includes a stand-up arm body, and along the length of said stand-up arm body, said stand-up arm body has a rocket support and embracing device. , The rocket auxiliary hydraulic support device and the rocket rear fulcrum support adjustment device are installed in order,
The rocket support and embracing device is configured to adjustably support and embrace the forward end of the supported rocket, and the rocket auxiliary hydraulic support device is configured to provide floating support for the intermediate portion of the supported rocket. The rocket rear fulcrum support adjustment device is configured to adjustably support the rear end of the rocket, and to adjust the rotation of the rocket when it stands up and the positioning and docking of the rocket and the launch pad. .

A rocket erector arm as described above, wherein said rocket support and embracing apparatus includes a support assembly and a embracing assembly, said support assembly being configured to support a rocket and extending along a horizontal radial direction of the supported rocket. is installed on the bottom of the standing arm body, and the holding assembly is installed on both sides of the standing arm body to hold a rocket;
The support assembly includes a bracket, a rotation unit, a guide unit and a drive unit, wherein the bracket is mounted on the rotation unit, and the rotation unit horizontally rotates the bracket by a predetermined angle. wherein the rotating unit is installed on the guide unit and the drive unit, and the guide unit is installed on the bottom of the standing arm main body along the horizontal radial direction of the rocket to be supported. configured to guide movement of said bracket along a horizontal radial direction, said drive unit being configured to drive said bracket to move along a radial direction of a rocket supported by said rotating unit; It is

Furthermore, the holding assembly includes two holding arm units arranged facing each other above both sides of the standing arm body and configured to hold the upper half of the rocket, and a power unit. , the power unit is configured to power the hugging arm units such that two of the hugging arm units contract to embrace a rocket;
The holding arm unit includes a large holding arm, a first holding clamp, a small holding arm and a second holding clamp, and the first holding clamp is inside the large holding arm. One end of the large holding arm is connected to the standing arm body, the other end is connected to one end of the small holding arm, and the second holding clamp is attached to the other end of the small holding arm. is connected and
The power unit includes a first hydraulic cylinder and a second hydraulic cylinder, one end of the first hydraulic cylinder is connected to the standing arm body, and the other end is connected to the large holding arm. is configured to drive the large holding arm, the second hydraulic cylinder has one end connected to the large holding arm and the other end connected to the small holding arm; A cylinder is configured to drive the small grasper arm.

A rocket erector arm as described above, wherein the rocket auxiliary hydraulic support device includes a hydraulic system, a guide support cylinder, a resilient support assembly and a rocket carrier;
The hydraulic system is configured to drive the guide support cylinder to generate a vertical support force, an elastic support assembly is provided above the guide support cylinder, and an elastic support assembly is provided above the elastic support assembly. a rocket carrier mounted in the, said resilient support assembly configured to provide floating support for said rocket carrier, said rocket carrier configured to support a rocket;
The elastic support assembly includes a position limiting supporter, a flange support seat, a carrier pivot seat, a spring mounting seat and a position limiting support spring,
The position limiting supporter is provided on the uppermost part of the guide support cylinder, and the flange support seat is installed at the center thereof, and the flange support seat is connected to the carrier rotation seat via a first rotation pin shaft. and the spring mounting seat is fixedly installed on the uppermost surface of the position limiting supporter and positioned between the position limiting supporter and the top plate of the carrier pivot seat,
The position-limiting support spring is installed in the spring mounting seat, the spring mounting seat is configured to guide the position-limiting support spring, and one end of the position-limiting support spring is fixedly connected to the spring mounting seat. , the other end is in contact with the top plate of the carrier pivot seat, and the position-limiting support spring is configured to limit the free movement of the rocket carrier in the vertical direction.

Further, the hydraulic system includes a hydraulic cylinder, a power assembly and an oil source, wherein the oil source is a power assembly connected with the hydraulic cylinder via a rod-side cavity oil pipe and a head-side cavity oil pipe. supplying hydraulic oil to the three-dimensional body, the hydraulic cylinder being connected with the guiding and supporting cylinder;
The hydraulic cylinder includes a hydraulic cylinder tube, a hydraulic cylinder rod, a stroke position limiting sleeve and a hydraulic cylinder pin shaft, the hydraulic cylinder rod being slidably mounted within the hydraulic cylinder tube. and the stroke position limiting sleeve is fitted over the hydraulic cylinder rod along the length of the hydraulic cylinder rod to limit the stroke of the hydraulic cylinder rod within the hydraulic cylinder tube. and the top end of the hydraulic cylinder rod is connected with the guide support cylinder through the hydraulic cylinder pin shaft.

Further, the power assembly includes an electromagnetic switching valve, an accumulator, a pressure sensor, a safety valve, a proportional overflow valve and a check valve;
The oil source is connected to the oil inflow chamber of the electromagnetic switching valve via the check valve, the oil return chamber of the electromagnetic switching valve is connected to the oil tank, and the first working oil chamber of the electromagnetic switching valve is connected to the head-side cavity of the hydraulic cylinder via a head-side cavity oil pipe, and the second working oil chamber of the electromagnetic switching valve is connected to the rod-side cavity of the hydraulic cylinder via a rod-side cavity oil pipe. cage,
An accumulator and a pressure sensor are connected to a connecting pipe between the check valve and the oil inflow chamber of the electromagnetic switching valve. A safety valve and a proportional overflow valve are connected in parallel between the tank and the connecting line to the oil return chamber of the electromagnetic switching valve.

In the rocket erecting arm described above, the rocket rear fulcrum support and adjustment device includes a pivoting support seat, a pivoting pushing unit, a supporting unit and a traction unit, wherein the pivoting pushing unit comprises the pivoting support seat and the pivoting unit. It is installed between the arm body and configured to push and rotate the rotary support seat after the rocket changes to support by the launch pad to create a takeoff space for the rocket, and the support unit is configured to create a takeoff space for the rocket. installed on a dynamic support seat and configured to support the rear fulcrum of the rocket, the traction unit is connected to the pivot support seat and the support unit, and during the launching process of the rocket, the support unit moves against the rocket; Support is gradually switched to towing the towing unit against the rocket.

Further, the rotary pushing unit includes a second pivot pin shaft, a position limiting support block and a driving cylinder,
The rotating support seat is hingedly connected to the erecting arm body through the second rotating pin shaft, the position limiting support block is configured to determine the position of the rotating support seat, and the driving cylinder is configured to determine the position of the rotating support seat. The rotating support seat is configured to be driven to rotate about the second rotating pin shaft.

Further, the support unit includes a support elevating cylinder and an end pivot seat, one end of the support elevating cylinder is fixedly connected with the standing arm body, and the other end is fixedly connected with the end pivot seat. ,
The longitudinal center axis of the support lift cylinder is perpendicular to the longitudinal center axis of the end shaft neck seat, and the support lift cylinder is aligned with the end portions along the length of the support lift cylinder. The end pivot seats are configured to adjust the displacement of the end pivot seats, and the end pivot seats are configured to support a rocket along the width of the upright arm body.

Further, the traction unit includes an adjustment screw, a first rod tension seat and a second rod tension seat,
The adjusting screw has one end connected to the rotation support seat through the first rod tension seat and the other end connected to the end pivot seat through the second rod tension seat, and the adjusting screw An adjustment nut and a lock nut are fitted on the top.

In the above-described rocket erecting arm, an erecting arm rotation shaft is installed at an end portion of the erecting arm body near the terminal end of the supported rocket. Cooperating with a rotating half-seat installed on the ground near the launch pad so that it can rotate about the moving half-seat,
The stand-up arm body is provided with a stand-up assembly near the rocket rear fulcrum support adjustment device, the stand-up assembly cooperating with a ground-mounted stand-up hydraulic cylinder support seat near the launch pad. and pushes the erecting arm main body to erect it.

Further, the standing assembly includes a standing hydraulic cylinder, a standing hydraulic cylinder adjusting device and a standing hydraulic cylinder pin shaft, wherein the position of the standing hydraulic cylinder is adjusted by the standing hydraulic cylinder adjusting device in the width direction of the standing arm body. The upper fulcrum of the erecting hydraulic cylinder is hinge-connected to the erecting arm body, and the lower clevis of the erecting hydraulic cylinder is hinge-connected to the erecting hydraulic cylinder support seat through the erecting hydraulic cylinder pin shaft. The upright hydraulic cylinder adjuster is configured to pull the upright hydraulic cylinder such that a lower clevis of the upright hydraulic cylinder is hingedly connectable with the upright hydraulic cylinder support seat.

As can be seen from the above-described specific embodiments of the present application, there are at least the following beneficial effects: in the rocket erecting arm of the present application, the erecting arm body includes the rocket supporting and holding device, the rocket auxiliary hydraulic supporting device and the rocket rear fulcrum. a support and adjustment device for adjusting the tip of the rocket supported by the rocket support and holding device; adjusting the end of the rocket supported by the rocket rear fulcrum support and adjustment device; Auxiliary hydraulic support equipment provides floating support for the middle part of the supported rocket, enabling safe and reliable transportation and standing up of the rocket. It can be avoided, and it is easy to adjust multiple degrees of freedom for the rocket during the transfer and docking process, effectively reducing the difficulty of docking and adjusting when the rocket is transferred.

In the rocket erecting arm of the present application, the erecting arm pivot shaft is installed at the end of the erecting arm body near the terminal end of the supported rocket, and the erecting assembly is positioned near the rocket rear fulcrum support adjustment device on the erecting arm body. A self-propelled hydraulic modular trailer locates and adjusts the docking of the riser arm pivot axis and the ground-mounted pivot half-seat close to the launch pad so that the riser assembly can be attached to the launch pad. In cooperation with the erecting hydraulic cylinder support seat installed on the ground nearby, the erecting arm is reliably pushed and erected, and the rocket and the launch pad are securely docked. , transfer, positioning and docking, erection and other functions can be integrated into one, which can greatly shorten the rocket launch time and significantly improve the launch efficiency.

It should be appreciated that the general description above and the specific embodiments below are exemplary and explanatory only and are not intended to limit the scope of the claims of this application.

The following accompanying drawings are part of the specification showing embodiments of the present application, and together with the description of the specification, the accompanying drawings are used to explain the principles of the present application.
FIG. 4 is a schematic diagram of the state of jointly transporting the rocket by the rocket erecting arm and the self-propelled hydraulic modular trailer provided by the embodiment of the present application; FIG. 4 is a schematic diagram of the rocket erecting arm and the self-propelled hydraulic modular trailer jointly transporting the rocket to the launch area provided by the embodiment of the present application; FIG. 11 is a first state schematic diagram when the rocket is erected by the rocket erection arm provided by the embodiment of the present application; Fig. 2 is a second schematic diagram of the state when the rocket is erected by the rocket erecting arm provided by the embodiment of the present application; FIG. 4 is a structural schematic diagram of a rocket supporting and holding device in a rocket erecting arm provided by an embodiment of the present application; FIG. 4 is a plan view of a guide unit in the rocket support and holding device of the rocket erector arm provided by the embodiments of the present application; FIG. 6 is an enlarged view at I in FIG. 5; FIG. 4 is a structural schematic diagram of a rocket auxiliary hydraulic support device in a rocket erecting arm provided by an embodiment of the present application; FIG. 4 is a cross-sectional view of a rocket auxiliary hydraulic support device in a rocket erector arm provided by an embodiment of the present application; FIG. 4 is a structural schematic diagram of the rocket rear fulcrum support and adjustment device of the rocket erecting arm provided by the embodiment of the present application; FIG. 4 is a cross-sectional view of a support unit in the rocket rear fulcrum support adjustment device of the rocket erection arm provided by the embodiment of the present application;

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the spirit of the contents disclosed in the present application will be clearly described below with the help of the accompanying drawings and the detailed description. For example, after understanding the embodiments of the subject matter, changes and modifications can be made based on the techniques taught by the subject matter without departing from the spirit and scope of the subject matter.

The exemplary embodiments of the present application and their description are intended to explain the present application, not to limit it. Further, elements/members using the same or similar reference numerals in the accompanying drawings and embodiments represent the same or similar parts.

As used herein, "first", "second", etc., do not imply any particular order or precedence, nor do they limit the present application, and merely refer to elements described in the same technical terms. Or to distinguish between actions.

Directional terms used herein, such as up, down, left, right, front or rear, etc., refer only to the direction of the drawing. Accordingly, the directional terminology used is descriptive rather than limiting of the invention.

All of the terms "including", "comprising", "having", "comprising", etc. used herein are open terms, ie, are intended to include but not be limited to.

As used herein, "and/or" includes any one or all combinations of the listed items.

"A plurality" in this text includes "two" and "two or more." In addition, "multiple sets" in the text includes "two sets" and "two or more sets".

As used herein, the terms “approximately,” “about,” and the like are used to qualify any quantity or error that may vary slightly, although these small variations or errors do not alter the nature of the do not have. Those skilled in the art should understand that the above figures can be adjusted according to actual demands and are not limited to them.

Some terms used to describe the present application are discussed below or elsewhere in the specification to provide those skilled in the art with additional guidance in describing the present application.

As shown in FIGS. 1-4, the present application provides a rocket riser arm, which includes a riser arm body 1, along the direction from the tip to the tail of the rocket supported by the riser arm body 1. , a rocket supporting and holding device 11 is installed at the tip of the erecting arm body 1, a rocket auxiliary hydraulic support device 12 is installed at the middle part of the erecting arm body 1, and a rear end of the erecting arm body 1 is A rocket rear fulcrum support adjustment device 13 is installed. The rocket support and holding device 11, the rocket auxiliary hydraulic support device 12, and the rocket rear fulcrum support adjustment device 13 constitute a three-point support for the rocket. Rocket support and gripping device 11 is configured to adjustably support and grip the front end of supported rocket 8 . The rocket auxiliary hydraulic support device 12 is configured to reliably floatingly support the intermediate portion of the supported rocket 8 . The rocket rear fulcrum support adjustment device 13 is configured to adjustably support the rear end of the rocket, and has the function of fine adjustment in rotation, lateral direction and longitudinal direction, and fine rotation when the rocket is raised, Allows adjustments for precise positioning and docking of the rocket and launch area.

The rocket riser arm provided by the present application can be mounted on a self-propelled hydraulic modular trailer 2, and the supported rocket 8 is arranged on the top of the riser arm body 1 along the longitudinal direction of the riser arm body 1. ing. A self-propelled hydraulic modular trailer 2 transports a rocket supported via a rocket erector arm to a launch pad 3 in the launch area. The self-propelled hydraulic modular trailer 2 has an all-wheel steering function, the turning radius can be minimized, and it also has a vibration damping function to reliably protect the rocket body.

On the ground near the launch pad 3, a rotating semi-seat 4 and a standing hydraulic cylinder support seat 5 are installed in order of proximity according to the distance from the launch pad 3. - 特許庁

As shown in FIGS. 2 and 3, at the end of the stander arm body 1, i.e. at the end of the stander arm body 1 close to the end of the supported rocket, corresponding to the pivoting half seat 4, the stander arm body 1 is provided. A standing arm pivot 6 cooperating with the rotating half-seat 4 is provided so that the can rotate about the rotating half-seat 4 to facilitate standing up. Specifically, along the width direction of the standing arm body 1, two standing arm rotating shafts 6 are installed at one end of the standing arm body 1 near the end of the rocket. Preferably, the two stander arm pivots 6 are symmetrical about the longitudinal central vertical plane of the stander arm body 1 . The pivoting half seat 4 employs a concave half seat structure. Two pivoting half seats 4 are provided along the horizontal radial direction of the rocket transported near the launch pad 3 .

When the self-propelled hydraulic modular trailer 2 moves the standing arm body 1 to the vicinity of the launch pad 3, the standing arm rotating shaft 6 is lowered into the notch of the rotating half seat 4, and the rotating seat holding lid 41 is opened. By pressing the standing arm rotating shaft 6 into the rotating half seat 4, the standing arm main body 1 can be rotated around the rotating half seat 4. As shown in FIG.

As shown in FIGS. 2 and 3, the erecting arm body 1 is provided with an erecting assembly 7 at a position close to the rocket rear fulcrum support adjustment device 13 so as to correspond to the erecting hydraulic cylinder support seat 5. The erecting assembly 7 is configured to cooperate with the erecting hydraulic cylinder support seat 5 to push and erect the erecting arm body 1 . Specifically, the stand-up assembly 7 includes a stand-up hydraulic cylinder 71 , a stand-up hydraulic cylinder adjuster 72 , and a stand-up hydraulic cylinder pin shaft 73 . The position of the erecting hydraulic cylinder 71 is restricted to both sides in the width direction of the erecting arm body 1 by the erecting hydraulic cylinder adjusting device 72 . The upper fulcrum of the erecting hydraulic cylinder 71 is hinge-connected to the erecting arm body 1 , and the lower clevis of the erecting hydraulic cylinder 71 is hinge-connected to the erecting hydraulic cylinder support seat 5 via the erecting hydraulic cylinder pin shaft 73 . The raising hydraulic cylinder adjuster 72 is configured to pull the raising hydraulic cylinder 71 so that the lower clevis of the raising hydraulic cylinder 71 is hingeable to the raising hydraulic cylinder support seat 5 . The erecting hydraulic cylinder 71 is connected to an externally provided oil source via a hydraulic oil pipe.

Specifically, the erecting arm body 1 can adopt a truss structure having a concave cross section. Since the rocket 8 to be supported can be placed in the groove of the standing arm body 1 along the length of the standing arm body 1, the total height of the combination of the standing arm body 1 and the rocket can be reduced. can be lowered.

Further, as shown in FIG. 1, the standing arm body 1 is further provided with hard pipelines such as an air conditioning pipeline 14, a liquid oxygen filling pipeline 15, a methane filling pipeline 16, and a gas supply pipeline 17. , the rigid conduit can be placed in the recessed groove of the standing arm body 1 and connected to the rocket's charging connector via a hose.

Further, an operating platform 18 is provided on the erecting arm body 1 so that an operator can climb the operating platform 18 and easily inspect the essential parts of the rocket in the horizontal and standing states. In the upright position of the rocket, the operator can reach the operating platform 18 by means of the aerial work platform.

The stander arm body 1 is also provided with a connector guard net 19 configured to prevent rebounding of captured rocket-filled connectors.

The launch pad 3 is provided with a rocket foot support platen 31 configured to dock with the rocket foot of the rocket to provide support for the rocket.

In addition, the launch pad 3 is provided with a windbreak holding device 32 in order to keep the rocket relatively stable with the launch pad 3 after the rocket is docked with the launch pad 3 . The windbreak holding device 32 is configured to hold down the rocket foot.

As shown in FIG. 5, the rocket support and embracing apparatus 11 includes a support assembly and a embracing assembly, the support assembly being configured to support the rocket and extending along the horizontal radial direction of the supported rocket. The holding assembly is installed on both sides of the rising arm body 1 to hold the rocket.

Specifically, the support assembly may be placed at the bottom of the concave cross-section of the riser arm body 1 along the horizontal radial direction of the rocket to be supported, and the embracing assemblies may be positioned on either side of the concave cross-section of the riser arm body 1 . may be placed above the

The support assembly includes bracket 111 , rotation unit 112 , guide unit 113 and drive unit 114 . Among them, the bracket 111 is provided in a rotation unit 112, and the rotation unit 112 horizontally rotates the bracket 111 by a predetermined angle so as to adapt to the rotational displacement of the rocket about the rear end fulcrum. The rotation unit 112 is installed in the guide unit 113 and the drive unit 114, and the guide unit 113 is installed in the lowest end of the concave section of the standing arm body 1 along the radial direction of the supported rocket. It guides the movement of the bracket 111 along the direction. The drive unit 114 drives the bracket 111 to move along the radial direction of the rocket supported by the rotation unit 112 to adjust the misalignment between the bracket 111 and the rocket supported by it. It is configured.

In one specific embodiment, the rotating unit 112 includes a rotating shaft 1121 , a support plate 1122 and a position limiting block 1123 . Bracket 111 is connected to support plate 1122 by pivot shaft 1121 . Two rotation shafts 1121 are provided, and the two rotation shafts 1121 are symmetrically provided on the support plate 1122 with the center axis in the direction perpendicular to the support plate 1122 as the axis of symmetry. The position limiting block 1123 is installed between the lowermost end of the bracket 111 and the support plate 1122, and the central axis of the position limiting block 1123 in the height direction coincides with the central axis of the direction perpendicular to the bracket 111 and the support plate 1122 at the same time. Match. Position limiting block 1123 regulates the limit position of horizontal rotation of bracket 111 so as to prevent bracket 111 from tilting to one side.

As shown in FIG. 6 , guide unit 113 includes guide rail 1131 , slider 1132 and stopper 1133 . Two guide rails 1131 are provided, and the two guide rails 1131 are provided parallel to the lowest end of the concave cross section of the standing arm body 1 along the radial direction of the rocket 8 supported. One slider 1132 is provided on each side of the bottom surface of the support plate 1122 along the length direction of the support plate 1122 , and the sliders 1132 are provided movably on guide rails 1131 . Both ends of the guide rail 1131 are provided with stoppers 1133. The stoppers 1133 are designed to prevent the movement of the support plate 1122 from exceeding the limit and becoming dangerous. Limit travel distance.

As shown in FIG. 7, the drive unit 114 comprises a threaded rod 1141, a drive seat 1142 and a hydraulic motor 1143. As shown in FIG. The threaded rod 1141 is provided at the lowest end of the concave cross section of the standing arm body 1 and is provided in parallel between the two guide rails 1131 . The bottom end of the support plate 1122 is connected to a threaded rod 1141 via a drive seat 1142, the threaded rod 1141 is connected to a hydraulic motor 1143 configured to rotate the threaded rod 1141, and the bracket 111 and Threaded rod 1141 moves support plate 1122 on guide rail 1131 via drive seat 1142 so as to adjust misalignment with the rocket supported thereby.

Of course, instead of driving the threaded rod 1141 by the hydraulic motor 1143, an electric motor drive or a manual drive may be employed.

The holding assembly consists of two holding arm units 115 and a power unit 116 which are installed facing each other above both sides of the concave section of the standing arm body 1 and configured to hold the upper half of the rocket. including. The power unit 116 can hold the rocket so that the two holding arm units 115 can be contracted to hold the rocket, or the two holding arm units 115 can be deployed to release the rocket. It is configured to supply power to the arm unit 115 .

In one specific embodiment, the hugging arm unit 115 includes a large hugging arm 1151 , a first hugging clamp 1152 , a small hugging arm 1153 and a second hugging clamp 1154 . A first holding clamp 1152 is connected to the inner side of the large holding arm 1151 via a pin shaft. One end of the holding arm 1153 is connected via a pin shaft, and the second holding clamp 1154 is connected to the other end of the small holding arm 1153 via a pin shaft. The curvature of the embracing clamp surfaces of the first embracing clamp 1152 and the second embracing clamp 1154 both match the circumferential curvature of the rocket. The double articulated arrangement of the large 1151 and small 1153 embracing arms optimizes the forces experienced by the rocket surface.

The power unit 116 includes a first hydraulic cylinder 1161 and a second hydraulic cylinder 1162. One end of the first hydraulic cylinder 1161 is connected to the standing arm body 1, and the other end is connected to the large holding arm 1151. Cylinder 1161 is configured to drive large holding arm 1151 . The second hydraulic cylinder 1162 has one end connected to the large holding arm 1151 and the other end connected to the small holding arm 1153 , and the second hydraulic cylinder 1162 is configured to drive the small holding arm 1153 . . Due to the extension force of the first hydraulic cylinder 1161 and the second hydraulic cylinder 1162, the large holding arm 1151 holds the rocket by the first holding clamp 1152, and the small holding arm 1153 holds the rocket by the second holding clamp 1154. embrace

The lower half of the rocket is supported by the bracket 111, and the upper half of the rocket is held by the large holding arm 1151 and the small holding arm 1153, so that the surface of the rocket is subjected to force at a plurality of points. can be reliably supported and embraced.

Note that the first hydraulic cylinder 1161 and the second hydraulic cylinder 1162 may be replaced with an air cylinder and an electric cylinder to drive the large holding arm 1151 and the small holding arm 1153 .

As shown in FIG. 8, the rocket-assisted hydraulic support system 12 includes a hydraulic system 121 , a guide support cylinder 122 , a resilient support assembly 123 and a rocket carrier 124 . The hydraulic system 121 is configured to drive a guide support cylinder 122 to generate a vertical support force, and an elastic support assembly 123 is provided above the guide support cylinder 122. A rocket carrier 124 is installed above, an elastic support assembly 123 is configured to floatingly support the rocket carrier 124 , and the rocket carrier 124 is configured to support the rocket 8 . The guide support cylinder 122 is connected to the standing arm body 1 via the lower end flange.

Specifically, as shown in FIG. 9, hydraulic system 121 includes a hydraulic cylinder, a power assembly, and an oil source (not shown). An oil source supplies hydraulic fluid to a power assembly that is connected to the hydraulic cylinders via a rod side cavity oil line and a head side cavity oil line. The hydraulic cylinder is connected to the guide support cylinder 122 and is configured to drive the guide support cylinder 122 to generate a vertical support force.

The hydraulic cylinder includes a hydraulic cylinder tube 1210 , a hydraulic cylinder rod 1211 , a stroke position limiting sleeve 1212 and a hydraulic cylinder pin shaft 1213 . The hydraulic cylinder rod 1211 is slidably installed in the hydraulic cylinder tube 1210, and the stroke position limiting sleeve 1212 is fitted on the hydraulic cylinder rod 1211 along the length of the hydraulic cylinder rod 1211, and the hydraulic pressure is It is configured to limit the stroke of hydraulic cylinder rod 1211 within cylinder tube 1210 . The uppermost end of the hydraulic cylinder rod 1211 is connected with the guide support cylinder 122 via the hydraulic cylinder pin shaft 1213 .

Specifically, the diameter of the stroke position limiting sleeve 1212 is less than or equal to the diameter of the bottom portion of the hydraulic cylinder rod 1211 and greater than the diameter of the middle portion of the hydraulic cylinder rod 1211 . A stroke position limiting sleeve 1212 can be fitted over the middle portion of the hydraulic cylinder rod 1211 to block the bottom of the hydraulic cylinder rod 1211 to limit the stroke of the hydraulic cylinder rod 1211 within the hydraulic cylinder tube 1210 . achieve the purpose of limiting

The power assembly includes a solenoid switching valve 1214 , an accumulator 1215 , a pressure sensor 1216 , a relief valve 1217 , a proportional overflow valve 1218 and a check valve 1219 . The oil source is connected to the oil inflow chamber P of the electromagnetic switching valve 1214 via the check valve 1219, and the oil return chamber T of the electromagnetic switching valve 1214 is connected to the oil tank. The first working oil chamber A of the electromagnetic switching valve 1214 is connected to the head-side cavity of the hydraulic cylinder via a head-side cavity oil pipe, and the second working oil chamber B of the electromagnetic switching valve 1214 is connected to the fluid via a rod-side cavity oil pipe. It is connected to the rod side cavity of the pressure cylinder. An accumulator 1215 and a pressure sensor 1216 are connected to the connecting pipe between the check valve 1219 and the oil inflow chamber P of the electromagnetic switching valve 1214 . A safety valve 1217 and a proportional overflow valve are provided between the connecting line between the check valve 1219 and the oil inflow chamber P of the electromagnetic switching valve 1214 and the connecting line between the oil tank and the oil return chamber T of the electromagnetic switching valve 1214. 1218 are connected in parallel.

When the electromagnetic switching valve 1214 is powered off, the hydraulic fluid enters the rod-side cavity and the head-side cavity of the hydraulic cylinder through the check valve 1219 respectively, and at the same time, the hydraulic fluid also enters the accumulator 1215, and the hydraulic cylinder is differentially operated. Connected. The power assembly has a constant bearing force compensation capability under the action of the accumulator 1215 . The relief valve 1217 is configured to limit the maximum pressure of the power assembly, ie, the magnitude of the hydraulic cylinder ejection force, to prevent damage to the rocket body due to excessive ejection force. Proportional overflow valve 1218 is configured to control changes in power assembly pressure in real time, and pressure sensor 1216 is configured to detect power assembly pressure in real time. After the rocket 8 stands at a fixed position, the electromagnetic switching valve 1214 is energized, and the oil in the accumulator 1215 passes through the rod-side cavity pipe of the hydraulic cylinder, enters the rod-side cavity of the hydraulic cylinder, and enters the head-side The oil in the cavity is returned to the oil tank through the head-side cavity line of the hydraulic cylinder.

As shown in FIG. 9 , the guide support cylinder 122 includes a guide support cylinder tube 1221 , a guide support cylinder rod 1222 , a cylinder rod position limit block 1223 and a drive hydraulic cylinder seat 1224 . The guide support cylinder rod 1222 is slidably disposed within the guide support cylinder tube 1221, and the guide support cylinder rod 1222 moves up and down under the drive of the hydraulic cylinder. Along the width direction of the guide support cylinder tube 1221 , between the outer wall of the guide support cylinder rod 1222 and the inner wall of the guide support cylinder tube 1221 , there are 2 configured to restrict the rotational movement of the guide support cylinder rod 1222 . Two cylinder rod position limiting blocks 1223 are provided facing each other. A driving hydraulic cylinder seat 1224 is fixedly installed at the bottom of the guiding support cylinder rod 1222 . The driving hydraulic cylinder seat 1224 is connected with the hydraulic cylinder rod 1211 via the hydraulic cylinder pin shaft 1213 .

In order to easily attach the hydraulic cylinder pin shaft 1213 to the connecting portion between the drive hydraulic cylinder seat 1224 and the hydraulic cylinder rod 1211 , the side wall of the guide support cylinder tube 1221 has a through hole. Through the through-hole, the hydraulic cylinder pin shaft 1213 can be installed and adjusted.

The elastic support assembly 123 includes a position limiting supporter 1231 , a flange support seat 1232 , a carrier pivot seat 1233 , a spring mounting seat 1234 and a position limiting support spring 1235 . The position limiting supporter 1231 is provided above the guide support cylinder 122, and a flange support seat 1232 is fixedly installed at the center thereof, and the flange support seat 1232 is fixedly connected to the guide support cylinder rod 1222 by bolts. The flange support seat 1232 is connected to the carrier rotating seat 1233 via the first rotating pin shaft 1236 . The spring mounting seat 1234 is fixedly installed on the uppermost surface of the position limiting supporter 1231 and positioned between the position limiting supporter 1231 and the top plate of the carrier rotating seat 1233 . A position-limiting support spring 1235 is installed in a spring seat 1234 , which is configured to guide the position-limiting support spring 1235 . One end of the position limiting support spring 1235 is fixedly connected to the spring mounting seat 1234 and the other end is in contact with the top plate of the carrier rotating seat 1233 . Position limiting support spring 1235 is configured to limit free vertical movement of rocket carrier 124 .

A spring position limiting block 1237 is provided on the bottom surface of the top plate of the carrier rotating seat 1233 at a position corresponding to the position limiting support spring 1235 .

In another specific embodiment, the position limiting supporter 1231 and the flange support seat 1232 may be integrally molded.

In a specific embodiment, two position-limiting support springs 1235 are provided, and two position-limiting support springs 1235 are provided along the longitudinal direction of the rocket carrier 124 with the vertical central axis of the position-limiting supporter 1231 as an axis of symmetry. A limiting support spring 1235 is installed symmetrically on the position limiting supporter 1231 .

To prevent the rocket carrier 124 from damaging the surface of the rocket 8, the upper support surface of the rocket carrier 124 is provided with felt pads.

As shown in FIG. 10 , the rocket rear fulcrum support adjustment device 13 includes a rotary support seat 131 , a rotary push unit 132 , a support unit 133 and a traction unit 134 . The rotary pushing unit 132 is installed between the rotary support seat 131 and the erecting arm body 1, and after the rocket is changed to be supported by the launch pad 3, it pushes and rotates the rotary support seat 131 to move the rocket. It is designed to allow rapid removal of the rocket rear support to create take-off space. A support unit 133 is installed on the pivot support seat 131 and is configured to support the rear fulcrum of the rocket. The traction unit 134 is connected to the rotating support seat 131 and the support unit 133, and during the launching process of the rocket, the support of the rocket by the support unit 133 is switched to the traction of the rocket by the traction unit 134 in stages.

As shown in FIG. 10, the rotary pushing unit 132 includes a first connecting plate 1321, a second connecting plate 1322, a second rotating pin shaft 1323, a position limiting support block 1324 and a driving cylinder 1325. . The first connecting plate 1321 is installed on the erecting arm body 1 , and the second connecting plate 1322 is installed on the end surface of the pivotal support seat 131 near the erecting arm body 1 . The first connecting plate 1321 is used as a pair with the second connecting plate 1322 and is hingedly connected by the second pivot pin shaft 1323 . The position limiting support block 1324 is installed between the standing arm body 1 and the bottom surface of the rotation support seat 131 and is configured to determine the position of the rotation support seat 131 . The drive cylinder 1325 has one end hinge-connected to the standing arm body 1 and the other end hinge-connected to the bottom surface of the rotation support seat 131 . The drive cylinder 1325 is configured to drive the rotary support seat 131 to rotate around the second rotary pin shaft 1323 in a direction toward or away from the rocket supported by the standing arm body 1 . .

Specifically, the drive cylinder 1325 can employ a drive hydraulic cylinder or a drive hydraulic cylinder.

As shown in FIG. 11 , the support unit 133 includes a support lifting cylinder and an end journal seat, one end of the support lifting cylinder is fixedly connected to the standing arm body 1, and the other end is fixedly connected to the end journal seat. It is The support lift cylinder and the end shaft neck seat are installed in a T shape, that is, the longitudinal center axis of the support lift cylinder and the longitudinal center axis of the end shaft neck seat are perpendicular. . The support lift cylinder is configured to adjust the displacement of the end pivot seats along the length of the support lift cylinder. The end pivot seat is configured to support the rocket along the width direction of the standing arm body 1 .

Specifically, as shown in FIG. 3 , the support lift cylinder includes a support cylinder tube 1331 , a lift threaded rod 1332 , a worm 1333 , a worm wheel 1334 and a lift cylinder rod 1335 . One end of the support cylinder tube 1331 connected to the standing arm body 1 is provided with a screw cap.

The elevating threaded rod 1332 is rotatably installed in the support cylinder tube 1331, and a deep groove ball bearing is installed at one end of the elevating threaded rod 1332 near the screw cap, and between the deep groove ball bearing and the screw cap. A retaining ring is provided and limits the position of the deep groove ball bearing.

A position limiting nut is arranged above the deep groove ball bearing, and a worm wheel 1334 is arranged above the position limiting nut. The worm wheel 1334 is connected to a lifting threaded rod 1332 through a flat key. It is connected to the worm wheel 1334 through the support cylinder tube 1331 . The position limit nut engages a step on the lift screw rod 1332 to hold and position the worm wheel 1334 on the lift screw rod 1332 .

Thrust bearings are installed at both the uppermost and lowermost ends of the worm wheel 1334 along the longitudinal direction of the lifting screw rod 1332 , and the thrust bearings are configured to receive the biasing force of the lifting cylinder rod 1335 in both vertical directions. ing. A limit position plate is installed above the thrust bearing, and the limit position plate is configured to limit movement of the lifting screw rod 1332 in a direction away from the erecting arm main body 1 .

The opposite end of the lift screw rod 1332 near the screw cap is threadedly connected to one end of the lift cylinder rod 1335 , which end is slidably mounted within the support cylinder tube 1331 . there is

A first supporting flange cap is installed on the opposite end of the supporting cylinder tube 1331 from the end provided with the screw cap, the first supporting flange cap is provided with a through hole, and the inner wall of the through hole is provided with a guide strip. provided, the other end of the lifting cylinder rod 1335 passes through the through hole and is connected with the end pivot seat through the transition flange. The guide strips are configured to support and guide the lift cylinder rods 1335 .

In order to prevent the lift cylinder rod 1335 from rotating as it slides within the support cylinder tube 1331, the inner wall of the support cylinder tube 1331 between the position limit plate and the first support flange cap has a second A guide groove is opened, and a first position limiting block is provided in the first guide groove. One end of the first position limiting block is fixedly connected to the lifting cylinder rod 1335, and the other end slides in the first guide groove.

The vertical movement of the lifting cylinder rod 1335 is realized by the rotation of the lifting screw rod 1332 .

As shown in FIG. 11, the end pivot seat includes a seat tube 1336, a drive threaded rod 1337, a handwheel 1338, and a support cylinder rod 1339. As shown in FIG. A seat tube 1336 is fixedly mounted at the top end of the support lift cylinder and coincides with the horizontal radial direction of the rocket as it is supported. Specifically, seat tube 1336 is connected to lift cylinder rod 1335 via a transition flange.

A support flange is provided at the end of the seat tube 1336 remote from the rocket 8 to be supported. A drive threaded rod 1337 has one end located outside the seat tube 1336 and connected with the handwheel 1338 and the other end through the support flange and threadedly connected with one end of the support cylinder rod 1339 within the seat tube 1336 . A hand wheel 1338 rotates a drive screw rod 1337 , and the rotation of the drive screw rod 1337 allows a support cylinder rod 1339 to extend and contract within the seat tube 1336 .

A tapered roller bearing is installed between the inner wall of the support flange and the drive threaded rod 1337 . The tapered roller bearings are installed in pairs and mounted back-to-back to support and guide the drive threaded rod 1337 .

A limit nut is installed on the side of the tapered roller bearing closer to the hand wheel 1338 , and the limit nut engages a step on the drive threaded rod 1337 to fixedly connect the tapered roller bearing to the drive threaded rod 1337 .

A protective cover is provided on the side of the limit nut near the handwheel 1338, and the protective cover is fixedly connected to the seat tube 1336 to protect the limit nut, tapered roller bearing, etc. in the seat tube 1336. It is

A pad plate is installed between the limit nut and the tapered roller bearing along the length of the drive threaded rod 1337 to help the limit nut press the tapered roller bearing more tightly.

A second support flange cap is provided at the end of the seat tube 1336 near the supported rocket 8 . The opposite end of the support cylinder rod 1339 to the end connected with the drive threaded rod 1337 is passed through the second support flange cap and then connected with the end journal.

It should be understood that the method of driving the drive threaded rod 1337 by the handle wheel 1338 may be replaced by a motor drive method.

A second guide groove is formed in the inner wall of the seat tube 1336 between the support flange and the second support flange cap to prevent the support cylinder rod 1339 from rotating as it extends and retracts within the seat tube 1336. , a second position limiting block is provided in the second guide groove. The second position limiting block has one end fixedly connected to the support cylinder rod 1339 and the other end sliding in the second guide groove.

In one specific embodiment, as shown in FIG. 11, the end of the support cylinder rod 1339 connected to the end journal is provided with a hold-down cap. The holding cap adopts a cylindrical structure whose side walls can be opened and closed.

As shown in FIG. 11, the traction unit 134 includes an adjustment screw 1341, a first rod tension seat 1342, a second rod tension seat 1343, an adjustment nut 1344 and a lock nut 1345. As shown in FIG. The adjusting screw 1341 has one end connected to the pivot support seat 131 through the first rod tension seat 1342 and the other end connected to the end pivot seat through the second rod tension seat 1343 . An adjusting nut 1344 and a lock nut 1345 are fitted on the adjusting screw 1341 . By rotating the adjusting nut 1344, the length of the adjusting screw 1341 can be changed, and when the adjusting screw 1341 is adjusted to the predetermined length, the locking nut 1345 locks the adjusting screw 1341 so that the adjusting screw 1341 can be adjusted. You can prevent the length from changing.

Specifically, the first rod tension seat 1342 is fixedly connected to the rotation support seat 131 via a positioning pin 1346 .

The support lifting cylinder makes the end journal seat move up and down, and the adjustment screw 1341 pulls the end journal seat through the second rod tension seat 1343, so that the end journal seat supports different height positions. conform to Also, the end journals have some horizontal adjustability and can drive the rocket to achieve horizontal alignment.

Using the rocket erection arm, the self-propelled hydraulic modular trailer 2 and the launch pad 3 of the present application to transport and erect the rocket, the specific process of completing the entire rocket launch process is as follows: be.

S1, Transport Remotely control the self-propelled hydraulic modular trailer 2 so that its transport speed does not exceed 10 km/h.

As shown in FIG. 1, when the rocket is transported, the rocket main body is securely supported by the rocket supporting and holding device 11, the rocket auxiliary hydraulic supporting device 12, and the rocket rear fulcrum support adjusting device 13. , hold the rocket body tightly and limit the freedom of the rocket, and the stand-up assembly 7 is transported together with the stand-up arm body 1 .

S2, docking with the support seat As shown in FIG. The position of the standing arm body 1 is slowly adjusted by the self-propelled hydraulic modular trailer 2. Next, the height of the self-propelled hydraulic modular trailer 2 is slowly lowered, and the upright arm rotating shaft 6 is slowly lowered until it is lowered into the notch of the rotating half seat 4 . Finally, the upright arm rotation shaft 6 is pressed into the rotation half seat 4 by the rotation seat holding cover 41, and when the docking between the upright arm rotation shaft 6 and the rotation half seat 4 is completed, the upright arm body 1 is can rotate around the rotating half seat 4.

The raising hydraulic cylinder adjusting device 72 slowly lowers the raising hydraulic cylinder 71 and aligns the lower clevis of the raising hydraulic cylinder 71 with the hole of the raising hydraulic cylinder support seat 5 in accordance with the up-and-down motion of the self-propelled hydraulic modular trailer 2 . After concentricity, by manually inserting the erecting hydraulic cylinder pin shaft 73, the docking of the erecting hydraulic cylinder 71 and the erecting hydraulic cylinder support seat 5 is completed.

S3, Rocket raising As shown in FIG. 3, the hydraulic oil pipe connects the raising hydraulic cylinder 71 and the oil source, and connects other pipes on the raising arm body 1 that require hydraulic drive. The hydraulic system controls the raising hydraulic cylinder 71 to be gently extended, and the raising arm body 1 is gently raised by the pressure of the raising hydraulic cylinder 71 .

The force received by the erecting arm body 1 changes from the original support by the self-propelled hydraulic modular trailer 2 to the support by the erecting arm rotating shaft 6 and the erecting hydraulic cylinder 71, so that the erecting arm body 1 is deformed to some extent. In this case, the rocket rotates slightly counterclockwise around the rear fulcrum, and the rocket auxiliary hydraulic support device 12 adjusts the magnitude of the supporting force in real time to reduce the influence of the deformation of the standing arm body 1. Overcome and meet the requirements for rocket bearing capacity. At the same time, the rocket auxiliary hydraulic support system 12 is also provided with a maximum force limit to prevent overloading. During the erection process, the support force of the rocket auxiliary hydraulic support device 12 is adjusted in real time according to the theoretically required force, thereby preventing the uneven load of the rocket. Finally, when the rocket stands upright, the full weight of the rocket is supported by the rocket rear fulcrum support adjuster 13 .

S4, docking with launch pad 3 As shown in FIG. 3, by pushing the erecting hydraulic cylinder 71, the erecting arm main body 1 is slowly erected together with the rocket. Since the standing arm main body 1, the launch pad 3, and the rotary half seat 4 have a certain positional deviation, the rocket foot cannot be accurately aligned with the rocket foot support plate 31 on the launch pad 3 after the rocket is raised. Therefore, it is necessary to slowly adjust the position of the rocket foot by the rocket rear fulcrum support adjustment device 13 and accurately position and receive the rocket foot in accordance with the up-and-down motion of the rocket foot support plate 31 . Then, the windbreak holding device 32 starts to operate to hold down the rocket foot, so that the support for the rocket changes to the support by the launch pad 3.

S5, unlocking of rocket As shown in FIG. 4, when the docking of the rocket to the launch pad 3 is completed, the rocket rear fulcrum support adjustment device 13 is slowly opened, the restraint on the rocket is released, and the embracing arm unit is slowly opened. , the rising arm body 1 is slowly tilted rearward by about 5°, and the rocket charging connector is pulled through the connector steel cable 9 to prepare for launch.

S6, 0s backward tilt After the rocket propellant filling is completed, about 30 minutes before the launch of the rocket, the lock of the windbreak holding device 32 is released, and the final restraint on the rocket is released. After the rocket is ignited at 0s, the lock of the rocket charging connector is released, the erecting hydraulic cylinder 71 is contracted, the erecting arm body 1 is quickly tilted backward, and the movement of the connector steel cable is driven, and the rocket charging connector is pulled. Avoid the launch drift space of the rocket by double action with gravity.

S7, Rocket Filling Connector Falling Protection The connector protection net 19 provided on the standing arm body 1 prevents the rocket filling connector from rebounding after it is captured, and interferes with the rocket filling connector during takeoff. and conflicts can be avoided.

S8, Horizontal Recovery and Withdrawal After completing the launch of the rocket, the self-propelled hydraulic modular trailer 2 is driven to a predetermined location, the erecting arm main body 1 is tilted again to the horizontal state, the rotating seat holding lid 41 is loosened, and the erecting hydraulic cylinder is activated. The pin shaft 73 is pulled out, the hydraulic hydraulic cylinder 71 is pulled up by the hydraulic cylinder adjustment device 72, and the rotary shaft 6 of the rotary arm is higher than the notch of the rotary half seat 4. 2 is slowly raised to cause the self-propelled hydraulic modular trailer 2 to leave the launch area with the standing arm body 1 and return to the workshop to complete the entire launch process.

By using the rocket erector arm of the present application, it is possible to safely transfer and erect a medium-sized liquid rocket in the "three horizontal" test and launch modes, and to eliminate the extra force generated on the rocket due to the structural deformation of the erector arm body 1. During the rocket transfer and docking process, the rocket can be adjusted with multiple degrees of freedom, effectively reducing the difficulty of docking and adjustment during the rocket transfer, and ensuring that the rocket stands up after arriving at the launch site. , the rocket can be docked to the launch pad 3 to provide mounting space for air conditioning blast, refill and gas supply distribution lines.

The rocket riser arm of the present application eliminates the umbilical arm of conventional fixed launch towers. In addition, through the 0s rapid backward tilting movement of the rocket erecting arm of the present application, it effectively avoids the take-off and drift space of the rocket, and realizes drop-off traction and protection of the rocket charging connector. The rocket erector arm of the present application integrates multiple functions into one, which can greatly shorten the launch time of the rocket and improve the launch efficiency.

The above are only exemplary specific embodiments of the present application, and on the premise that they do not depart from the concept and principle of the present application, any equivalent changes and modifications made by those skilled in the art will fall within the protection scope of the present application. shall belong to

1 standing arm body,
11 rocket support and holding device,
111 brackets,
112 rotation unit,
1121 pivot shaft;
1122 support plate;
1123, position limit block,
113 guidance unit,
1131 guide rail,
1132 slider,
1133 stopper,
114 drive unit,
1141 threaded rod,
1142 drive seat;
1143 hydraulic motor,
115 holding arm unit,
1151 large holding arm,
1152 first holding clamp;
1153 small holding arm,
1154 second holding clamp;
116 power unit,
1161 first hydraulic cylinder,
1162 second hydraulic cylinder,
12 Rocket Auxiliary Hydraulic Support Device,
121 hydraulic system,
1210 hydraulic cylinder tube,
1211 hydraulic cylinder rod,
1212 stroke position limiting sleeve;
1213 hydraulic cylinder pin shaft,
1214 electromagnetic switching valve,
1215 Accumulator,
1216 pressure sensor,
1217 safety valve;
1218 proportional overflow valve,
1219 check valve;
122 guide support cylinder,
1221 guide support cylinder tube,
1222 guide support cylinder rod,
1223 cylinder rod position limit block,
1224 drive hydraulic cylinder seat,
123 elastic support assembly;
1231 position limit supporter,
1232 flange support seat;
1233 carrier pivot seat,
1234 spring seat,
1235 position limit support spring;
1236 first pivot pin shaft,
1237 spring position limit block,
124 Rocket Carrier,
13 rocket rear fulcrum support adjustment device,
131 pivot support seat,
132 rotary pushing unit,
1321 first connection plate,
1322 second connection plate,
1323 second pivot pin shaft,
1324 position limiting support block,
1325 drive cylinder,
133 support unit;
1331 support cylinder tube,
1332 lifting threaded rod,
1333 Worm,
1334 worm wheel,
1335 lift cylinder rod,
1336 seat tube,
1337 drive threaded rod,
1338 steering wheels,
1339 support cylinder rod,
134 traction unit,
1341 adjusting screw,
1342 first rod tension seat,
1343 second rod tension seat,
1344 adjusting nut,
1345 lock nut,
1346 locating pin,
14 air conditioning ducts,
15 liquid oxygen filling line,
16 methane fill line,
17 gas supply lines,
18 operating platform,
19 connector guard net,
2 self-propelled hydraulic modular trailer,
3 launch pads,
31 rocket foot support platen,
32 windbreak holding device,
4 pivoting half seat,
41 rotating seat pressing lid,
5 standing hydraulic cylinder support seat,
6 standing arm rotation axis,
7 standing assembly;
71 standing hydraulic cylinder,
72 upright hydraulic cylinder adjuster,
73 standing hydraulic cylinder pin shaft,
8 Rocket,
9 Connector steel cable

Claims (12)

A rocket standing arm,
A rocket supporting and holding device, a rocket auxiliary hydraulic support device, and a rocket rear fulcrum support adjusting device are installed in order on the standing arm body along the length direction of the standing arm body. ,
The rocket support and embracing device is configured to adjustably support and embrace the forward end of the supported rocket, and the rocket auxiliary hydraulic support device is configured to provide floating support for the intermediate portion of the supported rocket. The rocket rear fulcrum support adjustment device is configured to adjustably support the rear end of the rocket, and to adjust the rotation of the rocket when it stands up and the positioning and docking of the rocket and the launch pad. A rocket standing arm characterized by: The rocket support and embracing apparatus includes a support assembly and a embracing assembly, the support assembly configured to support a rocket and extending along the horizontal radial direction of the supported rocket to the bottom of the upright arm body. wherein the holding assemblies are installed above both sides of the standing arm body and configured to hold a rocket;
The support assembly includes a bracket, a rotation unit, a guide unit and a drive unit, wherein the bracket is mounted on the rotation unit, and the rotation unit horizontally rotates the bracket by a predetermined angle. wherein the rotating unit is installed on the guide unit and the drive unit, and the guide unit is installed on the bottom of the standing arm main body along the horizontal radial direction of the rocket to be supported. configured to guide movement of said bracket along a horizontal radial direction, said drive unit being configured to drive said bracket to move along a radial direction of a rocket supported by said rotating unit; 2. The rocket riser arm of claim 1, wherein: The holding assembly includes two holding arm units installed facing each other above both sides of the standing arm body and configured to hold the upper half of the rocket, and a power unit, a power unit configured to power the embracing arm units such that the two embracing arm units contract to embracing the rocket;
The holding arm unit includes a large holding arm, a first holding clamp, a small holding arm and a second holding clamp, and the first holding clamp is inside the large holding arm. One end of the large holding arm is connected to the standing arm body, the other end is connected to one end of the small holding arm, and the second holding clamp is attached to the other end of the small holding arm. is connected and
The power unit includes a first hydraulic cylinder and a second hydraulic cylinder, one end of the first hydraulic cylinder is connected to the standing arm body, and the other end is connected to the large holding arm. is configured to drive the large holding arm, the second hydraulic cylinder has one end connected to the large holding arm and the other end connected to the small holding arm; 3. The rocket erector arm of claim 2, wherein a cylinder is configured to drive the small hugger arm. the rocket auxiliary hydraulic support device includes a hydraulic system, a guide support cylinder, a resilient support assembly, and a rocket carrier;
The hydraulic system is configured to drive the guide support cylinder to generate a vertical support force, an elastic support assembly is provided above the guide support cylinder, and an elastic support assembly is provided above the elastic support assembly. a rocket carrier mounted in the, said resilient support assembly configured to provide floating support for said rocket carrier, said rocket carrier configured to support a rocket;
The elastic support assembly includes a position limiting supporter, a flange support seat, a carrier pivot seat, a spring mounting seat and a position limiting support spring,
The position limiting supporter is installed at the top of the guide support cylinder, and the flange support seat is installed at the center thereof, and the flange support seat is connected to the carrier rotation seat through a first rotation pin shaft. the spring mounting seat is fixedly installed on the uppermost surface of the position limiting supporter and positioned between the position limiting supporter and the top plate of the carrier pivot seat,
The position-limiting support spring is installed in the spring mounting seat, the spring mounting seat is configured to guide the position-limiting support spring, and one end of the position-limiting support spring is fixedly connected to the spring mounting seat. , the other end is in contact with the top plate of the carrier pivot seat, and the position limiting support spring is configured to limit free movement of the rocket carrier in the vertical direction. 4. A rocket erector arm according to 1 or 2 or 3. The hydraulic system includes a hydraulic cylinder, a power assembly and an oil source, the oil source being in a power assembly connected to the hydraulic cylinder via a rod-side cavity oil pipe and a head-side cavity oil pipe. supplying hydraulic fluid, said hydraulic cylinder being connected with a guiding and supporting cylinder;
The hydraulic cylinder includes a hydraulic cylinder tube, a hydraulic cylinder rod, a stroke position limiting sleeve and a hydraulic cylinder pin shaft, the hydraulic cylinder rod being slidably mounted within the hydraulic cylinder tube. and the stroke position limiting sleeve is fitted over the hydraulic cylinder rod along the length of the hydraulic cylinder rod to limit the stroke of the hydraulic cylinder rod within the hydraulic cylinder tube. and a top end of the hydraulic cylinder rod is connected to the guide support cylinder via the hydraulic cylinder pin shaft. the power assembly includes a solenoid switching valve, an accumulator, a pressure sensor, a safety valve, a proportional overflow valve and a check valve;
The oil source is connected to the oil inflow chamber of the electromagnetic switching valve via the check valve, the oil return chamber of the electromagnetic switching valve is connected to the oil tank, and the first working oil chamber of the electromagnetic switching valve is connected to the head-side cavity of the hydraulic cylinder via a head-side cavity oil pipe, and the second working oil chamber of the electromagnetic switching valve is connected to the rod-side cavity of the hydraulic cylinder via a rod-side cavity oil pipe. cage,
An accumulator and a pressure sensor are connected to a connecting pipe between the check valve and the oil inflow chamber of the electromagnetic switching valve. 6. The rocket erecting arm according to claim 5, wherein a safety valve and a proportional overflow valve are connected in parallel between the tank and the connecting line of the oil return chamber of the electromagnetic switching valve. The rocket rear fulcrum support and adjustment device includes a pivot support seat, a rotary pushing unit, a support unit and a traction unit, and the rotary pushing unit is installed between the rotary support seat and the standing arm body. and after the rocket is changed to be supported by the launch pad, the pivot support seat is pushed and rotated to create a take-off space for the rocket, and the support unit is installed on the pivot support seat, The towing unit is configured to support the rear fulcrum of the rocket, and the towing unit is connected to the pivoting support seat and the supporting unit, and in the rising process of the rocket, the support of the supporting unit to the rocket is supported by the towing unit. 4. A rocket erector arm according to claim 1, 2 or 3, which is switched stepwise to towing the rocket. the rotary pushing unit includes a second pivot pin shaft, a position limiting support block and a driving cylinder;
The rotating support seat is hingedly connected to the erecting arm body through the second rotating pin shaft, the position limiting support block is configured to determine the position of the rotating support seat, and the driving cylinder is configured to determine the position of the rotating support seat. 8. The rocket erector arm of claim 7, wherein the pivot support seat is configured to be driven to rotate about the second pivot pin shaft. the support unit includes a support elevating cylinder and an end pivot seat, one end of the support elevating cylinder is fixedly connected to the erecting arm body, and the other end is fixedly connected to the end pivot seat;
The longitudinal center axis of the support lift cylinder is perpendicular to the longitudinal center axis of the end shaft neck seat, and the support lift cylinder is aligned with the end portions along the length of the support lift cylinder. 8. The end pivot seat is configured to adjust the displacement of the end pivot seat, wherein the end pivot seat is configured to support a rocket along the width direction of the upright arm body. The rocket erector arm described in . the traction unit includes an adjustment screw, a first rod tension seat and a second rod tension seat;
The adjusting screw has one end connected to the rotation support seat through the first rod tension seat and the other end connected to the end pivot seat through the second rod tension seat, and the adjusting screw 8. The rocket riser arm of claim 7, wherein an adjustment nut and a lock nut are fitted thereon. An upright arm pivot shaft is installed at the end of the upright arm body near the end of the supported rocket, and the upright arm pivot shaft allows the upright arm body to pivot about the pivot half seat. cooperating with a pivoting half-seat located on the ground near the launch pad to enable
The stand-up arm body is provided with a stand-up assembly near the rocket rear fulcrum support adjustment device, the stand-up assembly cooperating with a ground-mounted stand-up hydraulic cylinder support seat near the launch pad. 4. The rocket erecting arm according to claim 1, wherein the erecting arm body is pushed and erected. The erecting assembly includes an erecting hydraulic cylinder, an erecting hydraulic cylinder adjusting device, and an erecting hydraulic cylinder pin shaft. an upper fulcrum of the erecting hydraulic cylinder is hinge-connected to the erecting arm body, a lower clevis of the erecting hydraulic cylinder is hinge-connected to the erecting hydraulic cylinder support seat via the erecting hydraulic cylinder pin shaft, The raising hydraulic cylinder adjusting device is configured to pull the raising hydraulic cylinder such that a lower clevis of the raising hydraulic cylinder can be hingedly connected to the raising hydraulic cylinder support seat. 12. A rocket erector arm according to Item 11.

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