KR101644293B1

KR101644293B1 - Launcher stage transport and erection unit

Info

Publication number: KR101644293B1
Application number: KR1020150190724A
Authority: KR
Inventors: 조남경; 김성혁; 전준수; 김성룡; 한영민
Original assignee: 한국항공우주연구원
Priority date: 2015-12-31
Filing date: 2015-12-31
Publication date: 2016-08-01

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a launching stage transferring and standing device. The launching stage lifting and standing apparatus according to an embodiment of the present invention includes a support lug which is carried by a carrier to a launching platform or a stage testing facility and has a boss at its end to be fixed to the floor of the launching platform or stage testing facility, A base unit arranged on both sides of the base unit and hinged to the lower unit so as to be rotatable, and a base unit arranged on the inner side of the base beam and spaced apart from each other by a support beam, An upper unit including two slide rails, a standing unit coupled to the upper and lower units such that both ends thereof are pivotally coupled to raise the upper unit, slidably connected to the first slide rails to support the front end of the launch vehicle unit, A first sliding unit connected to the first slide rail, a second sliding rail connected to the second slide rail, A second sliding unit sliding along the ride rail, a connecting frame connecting the first and second sliding units to be engaged with each other, and a disk-shaped adapter ring connected to the rear end of the launching unit end, And a stator provided on the support body and equipped with a support frame installed on a launching platform or a test facility. Therefore, there is an aspect of easy operation and maintenance for erecting the launch vehicle in the launching platform or the test equipment.

Description

[0001] LAUNCHER STAGE TRANSPORT AND ERECTION UNIT [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a launching stage transferring and standing device. And more particularly, to a launching stage transferring and standing device for transferring an end of a projectile to a launching platform or a test facility for standing installation.

A projectile is, for example, a sort of transportation machine for sending a satellite, spacecraft, or the like to a desired space, and is largely composed of payload fairing and at least one or several stages. For example, a space launch vehicle assembles a satellite inside a stage, and protects the satellite from external environments such as heat and noise generated during a flight through the atmosphere by attaching a pairing, which is a protective cover, And is mounted on the outside.

Each stage is composed of a propulsion engine such as an oxidizer tank, a fuel tank, an engine, and an induction control device. When the lower stage is ignited first and the oxidant is exhausted by the fuel, the stage is separated from the space launch vehicle, The next stage of the upper part is ignited. Such a launching stage is tested at each stage in a test facility, and after confirming its performance, it is assembled as a launching vehicle if there is no problem.

On the other hand, the launching end is laid on the launching platform by the standing device installed on the launching platform after being transferred to the launching platform in a state of being laid down in parallel with the ground on the transfer device. That is, after the launching unit is transferred to the launching unit through a transporting unit including a mounting unit for supporting the launching end in a horizontal direction and a moving cart for transporting the mounting unit, And the standing device sets the launching object stage and the transfer device at the same time so that the launching object stage is erected on the launching platform. This will be described in detail with reference to the accompanying drawings.

FIGS. 1A to 1D are schematic views showing a process of erecting a launching stage on a launching platform by using a launching stage transfer device and a standing device according to the related art.

As shown in Fig. 1A, the stand-by device 3 according to the prior art is installed in the launching platform 2. Fig. The standing apparatus 3 is constituted by upper and lower standing units 3a and 3b connected to each other by a hinge so as to be rotatable with respect to each other and the cylinder apparatus 2a installed on the launching table 2 and the lower standing unit 3b are connected and standing up. The transporting device 4 includes a mounting unit 4a for supporting the launching end 1 in parallel with the ground and binding both ends of the launching end 1 and a moving carriage 4b disposed below the mounting unit 4a, (4b) for transporting the launching stage (1) to the launching platform (2).

As shown in FIG. 1B, the transfer device 4 according to the prior art transfers the mounting unit 4a to the launching platform 2 using the moving carriage 4b and then connects the mounting unit 4a to the standing device 3. As shown in FIG. The mounting unit 4a is coupled between the upper and lower standing units 3a and 3b so that the upper standing unit 3a supports the launch vehicle 1 .

1C to 1D, the standstill apparatus 3 according to the prior art stands by the driving of the cylinder apparatus 2a, so that the launch vehicle stage 1 and the mounting unit 4a are vertically erected at the same time, 1 is mounted on the launching platform 2 and the upper unit 3a is held in the standing position by the cylinder unit 2a when the standing unit 1 is completely mounted on the lower standing unit 3b rotate to return to the home position, thereby detaching the mounting unit 4a from the launch vehicle end 1.

However, since the standing body transfer device 4 and the standing device 3 according to the prior art are of a detachable structure in which the standing device 3 and the transfer device 4 are separately constructed, the mounting unit 4a is connected to the standing device 3 (3) is installed on the launching platform (2), so that the standing device (3) is installed on the launching platform (2) 3).

KR 2013-0006083 A

SUMMARY OF THE INVENTION An object of the present invention is to provide a launching stage feeding and standing device in which a detachable structure is improved to an integral structure.

In order to achieve the above object,

According to an aspect of the present invention, there is provided a launching stage transferring and standing apparatus comprising: a transporter;

A support lug (Support Leg) which is carried to a launching platform or stage test facility installed on the ground by the carrier and has a boss at its end to be fixed to the floor of the launching platform or the test equipment, A lower unit including an installed base frame;

A base beam disposed at an upper portion of the lower unit and hinged to the lower unit so as to be rotatable, and a support beam disposed inside the base beam through a support beam, An upper unit including two slide rails;

An erecting unit having one end rotatably coupled to the lower unit and the other end pivotably coupled to the upper unit to stand the upper unit;

A first sliding unit slidably connected to the first slide rail and supporting and engaging the front end of the launching end;

A second sliding unit connected to the second slide rail and sliding along the second slide rail via the sliding drive unit;

A connecting frame for connecting the first sliding unit and the second sliding unit and connecting them together; And

A conical support which is connected to a disk-shaped adapter ring connected to the rear end of the launching end and at least a part of which is fastened to the sliding frame, and a support frame provided on the launching or testing equipment A holding system including a frame;

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Further, in the launching and stopping apparatus according to an embodiment of the present invention, the carrier is provided as a front and rear carriers, and a guide support for guiding the braking position of the carrier is installed on the launching platform or the stage testing equipment May be provided on the floor.

In addition, the first slide unit may include a base block slidably connected to the first slide rail;

An upper support installed on the base block for supporting a front end of the launching end; And

A gripper rotatably provided at both ends of the upper support so as to rotate in association with the rotation driving unit and having a jig for binding the front end to the distal end;

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In addition, the second slide unit may include a runner block connected to the second slide rail and sliding along the second slide rail via the slide drive unit,

A frame work provided at an upper portion of the runner block; And

A sliding frame provided at an upper portion of the framework;

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In the apparatus for transporting and standing the launch vehicle according to an embodiment of the present invention, the boss may be provided on the support lug so as to be able to be raised and lowered.

Also, in the launching and terminating apparatus for the stage launching and standing apparatus according to an embodiment of the present invention, the jig may be rotatably provided on the gripper.

According to another aspect of the present invention, there is provided a launching and stopping device for a launch vehicle, comprising: nonslip prevention means attached to an upper surface of the upper support and a bottom surface of the jig;

As shown in FIG.

These solutions will become more apparent from the following detailed description of the invention based on the attached drawings.

Prior to this, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor should appropriately define the concept of the term in order to describe its invention in the best way possible It should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

According to the embodiment of the present invention, by providing the unitary stage launching and standing apparatus, it is easy to carry out the work for erecting the launching stage to the launching platform or the test equipment, and maintenance is easy.

FIGS. 1A to 1D are schematic views showing a process of erecting a launching stage to a launching platform by using a launching stage transfer device and a standing device according to the related art.
FIG. 2 is a front view showing a launching stage transferring and standing device according to an embodiment of the present invention; FIG.
3 is an enlarged cross-sectional view of a main part of a launching stage transfer and standing device according to an embodiment of the present invention.
FIG. 4 is a plan view showing a launching stage transferring and standing device according to an embodiment of the present invention; FIG.
5 is a plan view showing an upper unit according to an embodiment of the present invention;
6 is a cross-sectional view taken along the line A-A 'in FIG.
7 is an enlarged cross-sectional view showing a coupling relationship of a first sliding unit according to an embodiment of the present invention.
FIG. 8 is a side view showing a launching stage transferring and standing device according to an embodiment of the present invention; FIG.
FIG. 9 is a front view showing a state where a launching end is installed upright on a launching base by using a launching end stop and standing device according to an embodiment of the present invention; FIG.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified, and that other specific features, regions, integers, steps, operations, elements, components, and / And the like.

Although not defined differently, all terms including technical terms and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Prior to the earnest explanation, the launching stage feeding and standing device according to an embodiment of the present invention allows the launching stage to stand upright on the launching platform or the test facility, but in the following description, it is described that the launching platform is installed in the launching platform. I will reveal. Of course, those skilled in the art can easily mount the launch vehicle to the test equipment through the description provided on the launcher.

As shown in FIG. 2, the launching and terminating apparatus 10 according to an embodiment of the present invention includes upper and lower units 30 and 20 connected to each other through a hinge 14, The first and second sliding units 50 and 60 integrated with the upper unit 30 and the first and second sliding units 50 and 60 integrally formed with the units 30 and 20 and for transporting them from the hangar to the launching platform 2, And a carrier 11 for the carrier.

The carrier 11 is formed as a hexahedron having a size capable of easily supporting the upper and lower units 30 and 20, and a moving wheel 11a is arranged at a lower portion thereof. Such a carrier 11 can be operated in an unmanned or manned manner and can be composed of a front carrier 11b for supporting the front of the upper and lower units 30 and 20 and a rear carrier 11c for supporting the rear have. Here, a guide support 12 for guiding the braking position of the carrier 11 when the carrier 11 is operated in an unmanned manner may be provided at the bottom of the launcher 2.

That is, for example, the sensor unit 13 is built in the guide support 12 and the carrier 11, and the control unit 11d is built in the carrier 11, The unmanned carrier 11 can be easily braked to a predetermined position through the control of the operation of the unmanned vehicle 11d. The guide support 12 is provided with a damping portion 12a which can be applied with a spring or a rubber so as to cushion an impact caused by braking.

The upper and lower units 30 and 20 fasten the first metal member 14a of the hinge 14 to the lower unit 20 and the second metal member 14b to the upper unit 30, And are integrated. Then, the upper unit 30 is rotated in one direction about the hinge 14 so that the launching end 1 stands. The lower unit 20 is mounted on the upper surface of the carrier 11 and is formed by bending a beam of a metallic material into a shape of a letter or by bending a metal plate to form a base frame 21 And a support lug 22 having a boss 23 at its distal end so that the base frame 21 can be easily fixed to the bottom of the launching base 2. [

The support lugs 22 are arranged on both sides of the base frame 21, and six support lugs 22 are arranged symmetrically with respect to each other. Here, the boss 23 provided at the end of the support lug 22 and fixing the lower unit 20 to the bottom of the launching platform 2 formed of concrete, for example, Respectively.

3, the boss 23 has a structure in which a stack bolt is built in the support lug 22 and a ball joint 23a is screwed to the stack bolt 22a And it is also possible to rotate the ball joint 23a at a predetermined angle around the ball joint 23a by assembling a slipper 23b having a flat bottom surface in the ball joint 23a. Therefore, the lower unit 20 can be easily fixed to the floor of the launching base 2 through the bosses 23.

2 and 4, the upper unit 30 is disposed at the upper portion of the lower unit 20 and is operatively connected to the hinge 14 (not shown) when the standing unit 40, which is operable with a normal hydraulic cylinder, ). The standing unit 40 is constituted by a pair and is symmetrically disposed so as to face each other. One end of the standing unit 40 is pivotally coupled to the base frame 21 of the lower unit 20, And the upper unit 30 is rotated in one direction to stand up.

As shown in FIGS. 5 to 6, the upper unit 30 may be formed by bending a beam of a metal so as to have a size corresponding to that of the lower unit 20, or by refracting a metal plate And the first and second slide rails 33 and 34 disposed through the support beam 32 inside the base beam 31. The first and second slide rails 33, The first and second slide rails 33 and 34 are spaced from each other and connected to the first and second sliding units 50 and 60, respectively.

That is, four support beams 32 are crossed with the longitudinal direction of the base beam 31 by welding or the like. In the same manner as the longitudinal direction of the base beam 31 at the end of the support beam 32, Of the rail. The first and second slide rails 33 and 34 can be easily carried out by applying this to the base beam 31 at four positions. The first slide rail 33 is disposed on the front side of the upper unit 30 and connected to the first sliding unit 50 and the second slide rail 34 is disposed on the rear side of the upper unit 30 And the second sliding unit 60 is connected thereto.

In addition, the base beam 31 can be structurally reinforced by arranging the cross bars 35 in a range where the base beams 31 do not interfere with the first and second slide rails 33 and 34, So that the sliding drive unit 61 described below can be easily installed.

The first sliding unit 50 is slidably connected to the first slide rail 33 to be integrated with the upper unit 30.

For example, the base block 51 includes a base block 51 connected to the first slide rail 33 to slide along the first slide rail 33. The first sliding unit 50 supports and engages the front end (1a in FIG. 2) of the end of the launching unit. To this end, the first sliding unit 50 is installed on the base block 51, And a rotary drive part 53 which is rotatably provided at both ends of the upper support 52 and which is realized by a combination of a normal actuator, a lever and a draw bar, And a gripper 54 having a jig 55 for binding the front end portion 1a at an end thereof. More specifically, it is as follows. Prior to this, the launch vehicle stage 1 is divided into a rear end portion 1b including the nozzle 1c and a front end portion 1a located on the opposite side of the rear end portion 1b with respect to the nozzle 1c do.

7 to 8, the first sliding unit 50 is connected to the upper portion of the first slide rail 33 via the saddle 51a so that the upper surface of the base block 51 sliding in one direction The upper support 52 supports the front end 1a of the launch vehicle 1 via the guide bushing 52b and the guideway 52a which is interpreted as a normal axis.

The upper surface of the upper support 52 is formed with substantially the same curvature as that of the front end portion 1a of the launch vehicle end 1 to thereby easily support the front end portion 1a. The rotary drive part 53 provided on the upper support 52 for rotating the gripper 54 is provided with a lever 53a on one side of the upper support 52 so as to be rotatable, The actuator 53b is connected to the upper end in the vertical direction and the drawbar 53c is connected to the lower end of the lever 53a in the horizontal direction.

Therefore, by connecting the drawbar 53c to the gripper 54 rotatably provided at both ends of the upper support 52, the gripper 54 is rotated in association with the rotation of the rotation drive portion 53, And the front end portion 1a of the launch vehicle end 1 is bound to the jig 55 which is located at the front end.

The gripper 54 is formed so as to have a rectangular shape in its longitudinal section using a metal plate, and is rotatably installed on both ends of the upper support 52. The bottom surface of the jig 55 is formed at the distal end of the gripper 54 so as to have substantially the same curvature as that of the front end 1a of the launch vehicle end 1. The jig 55 has an axle 54a at the end of the gripper 54, And is rotatably provided on the gripper 54 through the axle 54a so that the front end 1a of the launch vehicle end 1 can be more easily bound.

The jig 55 also has the effect of making it easier to bind the front end portion 1a of the launch vehicle end 1 by attaching the anti-slip means 55a which can be made of rubber or the like to the floor surface. The non-slip means 55a is also applied to the upper surface of the upper support 52 which supports the front end portion 1a so that the upper and lower portions of the front end portion 1a cooperate with each other.

6, the second sliding unit 60 is connected to the second slide rail 34 to be integrated with the upper unit 30, and a normal hydraulic cylinder is attached to the cross bar 35 of the upper unit 30 And is slid along the second slide rail 34 via the sliding drive unit 61 installed and installed.

The second sliding unit 60 includes a runner block 62 connected to the second slide rail 34 and sliding along the second slide rail 34 via the sliding drive unit 61, A frame 63 provided on the upper part of the block 62 and a sliding frame 64 provided on the upper part of the frame 63. More specifically, it is as follows.

That is, the second sliding unit 60 is installed in the same manner as the first sliding unit 50. A guide path and a bushing are connected to the upper part of the runner block 62 which is connected to the upper part of the second slide rail 34 via a saddle and slides along the first slide rail 34 in one direction, And a sliding frame 64 is installed on the frame 63 in the same manner.

The runner block 62 is connected to the other end of the sliding drive unit 61 connected to the cross bar 35 of the upper unit 30 so that the runner block 62 is slidably engaged with the sliding drive unit 61. Here, the runner block 62 and the base block 51 of the first sliding unit 50 are connected to each other through a connecting frame 65, which is a kind of horizontal bar, The sliding operation is performed in conjunction with the block 62. [ That is, for example, both ends of the connecting frame 65 are fixed to the runner block 62 and the base block 51 by welding or the like, respectively, so that they can be easily connected to each other.

9, in the launching stage feeding and standing device 10 according to the embodiment of the present invention, when the launching stage 1 is installed on the launching platform 2, the second sliding unit 60 descends, The first sliding unit 50 which binds the front end 1a of the launch vehicle body 1 is mounted on the floor of the vehicle body 2 via the connecting frame 65, 2 sliding unit 60, thereby allowing the launch vehicle body 1 to easily stand up. This will be described in more detail below.

2, the stator 70 for supporting the rear end portion 1b of the launching end 1 has a disk-shaped adapter ring 71 fitted into the rear end portion 1b, At least a part of the support body 72 and the lower part of the support body 72 are fastened to the sliding frame 64 of the second sliding unit 60 by connecting the front surface of the conical support body 72 to one surface of the ring 71, 2 sliding unit (60). A support frame 73 is provided on the rear surface of the support body 72 to seat the stator 70 on the floor of the launching platform 2.

The adapter ring 71 has an inner diameter substantially equal to the outer diameter of the rear end portion 1b of the launch vehicle end 1 so that the adapter ring 71 can be easily fitted to the rear end portion 1b. When the reinforcing bar 1d is formed to reinforce the rigidity of the launch vehicle 1, grooves (not shown) are formed to accommodate the reinforcing bar 1d.

The support 72 has a conical shape in which a plurality of rod bars 72a are arranged in a radial inclination and at least one rod bar 72a is connected to a bolt 72b. The bolt 72b connected to one side of the ring 71 is fastened to the sliding frame 64 and slides along the second sliding unit 60. [ The fastening of the sliding frame 64 and the latch 72b can be easily carried out by a groove and a projection.

The support frame 73 is provided on the left rear surface of the supporting member 72 in the figure, and is installed on the bottom of the launching base 2 when the supporting frame 73 descends after standing. That is, for example, bolting is performed along the periphery of the support frame 73 in a state in which the support frame 73 is seated on the floor of the launching platform 2, so that the installation can be facilitated and a rigid installation state can be maintained do.

In this case, the launching stage transferring and standing apparatus 10 according to an embodiment of the present invention can be operated as follows. It should be noted, however, that this is intended to help the understanding of the transport and standing device 10 and is merely an example associated with operation.

The projectile ending and standing device 10 is configured such that the front end portion 1a of the launch vehicle end portion 1 is coupled to the first sliding unit 50 while the projecting end portion 1 is placed on the upper unit 30, ) To the launching base 2 by the carrier 11 in a state where the stator 70 is connected to and supported by the carrier 11.

9, the launching unit feeding and standing apparatus 10 drives the standing unit 40 in a state in which the boss 23 is pulled out from the respective support lugs 22 and placed on the floor of the launching platform 2 The upper unit 30 is vertically erected with the hinge 14 as the center. The first sliding unit 50 which binds the front end portion 1a of the launch vehicle end 1 descends through the connecting frame 65 in conjunction with the lowering of the second sliding unit 60, The stator 70 supporting the rear end 1b of the launch vehicle 1 is erected on the floor of the launching platform 2.

That is, the stator 70 is mounted on the floor of the launching platform 2 with its edges fastened and fixed so that the launching platform 1 can easily be raised and raised on the launching platform 2. At this time, the nozzle 1c of the launch vehicle 1 is accommodated in the combustion space 2b formed at the bottom of the launching platform 2. [ The state in which the front end 1a of the launch vehicle end 1 is released is canceled and the transferring and standing apparatus 10 is retracted from the launching base 2 through the carrier 11, 50) 60 can be separated from the launch vehicle 1 and stand by in a safe position.

Therefore, according to the embodiment of the present invention, by providing the unitary structure transfer and standing apparatus 10, not only the installation work for erecting the launch vehicle 1 in the launching platform 2 is easy, The device 10 can stand at a safe position far from the launch vehicle stage 1, thereby facilitating maintenance.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification or improvement is possible.

It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

1: launch vehicle end 1a: front end
1b: rear end 1c: nozzle
1d: Reinforcement Flesh 2: Launcher
2a: cylinder device 2b: combustion space
3: standing device 3a: upper standing unit
3b: Lower standing unit 4: Feeding device
4a: Mounting unit 4b: Moving carriage
10: transfer and standing device 11: carrier
11a: a moving wheel 11b: a front carrier
11c: a rear carrier 11d:
12: Guide support 12a: Damping part
13: sensor part 14: hinge
14a: first hardware 15b: second hardware
20: lower unit 21: base frame
22: Support lug 22a: Stack bolt
23: Boss 23a: Ball joint
23b: Slipper 30: Upper unit
31: Base beam 32: Support beam
33: first slide rail 34: second slide rail
35: crossbar 40: standing unit
50: first sliding unit 51: base block
51a: Birds 52: Upper support
52a: guideway 52b: bushing
53: Rotation drive unit 53a: Lever
53b: Actuator 53c: Drawbar
54: Gripper 54a: Axis
55: Jig 55a: Slip prevention means
60: second sliding unit 61: sliding driving unit
62: Runner block 63: Framework
64: sliding frame 70: stator
71: adapter ring 72: support
72a: rod bar 72b: bolt
73: Support frame

Claims

A carrier;
A lower unit including a support lug which is carried by the carrier to a launching platform or a stage testing facility and has a boss at an end to be fixed to the floor of the launching platform or stage testing facility and a base frame on which the support lug is arranged on both sides;
An upper unit disposed on the lower unit and including a base beam hingedly connected to the lower unit so as to be rotatable and first and second slide rails disposed through the support beam inside the base beam and spaced apart from each other;
A standing unit coupled to the lower unit such that one end of the lower unit is rotatable and the other end thereof is rotatably coupled to the upper unit to stand the upper unit;
A first sliding unit slidably connected to the first slide rail and supporting and engaging the front end of the launching end;
A second sliding unit connected to the second slide rail and sliding along the second slide rail via a sliding drive unit;
A connecting frame connecting and connecting the first sliding unit and the second sliding unit; And
A conical support which is connected to a disk-shaped adapter ring connected to the rear end of the launch vehicle end and at least a part of which is fastened to the second sliding unit, and a support frame provided on the support body, A stator including;
And a starter unit.

The method according to claim 1,
Wherein the carrier is provided as a front and rear carrier and a guide support is provided at the bottom of the launching platform or the test equipment so as to guide the braking position of the carrier operating in an unmanned manner.

The method according to claim 1,
The first sliding unit includes: a base block slidably connected to the first slide rail;
An upper support installed on the base block for supporting a front end of a launching end; And
A gripper rotatably provided at both ends of the upper support to pivotally rotate in conjunction with the pivotal driving unit and having a jig for binding the front end to the distal end;
And a starter unit.

The method according to claim 1,
The second sliding unit includes a runner block connected to the second slide rail and sliding along the second slide rail via a sliding drive unit;
A framework provided on an upper portion of the runner block; And
A sliding frame provided at an upper portion of the framework;
And a starter unit.

The method according to claim 1,
And the boss is provided on the support lug so as to be able to be raised and lowered.

The method of claim 3,
And the jig is rotatably provided on the gripper.

The method of claim 3,
Anti-slip means attached to an upper surface of the upper support and a bottom surface of the jig;
Further comprising: a launching and stopping device for starting and stopping the launching vehicle.