WO2021088814A1 - 一种火箭起竖臂 - Google Patents

一种火箭起竖臂 Download PDF

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Publication number
WO2021088814A1
WO2021088814A1 PCT/CN2020/126216 CN2020126216W WO2021088814A1 WO 2021088814 A1 WO2021088814 A1 WO 2021088814A1 CN 2020126216 W CN2020126216 W CN 2020126216W WO 2021088814 A1 WO2021088814 A1 WO 2021088814A1
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WO
WIPO (PCT)
Prior art keywords
rocket
support
cylinder
erecting
arm
Prior art date
Application number
PCT/CN2020/126216
Other languages
English (en)
French (fr)
Inventor
张瑜
张彦杰
吴雪
Original Assignee
蓝箭航天空间科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 蓝箭航天空间科技股份有限公司 filed Critical 蓝箭航天空间科技股份有限公司
Priority to JP2021573433A priority Critical patent/JP7209876B2/ja
Publication of WO2021088814A1 publication Critical patent/WO2021088814A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
    • F41F3/00—Rocket or torpedo launchers
    • F41F3/04—Rocket or torpedo launchers for rockets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
    • F41F3/00—Rocket or torpedo launchers
    • F41F3/04—Rocket or torpedo launchers for rockets
    • F41F3/052—Means for securing the rocket in the launching apparatus

Definitions

  • the application belongs to the technical field of rocket erection, and specifically relates to a rocket erecting arm.
  • the present application provides a rocket erecting arm.
  • the present application provides a rocket erecting arm, which includes a erecting arm body. Along the length direction of the erecting arm body, a rocket supporting and holding tight is sequentially arranged on the erecting arm body.
  • the rocket supporting and holding device is used to adjustably support and hold the front end of the supported rocket, and the rocket auxiliary hydraulic support device is used to carry out floating support for the middle of the supported rocket; and the rocket rear fulcrum support adjustment
  • the device is used to adjust the rear end of the rocket, and is also used to adjust the rotation of the rocket when it is erected and the positioning and docking of the rocket and the launch pad.
  • the rocket supporting and holding device includes a support assembly and a holding assembly.
  • the support assembly is used to support the rocket and is arranged on the erecting arm body along the horizontal radial direction of the supported rocket.
  • the bottom of the; the holding assembly is provided on the upper side of both sides of the erecting arm body, which is used to hold the rocket;
  • the supporting assembly includes a bracket, a rotating unit, a guide unit, and a driving unit; the bracket is disposed on the rotating unit, and the rotating unit is used to drive the bracket to rotate horizontally by a preset angle; the rotating unit Is arranged on the guide unit and the driving unit, the guide unit is arranged at the bottom of the vertical arm body along the horizontal radial direction of the supported rocket, and is used to align the bracket along the horizontal radial direction of the supported rocket. The movement is guided; the driving unit is used for driving the bracket to move in the radial direction of the supported rocket through the rotating unit.
  • the holding assembly includes a holding arm unit and a power unit, the two holding arm units are arranged opposite to each other above the two sides of the erecting arm body, which are used for holding the upper half of the rocket;
  • the power unit is used to provide power to the arm unit, so that the two arm units are folded to hug the rocket;
  • the arm holding unit includes a large holding arm, a first holding tongs, a small holding arm, and a second holding tongs; the inner side of the big holding arm is connected with the first holding tongs, and one end of the big holding arm is connected to the The erecting arm body is connected, the other end of which is connected to one end of the small holding arm, and the other end of the small holding arm is connected with the second holding clamp;
  • the power unit includes a first oil cylinder and a second oil cylinder.
  • One end of the first oil cylinder is connected with the erecting arm body, and the other end is connected with the large arm.
  • the first oil cylinder is used to drive the large arm.
  • Arm; one end of the second oil cylinder is connected with the large arm, and the other end is connected with the small arm, and the second oil cylinder is used to drive the small arm.
  • the rocket auxiliary hydraulic support device includes a hydraulic system, a guide support cylinder, an elastic support assembly and a rocket carrier;
  • the hydraulic system is used to drive the guide support cylinder to generate vertical support; an elastic support assembly is arranged above the guide support cylinder, a rocket bracket is arranged above the elastic support assembly, and the elastic support The component is used to float and support the rocket carrier, and the rocket carrier is used to support the rocket;
  • the elastic support assembly includes a limit bracket, a flange support, a bracket revolving seat, a spring mounting seat, and a limit support spring;
  • the limit bracket is arranged on the top of the guide support cylinder, and the flange support is arranged at the center thereof; the flange support is connected with the bracket revolving base through a first revolving pin;
  • the spring mounting seat is fixedly arranged on the top surface of the limit bracket and is located between the limit bracket and the top plate of the bracket revolving seat;
  • the limit support spring is arranged in the spring mounting seat, the spring mounting seat is used to guide the limit support spring; one end of the limit support spring is fixedly connected to the spring mounting seat, and the other One end is in contact with the top plate of the bracket revolving seat; the limit support spring is used to limit the free movement of the rocket bracket in the vertical direction.
  • the hydraulic system includes a hydraulic cylinder, a power component, and an oil source; the oil source provides hydraulic oil for the power component, and the power component is connected to the hydraulic cylinder through a rod cavity oil pipe and a rodless cavity oil pipe , The hydraulic cylinder is connected with the guide support cylinder;
  • the hydraulic cylinder includes a hydraulic cylinder tube, a hydraulic cylinder rod, a stroke limit sleeve and an oil cylinder pin; the hydraulic cylinder rod is slidably arranged in the hydraulic cylinder tube, and the stroke limit sleeve is along the length of the hydraulic cylinder rod The direction is sleeved on the hydraulic cylinder rod and is used to limit the stroke of the hydraulic cylinder rod in the hydraulic cylinder barrel; the top end of the hydraulic cylinder rod is connected with the guide support cylinder through the cylinder pin.
  • the power component includes an electromagnetic reversing valve, an accumulator, a pressure sensor, a safety valve, a proportional relief valve and a one-way valve;
  • the oil source is connected to the oil inlet cavity of the electromagnetic reversing valve through the one-way valve, and the oil return cavity of the electromagnetic reversing valve is connected to the oil tank;
  • the first working oil cavity of the electromagnetic reversing valve passes through a rodless
  • a cavity oil pipe is connected to the rodless cavity of the hydraulic cylinder, and the second working oil cavity of the electromagnetic reversing valve is connected to the rod cavity of the hydraulic cylinder through a rod cavity oil pipe;
  • An accumulator and a pressure sensor are connected to the connecting pipeline of the one-way valve and the oil inlet cavity of the electromagnetic reversing valve, and the connecting pipeline of the one-way valve and the oil inlet cavity of the electromagnetic reversing valve and the oil tank are connected to the oil inlet cavity.
  • a safety valve and a proportional relief valve are connected in parallel between the connecting pipes of the oil return cavity of the electromagnetic reversing valve.
  • the rocket rear fulcrum support adjustment device includes a rotating support, a rotating pushing unit, a supporting unit, and a pulling unit; wherein, the rotating pushing unit is arranged on the rotating support and the erecting arm body In between, it is used to push the rotary support to rotate after the rocket is supported by the launch pad to allow the rocket take-off space; the support unit is arranged on the rotary support and is used for supporting the rocket's rear fulcrum. Support; the pulling unit is connected with the rotary support and the supporting unit, and during the rocket erection process, the support of the supporting unit to the rocket is gradually converted into the pulling of the rocket by the pulling unit.
  • the rotary pushing unit includes a second rotary pin shaft, a limit support block and a driving cylinder;
  • the rotary support is hinged with the vertical arm body through the second rotary pin
  • the limit support block is used for positioning the position of the rotary support
  • the driving cylinder is used for driving The rotation support rotates around the second rotation pin shaft.
  • the supporting unit includes a supporting lifting cylinder and an end journal seat, one end of the supporting lifting cylinder is fixedly connected to the vertical arm body, and the other end thereof is fixedly connected to the end journal seat;
  • the central axis of the support lift cylinder along its length direction is perpendicular to the central axis of the end journal seat along its length direction, and the support lift cylinder is used to adjust the length of the end journal seat along the support lift cylinder.
  • the end journal seat is used to support the rocket along the width direction of the erecting arm body.
  • the pulling unit includes an adjusting screw, a first tie rod seat and a second tie rod seat;
  • one end of the adjusting screw is connected to the rotary support through the first tie rod seat, and the other end is connected to the end journal seat through the second tie rod seat; the adjusting screw is sleeved with an adjusting nut and a lock Nut.
  • a erecting arm rotation axis is provided at one end of the erecting arm body close to the tail end of the supported rocket; the erecting arm rotating axis is matched with a revolving half seat set on the ground near the launch pad , Enabling the vertical arm body to revolve around the revolving half seat;
  • an erecting assembly is arranged at a position close to the rear fulcrum supporting and adjusting device of the rocket, and the erecting assembly is matched with the erecting cylinder support provided on the ground close to the launching platform. To push the erecting arm body to erect.
  • the erection assembly includes a erection cylinder, a erection cylinder adjustment device, and a erection cylinder pin; the erection cylinder is limited to two positions in the width direction of the erection arm body by the erection cylinder adjustment device.
  • the upper fulcrum of the erection cylinder is hinged with the erection arm body, and the lower earring of the erection cylinder is hinged with the erection cylinder support through the erection cylinder pin; the erection cylinder
  • the adjusting device is used for pulling the erecting oil cylinder, so that the lower earring of the erecting oil cylinder can be hinged with the erecting oil cylinder support.
  • a rocket supporting and holding device a rocket auxiliary hydraulic support device and a rocket rear fulcrum support adjustment device are arranged on the erecting arm body.
  • Use the rocket support and hold device to adjust the head end of the supported rocket
  • use the rocket rear fulcrum support adjustment device to adjust the tail end of the supported rocket
  • use the rocket auxiliary hydraulic support device to adjust the middle of the supported rocket.
  • the floating support can carry out safe and reliable transportation and erection of the rocket, and can avoid the additional force generated by the structural deformation of the erector arm body on the rocket; and it can conveniently carry out multiple degrees of freedom of the rocket during the transfer and docking process. Adjustment, effectively reducing the difficulty of docking and adjustment of the rocket during reloading.
  • the erecting arm rotating shaft is arranged at the end of the erecting arm body close to the end of the supported rocket, and the erecting assembly is arranged on the erecting arm body near the support and adjustment device of the rocket rear fulcrum.
  • the erecting arm is erected to complete the reliable docking between the rocket and the launch pad; the rocket erecting arm of the present application integrates the functions of transportation, positioning and docking, erecting, etc., which can greatly shorten the launch time of the rocket and significantly improve the launch efficiency.
  • FIG. 1 is a schematic diagram of a state when a rocket erecting arm and a self-propelled hydraulic axis car are used to transport a rocket together according to an embodiment of the application.
  • FIG. 2 is a schematic diagram 5 of a state when a rocket erecting arm and a self-propelled hydraulic axle car are used to transport a rocket to a launch area together according to an embodiment of the application.
  • Fig. 3 is one of the schematic diagrams of the state when the rocket is erected when the rocket is erected by the vertical arm provided by the embodiment of the application.
  • Fig. 4 is the second schematic diagram of the state of a rocket erecting arm when the rocket is erected according to an embodiment of the application.
  • FIG. 5 is a schematic structural diagram of a rocket supporting and holding device in a rocket vertical arm provided by an embodiment of the application.
  • Fig. 6 is a top view of a guide unit in a rocket supporting and holding device for a rocket vertical arm provided by an embodiment of the application.
  • Fig. 7 is an enlarged view of I in Fig. 5.
  • FIG. 8 is a schematic structural diagram of a rocket auxiliary hydraulic support device in a rocket vertical arm provided by an embodiment of the application.
  • Fig. 9 is a cross-sectional view of a rocket auxiliary hydraulic support device in a rocket vertical arm provided by an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a rocket rear fulcrum support adjustment device in a rocket vertical arm provided by an embodiment of the application.
  • FIG. 11 is a cross-sectional view of a supporting unit in a rocket rear fulcrum support adjustment device of a rocket vertical arm provided by an embodiment of the application.
  • Rotation unit 1121, rotary shaft; 1122, support plate; 1123, limit block;
  • Arm holding unit 1151, large holding arm; 1152, first holding pliers; 1153, small holding arm; 1154, second holding pliers;
  • Power unit 1161, the first cylinder; 1162, the second cylinder;
  • Hydraulic system 1210, hydraulic cylinder; 1211, hydraulic cylinder rod; 1212, stroke limit sleeve; 1213, cylinder pin; 1214, electromagnetic reversing valve; 1215, accumulator; 1216, pressure sensor; 1217, Safety valve; 1218, proportional relief valve; 1219, one-way valve;
  • Rocket carrier
  • Rocket rear fulcrum support adjustment device
  • Rotary pushing unit 1321, first connecting plate; 1322, second connecting plate; 1323, second rotary pin shaft; 1324, limit support block; 1325, drive cylinder;
  • Pulling unit 1341, adjusting screw; 1342, first tie rod seat; 1343, second tie rod seat; 1344, adjusting nut; 1345, lock nut; 1346, positioning pin;
  • Air conditioning pipeline 15. Liquid oxygen filling pipeline; 16. Methane filling pipeline; 17. Gas supply pipeline; 18. Operating platform; 19. Connector protection net;
  • the present application provides a rocket erecting arm, which includes a erecting arm body 1, along the direction from the beginning to the end of the rocket supported by the erecting arm body 1, correspondingly,
  • the front end of the erecting arm body 1 is provided with a rocket supporting and holding device 11, the middle of the erecting arm body 1 is provided with a rocket auxiliary hydraulic support device 12, and the rear end of the erecting arm body 1 is provided with a rocket rear fulcrum support adjustment device 13.
  • the rocket support and hold 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.
  • the rocket supporting and holding device 11 is used to adjustably support and hold the front end of the supported rocket 8.
  • the rocket auxiliary hydraulic support device 12 is used for reliable floating support for the middle of the supported rocket 8.
  • the rocket rear fulcrum support adjustment device 13 is used to adjust the rear end of the rocket, and has the functions of rotation, horizontal and vertical fine-tuning, so as to realize the micro-rotation of the rocket when it is erected and the accurate positioning and docking of the rocket and the launch area. Adjustment.
  • the rocket erecting arm provided in the present application can be placed on the self-propelled hydraulic axle car 2, and the supported rocket 8 is arranged on the top of the erecting arm body 1 along the length direction of the erecting arm body 1.
  • the self-propelled hydraulic axle car 2 transfers the supported rocket to the launch pad 3 in the launch area through the rocket's vertical arm.
  • the self-propelled hydraulic axle car 2 has an all-wheel steering function, which can minimize the turning radius; it also has a shock absorption function, which can reliably protect the arrow body.
  • a revolving half seat 4 and a vertical cylinder support 5 are sequentially arranged on the ground close to the launch pad 3 from near to far.
  • a erecting arm rotating shaft 6 is provided,
  • the vertical arm rotating shaft 6 cooperates with the rotating half seat 4 so that the erecting arm body 1 can rotate around the rotating half seat 4 to facilitate erection.
  • two erecting arm rotation shafts 6 are provided at one end of the erecting arm body 1 close to the tail end of the rocket.
  • the two rising arm rotation shafts 6 are symmetrical with respect to the central vertical plane of the length direction of the rising arm body 1.
  • the revolving half seat 4 adopts a concave half seat structure. Along the horizontal radial direction of the rocket transported to the vicinity of the launch pad 3, two revolving halves 4 are provided.
  • the erection assembly 7 includes a erection cylinder 71, a erection cylinder adjustment device 72 and a erection cylinder pin 73.
  • the erection cylinder 71 is limited to the two sides of the width direction of the erection arm body 1 by the erection cylinder adjustment device 72.
  • the upper fulcrum of the erecting cylinder 71 is hinged with the erecting arm body 1, and the lower earring of the erecting cylinder 71 is hinged with the erecting cylinder support 5 through the erecting cylinder pin 73.
  • the erecting cylinder adjusting device 72 is used for pulling the erecting cylinder 71 so that the lower earring of the erecting cylinder 71 can be hinged with the erecting cylinder support 5.
  • the erection cylinder 71 is connected to an external oil source through a hydraulic oil pipe.
  • the erecting arm body 1 may adopt a concave cross-section truss structure.
  • the supported rocket 8 can be placed in the groove of the erecting arm body 1 along the length direction of the erecting arm body 1, so that the overall height of the combination of the erecting arm body 1 and the rocket can be reduced.
  • the erector arm body 1 is also provided with hard pipe 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, which can be It is arranged in the groove of the vertical arm body 1, and is connected to the filling connector of the rocket through a hose.
  • hard pipe 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, which can be It is arranged in the groove of the vertical arm body 1, and is connected to the filling connector of the rocket through a hose.
  • An operating platform 18 is also provided on the erecting arm body 1, which is convenient for the operator to board the operating platform 18 to inspect the key parts of the rocket in the horizontal and erect state. In the upright state of the rocket, the operator can reach the operating platform 18 through the aerial work vehicle.
  • the vertical arm body 1 is also provided with a connector protection net 19, which is used to prevent the captured rocket filling connector from rebounding.
  • An arrow foot support plate 31 is provided on the launch pad 3, and the arrow foot support plate 31 is used for docking with the arrow foot of the rocket to realize the support of the rocket.
  • a wind-proof pressing device 32 is also provided on the launch pad 3.
  • the windproof pressing device 32 is used for pressing the arrow foot.
  • the rocket supporting and holding device 11 includes a supporting component and a holding component, wherein the supporting component is used to support the rocket, and is arranged at the bottom of the erecting arm body 1 along the horizontal radial direction of the supported rocket;
  • the holding components are arranged above the two sides of the erecting arm body 1 and are used to hold the rocket tightly.
  • the supporting assembly may be arranged at the bottom of the concave section of the erecting arm body 1 along the horizontal radial direction of the supported rocket, and the holding assembly may be arranged above both sides of the concave section of the erecting arm body 1.
  • the supporting assembly includes a bracket 111, a rotating unit 112, a guide unit 113 and a driving unit 114.
  • the bracket 111 is disposed on the rotating unit 112, and the rotating unit 112 is used to drive the bracket 111 to rotate horizontally by a preset angle to adapt to the rotational displacement of the rocket around the rear fulcrum.
  • the rotation unit 112 is arranged on the guide unit 113 and the drive unit 114.
  • the guide unit 113 is arranged at the bottom end of the concave section of the erecting arm body 1 along the radial direction of the supported rocket, and is used to align the bracket 111 along the radial direction of the supported rocket. The movement is guided.
  • the driving unit 114 is used for driving the bracket 111 to move along the radial direction of the rocket supported by the rotating unit 112 to adjust the position deviation of the bracket 111 and the rocket supported by it.
  • the rotating unit 112 includes a rotating shaft 1121, a supporting plate 1122 and a limiting block 1123.
  • the bracket 111 is connected to the support plate 1122 through a rotating shaft 1121.
  • Two rotation shafts 1121 are provided, and the center axis perpendicular to the direction of the support plate 1122 is taken as the symmetry axis.
  • the two rotation shafts 1121 are symmetrically provided on the support plate 1122.
  • the limiting block 1123 is arranged between the bottom end of the bracket 111 and the supporting plate 1122, and the central axis of the limiting block 1123 in the height direction coincides with the central axis perpendicular to the direction of the bracket 111 and the supporting plate 1122 at the same time.
  • the limit block 1123 is used to limit the limit position of the horizontal rotation of the bracket 111 and prevent the bracket 111 from tilting to one side.
  • the guide unit 113 includes a guide rail 1131, a slider 1132 and a stop 1133.
  • two guide rails 1131 are provided, and the two guide rails 1131 are provided in parallel at the bottom end of the concave section of the rising arm body 1 along the radial direction of the supported rocket 8.
  • a sliding block 1132 is respectively provided on both sides of the bottom surface of the supporting plate 1122, and the sliding block 1132 is movably arranged on the guide rail 1131.
  • Both ends of the guide rail 1131 are provided with stoppers 1133, and the stoppers 1133 are used to limit the maximum moving distance of the slider 1132 on the guide rail 1131 and prevent the support plate 1122 from exceeding the limit and causing danger.
  • the driving unit 114 includes a screw rod 1141, a driving seat 1142 and a hydraulic motor 1143.
  • the screw rod 1141 is arranged at the bottom end of the concave section of the erecting arm body 1 and is arranged in parallel between the two guide rails 1131.
  • the bottom end of the support plate 1122 is connected to the screw 1141 through the drive seat 1142.
  • the screw 1141 is connected to the hydraulic motor 1143.
  • the hydraulic motor 1143 is used to drive the screw 1141 to rotate.
  • the screw 1141 drives the support plate 1122 on the guide rail 1131 through the drive seat 1142. Move upward to adjust the position deviation of the bracket 111 and the rocket supported by it.
  • the holding assembly includes a holding arm unit 115 and a power unit 116.
  • the two holding arm units 115 are arranged opposite to each other on both sides of the concave section of the erecting arm body 1, and are used for holding the upper half of the rocket.
  • the power unit 116 is used to provide power to the arm unit 115, so that the two arm units 115 can be folded and then hug the rocket, or the two arm units 115 can be deployed and then the rocket can be released.
  • the arm holding unit 115 includes a large holding arm 1151, a first holding tong 1152, a small holding arm 1153, and a second holding tong 1154.
  • the inner side of the big arm 1151 is connected with the first holding clamp 1152 through a pin.
  • One end of the big arm 1151 is connected with the erecting arm body 1 through a pin, and the other end is connected with one end of the small arm 1153 through a pin.
  • the other end of the holding arm 1153 is connected with a second holding clamp 1154 through a pin.
  • the arcs of the holding surfaces of the first holding tongs 1152 and the second holding tongs 1154 match the arc of the rocket's circumference.
  • the power unit 116 includes a first oil cylinder 1161 and a second oil cylinder 1162.
  • One end of the first oil cylinder 1161 is connected with the erecting arm body 1 and the other end is connected with the large arm 1151.
  • the first oil cylinder 1161 is used to drive the large arm 1151.
  • One end of the second oil cylinder 1162 is connected with the large arm 1151, and the other end is connected with the small arm 1153.
  • the second oil cylinder 1162 is used to drive the small arm 1153. Under the action of the extension force of the first cylinder 1161 and the second cylinder 1162, the large holding arm 1151 holds the rocket through the first holding clamp 1152, and the small holding arm 1153 holds the rocket through the second holding clamp 1154.
  • the lower part of the rocket is supported by the bracket 111, and the upper part of the rocket is hugged by the large arms 1151 and the small arms 1153.
  • the surface of the rocket is stressed at multiple points, so that the rocket can be reliably supported and held tightly.
  • first oil cylinder 1161 and the second oil cylinder 1162 can also be replaced by air cylinders and electric cylinders to drive the large arms 1151 and the small arms 1153.
  • the rocket auxiliary hydraulic support device 12 includes a hydraulic system 121, a guide support cylinder 122, an elastic support assembly 123 and a rocket carrier 124.
  • the hydraulic system 121 is used to drive the guide support cylinder 122 to generate vertical support force.
  • An elastic support assembly 123 is arranged above the guide support cylinder 122, and a rocket bracket 124 is arranged above the elastic support assembly 123.
  • the elastic support assembly 123 The rocket carrier 124 is used for floating support, and the rocket carrier 124 is used for supporting the rocket 8.
  • the guide support cylinder 122 is connected with the erecting arm body 1 through the lower end flange.
  • the hydraulic system 121 includes a hydraulic cylinder, a power component, and an oil source (not shown in the figure).
  • the oil source provides hydraulic oil for the power assembly
  • the power assembly is connected to the hydraulic cylinder through a rod cavity oil pipe and a rodless cavity oil pipe.
  • the hydraulic cylinder is connected to the guide support cylinder 122 and is used to drive the guide support cylinder 122 to generate vertical support force.
  • the hydraulic cylinder includes a hydraulic cylinder barrel 1210, a hydraulic cylinder rod 1211, a stroke limit sleeve 1212, and a cylinder pin 1213.
  • the hydraulic cylinder rod 1211 is slidably arranged in the hydraulic cylinder barrel 1210, and the stroke limit sleeve 1212 is sleeved on the hydraulic cylinder rod 1211 along the length direction of the hydraulic cylinder rod 1211, which is used to limit the hydraulic cylinder rod 1211 in the hydraulic cylinder barrel 1210. stroke.
  • the top end of the hydraulic cylinder rod 1211 is connected with the guide support cylinder 122 through the cylinder pin 1213.
  • the diameter of the stroke limit sleeve 1212 is less than or equal to the diameter of the bottom of the hydraulic cylinder rod 1211 and greater than the diameter of the middle of the hydraulic cylinder rod 1211.
  • the stroke limit sleeve 1212 can be sleeved in the middle of the hydraulic cylinder rod 1211 to limit the stroke of the hydraulic cylinder rod 1211 in the hydraulic cylinder barrel 1210 by preventing the bottom of the hydraulic cylinder rod 1211.
  • the power components include electromagnetic reversing valve 1214, accumulator 1215, pressure sensor 1216, safety valve 1217, proportional relief valve 1218 and one-way valve 1219.
  • the oil source is connected to the oil inlet cavity P of the electromagnetic reversing valve 1214 through the one-way valve 1219, and the oil return cavity T of the electromagnetic reversing valve 1214 is connected to the oil tank.
  • the first working oil chamber A of the electromagnetic directional valve 1214 is connected to the rodless cavity of the hydraulic cylinder through a rodless cavity oil pipe
  • the second working oil cavity B of the electromagnetic directional valve 1214 is connected to the rodless cavity of the hydraulic cylinder through a rod cavity oil pipe and the rod cavity of the hydraulic cylinder. connection.
  • An accumulator 1215 and a pressure sensor 1216 are connected to the connecting pipeline of the one-way valve 1219 and the oil inlet chamber P of the electromagnetic reversing valve 1214.
  • a safety valve 1217 and a proportional relief valve 1218 are connected in parallel between the connecting pipeline of the one-way valve 1219 and the oil inlet chamber P of the electromagnetic reversing valve 1214 and the connecting pipeline of the oil tank and the oil return chamber T of the electromagnetic reversing valve 1214. .
  • the hydraulic oil When the electromagnetic reversing valve 1214 is de-energized, the hydraulic oil enters the rod cavity and the rodless cavity of the hydraulic cylinder through the one-way valve 1219, and the hydraulic oil also enters the accumulator 1215, and the hydraulic cylinder is in a differential connection state. Under the action of the accumulator 1215, the power assembly has a certain support force compensation capability.
  • the safety valve 1217 is used to limit the maximum pressure of the power assembly, that is, to limit the ejection force of the hydraulic cylinder, and prevent damage to the arrow body due to excessive ejection force.
  • the proportional relief valve 1218 is used to control the pressure change of the power component in real time, and the pressure sensor 1216 is used to detect the pressure of the power component in real time.
  • the electromagnetic reversing valve 1214 is energized, the oil in the accumulator 1215 enters the rod cavity of the hydraulic cylinder through the rod cavity pipe of the hydraulic cylinder, and the oil from the rodless cavity passes through the rodless cavity pipe of the hydraulic cylinder Road flows back to the fuel tank.
  • the guide support cylinder 122 includes a guide support cylinder tube 1221, a guide support cylinder rod 1222, a cylinder rod stop block 1223, and a drive cylinder seat 1224.
  • the guide support cylinder rod 1222 is slidably arranged in the guide support cylinder tube 1221, and the guide support cylinder rod 1222 moves up and down under the drive of the hydraulic cylinder.
  • two cylinder rod limit blocks 1223 are arranged oppositely between the outer wall of the guide support cylinder rod 1222 and the inner wall of the guide support cylinder 1221, which are used to limit the guide support cylinder rod 1222.
  • Rotational movement The driving cylinder base 1224 is fixedly arranged at the bottom of the guiding and supporting cylinder rod 1222.
  • the drive cylinder base 1224 is connected to the hydraulic cylinder rod 1211 through the cylinder pin 1213.
  • a through hole is provided on the side wall of the guiding and supporting cylinder tube 1221. Through the through hole, the cylinder pin 1213 can be installed or adjusted.
  • the elastic support assembly 123 includes a limit bracket 1231, a flange support 1232, a bracket revolving seat 1233, a spring mounting seat 1234, and a limit support spring 1235.
  • the limit bracket 1231 is arranged above the guide support cylinder 122, and a flange support 1232 is fixedly arranged at the center thereof, and the flange support 1232 is fixedly connected to the guide support cylinder rod 1222 by bolts.
  • the flange support 1232 is connected to the bracket revolving base 1233 through the first revolving pin 1236.
  • the spring mounting seat 1234 is fixedly arranged on the top surface of the limiting bracket 1231 and is located between the limiting bracket 1231 and the top plate of the bracket revolving seat 1233.
  • the limit support spring 1235 is arranged in the spring mounting seat 1234, and the spring mounting seat 1234 is used to guide the limit support spring 1235.
  • One end of the limit support spring 1235 is fixedly connected with the spring mounting seat 1234, and the other end is in contact with the top plate of the bracket revolving seat 1233.
  • the limit support spring 1235 is used to limit the free movement of the rocket carrier 124 in the vertical direction.
  • a spring limit block 1237 is provided at a position corresponding to the limit support spring 1235.
  • the limit bracket 1231 and the flange support 1232 can also be integrally formed.
  • two limit support springs 1235 are provided. Along the length of the rocket carrier 124, the vertical axis of the limit support 1231 is taken as the axis of symmetry. The two limit support springs 1235 are symmetrical. Set on the limit bracket 1231.
  • a felt pad is provided on the upper supporting surface of the rocket carrier 124.
  • the rocket rear fulcrum support adjustment device 13 includes a rotary support 131, a rotary pushing unit 132, a supporting unit 133 and a pulling unit 134.
  • the rotary pushing unit 132 is arranged between the rotary support 131 and the erecting arm body 1, and is used to push the rotary support 131 to rotate after the rocket is supported by the launch pad 3 to allow the rocket to take off space and realize the rocket rear Quick disassembly of the support.
  • the supporting unit 133 is arranged on the revolving support 131 and is used to support the rear fulcrum of the rocket.
  • the pulling unit 134 is connected to the rotating support 131 and the supporting unit 133. During the rocket erection process, the support of the supporting unit 133 of the rocket is gradually converted into the pulling of the rocket by the pulling unit 134.
  • the rotation pushing unit 132 includes a first connecting plate 1321, a second connecting plate 1322, a second rotating pin 1323, a limit support block 1324 and a driving cylinder 1325.
  • the first connecting plate 1321 is arranged on the erecting arm body 1
  • the second connecting plate 1322 is arranged on the end surface of the rotating support 131 close to the erecting arm body 1.
  • the first connecting plate 1321 and the second connecting plate 1322 are used in a pair, and are hinged through the second pivot pin 1323.
  • the limit support block 1324 is arranged between the vertical arm body 1 and the bottom surface of the revolving support 131, and is used for positioning the position of the revolving support 131.
  • the driving cylinder 1325 is used to drive the rotary support 131 to rotate around the second rotary pin 1323 toward or away from the rocket supported on the erecting arm body 1.
  • the driving cylinder 1325 may be a driving oil cylinder or a driving hydraulic cylinder.
  • the supporting unit 133 includes a supporting lifting cylinder and an end journal seat.
  • One end of the supporting lifting cylinder is fixedly connected to the vertical arm body 1, and the other end thereof is fixedly connected to the end journal seat.
  • the supporting lifting cylinder and the end journal seat are arranged in a T-shape, that is, the central axis of the supporting lifting cylinder along its length direction is perpendicular to the central axis of the end journal seat along its length direction.
  • the support lift cylinder is used to adjust the displacement of the end journal seat along the length direction of the support lift cylinder.
  • the end journal seat is used to support the rocket along the width direction of the erecting arm body 1.
  • the supporting lifting cylinder includes a supporting cylinder 1331, a lifting screw 1332, a scroll bar 1333, a turbine 1334 and a lifting cylinder rod 1335. among them,
  • the end of the supporting cylinder 1331 connected with the erecting arm body 1 is provided with a threaded blocking cover.
  • the lifting screw 1332 is rotatably arranged in the supporting cylinder 1331.
  • the end of the lifting screw 1332 close to the thread plugging cap is provided with a deep groove ball bearing.
  • a retaining ring is arranged between the deep groove ball bearing and the thread plugging cap. The retaining ring faces the deep groove The ball bearing is limited.
  • a limit nut is arranged above the deep groove ball bearing, and a turbine 1334 is arranged above the limit nut.
  • the turbine 1334 is connected to the lifting screw 1332 through a flat key.
  • One end of the worm 1333 passes through the supporting cylinder 1331 and is connected to the turbine 1334.
  • the limit nut cooperates with the step on the lifting screw 1332 to compress and position the turbine 1334 on the lifting screw 1332.
  • thrust bearings are provided at the top and bottom ends of the turbine 1334, and the thrust bearings are used to bear the forces of the lifting cylinder rod 1335 in both the up and down directions.
  • a limit baffle is arranged above the thrust bearing, and the limit baffle is used to limit the movement of the lifting screw 1332 in a direction away from the vertical arm body 1.
  • the opposite end of the lifting screw 1332 close to the end of the threaded plugging cap is connected with one end of the lifting cylinder rod 1335 through threads, and the end of the lifting cylinder rod 1335 is slidably arranged in the supporting cylinder 1331.
  • the supporting cylinder tube 1331 is provided with a threaded plugging cap.
  • the opposite end is provided with a first supporting flange cover.
  • the first supporting flange cover is provided with a through hole.
  • the inner wall of the through hole is provided with a guide belt. One end passes through the through hole and is connected to the end journal seat through a transition flange. Among them, the guide belt is used to support and guide the lifting cylinder rod 1335.
  • a first guide groove is provided on the inner wall of the supporting cylinder 1331 between the limit baffle and the first supporting flange cover.
  • the end journal seat includes a seat tube 1336, a driving screw 1337, a hand wheel 1338, and a supporting cylinder rod 1339.
  • the seat tube 1336 is fixedly arranged at the top end of the supporting lift cylinder, and is consistent with the horizontal and radial direction of the rocket after being supported.
  • the seat tube 1336 is connected to the lifting cylinder rod 1335 through a transition flange.
  • a supporting flange is provided at one end of the seat tube 1336 away from the supported rocket 8.
  • One end of the drive screw 1337 is located outside the seat tube 1336 and is connected to the hand wheel 1338, and the other end passes through the supporting flange and is threadedly connected to one end of the support cylinder rod 1339 in the seat tube 1336.
  • the driving screw 1337 is rotated by the hand wheel 1338, and the rotation of the driving screw 1337 can drive the supporting cylinder rod 1339 to make a telescopic movement in the seat tube 1336.
  • a tapered roller bearing is arranged between the inner wall of the supporting flange and the driving screw 1337.
  • the tapered roller bearings are arranged in pairs and installed back to back to support and guide the driving screw 1337.
  • a limit nut is arranged on the side of the tapered roller bearing close to the hand wheel 1338, and the limit nut is matched with the step on the driving screw 1337, and the tapered roller bearing is fixedly connected to the driving screw 1337.
  • a protective cover is provided on the side of the limiting nut close to the hand wheel 1338, and the protective cover is fixedly connected to the seat tube 1336, which is used to protect the limiting nut, tapered roller bearing, etc. in the seat tube 1336.
  • a backing plate is provided between the restriction nut and the tapered roller bearing along the length direction of the driving screw 1337.
  • the seat tube 1336 is provided with a second supporting flange cover at one end close to the supported rocket 8.
  • the opposite end of the connecting end of the supporting cylinder rod 1339 and the driving screw rod 1337 passes through the second supporting flange cover and is connected to the end journal.
  • a second guide groove is provided on the inner wall of the seat tube 1336 between the support flange and the second support flange cover, and the second guide groove is provided in the second guide groove.
  • a compression cover is provided at one end of the supporting cylinder rod 1339 connected with the end journal.
  • the compression cover adopts a cylindrical structure with a side wall that can be opened and closed.
  • the pulling unit 134 includes an adjusting screw 1341, a first tie rod seat 1342, a second tie rod seat 1343, an adjusting nut 1344 and a lock nut 1345.
  • one end of the adjusting screw 1341 is connected to the rotary support 131 through the first tie rod seat 1342, and the other end is connected to the end journal seat through the second tie rod seat 1343.
  • the adjusting screw 1341 is sleeved with an adjusting nut 1344 and a locking nut 1345. By rotating the adjusting nut 1344, the length of the adjusting screw 1341 can be changed.
  • the adjusting screw 1341 is adjusted to a preset length, the adjusting screw 1341 can be locked by the locking nut 1345 so that the length of the adjusting screw 1341 does not change.
  • the first tie rod seat 1342 is fixedly connected to the rotary support 131 through a positioning pin 1346.
  • the support lifting cylinder drives the end journal seat to lift and lower, and the adjusting screw 1341 pulls the end journal seat through the second tie rod seat 1343 to adapt to the different height positions of the end journal seat support.
  • the end journal seat has a certain level of adjustment capability, which can drive the rocket to adjust the position in the horizontal direction.
  • the rocket supporting and holding device 11 As shown in Figure 1, during the transportation of the rocket, the rocket supporting and holding device 11, the rocket auxiliary hydraulic supporting device 12 and the rocket rear fulcrum support adjusting device 13 reliably support the rocket body; the holding in the rocket supporting and holding device 11 The components tightly hug the rocket body to limit the degree of freedom of the rocket; the erecting component 7 is transported together with the erecting arm body 1.
  • the erection cylinder adjustment device 72 drives the erection cylinder 71 to slowly descend, and cooperates with the lifting movement of the self-propelled hydraulic axis car 2, so that the lower earring of the erection cylinder 71 is concentric with the hole of the erection cylinder support 5, and then the erection cylinder 71 is manually inserted
  • the pin shaft 73 completes the docking of the erecting cylinder 71 and the erecting cylinder support 5.
  • the erecting cylinder 71 is connected to an oil source through a hydraulic oil pipe, and other pipes on the erecting arm body 1 that need to be driven hydraulically are connected.
  • the hydraulic system controls the erection oil cylinder 71 to slowly extend, and the erection arm body 1 is slowly erected under the push of the erection oil cylinder 71.
  • the erecting arm body 1 Since the force of the erecting arm body 1 is converted from the original self-propelled hydraulic axis car 2 to the support of the erecting arm rotary shaft 6 and the erecting cylinder 71, the erecting arm body 1 will be deformed to a certain extent. At this time, the rocket It will rotate slightly counterclockwise around the rear fulcrum, and the rocket auxiliary hydraulic support device 12 will adjust the size of the support force in real time, overcome the deformation influence of the vertical arm body 1, and meet the support force requirements of the rocket. At the same time, the rocket auxiliary hydraulic support device 12 is also set with a maximum force limit to prevent overload.
  • the supporting force of the rocket auxiliary hydraulic support device 12 is adjusted in real time according to the theoretically required force to prevent uneven loading of the rocket. Finally, after the rocket is erected to an upright position, the entire weight of the rocket is carried by the support and adjustment device 13 for the rear fulcrum of the rocket.
  • the erecting arm body 1 slowly reaches the vertical state with the rocket. Due to the certain positional deviation of the vertical arm body 1, the launch pad 3, and the revolving half seat 4, the arrow foot of the rocket cannot be accurately aligned with the arrow foot support plate 31 on the launch pad 3 after the rocket is erected, so it needs to pass through the rear fulcrum of the rocket.
  • the support adjustment device 13 slowly adjusts the position of the rocket foot, and matches the lifting action of the arrow foot support plate 31 to accurately align the receiving arrow foot. Then, the wind-proof pressing device 32 starts to move, pressing the arrow foot, so far the rocket support is changed to being supported by the launch pad 3.
  • the wind-proof pressing device 32 is unlocked, and the last item is released from the restraint of the rocket.
  • the rocket filling connector is unlocked, and the erecting cylinder 71 retracts to drive the erector arm body 1 to fall backwards quickly, and at the same time, it drives the connector cable to move.
  • the rocket filling connector is at the dual of pulling force and gravity. Under the action, avoid the space of the rocket's take-off drift.
  • the connector protective net 19 provided on the vertical arm body 1 can prevent the rocket filling connector from rebounding after capturing the rocket filling connector, and avoid interference and collision between the rocket filling connector and the rocket that is taking off.
  • the self-propelled hydraulic axis car 2 travels to the predetermined location, the vertical arm body 1 is folded back to a horizontal state, the slewing seat cover 41 is released, the vertical cylinder pin 73 is pulled out, and the vertical cylinder adjustment device is used 72 pulls up the erecting cylinder 71; the self-propelled hydraulic axis car 2 slowly rises so that the vertical arm rotary shaft 6 is higher than the recess of the revolving half seat 4; the self-propelled hydraulic axis car 2 drives with the vertical arm body 1 Leave the launch area and return to the technical workshop to complete the entire launch process.
  • the use of the rocket erecting arm of the present application can realize the safe transfer and erection of the medium-sized liquid rocket under the "three-level" test and launch mode, avoid the additional force generated on the rocket due to the structural deformation of the erector arm body 1, and realize the rocket's transfer and
  • the multi-degree-of-freedom adjustment of the rocket during the docking process effectively reduces the difficulty of docking and adjustment when the rocket is reloaded.
  • it can reliably erect the rocket after reaching the launch station, so that the rocket can be docked with the launch pad 3 to provide air for air conditioning, Filling and gas supply pipelines provide installation space.
  • the rocket erecting arm of this application omits the umbilical arm of the traditional fixed launching tower.
  • the 0s fast backward movement of the rocket erecting arm of this application effectively avoids the space of the rocket's take-off drift, and at the same time realizes the injection of connectors for the rocket Pull off and protect.
  • the rocket erecting arm of the present application integrates multiple functions, which can greatly shorten the launch time of the rocket and improve the launch efficiency.

Abstract

本申请提供了一种火箭起竖臂，其包括起竖臂本体，沿起竖臂本体的长度方向，在起竖臂本体上依次设置有火箭支撑抱紧装置、火箭辅助液压支撑装置和火箭后支点支撑调整装置；火箭支撑抱紧装置用于对被支撑火箭的前端进行可调整地支撑和抱紧，火箭辅助液压支撑装置用于对被支撑火箭的中部进行浮动支撑；火箭后支点支撑调整装置用于对火箭的后端进行可调整地支撑，还用于对火箭起竖时的转动以及火箭与发射台的定位对接进行调整。本申请能够对火箭进行安全、可靠的支撑和起竖，在支撑和对接过程中能够方便地对火箭进行多自由度的调节，有效地降低火箭在转载时的对接和调整难度；本申请能够大大缩短火箭的发射时间，显著地提高发射效率。

Description

一种火箭起竖臂 技术领域
本申请属于火箭起竖技术领域，具体涉及一种火箭起竖臂。
背景技术
随着航天技术的发展，特别是最近几年商业航天的蓬勃兴起，传统的“三垂”发射模式由于需要固定的发射塔架，其基础设施建设周期较长、维护成本较高的缺点逐渐显露出来，因此，需要一种快速、灵活、低成本的发射模式来适应现阶段商业航天的发射需求。
国外成功的商业航天企业大多采用“三平”的测发模式，即水平组装、水平转运、水平测试、起竖发射的发射模式。因此，在火箭转载、转运和起竖过程中可靠地支撑、运载箭体，使箭体不受除自身重力以外的其他附加力，且避免多次转载，降低对火箭磕碰的风险就显得尤为重要和关键。
发明内容
为至少在一定程度上克服相关技术中存在的问题，本申请提供了一种火箭起竖臂。
根据本申请实施例，本申请提供了一种火箭起竖臂，其包括起竖臂本体，沿所述起竖臂本体的长度方向，在所述起竖臂本体上依次设置有火箭支撑抱紧装置、火箭辅助液压支撑装置和火箭后支点支撑调整装置；
所述火箭支撑抱紧装置用于对被支撑火箭的前端进行可调整地支撑和抱紧，所述火箭辅助液压支撑装置用于对被支撑火箭的中部进行浮动支撑；所述火箭后支点支撑调整装置用于对火箭的后端进行可调整地支撑，还用于对火箭起竖时的转动以及火箭与发射台的定位对接进行调整。
上述火箭起竖臂中，所述火箭支撑抱紧装置包括支撑组件和抱紧组件，所述支撑组件用于对火箭进行支撑，其沿所支撑火箭的水平径向设置在所述起竖臂本体的底部；所述抱紧组件设置在所述起竖臂本体两侧的上方，其用 于对火箭进行抱紧；
所述支撑组件包括托座、旋转单元、导向单元和驱动单元；所述托座设置在所述旋转单元上，所述旋转单元用于带动所述托座水平旋转预设角度；所述旋转单元设置在所述导向单元和驱动单元上，所述导向单元沿所支撑火箭的水平径向设置在所述起竖臂本体的底部，其用于对所述托座沿所支撑火箭水平径向的移动进行导向；所述驱动单元用于通过所述旋转单元驱动所述托座沿所支撑火箭的径向进行移动。
进一步地，所述抱紧组件包括抱臂单元和动力单元，两个所述抱臂单元相对设置在所述起竖臂本体两侧的上方，其用于抱住火箭的上半部分；所述动力单元用于为所述抱臂单元提供动力，使得两个所述抱臂单元通过收拢抱住火箭；
所述抱臂单元包括大抱臂、第一抱钳、小抱臂和第二抱钳；所述大抱臂的内侧连接有所述第一抱钳，所述大抱臂的一端与所述起竖臂本体连接，其另一端与所述小抱臂的一端连接，所述小抱臂的另一端连接有所述第二抱钳；
所述动力单元包括第一油缸和第二油缸，所述第一油缸的一端与所述起竖臂本体连接，另一端与所述大抱臂连接，所述第一油缸用于驱动所述大抱臂；所述第二油缸的一端与所述大抱臂连接，另一端与所述小抱臂连接，所述第二油缸用于驱动所述小抱臂。
上述火箭起竖臂中，所述火箭辅助液压支撑装置包括液压系统、导向支撑缸、弹性支撑组件和火箭托架；
所述液压系统用于驱动所述导向支撑缸产生竖直方向的支撑力；所述导向支撑缸的上方设置有弹性支撑组件，所述弹性支撑组件的上方设置有火箭托架，所述弹性支撑组件用于浮动支撑所述火箭托架，所述火箭托架用于支撑火箭；
所述弹性支撑组件包括限位支架、法兰支座、托架回转座、弹簧安装座和限位支撑弹簧；
所述限位支架设置在所述导向支撑缸的顶部，其中心处设置有所述法兰 支座；所述法兰支座通过第一回转销轴与所述托架回转座连接；所述弹簧安装座固定设置在所述限位支架的顶面上，且位于所述限位支架与托架回转座的顶板之间；
所述限位支撑弹簧设置在所述弹簧安装座内，所述弹簧安装座用于对所述限位支撑弹簧进行导向；所述限位支撑弹簧的一端与所述弹簧安装座固定连接，另一端与所述托架回转座的顶板接触；所述限位支撑弹簧用于限制所述火箭托架在竖直方向上的自由运动。
进一步地，所述液压系统包括液压缸、动力组件和油源；所述油源为所述动力组件提供液压油，所述动力组件通过有杆腔油管和无杆腔油管与所述液压缸连接，所述液压缸与导向支撑缸连接；
所述液压缸包括液压缸筒、液压缸杆、行程限位套和油缸销轴；所述液压缸杆滑动设置在所述液压缸筒中，所述行程限位套沿所述液压缸杆的长度方向套设在所述液压缸杆上，其用于限制所述液压缸杆在所述液压缸筒中的行程；所述液压缸杆的顶端通过所述油缸销轴与所述导向支撑缸连接。
更进一步地，所述动力组件包括电磁换向阀、蓄能器、压力传感器、安全阀、比例溢流阀和单向阀；
油源通过所述单向阀与所述电磁换向阀的进油腔连接，所述电磁换向阀的回油腔与油箱连接；所述电磁换向阀的第一工作油腔通过无杆腔油管与所述液压缸的无杆腔连接，所述电磁换向阀的第二工作油腔通过有杆腔油管与所述液压缸的有杆腔连接；
所述单向阀与电磁换向阀的进油腔的连接管路上连接有蓄能器和压力传感器，在所述单向阀与电磁换向阀的进油腔的连接管路和油箱与所述电磁换向阀的回油腔的连接管路之间并联有安全阀和比例溢流阀。
上述火箭起竖臂中，所述火箭后支点支撑调整装置包括回转支座、旋转推动单元、支撑单元和牵拉单元；其中，所述旋转推动单元设置在所述回转支座与起竖臂本体之间，其用于在火箭转由发射台支撑后，推动所述回转支座旋转以让开火箭起飞空间；所述支撑单元设置在所述回转支座上，其用于 对火箭的后支点进行支撑；所述牵拉单元与回转支座和支撑单元连接，在火箭起竖过程中，所述支撑单元对火箭的支撑逐步转换为所述牵拉单元对火箭的牵拉。
进一步地，所述旋转推动单元包括第二回转销轴、限位支撑块和驱动缸；
其中，所述回转支座通过所述第二回转销轴与所述起竖臂本体铰接，所述限位支撑块用于对所述回转支座的位置进行定位，所述驱动缸用于驱动所述回转支座绕所述第二回转销轴旋转。
进一步地，所述支撑单元包括支撑升降缸和端轴颈座，所述支撑升降缸的一端与所述起竖臂本体固定连接，其另一端与所述端轴颈座固定连接；
所述支撑升降缸沿其长度方向的中轴线与所述端轴颈座沿其长度方向的中轴线垂直，所述支撑升降缸用于调节所述端轴颈座沿所述支撑升降缸的长度方向的位移，所述端轴颈座用于沿所述起竖臂本体的宽度方向对火箭进行支撑。
进一步地，所述牵拉单元包括调节螺杆、第一拉杆座和第二拉杆座；
其中，所述调节螺杆的一端通过所述第一拉杆座与回转支座连接，另一端通过所述第二拉杆座与端轴颈座连接；所述调节螺杆上套设有调节螺母和锁紧螺母。
上述火箭起竖臂中，在所述起竖臂本体靠近被支撑火箭尾端的一端，设置有起竖臂回转轴；所述起竖臂回转轴与靠近发射台的地面上设置的回转半座配合，使所述起竖臂本体能够绕着所述回转半座回转；
位于所述起竖臂本体上，在靠近所述火箭后支点支撑调整装置的位置处设置有起竖组件，所述起竖组件与靠近发射台的地面上设置的起竖油缸支座配合，用于推动所述起竖臂本体起竖。
进一步地，所述起竖组件包括起竖油缸、起竖油缸调整装置和起竖油缸销轴；所述起竖油缸通过所述起竖油缸调整装置限位于所述起竖臂本体宽度方向的两侧，所述起竖油缸的上支点与所述起竖臂本体铰接，所述起竖油缸的下耳环通过所述起竖油缸销轴与所述起竖油缸支座铰接；所述起竖油缸调 整装置用于牵拉所述起竖油缸，以使所述起竖油缸的下耳环能够与所述起竖油缸支座铰接。
根据本申请的上述具体实施方式可知，至少具有以下有益效果：本申请火箭起竖臂中通过在起竖臂本体上设置火箭支撑抱紧装置、火箭辅助液压支撑装置和火箭后支点支撑调整装置，利用火箭支撑抱紧装置对被支撑火箭的首端进行可调整支撑，利用火箭后支点支撑调整装置对被支撑火箭的尾端进行可调整支撑，利用火箭辅助液压支撑装置对被支撑火箭的中部进行浮动支撑，能够对火箭进行安全、可靠的转运和起竖，能够避免起竖臂本体的结构变形对火箭产生的额外附加力；而且在转运和对接过程中能够方便地对火箭进行多自由度的调节，有效地降低火箭在转载时的对接和调整难度。
本申请火箭起竖臂中通过在起竖臂本体靠近被支撑火箭尾端的一端设置起竖臂回转轴，在起竖臂本体上靠近火箭后支点支撑调整装置的位置处设置起竖组件，利用自行式液压轴线车对起竖臂回转轴和靠近发射台的地面上设置的回转半座的对接进行定位调整，使得起竖组件与靠近发射台的地面上设置的起竖油缸支座配合可靠地推动起竖臂起竖，进而完成火箭与发射台的可靠对接；本申请火箭起竖臂集转运、定位对接、起竖等功能于一体，能够大大缩短火箭的发射时间，显著地提高发射效率。
应了解的是，上述一般描述及以下具体实施方式仅为示例性及阐释性的，其并不能限制本申请所欲主张的范围。
附图说明
下面的所附附图是本申请的说明书的一部分，其示出了本申请的实施例，所附附图与说明书的描述一起用来说明本申请的原理。
图1为本申请实施例提供的一种火箭起竖臂与自行式液压轴线车共同转运火箭时的状态示意图。
图2为本申请实施例提供的一种火箭起竖臂与自行式液压轴线车共同转运火箭至发射区时的状态示意图5。
图3为本申请实施例提供的一种火箭起竖臂起竖火箭时的状态示意图之 一。
图4为本申请实施例提供的一种火箭起竖臂起竖火箭时的状态示意图之二。
图5为本申请实施例提供的一种火箭起竖臂中火箭支撑抱紧装置的结构示意图。
图6为本申请实施例提供的一种火箭起竖臂的火箭支撑抱紧装置中导向单元的俯视图。
图7为图5中I处的放大图。
图8为本申请实施例提供的一种火箭起竖臂中火箭辅助液压支撑装置的结构示意图。
图9为本申请实施例提供的一种火箭起竖臂中火箭辅助液压支撑装置的剖视图。
图10为本申请实施例提供的一种火箭起竖臂中火箭后支点支撑调整装置的结构示意图。
图11为本申请实施例提供的一种火箭起竖臂的火箭后支点支撑调整装置中支撑单元的剖视图。
附图标记说明：
1、起竖臂本体；
11、火箭支撑抱紧装置；
111、托座；
112、旋转单元；1121、回转轴；1122、支撑板；1123、限位块；
113、导向单元；1131、导轨；1132、滑块；1133、挡块；
114、驱动单元；1141、丝杆；1142、驱动座；1143、液压马达；
115、抱臂单元；1151、大抱臂；1152、第一抱钳；1153、小抱臂；1154、第二抱钳；
116、动力单元；1161、第一油缸；1162、第二油缸；
12、火箭辅助液压支撑装置；
121、液压系统；1210、液压缸筒；1211、液压缸杆；1212、行程限位套；1213、油缸销轴；1214、电磁换向阀；1215、蓄能器；1216、压力传感器；1217、安全阀；1218、比例溢流阀；1219、单向阀；
122、导向支撑缸；1221、导向支撑缸筒；1222、导向支撑缸杆；1223、缸杆限位块；1224、驱动油缸座；
123、弹性支撑组件；1231、限位支架；1232、法兰支座；1233、托架回转座；1234、弹簧安装座；1235、限位支撑弹簧；1236、第一回转销轴；1237、弹簧限位块；
124、火箭托架；
13、火箭后支点支撑调整装置；
131、回转支座；
132、旋转推动单元；1321、第一连接板；1322、第二连接板；1323、第二回转销轴；1324、限位支撑块；1325、驱动缸；
133、支撑单元；1331、支撑缸筒；1332、升降丝杆；1333、涡杆；1334、涡轮；1335、升降缸杆；1336、座筒；1337、驱动丝杆；1338、手轮；1339、支撑缸杆；
134、牵拉单元；1341、调节螺杆；1342、第一拉杆座；1343、第二拉杆座；1344、调节螺母；1345、锁紧螺母；1346、定位销；
14、空调管路；15、液氧加注管路；16、甲烷加注管路；17、供气管路；18、操作平台；19、连接器防护网；
2、自行式液压轴线车；
3、发射台；31、箭脚支撑盘；32、防风压紧装置；
4、回转半座；41、回转座压盖；
5、起竖油缸支座；
6、起竖臂回转轴；
7、起竖组件；71、起竖油缸；72、起竖油缸调整装置；73、起竖油缸销轴；
8、火箭；
9、连接器钢索。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚明白，下面将以附图及详细叙述清楚说明本申请所揭示内容的精神，任何所属技术领域技术人员在了解本申请内容的实施例后，当可由本申请内容所教示的技术，加以改变及修饰，其并不脱离本申请内容的精神与范围。
本申请的示意性实施例及其说明用于解释本申请，但并不作为对本申请的限定。另外，在附图及实施方式中所使用相同或类似标号的元件/构件是用来代表相同或类似部分。
关于本文中所使用的“第一”、“第二”、…等，并非特别指称次序或顺位的意思，也非用以限定本申请，其仅为了区别以相同技术用语描述的元件或操作。
关于本文中所使用的方向用语，例如：上、下、左、右、前或后等，仅是参考附图的方向。因此，使用的方向用语是用来说明并非用来限制本创作。
关于本文中所使用的“包含”、“包括”、“具有”、“含有”等等，均为开放性的用语，即意指包含但不限于。
关于本文中所使用的“及/或”，包括所述事物的任一或全部组合。
关于本文中的“多个”包括“两个”及“两个以上”；关于本文中的“多组”包括“两组”及“两组以上”。
关于本文中所使用的用语“大致”、“约”等，用以修饰任何可以细微变化的数量或误差，但这些微变化或误差并不会改变其本质。本领域技术人员应当了解，前述提及的数值可依实际需求而调整，并不以此为限。
某些用以描述本申请的用词将于下或在此说明书的别处讨论，以提供本领域技术人员在有关本申请的描述上额外的引导。
如图1～图4所示，本申请提供了一种火箭起竖臂，其包括起竖臂本体1，沿起竖臂本体1所支撑的火箭的首端到尾端的方向，对应地，在起竖臂本体 1的前端设置有火箭支撑抱紧装置11，在起竖臂本体1的中部设置有火箭辅助液压支撑装置12，在起竖臂本体1的后端设置有火箭后支点支撑调整装置13。火箭支撑抱紧装置11、火箭辅助液压支撑装置12和火箭后支点支撑调整装置13构成对火箭的三点支撑。其中，火箭支撑抱紧装置11用于对被支撑火箭8的前端进行可调整地支撑和抱紧。火箭辅助液压支撑装置12用于对被支撑火箭8的中部进行可靠的浮动支撑。火箭后支点支撑调整装置13用于对火箭的后端进行可调整地支撑，且具有回转以及横向和纵向的微调功能，以实现对火箭起竖时的微转动以及火箭与发射区的准确定位对接的调整。
本申请提供的火箭起竖臂可以放置在自行式液压轴线车2上，被支撑火箭8沿起竖臂本体1的长度方向设置在起竖臂本体1的顶部。自行式液压轴线车2通过火箭起竖臂将被支撑火箭转运至发射区的发射台3处。其中，自行式液压轴线车2具有全轮转向功能，能够最大限度地缩小转弯半径；其还具有减震功能，能够可靠地保护箭体。
按照与发射台3之间的距离，在靠近发射台3的地面上由近及远依次设置有回转半座4和起竖油缸支座5。
如图2和图3所示，与回转支座4对应，在起竖臂本体1的尾端，即起竖臂本体1靠近被支撑火箭尾端的一端，设置有起竖臂回转轴6，起竖臂回转轴6与回转半座4配合，使起竖臂本体1能够绕着回转半座4回转，以便于起竖。具体地，沿起竖臂本体1的宽度方向，在起竖臂本体1靠近火箭尾端的一端设置有两个起竖臂回转轴6。优选地，两个起竖臂回转轴6关于起竖臂本体1长度方向的中心竖直平面对称。回转半座4采用凹型半座结构。沿被转运至发射台3附近的火箭的水平径向，回转半座4设置有两个。
当自行式液压轴线车2带动起竖臂本体1运动至发射台3附近时，起竖臂回转轴6落入回转半座4的凹口内，利用回转座压盖41将起竖臂回转轴6压紧在回转半座4中，这样起竖臂本体1就能够绕着回转半座4回转。
如图2和图3所示，与起竖油缸支座5对应，位于起竖臂本体1上，在靠近火箭后支点支撑调整装置13的位置处设置有起竖组件7，起竖组件7 与起竖油缸支座5配合，用于推动起竖臂本体1起竖。具体地，起竖组件7包括起竖油缸71、起竖油缸调整装置72和起竖油缸销轴73。起竖油缸71通过起竖油缸调整装置72限位于起竖臂本体1宽度方向的两侧。起竖油缸71的上支点与起竖臂本体1铰接，起竖油缸71的下耳环通过起竖油缸销轴73与起竖油缸支座5铰接。起竖油缸调整装置72用于牵拉起竖油缸71，以使起竖油缸71的下耳环能够与起竖油缸支座5铰接。起竖油缸71通过液压油管与外部设置的油源连接。
具体地，起竖臂本体1可以采用凹截面衍架结构。被支撑火箭8可以沿起竖臂本体1的长度方向放置在起竖臂本体1的凹槽中，这样能够降低起竖臂本体1和火箭这一组合体的整体高度。
如图1所示，起竖臂本体1上还设置有空调管路14、液氧加注管路15、甲烷加注管路16和供气管路17等硬管管路，硬管管路可以设置在起竖臂本体1的凹槽中，并通过软管与火箭的加注连接器连接。
起竖臂本体1上还设置有操作平台18，便于操作人员登上操作平台18对火箭在水平和起竖状态下的关键部位进行检查。在火箭的起竖状态下，操作人员可以通过高空作业车到达操作平台18上。
起竖臂本体1上还设置有连接器防护网19，连接器防护网用于防止捕获的火箭加注连接器回弹。
发射台3上设置有箭脚支撑盘31，箭脚支撑盘31用于对接火箭的箭脚，实现对火箭的支撑。
为了使火箭与发射台3对接后，使火箭与发射台3保持相对稳定，在发射台3上还设置有防风压紧装置32。防风压紧装置32用于对箭脚进行压紧。
如图5所示，火箭支撑抱紧装置11包括支撑组件和抱紧组件，其中，支撑组件用于对火箭进行支撑，其沿所支撑火箭的水平径向设置在起竖臂本体1的底部；抱紧组件设置在起竖臂本体1两侧的上方，其用于对火箭进行抱紧。
具体地，支撑组件可以沿所支撑火箭的水平径向设置在起竖臂本体1凹 型截面的底部，抱紧组件可以设置在起竖臂本体1凹型截面两侧的上方。
支撑组件包括托座111、旋转单元112、导向单元113和驱动单元114。其中，托座111设置在旋转单元112上，旋转单元112用于带动托座111水平旋转预设角度，以适应火箭绕后端支点的转动位移。旋转单元112设置在导向单元113和驱动单元114上，导向单元113沿所支撑火箭的径向设置在起竖臂本体1凹型截面的底端，其用于对托座111沿所支撑火箭径向的移动进行导向。驱动单元114用于通过旋转单元112驱动托座111沿所支撑火箭的径向进行移动，以调整托座111与其所支撑的火箭的位置偏差。
在一个具体的实施例中，旋转单元112包括回转轴1121、支撑板1122和限位块1123。其中，托座111通过回转轴1121与支撑板1122连接。回转轴1121设置有两个，以垂直于支撑板1122方向的中轴线为对称轴，两个回转轴1121对称设置在支撑板1122上。限位块1123设置在托座111的底端与支撑板1122之间，且限位块1123高度方向的中轴线与同时垂直于托座111和支撑板1122方向的中轴线重合。限位块1123用于限制托座111水平旋转的极限位置，防止托座111向一侧倾斜。
如图6所示，导向单元113包括导轨1131、滑块1132和挡块1133。其中，导轨1131设置有两条，两条导轨1131沿被支撑火箭8的径向平行设置在起竖臂本体1凹型截面的底端。沿支撑板1122的长度方向，在支撑板1122底面的两侧分别设置有一滑块1132，滑块1132活动设置在导轨1131上。导轨1131的两端均设置有挡块1133，挡块1133用于限制滑块1132在导轨1131上的最大移动距离，防止支撑板1122运动超限而发生危险。
如图7所示，驱动单元114包括丝杆1141、驱动座1142和液压马达1143。其中，丝杆1141设置在起竖臂本体1凹型截面的底端，且平行设置在两条导轨1131之间。支撑板1122的底端通过驱动座1142与丝杆1141连接，丝杆1141与液压马达1143连接，液压马达1143用于带动丝杆1141旋转，丝杆1141通过驱动座1142带动支撑板1122在导轨1131上运动，以调整托座111与其所支撑的火箭的位置偏差。
可以理解的是，也可以采用电机驱动或手动驱动的方式代替液压马达1143对丝杆1141的驱动。
抱紧组件包括抱臂单元115和动力单元116，两个抱臂单元115相对设置在起竖臂本体1凹型截面两侧的上方，其用于抱住火箭的上半部分。动力单元116用于为抱臂单元115提供动力，使得两个抱臂单元115能够收拢进而抱住火箭或者使得两个抱臂单元115能够展开进而松开火箭。
在一个具体的实施例中，抱臂单元115包括大抱臂1151、第一抱钳1152、小抱臂1153和第二抱钳1154。大抱臂1151的内侧通过销轴连接有第一抱钳1152，大抱臂1151的一端通过销轴与起竖臂本体1连接，其另一端通过销轴与小抱臂1153的一端连接，小抱臂1153的另一端通过销轴连接有第二抱钳1154。第一抱钳1152和第二抱钳1154的抱钳面的弧度均与火箭的圆周弧度相匹配。通过大抱臂1151和小抱臂1153的双关节设置，能够优化火箭表面的受力。
动力单元116包括第一油缸1161和第二油缸1162，第一油缸1161的一端与起竖臂本体1连接，另一端与大抱臂1151连接，第一油缸1161用于驱动大抱臂1151。第二油缸1162的一端与大抱臂1151连接，另一端与小抱臂1153连接，第二油缸1162用于驱动小抱臂1153。在第一油缸1161和第二油缸1162的伸出力的作用下，大抱臂1151通过第一抱钳1152抱住火箭，小抱臂1153通过第二抱钳1154抱住火箭。
通过托座111支撑住火箭的下半部分，通过大抱臂1151和小抱臂1153抱住火箭的上半部分，火箭的表面多点受力，使得火箭能够被可靠地支撑抱紧。
可以理解的是，第一油缸1161和第二油缸1162也可以都改用气缸和电动缸，以对大抱臂1151和小抱臂1153进行驱动。
如图8所示，火箭辅助液压支撑装置12包括液压系统121、导向支撑缸122、弹性支撑组件123和火箭托架124。其中，液压系统121用于驱动导向支撑缸122产生竖直方向的支撑力，导向支撑缸122的上方设置有弹性支撑 组件123，弹性支撑组件123的上方设置有火箭托架124，弹性支撑组件123用于浮动支撑火箭托架124，火箭托架124用于支撑火箭8。导向支撑缸122通过下端法兰与起竖臂本体1连接。
具体地，如图9所示，液压系统121包括液压缸、动力组件和油源(图中未示出)。其中，油源为动力组件提供液压油，动力组件通过有杆腔油管和无杆腔油管与液压缸连接。液压缸与导向支撑缸122连接，用于驱动导向支撑缸122产生竖直方向的支撑力。
液压缸包括液压缸筒1210、液压缸杆1211、行程限位套1212和油缸销轴1213。液压缸杆1211滑动设置在液压缸筒1210中，行程限位套1212沿液压缸杆1211的长度方向套设在液压缸杆1211上，其用于限制液压缸杆1211在液压缸筒1210中的行程。液压缸杆1211的顶端通过油缸销轴1213与导向支撑缸122连接。
具体地，行程限位套1212的直径小于或等于液压缸杆1211底部的直径，且大于液压缸杆1211中部的直径。行程限位套1212可以套设在液压缸杆1211的中部，通过阻止液压缸杆1211的底部达到限制液压缸杆1211在液压缸筒1210中的行程的目的。
动力组件包括电磁换向阀1214、蓄能器1215、压力传感器1216、安全阀1217、比例溢流阀1218和单向阀1219。油源通过单向阀1219与电磁换向阀1214的进油腔P连接，电磁换向阀1214的回油腔T与油箱连接。电磁换向阀1214的第一工作油腔A通过无杆腔油管与液压缸的无杆腔连接，电磁换向阀1214的第二工作油腔B通过有杆腔油管与液压缸的有杆腔连接。单向阀1219与电磁换向阀1214的进油腔P的连接管路上连接有蓄能器1215和压力传感器1216。在单向阀1219与电磁换向阀1214的进油腔P的连接管路和油箱与电磁换向阀1214的回油腔T的连接管路之间并联有安全阀1217和比例溢流阀1218。
电磁换向阀1214在断电情况下，液压油通过单向阀1219分别进入液压缸的有杆腔和无杆腔，同时液压油也进入蓄能器1215，液压缸处于差动连接 状态。在蓄能器1215的作用下，动力组件具有一定的支撑力补偿能力。安全阀1217用于限制动力组件的最高压力，即限制液压缸顶出力的大小，防止因为顶出力过大对箭体造成损害。比例溢流阀1218用于实时控制动力组件的压力变化，压力传感器1216用于实时检测动力组件的压力。火箭8起竖到位后，电磁换向阀1214得电，蓄能器1215中的油液通过液压缸有杆腔管路进入液压缸有杆腔，无杆腔油液通过液压缸无杆腔管路流回油箱。
如图9所示，导向支撑缸122包括导向支撑缸筒1221、导向支撑缸杆1222、缸杆限位块1223和驱动油缸座1224。其中，导向支撑缸杆1222滑动设置在导向支撑缸筒1221中，导向支撑缸杆1222在液压缸的驱动下做上下运动。沿导向支撑缸筒1221的宽度方向，在导向支撑缸杆1222的外壁与导向支撑缸筒1221的内壁之间相对设置有两个缸杆限位块1223，其用于限制导向支撑缸杆1222的旋转运动。驱动油缸座1224固定设置在导向支撑缸杆1222的底部。驱动油缸座1224通过油缸销轴1213与液压缸杆1211连接。
为便于在驱动油缸座1224与液压缸杆1211的连接处安装油缸销轴1213，导向支撑缸筒1221的侧壁上开设有通孔。穿过通孔，可以对油缸销轴1213进行安装或调节。
弹性支撑组件123包括限位支架1231、法兰支座1232、托架回转座1233、弹簧安装座1234和限位支撑弹簧1235。其中，限位支架1231设置在导向支撑缸122上方，其中心处固定设置有法兰支座1232，法兰支座1232通过螺栓与导向支撑缸杆1222固定连接。法兰支座1232通过第一回转销轴1236与托架回转座1233连接。弹簧安装座1234固定设置在限位支架1231的顶面上，且位于限位支架1231与托架回转座1233的顶板之间。限位支撑弹簧1235设置在弹簧安装座1234内，弹簧安装座1234用于对限位支撑弹簧1235进行导向。限位支撑弹簧1235的一端与弹簧安装座1234固定连接，另一端与托架回转座1233的顶板接触。限位支撑弹簧1235用于限制火箭托架124在竖直方向上的自由运动。
另外，位于托架回转座1233的顶板的底面上，与限位支撑弹簧1235对 应的位置设置有弹簧限位块1237。
在另一个具体的实施例中，限位支架1231和法兰支座1232还可以一体成型。
在一个具体的实施例中，限位支撑弹簧1235设置有两根，沿火箭托架124的长度方向，以限位支架1231竖直方向的中轴线为对称轴，两根限位支撑弹簧1235对称设置在限位支架1231上。
为防止火箭托架124对火箭8表面造成损伤，火箭托架124的上支撑面上设置有毛毡垫。
如图10所示，火箭后支点支撑调整装置13包括回转支座131、旋转推动单元132、支撑单元133和牵拉单元134。其中，旋转推动单元132设置在回转支座131与起竖臂本体1之间，其用于在火箭转由发射台3支撑后，推动回转支座131旋转以让开火箭起飞空间，实现火箭后支撑的快速拆解。支撑单元133设置在回转支座131上，其用于对火箭的后支点进行支撑。牵拉单元134与回转支座131和支撑单元133连接，在火箭起竖过程中，支撑单元133对火箭的支撑逐步转换为牵拉单元134对火箭的牵拉。
如图10所示，旋转推动单元132包括第一连接板1321、第二连接板1322、第二回转销轴1323、限位支撑块1324和驱动缸1325。其中，第一连接板1321设置在起竖臂本体1上，第二连接板1322设置在回转支座131靠近起竖臂本体1的端面上。第一连接板1321与第二连接板1322成对使用，且通过第二回转销轴1323铰接。限位支撑块1324设置在起竖臂本体1与回转支座131的底面之间，其用于对回转支座131的位置进行定位。驱动缸1325的一端起竖臂本体1铰接，其另一端与回转支座131的底面铰接。驱动缸1325用于驱动回转支座131绕第二回转销轴1323向靠近或远离起竖臂本体1上所支撑火箭的方向旋转。
具体地，驱动缸1325可以采用驱动油缸或驱动液压缸。
如图11所示，支撑单元133包括支撑升降缸和端轴颈座，支撑升降缸的一端与起竖臂本体1固定连接，其另一端与端轴颈座固定连接。支撑升降 缸与端轴颈座呈T型设置，即支撑升降缸沿其长度方向的中轴线与端轴颈座沿其长度方向的中轴线垂直。支撑升降缸用于调节端轴颈座沿支撑升降缸的长度方向的位移。端轴颈座用于沿起竖臂本体1的宽度方向对火箭进行支撑。
具体地，如图3所示，支撑升降缸包括支撑缸筒1331、升降丝杆1332、涡杆1333、涡轮1334和升降缸杆1335。其中，
支撑缸筒1331与起竖臂本体1连接的一端设置有螺纹堵盖。升降丝杆1332转动设置在支撑缸筒1331中，升降丝杆1332靠近螺纹堵盖的一端设置有深沟球轴承，深沟球轴承与螺纹堵盖之间设置有挡圈，挡圈对深沟球轴承进行限位。
深沟球轴承上方设置有限位螺母，限位螺母的上方设置有涡轮1334，涡轮1334通过平键与升降丝杆1332连接，涡杆1333的一端穿过支撑缸筒1331后与涡轮1334连接。限位螺母与升降丝杆1332上的台阶配合，将涡轮1334压紧定位在升降丝杆1332上。
沿升降丝杆1332的长度方向，在涡轮1334的顶端和底端均设置有推力轴承，推力轴承用于承受升降缸杆1335上下两个方向的作用力。在推力轴承的上方设置有限位挡板，限位挡板用于限制升降丝杆1332向远离起竖臂本体1的方向运动。
升降丝杆1332靠近螺纹堵盖一端的相对端与升降缸杆1335的一端通过螺纹连接，升降缸杆1335的该端滑动设置在支撑缸筒1331中。
支撑缸筒1331设置有螺纹堵盖一端的相对端设置有第一支撑法兰盖，第一支撑法兰盖上设置有通孔，通孔的内壁上设置有导向带，升降缸杆1335的另一端穿过通孔后通过过渡法兰与端轴颈座连接。其中，导向带用于对升降缸杆1335进行支撑和导向。
为防止升降缸杆1335在支撑缸筒1331内滑动时发生转动，在限位挡板与第一支撑法兰盖之间的支撑缸筒1331的内壁上开设有第一导向槽，第一导向槽中设置有第一限位块。第一限位块的一端与升降缸杆1335固定连接，另一端在第一导向槽中滑动。
通过升降丝杆1332的转动，实现升降缸杆1335的上下运动。
如图11所示，端轴颈座包括座筒1336、驱动丝杆1337、手轮1338和支撑缸杆1339。座筒1336固定设置在支撑升降缸的顶端，且与火箭被支撑后的水平径向一致。具体地，座筒1336通过过渡法兰与升降缸杆1335连接。
座筒1336远离被支撑火箭8的一端设置有支撑法兰。驱动丝杆1337的一端位于座筒1336外，并与手轮1338连接，另一端穿过支撑法兰后在座筒1336内与支撑缸杆1339的一端通过螺纹连接。通过手轮1338对驱动丝杆1337进行旋转，驱动丝杆1337的转动能够带动支撑缸杆1339在座筒1336内做伸缩运动。
支撑法兰的内壁与驱动丝杆1337之间设置有圆锥滚子轴承。其中，圆锥滚子轴承成对设置，并背对背安装，对驱动丝杆1337起到支撑和导向的作用。
在圆锥滚子轴承靠近手轮1338的一侧设置有限制螺母，限制螺母与驱动丝杆1337上的台阶配合，将圆锥滚子轴承固定连接在驱动丝杆1337上。
另外，在限制螺母靠近手轮1338的一侧设置有保护罩，保护罩与座筒1336固定连接，其用于对座筒1336内的限制螺母、圆锥滚子轴承等进行保护。
为便于限制螺母更紧密地压紧圆锥滚子轴承，沿驱动丝杆1337的长度方向，在限制螺母与圆锥滚子轴承之间设置有垫板。
座筒1336靠近被支撑火箭8的一端设置有第二支撑法兰盖。支撑缸杆1339与驱动丝杆1337连接端的相对端穿过第二支撑法兰盖后与端轴颈连接。
可以理解的是，采用手轮1338对驱动丝杆1337进行驱动的方式也可以用马达驱动方式进行代替。
为防止支撑缸杆1339在座筒1336内做伸缩运动时发生转动，在支撑法兰与第二支撑法兰盖之间的座筒1336的内壁上开设有第二导向槽，第二导向槽中设置有第二限位块。第二限位块的一端与支撑缸杆1339固定连接，另一端在第二导向槽中滑动。
在一个具体的实施例中，如图11所示，支撑缸杆1339与端轴颈连接的一端设置有压紧盖。压紧盖采用侧壁可开合的筒状结构。
如图11所示，牵拉单元134包括调节螺杆1341、第一拉杆座1342、第二拉杆座1343、调节螺母1344和锁紧螺母1345。其中，调节螺杆1341的一端通过第一拉杆座1342与回转支座131连接，另一端通过第二拉杆座1343与端轴颈座连接。调节螺杆1341上套设有调节螺母1344和锁紧螺母1345。通过旋转调节螺母1344，能够改变调节螺杆1341的长度，当调节螺杆1341调节到预设长度时，可以通过锁紧螺母1345对调节螺杆1341进行锁紧，以使调节螺杆1341的长度不再变化。
具体地，第一拉杆座1342通过定位销1346与回转支座131固定连接。
支撑升降缸带动端轴颈座进行升降动作，调节螺杆1341通过第二拉杆座1343对端轴颈座进行牵拉，以适应端轴颈座支撑的不同高度位置。另外，端轴颈座具有一定的水平调节能力，能够带动火箭进行水平方向的位置调节。
采用本申请火箭起竖臂以及自行式液压轴线车2和发射台3，对火箭进行转运和起竖，直至完成火箭的整个发射流程，其具体过程为：
S1、转运；
遥控控制自行式液压轴线车2，使其转运速度不超过10km/h。
如图1所示，在火箭的转运过程中，火箭支撑抱紧装置11、火箭辅助液压支撑装置12和火箭后支点支撑调整装置13可靠地支撑箭体；火箭支撑抱紧装置11中的抱紧组件紧密地抱紧箭体，以限制火箭的自由度；起竖组件7随起竖臂本体1一起转运。
S2、支座对接；
如图2所示，当起竖臂本体1到达发射工位后，首先，通过自行式液压轴线车2缓慢调整起竖臂本体1的位置，使起竖臂回转轴6置于回转半座4凹口的正上方。其次，缓慢降低自行式液压轴线车2的高度，使起竖臂回转轴6缓慢下降直至落入回转半座4的凹口内。最后，利用回转座压盖41将起竖臂回转轴6压紧在回转半座4中，完成起竖臂回转轴6与回转半座4的 对接，这样起竖臂本体1就能够绕着回转半座4回转。
起竖油缸调整装置72带动起竖油缸71缓慢下降，配合自行式液压轴线车2的升降运动，使起竖油缸71的下耳环与起竖油缸支座5的孔同心，然后手动插入起竖油缸销轴73，完成起竖油缸71与起竖油缸支座5的对接。
S3、火箭起竖；
如图3所示，通过液压油管将起竖油缸71与油源连接，连接起竖臂本体1上其他需要液压驱动的管路。液压系统控制起竖油缸71缓慢伸出，起竖臂本体1在起竖油缸71的推动下缓慢起竖。
由于起竖臂本体1的受力由原来自行式液压轴线车2支撑转换为通过起竖臂回转轴6和起竖油缸71支撑，起竖臂本体1会有一定的挠性变形，此时火箭会绕着后支点逆时针微微转动，火箭辅助液压支撑装置12会实时调节支撑力的大小，克服起竖臂本体1的变形影响，满足火箭的支撑受力要求。同时，火箭辅助液压支撑装置12还设置有最大力限制，防止过载。在起竖过程中，按理论所需力的大小实时调节火箭辅助液压支撑装置12的支撑力，防止火箭出现载荷不均匀的现象。最后，火箭起竖到竖直状态后，火箭的全部重量由火箭后支点支撑调整装置13承载。
S4、对接发射台3；
如图3所示，在起竖油缸71的推动下，起竖臂本体1带着火箭缓慢达到竖直状态。由于起竖臂本体1、发射台3、回转半座4存在一定的位置偏差，使得火箭起竖后箭脚不能与发射台3上的箭脚支撑盘31准确对准，因此需要通过火箭后支点支撑调整装置13缓慢调整火箭箭脚的位置，配合箭脚支撑盘31的升降动作，准确对准承接箭脚。然后，防风压紧装置32开始动作，压紧箭脚，至此火箭支撑转为由发射台3支撑。
S5、火箭解锁；
如图4所示，当火箭完成与发射台3的对接后，火箭后支点支撑调整装置13缓慢打开，解除对火箭的约束，抱臂单元缓慢张开，起竖臂本体1缓慢后倒约5°，火箭加注连接器通过连接器钢索9牵拉，进入射前准备状态。
S6、0s后倒；
火箭推进剂加注完成后，在火箭射前约30min，防风压紧装置32解锁，解除最后一项对火箭的束缚。火箭0s点火后，火箭加注连接器解锁，起竖油缸71缩回以带动起竖臂本体1快速后倒，同时带动连接器钢索运动，火箭加注连接器在牵拉力和重力的双重作用下，避让开火箭的起飞飘移空间。
S7、火箭加注连接器脱落防护；
起竖臂本体1上设置的连接器防护网19能够在捕获火箭加注连接器后，防止火箭加注连接器回弹，避免火箭加注连接器与正在起飞的火箭产生干涉碰撞。
S8、回平撤收
完成火箭发射后，自行式液压轴线车2行驶至预定地点，起竖臂本体1回倒至水平状态，松开回转座压盖41，拔出起竖油缸销轴73，利用起竖油缸调整装置72牵拉起起竖油缸71；自行式液压轴线车2缓慢升起，使起竖臂回转轴6高于回转半座4的凹口；自行式液压轴线车2带着起竖臂本体1驶离发射区，返回技术厂房，至此完成整个发射流程。
采用本申请火箭起竖臂，能够实现“三平”测发模式下，中型液体火箭的安全转运和起竖，避免由于起竖臂本体1结构变形对火箭产生的额外附加力，实现火箭在转运和对接过程中对火箭进行多自由度的调节，有效的降低火箭在转载时的对接和调整难度，同时到达发射工位后能够可靠起竖火箭，使火箭与发射台3对接，为空调送风、加注及供配气管路提供安装空间。
本申请火箭起竖臂省略了传统固定式发射塔架的脐带臂，另外通过本申请火箭起竖臂的0s快速后倒运动，有效地避让火箭的起飞飘移空间，同时实现对火箭加注连接器的脱落牵拉和防护。本申请火箭起竖臂集多种功能于一体，能够大大缩短火箭的发射时间，提高发射效率。
以上所述仅为本申请示意性的具体实施方式，在不脱离本申请的构思和原则的前提下，任何本领域的技术人员所做出的等同变化与修改，均应属于本申请保护的范围。

Claims (12)

  1. 一种火箭起竖臂，其特征在于，包括起竖臂本体，沿所述起竖臂本体的长度方向，在所述起竖臂本体上依次设置有火箭支撑抱紧装置、火箭辅助液压支撑装置和火箭后支点支撑调整装置；
    所述火箭支撑抱紧装置用于对被支撑火箭的前端进行可调整地支撑和抱紧，所述火箭辅助液压支撑装置用于对被支撑火箭的中部进行浮动支撑；所述火箭后支点支撑调整装置用于对火箭的后端进行可调整地支撑，还用于对火箭起竖时的转动以及火箭与发射台的定位对接进行调整。
  2. 根据权利要求1所述的火箭起竖臂，其特征在于，所述火箭支撑抱紧装置包括支撑组件和抱紧组件，所述支撑组件用于对火箭进行支撑，其沿所支撑火箭的水平径向设置在所述起竖臂本体的底部；所述抱紧组件设置在所述起竖臂本体两侧的上方，其用于对火箭进行抱紧；
    所述支撑组件包括托座、旋转单元、导向单元和驱动单元；所述托座设置在所述旋转单元上，所述旋转单元用于带动所述托座水平旋转预设角度；所述旋转单元设置在所述导向单元和驱动单元上，所述导向单元沿所支撑火箭的水平径向设置在所述起竖臂本体的底部，其用于对所述托座沿所支撑火箭水平径向的移动进行导向；所述驱动单元用于通过所述旋转单元驱动所述托座沿所支撑火箭的径向进行移动。
  3. 根据权利要求2所述的火箭起竖臂，其特征在于，所述抱紧组件包括抱臂单元和动力单元，两个所述抱臂单元相对设置在所述起竖臂本体两侧的上方，其用于抱住火箭的上半部分；所述动力单元用于为所述抱臂单元提供动力，使得两个所述抱臂单元通过收拢抱住火箭；
    所述抱臂单元包括大抱臂、第一抱钳、小抱臂和第二抱钳；所述大抱臂的内侧连接有所述第一抱钳，所述大抱臂的一端与所述起竖臂本体连接，其另一端与所述小抱臂的一端连接，所述小抱臂的另一端连接有所述第二抱钳；
    所述动力单元包括第一油缸和第二油缸，所述第一油缸的一端与所述起竖臂本体连接，另一端与所述大抱臂连接，所述第一油缸用于驱动所述大抱臂；所述第二油缸的一端与所述大抱臂连接，另一端与所述小抱臂连接，所 述第二油缸用于驱动所述小抱臂。
  4. 根据权利要求1或2或3所述的火箭起竖臂，其特征在于，所述火箭辅助液压支撑装置包括液压系统、导向支撑缸、弹性支撑组件和火箭托架；
    所述液压系统用于驱动所述导向支撑缸产生竖直方向的支撑力；所述导向支撑缸的上方设置有弹性支撑组件，所述弹性支撑组件的上方设置有火箭托架，所述弹性支撑组件用于浮动支撑所述火箭托架，所述火箭托架用于支撑火箭；
    所述弹性支撑组件包括限位支架、法兰支座、托架回转座、弹簧安装座和限位支撑弹簧；
    所述限位支架设置在所述导向支撑缸的顶部，其中心处设置有所述法兰支座；所述法兰支座通过第一回转销轴与所述托架回转座连接；所述弹簧安装座固定设置在所述限位支架的顶面上，且位于所述限位支架与托架回转座的顶板之间；
    所述限位支撑弹簧设置在所述弹簧安装座内，所述弹簧安装座用于对所述限位支撑弹簧进行导向；所述限位支撑弹簧的一端与所述弹簧安装座固定连接，另一端与所述托架回转座的顶板接触；所述限位支撑弹簧用于限制所述火箭托架在竖直方向上的自由运动。
  5. 根据权利要求4所述的火箭起竖臂，其特征在于，所述液压系统包括液压缸、动力组件和油源；所述油源为所述动力组件提供液压油，所述动力组件通过有杆腔油管和无杆腔油管与所述液压缸连接，所述液压缸与导向支撑缸连接；
    所述液压缸包括液压缸筒、液压缸杆、行程限位套和油缸销轴；所述液压缸杆滑动设置在所述液压缸筒中，所述行程限位套沿所述液压缸杆的长度方向套设在所述液压缸杆上，其用于限制所述液压缸杆在所述液压缸筒中的行程；所述液压缸杆的顶端通过所述油缸销轴与所述导向支撑缸连接。
  6. 根据权利要求5所述的火箭起竖臂，其特征在于，所述动力组件包括电磁换向阀、蓄能器、压力传感器、安全阀、比例溢流阀和单向阀；
    油源通过所述单向阀与所述电磁换向阀的进油腔连接，所述电磁换向阀的回油腔与油箱连接；所述电磁换向阀的第一工作油腔通过无杆腔油管与所述液压缸的无杆腔连接，所述电磁换向阀的第二工作油腔通过有杆腔油管与所述液压缸的有杆腔连接；
    所述单向阀与电磁换向阀的进油腔的连接管路上连接有蓄能器和压力传感器，在所述单向阀与电磁换向阀的进油腔的连接管路和油箱与所述电磁换向阀的回油腔的连接管路之间并联有安全阀和比例溢流阀。
  7. 根据权利要求1或2或3所述的火箭起竖臂，其特征在于，所述火箭后支点支撑调整装置包括回转支座、旋转推动单元、支撑单元和牵拉单元；其中，所述旋转推动单元设置在所述回转支座与起竖臂本体之间，其用于在火箭转由发射台支撑后，推动所述回转支座旋转以让开火箭起飞空间；所述支撑单元设置在所述回转支座上，其用于对火箭的后支点进行支撑；所述牵拉单元与回转支座和支撑单元连接，在火箭起竖过程中，所述支撑单元对火箭的支撑逐步转换为所述牵拉单元对火箭的牵拉。
  8. 根据权利要求7所述的火箭起竖臂，其特征在于，所述旋转推动单元包括第二回转销轴、限位支撑块和驱动缸；
    其中，所述回转支座通过所述第二回转销轴与所述起竖臂本体铰接，所述限位支撑块用于对所述回转支座的位置进行定位，所述驱动缸用于驱动所述回转支座绕所述第二回转销轴旋转。
  9. 根据权利要求7所述的火箭起竖臂，其特征在于，所述支撑单元包括支撑升降缸和端轴颈座，所述支撑升降缸的一端与所述起竖臂本体固定连接，其另一端与所述端轴颈座固定连接；
    所述支撑升降缸沿其长度方向的中轴线与所述端轴颈座沿其长度方向的中轴线垂直，所述支撑升降缸用于调节所述端轴颈座沿所述支撑升降缸的长度方向的位移，所述端轴颈座用于沿所述起竖臂本体的宽度方向对火箭进行支撑。
  10. 根据权利要求7所述的火箭起竖臂，其特征在于，所述牵拉单元包 括调节螺杆、第一拉杆座和第二拉杆座；
    其中，所述调节螺杆的一端通过所述第一拉杆座与回转支座连接，另一端通过所述第二拉杆座与端轴颈座连接；所述调节螺杆上套设有调节螺母和锁紧螺母。
  11. 根据权利要求1或2或3所述的火箭起竖臂，其特征在于，在所述起竖臂本体靠近被支撑火箭尾端的一端，设置有起竖臂回转轴；所述起竖臂回转轴与靠近发射台的地面上设置的回转半座配合，使所述起竖臂本体能够绕着所述回转半座回转；
    位于所述起竖臂本体上，在靠近所述火箭后支点支撑调整装置的位置处设置有起竖组件，所述起竖组件与靠近发射台的地面上设置的起竖油缸支座配合，用于推动所述起竖臂本体起竖。
  12. 根据权利要求11所述的火箭起竖臂，其特征在于，所述起竖组件包括起竖油缸、起竖油缸调整装置和起竖油缸销轴；所述起竖油缸通过所述起竖油缸调整装置限位于所述起竖臂本体宽度方向的两侧，所述起竖油缸的上支点与所述起竖臂本体铰接，所述起竖油缸的下耳环通过所述起竖油缸销轴与所述起竖油缸支座铰接；所述起竖油缸调整装置用于牵拉所述起竖油缸，以使所述起竖油缸的下耳环能够与所述起竖油缸支座铰接。
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CN114658705B (zh) * 2022-03-11 2023-09-08 东方空间技术(山东)有限公司 火箭支撑平台及火箭的位姿调节方法
CN114719677A (zh) * 2022-05-05 2022-07-08 北京中科宇航技术有限公司 一种火箭发射起竖支撑装置
CN114719677B (zh) * 2022-05-05 2024-01-02 北京中科宇航技术有限公司 一种火箭发射起竖支撑装置
CN114777569A (zh) * 2022-05-16 2022-07-22 北京中科宇航技术有限公司 一种火箭起竖架牵拉对接装置
CN114919778A (zh) * 2022-05-16 2022-08-19 北京中科宇航技术有限公司 一种运载火箭支撑环
CN114777569B (zh) * 2022-05-16 2023-07-18 北京中科宇航技术有限公司 一种火箭起竖架牵拉对接装置

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