WO2021088818A1 - 火箭辅助液压支撑装置 - Google Patents

火箭辅助液压支撑装置 Download PDF

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Publication number
WO2021088818A1
WO2021088818A1 PCT/CN2020/126220 CN2020126220W WO2021088818A1 WO 2021088818 A1 WO2021088818 A1 WO 2021088818A1 CN 2020126220 W CN2020126220 W CN 2020126220W WO 2021088818 A1 WO2021088818 A1 WO 2021088818A1
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Prior art keywords
support
rocket
cylinder
hydraulic
limit
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PCT/CN2020/126220
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English (en)
French (fr)
Inventor
张瑜
杨俊�
韩召洋
张彦杰
韦银利
吴雪
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蓝箭航天空间科技股份有限公司
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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 JP2022525538A priority Critical patent/JP2022554325A/ja
Publication of WO2021088818A1 publication Critical patent/WO2021088818A1/zh

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    • 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

Definitions

  • the application belongs to the technical field of rocket auxiliary support devices, and specifically relates to a rocket auxiliary hydraulic support device.
  • the present application provides a rocket auxiliary hydraulic support device.
  • the present application provides a rocket auxiliary hydraulic support device, which 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 to the bracket revolving base through a revolving pin; the spring is installed
  • the 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 assembly, and an oil source; the oil source provides hydraulic oil for the power assembly, and the power assembly is connected to the rod cavity oil pipe and the rodless cavity oil pipe.
  • the hydraulic cylinder is connected, and the hydraulic cylinder is connected with the guide support cylinder.
  • the pressure 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 extends along the hydraulic cylinder.
  • the length of the rod is sleeved on the hydraulic cylinder rod, which 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 supported by the cylinder pin and the guide Cylinder connection.
  • the diameter of the stroke limit sleeve is smaller than or equal to the diameter of the bottom of the hydraulic cylinder rod, and greater than the diameter of the middle of the hydraulic cylinder rod.
  • 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 guide support cylinder includes a guide support cylinder tube, a guide support cylinder rod, a cylinder rod limit block and a drive cylinder seat;
  • the guide support cylinder rod is slidably arranged in the guide support cylinder, and the guide support cylinder rod moves up and down under the drive of the hydraulic cylinder;
  • two cylinder rod limit blocks are arranged oppositely between the outer wall of the guide support cylinder and the inner wall of the guide support cylinder, which are used to limit the Rotational movement of guiding and supporting cylinder rod;
  • the drive cylinder seat is fixedly arranged at the bottom of the guide support cylinder rod, and the drive cylinder seat is connected with the hydraulic cylinder rod through the cylinder pin.
  • a through hole is opened on the side wall of the guiding and supporting cylinder.
  • the limit support spring is provided with two, along the length direction of the rocket carrier, with the center axis of the limit support in the vertical direction as the axis of symmetry, the two limit support springs are symmetrically arranged On the limit bracket.
  • limit bracket and the flange support are integrally formed, or the limit bracket and the flange support are fixedly connected together.
  • a felt pad is provided on the upper support surface of the rocket carrier.
  • the application can reliably float the rocket during the process of reloading and transporting the rocket; and by adjusting the current of the proportional relief valve during the rocket erection process
  • the support force can be controlled, and the maximum support force can be limited by the safety valve, avoiding the additional large support force caused by the deformation of the erecting arm during the erection process, and it can adapt to the situation of the rocket at the termination of the launch Positioning deviation below.
  • Fig. 1 is a partial structural diagram of a rocket auxiliary hydraulic support device provided by an embodiment of the application.
  • Fig. 2 is a cross-sectional view of a rocket auxiliary hydraulic support device provided by an embodiment of the application.
  • FIG. 3 is a schematic diagram of the state of a rocket auxiliary hydraulic support device provided by an embodiment of the application during the rocket erection process.
  • FIG. 4 is a schematic diagram of the state of a rocket auxiliary hydraulic support device provided by an embodiment of the application during the secondary support of the rocket and the rocket rollback.
  • Hydraulic cylinder 111, hydraulic cylinder barrel; 112, hydraulic cylinder rod; 113, stroke limit sleeve; 114, cylinder pin;
  • the present application provides a rocket 6 auxiliary hydraulic support device, which includes a hydraulic system 1, a guiding support cylinder 2, an elastic support assembly 3 and a rocket carrier 4.
  • the hydraulic system 1 is used to drive the guide support cylinder 2 to generate vertical support force.
  • An elastic support assembly 3 is provided above the guide support cylinder 2, and a rocket carrier 4 is provided above the elastic support assembly 3, and the elastic support assembly 3
  • the rocket carrier 4 is used for floating support, and the rocket carrier 4 is used for supporting the rocket 6.
  • the guide support cylinder 2 is connected with the vertical arm body 5 through the lower end flange.
  • the hydraulic system 1 includes a hydraulic cylinder 11, a power assembly 12, and an oil source (not shown in the figure).
  • the oil source provides hydraulic oil for the power assembly 12, and the power assembly 12 is connected to the hydraulic cylinder 11 through an oil pipe with a rod cavity and an oil pipe without a rod cavity.
  • the hydraulic cylinder 11 is connected to the guide support cylinder 2 and is used to drive the guide support cylinder 2 to generate vertical support force.
  • the hydraulic cylinder 11 includes a hydraulic cylinder barrel 111, a hydraulic cylinder rod 112, a stroke limit sleeve 113 and a cylinder pin 114.
  • the hydraulic cylinder rod 112 is slidably arranged in the hydraulic cylinder barrel 111, and the stroke limit sleeve 113 is sleeved on the hydraulic cylinder rod 112 along the length direction of the hydraulic cylinder rod 112, which is used to limit the hydraulic cylinder rod 112 in the hydraulic cylinder barrel 111. stroke.
  • the top end of the hydraulic cylinder rod 112 is connected to the guide support cylinder 2 through the cylinder pin 114.
  • the diameter of the stroke limit sleeve 113 is less than or equal to the diameter of the bottom of the hydraulic cylinder rod 112 and greater than the diameter of the middle of the hydraulic cylinder rod 112.
  • the stroke limit sleeve 113 can be sleeved in the middle of the hydraulic cylinder rod 112, and the purpose of limiting the stroke of the hydraulic cylinder rod 112 in the hydraulic cylinder barrel 111 is achieved by preventing the bottom of the hydraulic cylinder rod 112.
  • the power assembly 12 includes an electromagnetic reversing valve 121, an accumulator 122, a pressure sensor 123, a safety valve 124, a proportional relief valve 125 and a one-way valve 126.
  • the oil source is connected to the oil inlet chamber P of the electromagnetic reversing valve 121 through the one-way valve 126, and the oil return chamber T of the electromagnetic reversing valve 121 is connected to the oil tank.
  • the first working oil chamber A of the electromagnetic reversing valve 121 is connected to the rodless chamber of the hydraulic cylinder 11 through a rodless chamber oil pipe, and the second working oil chamber B of the electromagnetic reversing valve 121 is connected to the hydraulic cylinder 11 through a rodless chamber oil pipe.
  • Rod cavity connection
  • An accumulator 122 and a pressure sensor 123 are connected to the connecting pipeline between the one-way valve 126 and the oil inlet chamber P of the electromagnetic reversing valve 121.
  • a safety valve 124 and a proportional relief valve 125 are connected in parallel between the connecting pipeline of the one-way valve 126 and the oil inlet chamber P of the electromagnetic reversing valve 121 and the connecting pipeline of the oil tank and the oil return chamber T of the electromagnetic reversing valve 121. .
  • the hydraulic oil enters the rod cavity and the rodless cavity of the hydraulic cylinder 11 through the one-way valve 126, and the hydraulic oil also enters the accumulator 122, and the hydraulic cylinder 11 is in a differential connection state. .
  • the power assembly 12 has a certain support force compensation capability.
  • the safety valve 124 is used to limit the maximum pressure of the power assembly 12, that is, to limit the ejection force of the hydraulic cylinder 11 to prevent damage to the arrow body due to excessive ejection force.
  • the proportional relief valve 125 is used to control the pressure change of the power assembly 12 in real time, and the pressure sensor 123 is used to detect the pressure of the power assembly 12 in real time.
  • the electromagnetic reversing valve 121 is energized, and the oil in the accumulator 122 enters the hydraulic cylinder 11 with a rod cavity through the hydraulic cylinder 11 with a rod cavity pipeline, and the rodless cavity oil passes through the hydraulic cylinder 11 without a rod cavity.
  • the rod cavity pipeline flows back to the fuel tank.
  • the guide support cylinder 2 includes a guide support cylinder 21, a guide support cylinder rod 22, a cylinder rod limit block 23 and a drive cylinder seat 24.
  • the guide support cylinder rod 22 is slidably arranged in the guide support cylinder barrel 21, and the guide support cylinder rod 22 moves up and down under the drive of the hydraulic cylinder 11.
  • two cylinder rod stop blocks 23 are provided oppositely between the outer wall of the guide support cylinder rod 22 and the inner wall of the guide support cylinder 21, which are used to limit the guide support cylinder rod 22 Rotational movement.
  • the driving cylinder base 24 is fixedly arranged at the bottom of the guiding and supporting cylinder rod 22.
  • the drive cylinder base 24 is connected to the hydraulic cylinder rod 112 through the cylinder pin 114.
  • a through hole 211 is provided on the side wall of the guiding and supporting cylinder barrel 21. Through the through hole 211, the cylinder pin 114 can be installed or adjusted.
  • the elastic support assembly 3 includes a limit bracket 31, a flange support 32, a bracket revolving seat 33, a spring mounting seat 34 and a limit support spring 35.
  • the limit bracket 31 is arranged above the guide support cylinder 2, and a flange support 32 is fixedly arranged at the center thereof, and the flange support 32 is fixedly connected to the guide support cylinder rod 22 by bolts.
  • the flange support 32 is connected to the bracket revolving base 33 through a revolving pin 36.
  • the spring mounting seat 34 is fixedly arranged on the top surface of the limiting bracket 31 and is located between the limiting bracket 31 and the top plate of the bracket revolving seat 33.
  • the limit support spring 35 is disposed in the spring mounting seat 34, and the spring mounting seat 34 is used to guide the limit support spring 35.
  • One end of the limit support spring 35 is fixedly connected with the spring mounting seat 34, and the other end is in contact with the top plate of the bracket revolving seat 33.
  • the limit support spring 35 is used to limit the free movement of the rocket carrier 4 in the vertical direction.
  • a spring limit block 37 is provided at a position corresponding to the limit support spring 35.
  • the limit bracket 31 and the flange support 32 can also be integrally formed.
  • two limit support springs 35 are provided.
  • the center axis of the limit support 31 in the vertical direction is taken as the axis of symmetry.
  • the two limit support springs 35 are symmetrical. Set on the limit bracket 31.
  • a felt pad 41 is provided on the upper supporting surface of the rocket carrier 4.
  • the pressure value P required by the hydraulic system 1 is calculated according to the supporting force F provided by the hydraulic system 1 required in the initial state.
  • the maximum support pressure of the rocket auxiliary hydraulic support device is limited by adjusting the safety valve 124.
  • the specific process is:
  • the electromagnetic reversing valve 121 is in the power-off state, and the current of the proportional relief valve 125 is first adjusted to the maximum, so that the proportional relief valve 125 will not affect the maximum support pressure of the rocket auxiliary hydraulic support device.
  • the hydraulic pump supplies oil to the power assembly 12 through the one-way valve 126, the hydraulic cylinder rod 112 extends to the limit position of the stroke limit sleeve 113, adjust the pressure adjustment screw of the safety valve 124, and wait for the pressure sensor 123 to detect After the pressure reaches the P value and does not continue to change, the pressure adjustment screw of the safety valve 124 is locked. At this point, the maximum support pressure of the rocket-assisted hydraulic support device has been limited to ensure that it will not exceed the maximum support force required by the rocket.
  • the pressure sensor 123 monitors the pressure change of the hydraulic system 1 in real time, and when the pressure of the hydraulic system 1 reaches P/4, the adjustment of the proportional relief valve 125 is ended. At this time, the rocket auxiliary hydraulic support device has a certain support capacity.
  • the hydraulic oil is always sealed in the accumulator 122 and the hydraulic cylinder 11.
  • the accumulator 122 has elastic compensation capability and can effectively absorb the bumps and vibrations during transportation. , To protect the rocket from exceeding the specified overload acceleration; at the same time, the accumulator 122 also plays a role in compensating the leakage of the electromagnetic reversing valve 121.
  • the rocket is erected
  • the electromagnetic reversing valve 121 When the erection angle reaches 60°, because the rocket basically does not need the intermediate auxiliary support device to provide supporting force, the electromagnetic reversing valve 121 is energized, and the oil in the accumulator 122 passes through the electromagnetic reversing valve 121 and the oil pipe with rod cavity Entering the rod cavity of the hydraulic cylinder 11, as shown in FIG. 3, the hydraulic cylinder rod 112 drives the rocket carrier 4 to retract, so that the rocket carrier 4 is about 100mm away from the rocket body to avoid misoperation and damage to the rocket.
  • an operating handle is also provided on the electromagnetic reversing valve 121, which is a redundant backup.
  • the operator can manually control the action of the electromagnetic reversing valve 121 by operating the handle.
  • the rocket When the launch mission is cancelled, the rocket needs to be re-supported and positioned. At this time, due to the influence of filling deformation or leveling factors, there is a certain position deviation between the rocket and the erection arm.
  • the auxiliary hydraulic support device of the rocket can not move because the auxiliary supporting force required is very small.
  • the electromagnetic reversing valve 121 is controlled to be de-energized, and the current of the proportional relief valve 125 is controlled to increase slowly.
  • the rocket carrier 4 will rotate around the pivot pin 36 during the process of slowly lifting the rocket. Since the rotation angle ⁇ is small, the compression amount of the limit support spring is very small, and the lifting position of the guide support cylinder rod 22 is adjusted in cooperation with the rocket auxiliary hydraulic support device to adapt to the deviation of the rocket's lateral position.
  • the position of the rocket body can be adapted by adjusting the telescopic position of the guide support cylinder rod 22 without rotating the rocket carrier 4.
  • the required theoretical support pressure value P r at different angles is calculated according to the theory.
  • the oil source needs to be connected to the hydraulic system 1 to supplement the oil; then the proportional overflow current is adjusted corresponding to different erection angles, and the pressure sensor 123 detects in real time whether the pressure value of the hydraulic system 1 meets the required support pressure P r , and erects The arm is level, and the rewinding process is complete.
  • the rocket auxiliary hydraulic support device of the application can effectively reduce the risk of support during the process of rocket reloading, transfer, and erection, and avoid the additional additional force generated on the rocket due to the deformation of the erection arm structure; especially during the rocket erection process, control the cost
  • the support force of the applied rocket auxiliary hydraulic support device is continuously reduced until it is separated from the rocket support, which can better meet the support requirements of the rocket erection.
  • the rocket auxiliary hydraulic support device of this application can automatically adapt to the position deviation of the rocket and the erecting arm, avoid complicated manual adjustments at high altitudes, reduce operational risks, and facilitate the failure inspection and rollback of the rocket. save time.

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  • General Engineering & Computer Science (AREA)
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Abstract

一种火箭（6）辅助液压支撑装置，其包括液压系统（1）、导向支撑缸（2）、弹性支撑组件（3）和火箭托架（4）；液压系统（1）用于驱动导向支撑缸（2）产生竖直方向的支撑力；导向支撑缸（2）的上方设置有弹性支撑组件（3），弹性支撑组件（3）的上方设置有火箭托架（4），弹性支撑组件（3）用于浮动支撑火箭托架（4），火箭托架（4）用于支撑火箭（6）。该火箭（6）辅助液压支撑装置在火箭（6）转载、转运过程中能够对火箭（6）进行可靠的浮动支撑；在火箭（6）起竖过程中通过调节比例溢流阀（125）的电流能够实现支撑力可控，同时通过安全阀（124）能够限制最大支撑力，避免在起竖过程中由于起竖臂（5）变形对箭体产生的额外附加较大的支撑力，同时能够适应火箭（6）在终止发射的情况下的定位偏差。

Description

火箭辅助液压支撑装置 技术领域
本申请属于火箭辅助支撑装置技术领域，具体涉及一种火箭辅助液压支撑装置。
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箭体，使箭体不受除自身重力以外的其他附加力就显得尤为重要和关键。特别是在起竖臂的起竖过程中，由于起竖臂变形的影响，传统单纯的刚性支撑会使箭体受到很大的额外支撑力，严重的情况下会使火箭发生变形损坏。另外，在火箭的起竖过程中，所需的支撑力是在不断变化的，传统的刚性支撑不能实现对支撑力的控制。在终止发射的情况下，由于二次定位的偏差，火箭不能精确定位到原支撑位置上。
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辅助液压支撑装置。
根据本申请实施例，本申请提供了一种火箭辅助液压支撑装置，其包括液压系统、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。
上述火箭辅助液压支撑装置中，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。
进一步地，所述压缸包括液压缸筒、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，所述行程限位套的直径小于或等于所述液压缸杆的底部的直径，且大于所述液压缸杆的中部的直径。
上述火箭辅助液压支撑装置中，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。
上述火箭辅助液压支撑装置中，所述导向支撑缸包括导向支撑缸筒、导向支撑缸杆、缸杆限位块和驱动油缸座；
所述导向支撑缸杆滑动设置在所述导向支撑缸筒中，所述导向支撑缸杆在所述液压缸的驱动下做上下运动；
沿所述导向支撑缸筒的宽度方向，在所述导向支撑缸杆的外壁与所述导向支撑缸筒的内壁之间相对设置有两个所述缸杆限位块，其用于限制所述导向支撑缸杆的旋转运动；
所述驱动油缸座固定设置在所述导向支撑缸杆的底部，所述驱动油缸座通过所述油缸销轴与液压缸杆连接。
进一步地，所述导向支撑缸筒的侧壁上开设有通孔。
进一步地，所述限位支撑弹簧设置有两根，沿所述火箭托架的长度方向，以所述限位支架竖直方向的中轴线为对称轴，两根所述限位支撑弹簧对称设置在所述限位支架上。
进一步地，所述限位支架和法兰支座一体成型，或者，所述限位支架和法兰支座固定连接在一起。
上述火箭辅助液压支撑装置中，所述火箭托架的上支撑面上设置有毛毡垫。
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：本申请在火箭的转载、转运过程中的能够对火箭进行可靠的浮动支撑；在火箭起竖过程中通过调节比例溢流阀的电流能够实现支撑力可控，同时通过安全阀能够限制最大支撑力，避免在起竖过程中由于起竖臂变形对箭体产生的额外附加较大的支撑力，同时能够适应火箭在终止发射的情况下的定位偏差。
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辅助液压支撑装置的部分结构示意图。
图2为本申请实施例提供的一种火箭辅助液压支撑装置的剖视图。
图3为本申请实施例提供的一种火箭辅助液压支撑装置在火箭起竖过程中的状态示意图。
图4为本申请实施例提供的一种火箭辅助液压支撑装置在对火箭进行二次支撑及火箭回倒过程中的状态示意图。
附图标记说明：
1、液压系统；
11、液压缸；111、液压缸筒；112、液压缸杆；113、行程限位套；114、油缸销轴；
12、动力组件；121、电磁换向阀；122、蓄能器；123、压力传感器；124、安全阀；125、比例溢流阀；126、单向阀；
2、导向支撑缸；21、导向支撑缸筒；211、通孔；22、导向支撑缸杆；23、缸杆限位块；24、驱动油缸座；
3、弹性支撑组件；31、限位支架；32、法兰支座；33、托架回转座；34、弹簧安装座；35、限位支撑弹簧；36、回转销轴；37、弹簧限位块；
4、火箭托架；41、毛毡垫。
5、起竖臂本体；
6、火箭。
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。一般而言，此类用语所修饰的细微变化或误差的范围在部分实施例中可为20％，在部分实施例中可为10％，在部分实施例中可为5％或是其他数值。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所示，本申请提供了一种火箭6辅助液压支撑装置，其包括液压系统1、导向支撑缸2、弹性支撑组件3和火箭托架4。其中，液压系统1用于驱动导向支撑缸2产生竖直方向的支撑力，导向支撑缸2的上方设置有弹性支撑组件3，弹性支撑组件3的上方设置有火箭托架4，弹性支撑组件3用于浮动支撑火箭托架4，火箭托架4用于支撑火箭6。导向支撑缸2通过下端法兰与起竖臂本体5连接。
具体地，液压系统1包括液压缸11、动力组件12和油源(图中未示出)。 其中，油源为动力组件12提供液压油，动力组件12通过有杆腔油管和无杆腔油管与液压缸11连接。液压缸11与导向支撑缸2连接，用于驱动导向支撑缸2产生竖直方向的支撑力。
液压缸11包括液压缸筒111、液压缸杆112、行程限位套113和油缸销轴114。液压缸杆112滑动设置在液压缸筒111中，行程限位套113沿液压缸杆112的长度方向套设在液压缸杆112上，其用于限制液压缸杆112在液压缸筒111中的行程。液压缸杆112的顶端通过油缸销轴114与导向支撑缸2连接。
具体地，行程限位套113的直径小于或等于液压缸杆112底部的直径，且大于液压缸杆112中部的直径。行程限位套113可以套设在液压缸杆112的中部，通过阻止液压缸杆112的底部达到限制液压缸杆112在液压缸筒111中的行程的目的。
动力组件12包括电磁换向阀121、蓄能器122、压力传感器123、安全阀124、比例溢流阀125和单向阀126。油源通过单向阀126与电磁换向阀121的进油腔P连接，电磁换向阀121的回油腔T与油箱连接。电磁换向阀121的第一工作油腔A通过无杆腔油管与液压缸11的无杆腔连接，电磁换向阀121的第二工作油腔B通过有杆腔油管与液压缸11的有杆腔连接。单向阀126与电磁换向阀121的进油腔P的连接管路上连接有蓄能器122和压力传感器123。在单向阀126与电磁换向阀121的进油腔P的连接管路和油箱与电磁换向阀121的回油腔T的连接管路之间并联有安全阀124和比例溢流阀125。
电磁换向阀121在断电情况下，液压油通过单向阀126分别进入液压缸11的有杆腔和无杆腔，同时液压油也进入蓄能器122，液压缸11处于差动连接状态。在蓄能器122的作用下，动力组件12具有一定的支撑力补偿能力。安全阀124用于限制动力组件12的最高压力，即限制液压缸11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125用于实时控制动力组件12的压力变化，压力传感器123用于实时检测动力组件12的压 力。火箭6起竖到位后，电磁换向阀121得电，蓄能器122中的油液通过液压缸11有杆腔管路进入液压缸11有杆腔，无杆腔油液通过液压缸11无杆腔管路流回油箱。
如图2所示，导向支撑缸2包括导向支撑缸筒21、导向支撑缸杆22、缸杆限位块23和驱动油缸座24。其中，导向支撑缸杆22滑动设置在导向支撑缸筒21中，导向支撑缸杆22在液压缸11的驱动下做上下运动。沿导向支撑缸筒21的宽度方向，在导向支撑缸杆22的外壁与导向支撑缸筒21的内壁之间相对设置有两个缸杆限位块23，其用于限制导向支撑缸杆22的旋转运动。驱动油缸座24固定设置在导向支撑缸杆22的底部。驱动油缸座24通过油缸销轴114与液压缸杆112连接。
为便于在驱动油缸座24与液压缸杆112的连接处安装油缸销轴114，导向支撑缸筒21的侧壁上开设有通孔211。穿过通孔211，可以对油缸销轴114进行安装或调节。
弹性支撑组件3包括限位支架31、法兰支座32、托架回转座33、弹簧安装座34和限位支撑弹簧35。其中，限位支架31设置在导向支撑缸2上方，其中心处固定设置有法兰支座32，法兰支座32通过螺栓与导向支撑缸杆22固定连接。法兰支座32通过回转销轴36与托架回转座33连接。弹簧安装座34固定设置在限位支架31的顶面上，且位于限位支架31与托架回转座33的顶板之间。限位支撑弹簧35设置在弹簧安装座34内，弹簧安装座34用于对限位支撑弹簧35进行导向。限位支撑弹簧35的一端与弹簧安装座34固定连接，另一端与托架回转座33的顶板接触。限位支撑弹簧35用于限制火箭托架4在竖直方向上的自由运动。
另外，位于托架回转座33的顶板的底面上，与限位支撑弹簧35对应的位置设置有弹簧限位块37。
在另一个具体的实施例中，限位支架31和法兰支座32还可以一体成型。
在一个具体的实施例中，限位支撑弹簧35设置有两根，沿火箭托架4的长度方向，以限位支架31竖直方向的中轴线为对称轴，两根限位支撑弹 簧35对称设置在限位支架31上。
为防止火箭托架4对火箭6表面造成损伤，火箭托架4的上支撑面上设置有毛毡垫41。
采用本申请提供的火箭辅助液压支撑装置对火箭在转载、转运和起竖的过程中进行支撑时，其具体过程为：
S1、前期准备；
S11、计算液压系统1所需的压力值P，其具体过程为：
首先，计算火箭所需的理论辅助支撑力N；
其次，测量包括液压缸杆112在内的需液压顶升的所有部件的重量，计算得到需液压顶升的所有部件的重力G。
再次，忽略摩擦力的影响，则火箭所需的理论辅助支撑力N与需液压顶升的所有部件的重力G的和就是初始状态下所需液压系统1提供的支撑力F。
最后，根据初始状态下所需液压系统1提供的支撑力F计算液压系统1所需的压力值P。
S12、根据计算得到的压力值P，通过调节安全阀124来限定火箭辅助液压支撑装置的最大支撑压力，其具体过程为：
开始电磁换向阀121处于断电状态，先将比例溢流阀125的电流调至最大，以便于比例溢流阀125不会对火箭辅助液压支撑装置的最大支撑压力产生影响。
启动液压泵，液压泵通过单向阀126向动力组件12供油，液压缸杆112伸出到达行程限位套113的限位位置，调整安全阀124的压力调节螺钉，待压力传感器123检测到的压力达到P值且不再继续变化后锁紧安全阀124压力调节螺钉。至此，火箭辅助液压支撑装置的最大支撑压力被限定，保证不会超过火箭所需的最大支撑力。
S13、调节比例溢流阀125，使火箭辅助液压支撑装置具有初始的支撑能力，其具体过程为：
逐渐调小比例溢流阀125的电流，使液压系统1的压力缓慢下降。
压力传感器123实时监测液压系统1压力的变化，当液压系统1的压力达到P/4时，结束对比例溢流阀125的调节。此时，火箭辅助液压支撑装置具有一定的支撑能力。
S2、火箭转载支撑；
利用天车将火箭缓慢起吊至火箭辅助液压支撑装置的正上方。
由于为三点支撑，首先进行后支点的支撑定位；然后缓慢下放火箭，使箭体支撑面落在火箭托架4的半凹槽内，继续下放火箭，液压缸杆112下移，此时火箭受天车、后支点和中间辅助支点的共同作用。
待进行前支点的支撑后，逐渐调高比例溢流阀125的电流，使液压系统1的压力缓慢升高；同时缓慢继续下放火箭，待压力传感器123检测到的压力达到压力值P时，停止调节比例溢流阀125的电流。
此时，液压油被密封在液压缸11和蓄能器122内，火箭就由三点吊装状态转载到由起竖臂的三点支撑状态，从而使火箭转载过程中所受的附加外力达到最小。
S3、火箭转运；
火箭在转运过程中，在单向阀126的作用下，液压油始终被密封在蓄能器122和液压缸11内，蓄能器122具有弹性补偿能力，能够有效地吸收运输过程中的颠簸震动，保护火箭不超过规定的过载加速度；同时蓄能器122还起到了补偿电磁换向阀121泄漏的作用。
S4、火箭起竖；
在火箭开始起竖的过程中，起竖臂的变形会导致火箭对辅助液压支撑装置中的液压缸11进一步压缩；由于安全阀124和比例溢流阀125的限制，多余的油液会通过比例溢流阀125溢流到油箱中，液压系统1的压力不会继续升高，而维持在理论压力值。
在火箭起竖过程中，由于火箭中间支点的辅助支撑力要求随着起竖角度的增大而逐渐减小，因此根据理论计算出在不同起竖角度下的所需理论支撑压力值P r，则对应不同的起竖角度调节比例溢流阀125的电流，压力传感器 123实时检测压力值是否满足所需的支撑压力P r。
当起竖角度达到60°以后，由于火箭已经基本不需要中间辅助支撑装置提供支撑力，电磁换向阀121得电，蓄能器122中的油液通过电磁换向阀121和有杆腔油管进入液压缸11的有杆腔，如图3所示，液压缸杆112带动火箭托架4缩回，使得火箭托架4离开火箭箭体约100mm距离，避免误动作而伤害导火箭。
为保证动作的可靠性，在电磁换向阀121上还设置了操作手柄，操作手柄属于冗余备保。操作人员通过操作手柄可以手动控制电磁换向阀121动作。
S5、二次支撑及回倒；
当发射任务取消后，需要对火箭进行重新支撑定位。此时，由于受加注变形或调平因素的影响，火箭与起竖臂存在一定的位置偏差。
在火箭开始回倒时，由于所需的辅助支撑力很小，因此火箭辅助液压支撑装置可以不动。待火箭下放到60°时，控制电磁换向阀121断电，控制缓慢升高比例溢流阀125的电流。
如图4所示，如果偏差位置为火箭相对于起竖臂辅助支撑装置有一个横向的位移S，此时火箭托架4缓慢托举火箭的过程中会绕着回转销轴36发生旋转。由于旋转角度θ较小，则对限位支撑弹簧的压缩量很小，配合调整导向支撑缸杆22的举升位置，使火箭辅助液压支撑装置能够适应火箭横向位置的偏差。
如果偏差位置为正对火箭远离或靠近，则可以通过调整导向支撑缸杆22伸缩位置来适应箭体的位置，而不需要旋转火箭托架4。
在火箭回倒过程中，由于火箭中间支点的辅助支撑力要求随着起竖角度的减小而逐渐增大，因此根据理论计算出在不同角度下的所需理论支撑压力值P r，此时需接通油源向液压系统1进行补油；则对应不同的起竖角度调节比例溢流的电流，压力传感器123实时检测液压系统1的压力值是否满足所需的支撑压力P r，起竖臂水平，回倒过程完成。
本申请火箭辅助液压支撑装置能够有效的降低火箭转载、转运、起竖过 程中的支撑风险，避免由于起竖臂结构变形对火箭产生的额外附加力；特别是在火箭起竖过程中，控制本申请火箭辅助液压支撑装置的支撑力不断减小，直至与火箭支撑分离，能够较好的达到火箭起竖的支撑要求。
特别是在终止发射的条件下，本申请火箭辅助液压支撑装置能够自动适应火箭与起竖臂的位置偏差，避免在高空下较为复杂的人工调整，降低操作风险，为火箭的故障检查和回倒节省时间。
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 (10)

  1. 一种火箭辅助液压支撑装置，其特征在于，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。
  2. 根据权利要求1所述的火箭辅助液压支撑装置，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。
  3. 根据权利要求2所述的火箭辅助液压支撑装置，其特征在于，所述压缸包括液压缸筒、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。
  4. 根据权利要求3所述的火箭辅助液压支撑装置，其特征在于，所述行程限位套的直径小于或等于所述液压缸杆的底部的直径，且大于所述液压 缸杆的中部的直径。
  5. 根据权利要求2或3或4所述的火箭辅助液压支撑装置，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。
  6. 根据权利要求3或4所述的火箭辅助液压支撑装置，其特征在于，所述导向支撑缸包括导向支撑缸筒、导向支撑缸杆、缸杆限位块和驱动油缸座；
    所述导向支撑缸杆滑动设置在所述导向支撑缸筒中，所述导向支撑缸杆在所述液压缸的驱动下做上下运动；
    沿所述导向支撑缸筒的宽度方向，在所述导向支撑缸杆的外壁与所述导向支撑缸筒的内壁之间相对设置有两个所述缸杆限位块，其用于限制所述导向支撑缸杆的旋转运动；
    所述驱动油缸座固定设置在所述导向支撑缸杆的底部，所述驱动油缸座通过所述油缸销轴与液压缸杆连接。
  7. 根据权利要求6所述的火箭辅助液压支撑装置，其特征在于，所述导向支撑缸筒的侧壁上开设有通孔。
  8. 根据权利要求1所述的火箭辅助液压支撑装置，其特征在于，所述限位支撑弹簧设置有两根，沿所述火箭托架的长度方向，以垂直于所述限位支架的方向的中轴线为对称轴，两根所述限位支撑弹簧对称设置在所述限位支架上。
  9. 根据权利要求1所述的火箭辅助液压支撑装置，其特征在于，所述限位支架和法兰支座一体成型，或者，所述限位支架和法兰支座固定连接在一起。
  10. 根据权利要求1或2或3或4所述的火箭辅助液压支撑装置，其特征在于，所述火箭托架的上支撑面上设置有毛毡垫。
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