WO2021088819A1

WO2021088819A1 - Rocket transfer and erection system

Info

Publication number: WO2021088819A1
Application number: PCT/CN2020/126221
Authority: WO
Inventors: 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: 2019-11-05
Filing date: 2020-11-03
Publication date: 2021-05-14
Also published as: CN111023899A; JP7209871B2; CN111023899B; JP2022535335A

Abstract

The present application provides a rocket transfer and erection system, comprising an erection arm, a self-propelled hydraulic axis vehicle and a launcher; the erection arm is arranged on the self-propelled hydraulic axis vehicle, a rocket to be supported is arranged on the top part of the above erection arm along the length direction of the erection arm; the self-propelled hydraulic axis vehicle is used for transporting the rocket to be supported to the launcher through the erection arm; a rocket supporting and clamping device, a rocket auxiliary hydraulic supporting device, and a rocket rear supporting point supporting and adjusting device are sequentially arranged on the erection arm along the length direction of the erection arm; the rocket supporting and clamping device, the rocket auxiliary hydraulic supporting device, and the rocket rear supporting point supporting and adjusting device form a three-point support for the rocket. The present application can safely and reliably transfer and erect the rocket, conveniently adjust the rocket at multiple degrees of freedom in the transferring and docking process, effectively reduce the difficulty in docking and adjusting the rocket during transferring; the present application can greatly shorten the launching time of the rocket, and remarkably improve the launching efficiency.

Description

Rocket transfer erection system

Technical field

The application belongs to the technical field of rocket transport and erection, and specifically relates to a rocket transport and erection system.

Background technique

With the development of aerospace technology, especially the vigorous rise of commercial aerospace in recent years, the traditional "three vertical" launch mode requires a fixed launch tower, and its disadvantages of long infrastructure construction period and high maintenance cost have gradually emerged. Therefore, a fast, flexible, and low-cost launch mode is needed to adapt to the launch requirements of commercial aerospace at this stage.

Most successful commercial aerospace companies abroad adopt the "three-level" test and launch model, that is, the launch model of horizontal assembly, horizontal transfer, horizontal testing, and vertical launch. Therefore, it is particularly important to reliably support and carry the rocket body during the process of rocket reloading, transfer and erection, so that the rocket body is not subject to additional forces other than its own gravity, and to avoid multiple reloads, and to reduce the risk of rocket collisions. And key.

Summary of the invention

In order to overcome the problems existing in the related technology to at least a certain extent, the present application provides a rocket transport and erection system.

According to an embodiment of the present application, the present application provides a rocket transport and erection system, which includes a erection arm, a self-propelled hydraulic axle car, and a launch pad;

The erection arm is arranged on the self-propelled hydraulic axle car, and the supported rocket is arranged on the top of the erection arm along the length direction of the erection arm; the self-propelled hydraulic axle car is used to pass through the erection arm. The vertical arm will be transported by the supported rocket to the launch pad;

Along the length direction of the erecting arm, a rocket supporting and holding device, a rocket auxiliary hydraulic support device and a rocket rear fulcrum support adjusting device are sequentially arranged on the erecting arm; the rocket supporting and holding device is used to The front end of the rocket is supported and held tightly. The rocket auxiliary hydraulic support device is used for floating support for the middle of the supported rocket; the rocket rear fulcrum support adjustment device is used for supporting the rear end of the rocket and is also used for supporting the rocket. The rotation of the rocket when it is erected and the positioning and docking of the rocket and the launch pad are adjusted.

In the above-mentioned rocket transport and erection system, according to the distance from the launch pad, a revolving half seat and an erection cylinder support are arranged on the ground close to the launch pad in order from near to far;

An end of the erecting arm close to the tail end of the supported rocket is provided with an erecting arm rotating shaft; the erecting arm rotating shaft is matched with the rotating half seat so that the erecting arm can rotate around the rotating half seat ；

Located on the erecting arm, an erecting assembly is provided at a position close to the supporting and adjusting device for the rear fulcrum of the rocket. The erecting assembly cooperates with the erecting cylinder support and is used to push the erecting arm to erect. .

In the above rocket transport and erection system, the launching platform is provided with an arrow foot support plate and a windproof pressing device, the arrow foot supporting plate is used for docking the arrow feet of the rocket; the windproof pressing device is used for aligning the arrow feet Perform compaction.

In the above rocket transport and erection system, the rocket support and hold device includes a support assembly and a hold assembly. The support assembly is used to support the rocket and is arranged on the erection arm along the horizontal radial direction of the supported rocket. The bottom of the; the holding components are arranged above the two sides of the vertical arm, 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 erecting arm along the radial direction of the supported rocket, and is used to guide the movement of the bracket along the radial direction of the supported rocket; The driving unit is used for driving the bracket to move in the radial direction of the supported rocket through the rotating unit.

Further, the holding assembly includes a holding arm unit and a power unit, and the two holding arm units are arranged opposite to each other above the two sides of the erecting arm, and are used for holding the upper part of the rocket; the power unit is used for holding the upper part of the rocket. In order to provide power to the arm unit, so that the two arm units can be folded and 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 large holding arm is connected with the first holding tongs, and one end of the big holding arm is connected to the erector Arm connection, 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 erection arm, and the other end is connected with the large arm, the first oil cylinder is used to drive the large 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.

In the above rocket transport and erection system, the rocket auxiliary hydraulic support device includes a hydraulic system, a guiding 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.

Further, 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.

Further, 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 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.

Further, the power assembly 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.

In the above rocket transport and erection system, the rocket rear fulcrum support adjustment device includes a rotary support, a rotary push unit, a support unit, and a pulling unit; wherein, the rotary push unit is arranged on the rotary support and the erecting arm 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 transformed into the pulling of the rocket by the pulling unit.

Further, the rotary pushing unit includes a second rotary pin shaft, a limit support block and a driving cylinder;

Wherein, the rotary support is hinged with the vertical arm through the second rotary pin, the limit support block is used to position the position of the rotary support, and the drive cylinder is used to drive the rotary The support rotates around the second rotary pin shaft.

Further, 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, 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. Direction displacement, the end journal seat is used to support the rocket along the width direction of the erecting arm.

Further, the pulling unit includes an adjusting screw, a first tie rod seat and a second tie rod seat;

Wherein, 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.

According to the above-mentioned specific embodiments of the application, it can be seen that at least the following beneficial effects are achieved: in the rocket transport and erection system of the present application, a vertical arm, a self-propelled hydraulic axis car and a launch pad are provided, and a rocket supporting and holding device is arranged on the vertical arm , Rocket auxiliary hydraulic support device and rocket rear fulcrum support adjustment device, use the rocket support and hold device to adjust the support of the front end of the supported rocket, and use the rocket rear fulcrum support adjustment device to adjust the support of the tail end of the supported rocket , The use of the rocket auxiliary hydraulic support device to float the middle of the supported rocket can carry out safe and reliable transfer and erection of the rocket, and can avoid the additional additional force generated by the deformation of the erecting arm structure; and in the transfer and docking In the process, the rocket can be easily adjusted with multiple degrees of freedom, which effectively reduces the difficulty of docking and adjustment of the rocket during reloading.

In the rocket transport and erection system of the present application, a revolving half seat and a erection cylinder support are arranged on the ground near the launch pad, and a erection arm rotation axis is arranged at the end of the erection arm near the end of the supported rocket; on the erection arm The erection assembly is set close to the position of the support and adjustment device of the rocket rear fulcrum; the self-propelled hydraulic axis car is used to position and adjust the butt joint of the erection arm rotary shaft on the erection arm and the rotary half-seat on the ground, so that the erection assembly and erection The cylinder support cooperates to reliably push the erector arm to erect, thereby completing the reliable docking between the rocket and the launch pad; the rocket transfer erection system of this application integrates the functions of transfer, positioning and docking, erection, etc., which can greatly shorten the launch time of the rocket , Significantly improve the launch efficiency.

It should be understood that the above general description and the following specific embodiments are only exemplary and explanatory, and they cannot limit the scope of the claims of this application.

Description of the drawings

The accompanying drawings below are a part of the specification of the present application, which show embodiments of the present application, and the accompanying drawings together with the description of the specification are used to explain the principle of the present application.

FIG. 1 is a schematic diagram of a rocket transport and erection system provided by an embodiment of the application when transporting a rocket.

Figure 2 is a schematic diagram of the state of a rocket transport and erection system provided by an embodiment of the application when the rocket is transported to the launch area.

FIG. 3 is one of the schematic diagrams of the state of the rocket transport and erection system provided by the embodiment of the application when the rocket is erected.

Fig. 4 is a second schematic diagram of the state of a rocket transport and erection system provided by an embodiment of the application when the rocket is erected.

FIG. 5 is a schematic structural diagram of a rocket supporting and holding device in a rocket transport and erection system provided by an embodiment of the application.

Fig. 6 is a top view of a guide unit in a rocket supporting and holding device of a rocket transport and erection system 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 transport and erection system provided by an embodiment of the application.

Fig. 9 is a cross-sectional view of a rocket auxiliary hydraulic support device in a rocket transport and erection system 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 transport and erection system 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 transport and erection system provided by an embodiment of the application.

Description of reference signs:

1. Raise the vertical arm;

11. Rocket supporting and holding device;

111. Bracket;

112. Rotation unit; 1121, rotary shaft; 1122, support plate; 1123, limit block;

113, guide unit; 1131, guide rail; 1132, slider; 1133, stop;

114. Drive unit; 1141, screw rod; 1142, drive seat; 1143, hydraulic motor;

115. Arm holding unit; 1151, large holding arm; 1152, first holding pliers; 1153, small holding arm; 1154, second holding pliers;

116. Power unit; 1161, the first cylinder; 1162, the second cylinder;

12. Rocket auxiliary hydraulic support device;

121. 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;

122. Guide support cylinder; 1221, guide support cylinder; 1222, guide support cylinder rod; 1223, cylinder rod limit block; 1224, drive cylinder seat;

123. Elastic support component; 1231, limit bracket; 1232, flange support; 1233, bracket swivel seat; 1234, spring mounting seat; 1235, limit support spring; 1236, first swivel pin; 1237, spring Limit block

124. Rocket carrier;

13. Rocket rear fulcrum support adjustment device;

131. Slewing bearing;

132. Rotary pushing unit; 1321, first connecting plate; 1322, second connecting plate; 1323, second rotary pin shaft; 1324, limit support block; 1325, drive cylinder;

133, support unit; 1331, support cylinder; 1332, lift screw; 1333, scroll rod; 1334, turbine; 1335, lift cylinder rod; 1336, seat tube; 1337, drive screw; 1338, hand wheel; 1339, Support cylinder rod;

134. Pulling unit; 1341, adjusting screw; 1342, first tie rod seat; 1343, second tie rod seat; 1344, adjusting nut; 1345, lock nut; 1346, positioning pin;

14. Air conditioning pipeline; 15. Liquid oxygen filling pipeline; 16. Methane filling pipeline; 17. Gas supply pipeline; 18. Operating platform; 19. Connector protection net;

2. Self-propelled hydraulic axle car;

3. Launching platform; 31. Arrow foot support plate; 32. Windproof pressing device;

4. Revolving half seat; 41. Revolving seat gland;

5. Lift the support of the vertical oil cylinder;

6. Rotating shaft of vertical arm;

7. Erecting components; 71. Erecting cylinder; 72. Erecting cylinder adjusting device; 73. Erecting cylinder pin;

8. Rockets;

9. Connector cable.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of this application clearer and clearer, the following will clearly illustrate the spirit of the content disclosed in this application with the accompanying drawings and detailed descriptions. Anyone skilled in the art will understand the embodiments of the content of this application. When the technology taught in the content of this application can be changed and modified, it does not depart from the spirit and scope of the content of this application.

The illustrative embodiments of the application and the description thereof are used to explain the application, but are not intended to limit the application. In addition, elements/components with the same or similar reference numerals used in the drawings and the embodiments are used to represent the same or similar parts.

Regarding the "first", "second", etc. used in this text, they do not specifically refer to the order or sequence, nor are they used to limit the application, but only to distinguish elements or operations described in the same technical terms. .

Regarding the directional terms used in this text, for example: up, down, left, right, front, or back, etc., only the directions with reference to the drawings. Therefore, the directional terms used are used to illustrate and not to limit this creation.

As used herein, "including", "including", "having", "containing", etc., are all open terms, which means including but not limited to.

Regarding the "and/or" used herein, it includes any or all combinations of the above-mentioned things.

About "multiple" in this article includes "two" and "two or more"; about "multiple sets" in this article includes "two groups" and "two or more".

Regarding the terms "approximately", "about", etc. used in this article, they are used to modify any amount or error that can be slightly changed, but these slight changes or errors will not change its essence. Those skilled in the art should understand that the aforementioned values can be adjusted according to actual needs and are not limited thereto.

Some terms used to describe this application will be discussed below or elsewhere in this specification to provide those skilled in the art with additional guidance on the description of this application.

As shown in Figures 1 to 4, the present application provides a rocket transport and erection system, which includes a erection arm 1, a self-propelled hydraulic axle car 2 and a launch pad 3. Among them, along the length direction of the erecting arm 1, two self-propelled hydraulic axle vehicles 2 are provided at the bottom of the erecting arm 1. 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. The supported rocket 8 is arranged on the top of the erecting arm 1 along the length direction of the erecting arm 1. The self-propelled hydraulic axle car 2 is used to transport the supported rocket 8 to the launch pad 3 through the erecting arm 1.

Along the direction from the head end to the tail end of the rocket supported by the erecting arm 1, correspondingly, a rocket supporting and holding device 11 is arranged at the front end of the erecting arm 1, and a rocket auxiliary hydraulic supporting device is arranged in the middle of the erecting arm 1 12. A rocket rear fulcrum support adjustment device 13 is provided at the rear end of the erecting arm 1. 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. Among them, the rocket supporting and holding device 11 is used to 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 support the rear end of the rocket, and has the functions of rotation and horizontal and vertical fine-tuning to realize the micro-rotation of the rocket when it is erected and the adjustment of the accurate positioning and docking of the rocket and the launch pad 3. .

According to the distance from the launch pad 3, 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.

As shown in Figure 2, at the end of the erecting arm 1, that is, the end of the erecting arm 1 close to the end of the supported rocket, a erecting arm rotating shaft 6 is provided, and the erecting arm rotating shaft 6 is matched with the rotating half seat 4, The erecting arm 1 can rotate around the half-revolving seat 4 to facilitate erection. Specifically, along the width direction of the erecting arm 1, two erecting arm rotation shafts 6 are provided at one end of the erecting arm 1 close to the tail end of the rocket. Preferably, the rotation shafts 6 of the two erecting arms are symmetrical with respect to the central vertical plane of the length direction of the erecting arm 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.

When the self-propelled hydraulic axis car 2 drives the erector arm 1 to move to the vicinity of the launching platform 3, the erector arm rotary shaft 6 falls into the recess of the revolving half seat 4, and the erector arm rotary shaft 6 is pressed by the rotary seat cover 41. Tightly fit in the half-revolving seat 4, so that the erecting arm 1 can revolve around the half-revolving seat 4.

Located on the erecting arm 1, a erecting assembly 7 is arranged at a position close to the supporting and adjusting device 13 for the rear fulcrum of the rocket. The erecting assembly 7 cooperates with the erecting cylinder support 5 and is used to push the erecting arm 1 upright. Specifically, the erection assembly 7 includes a erection cylinder 71, a erection cylinder adjustment device 72 and a erection cylinder pin 73. The erecting oil cylinder 71 is confined on both sides of the width direction of the erecting arm 1 by the erecting oil cylinder adjusting device 72. The upper fulcrum of the erecting cylinder 71 is hinged with the erecting arm 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.

Specifically, the erecting arm 1 may adopt a concave cross-section truss structure. The supported rocket 8 can be placed in the groove of the erecting arm 1 along the length direction of the erecting arm 1, so that the overall height of the combination of the erecting arm 1 and the rocket can be reduced.

As shown in Figure 1, the erecting arm 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 set In the groove of the vertical arm 1, and connect with the rocket's filling connector through a hose.

An operating platform 18 is also provided on the erecting arm 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 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.

In order to keep the rocket and the launch pad 3 relatively stable after the rocket is docked with the launch pad 3, 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.

As shown in Figure 5, the rocket supporting and holding device 11 includes a supporting component and a holding component. The supporting component is used to support the rocket and is arranged at the bottom of the vertical arm 1 along the horizontal radial direction of the supported rocket; The tightening components are arranged above the two sides of the erecting arm 1 and are used to hold the rocket tightly.

Specifically, the supporting assembly may be arranged at the bottom of the concave section of the erecting arm 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 1.

The supporting assembly includes a bracket 111, a rotating unit 112, a guide unit 113 and a driving unit 114. Wherein, 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 rotating 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 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. Move to guide. 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.

In a specific embodiment, the rotating unit 112 includes a rotating shaft 1121, a supporting plate 1122 and a limiting block 1123. Wherein, 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.

As shown in FIG. 6, the guide unit 113 includes a guide rail 1131, a slider 1132 and a stop 1133. Among them, 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 1 along the radial direction of the supported rocket 8. Along the length direction of the supporting plate 1122, 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.

As shown in FIG. 7, the driving unit 114 includes a screw rod 1141, a driving seat 1142 and a hydraulic motor 1143. Wherein, the screw rod 1141 is arranged at the bottom end of the concave section of the rising arm 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.

It is understandable that a motor drive or manual drive can also be used instead of the hydraulic motor 1143 to drive the screw 1141.

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 1 and are used to hold 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.

In a specific embodiment, 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 large holding arm 1151 is connected with the first holding clamp 1152 through a pin. One end of the large holding arm 1151 is connected with the erecting arm 1 through a pin, and the other end is connected with one end of the small holding arm 1153 through a pin. A second holding clamp 1154 is connected to the other end of the arm 1153 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. Through the dual-joint arrangement of the large arm 1151 and the small arm 1153, the force on the surface of the rocket can be optimized.

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 1 and the other end is connected with the big boom 1151. The first oil cylinder 1161 is used to drive the big boom 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.

It can be understood that the 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.

As shown in FIG. 8, 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. Among them, 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 1 through the lower end flange.

Specifically, as shown in FIG. 9, the hydraulic system 121 includes a hydraulic cylinder, a power component, and an oil source (not shown in the figure). Among them, the oil source provides hydraulic oil for the power assembly, and 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.

Specifically, 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, and 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. .

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. After the rocket 8 is upright in place, 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.

As shown in FIG. 9, the guide support cylinder 122 includes a guide support cylinder tube 1221, a guide support cylinder rod 1222, a cylinder rod stop block 1223, and a drive cylinder seat 1224. Wherein, 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. Along the width direction of the guide support cylinder 1221, 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.

In order to facilitate the installation of the cylinder pin 1213 at the connection between the driving cylinder base 1224 and the hydraulic cylinder rod 1211, 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. Wherein, 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.

In addition, on the bottom surface of the top plate of the bracket revolving seat 1233, a spring limit block 1237 is provided at a position corresponding to the limit support spring 1235.

In another specific embodiment, the limit bracket 1231 and the flange support 1232 can also be integrally formed.

In a specific embodiment, 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.

In order to prevent the rocket carrier 124 from causing damage to the surface of the rocket 8, a felt pad is provided on the upper supporting surface of the rocket carrier 124.

As shown in FIG. 10, 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. Among them, the rotary push unit 132 is arranged between the rotary support 131 and the erecting arm 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 take-off space to realize the rear support of the rocket. The quick disassembly. 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.

As shown in FIG. 10, 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. Wherein, the first connecting plate 1321 is arranged on the erecting arm 1, and the second connecting plate 1322 is arranged on the end surface of the rotating support 131 close to the erecting arm 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 1 and the bottom surface of the revolving support 131, and is used for positioning the position of the revolving support 131. One end of the driving cylinder 1325 is hinged with the vertical arm 1, and the other end is hinged with the bottom surface of the rotary 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 by the erecting arm 1.

Specifically, the driving cylinder 1325 may be a driving oil cylinder or a driving hydraulic cylinder.

As shown in FIG. 11, 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 1 and the other end thereof is fixedly connected to the end journal seat. The support lift cylinder and the end journal seat are arranged in a T shape, that is, 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. 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 1.

Specifically, as shown in FIG. 3, 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 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.

Along the length direction of 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 provided above the thrust bearing, and the limit baffle is used to restrict the lifting screw 1332 to move away from the vertical arm 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.

In order to prevent the lifting cylinder rod 1335 from rotating when sliding in the supporting cylinder 1331, 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. There is a first limit block in the middle. One end of the first limit block is fixedly connected with the lifting cylinder rod 1335, and the other end slides in the first guide groove.

Through the rotation of the lifting screw 1332, the up and down movement of the lifting cylinder rod 1335 is realized.

As shown in FIG. 11, 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. Specifically, 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. Among them, 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.

In addition, 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.

In order to facilitate the restriction nut to more tightly compress the tapered roller bearing, 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.

It is understandable that the way of using the hand wheel 1338 to drive the drive screw 1337 can also be replaced by a motor drive way.

In order to prevent the support cylinder rod 1339 from rotating when it is telescopic in the seat tube 1336, 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. There is a second limit block. One end of the second limiting block is fixedly connected with the supporting cylinder rod 1339, and the other end slides in the second guide groove.

In a specific embodiment, as shown in Fig. 11, a compression cover is provided at one end of the supporting cylinder rod 1339 connected to the end journal. The compression cover adopts a cylindrical structure with a side wall that can be opened and closed.

As shown in FIG. 11, 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. Among them, 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. When 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.

Specifically, 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. In addition, 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 transport and erection system of this application is used to transport and erect the rocket until the entire launch process of the rocket is completed. The specific process is:

S1, transfer;

Remotely control the self-propelled hydraulic axle car 2 so that its transfer speed does not exceed 10km/h.

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 arrow body to limit the degree of freedom of the rocket; the erecting component 7 is transported together with the erecting arm 1.

S2, support butt joint;

As shown in Figure 2, when the erector arm 1 reaches the launching station, firstly, the position of the erector arm 1 is slowly adjusted by the self-propelled hydraulic axis car 2 so that the erector arm rotary shaft 6 is placed in the recess of the half-revolving seat 4 Directly above. Secondly, slowly lower the height of the self-propelled hydraulic axle car 2 so that the vertical arm rotating shaft 6 slowly descends until it falls into the recess of the rotating half seat 4. Finally, use the revolving seat cover 41 to press the vertical arm rotation shaft 6 in the revolving half seat 4 to complete the docking between the vertical arm rotation shaft 6 and the revolving half seat 4, so that the vertical arm 1 can rotate around the half The seat 4 turns.

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.

S3, the rocket is erected;

As shown in Fig. 3, the erecting cylinder 71 is connected to an oil source through a hydraulic oil pipe, and other pipes on the erecting arm 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 1 is slowly erected under the push of the erection oil cylinder 71.

Since the force of the erecting arm 1 is converted from the original self-propelled hydraulic axle car 2 to being supported by the erecting arm rotary shaft 6 and the erecting cylinder 71, the erecting arm 1 will be flexibly deformed, and the rocket will move around at this time. When the rear fulcrum rotates slightly counterclockwise, the rocket auxiliary hydraulic support device 12 will adjust the size of the support force in real time, overcome the deformation effect of the vertical arm 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. During the erection process, 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.

S4. Docking with launching station 3;

As shown in Fig. 3, under the push of the erecting cylinder 71, the erecting arm 1 slowly reaches the vertical state with the rocket. Due to the certain positional deviation of the vertical arm 1, the launch pad 3, and the revolving half seat 4, after the rocket is erected, the arrow foot cannot be accurately aligned with the arrow foot support plate 31 on the launch pad 3, so it needs to be supported by the rocket's rear fulcrum. The adjusting device 13 slowly adjusts the position of the arrow foot of the rocket, 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.

S5, the rocket is unlocked;

As shown in Figure 4, when the rocket has completed the docking with the launch pad 3, the rocket rear fulcrum support adjustment device 13 is slowly opened to release the restraint on the rocket, the arm unit is slowly opened, and the vertical arm 1 is slowly tilted down about 5° , The rocket refueling connector is pulled by the connector cable 9 and enters the pre-fire preparation state.

S6, fall after 0s;

After the rocket propellant filling is completed, about 30 minutes before the rocket is fired, the wind-proof pressing device 32 is unlocked, and the last item is released from the restraint of the rocket. After the rocket is ignited at 0s, the rocket filling connector is unlocked, and the erecting cylinder 71 retracts to drive the erecting arm 1 to fall backwards quickly, and at the same time, it drives the connector cable to move. The rocket filling connector plays a dual role in pulling force and gravity. Down, avoid the space of the rocket's take-off drift.

S7, rocket refueling connector falling off protection;

The connector protective net 19 provided on the vertical arm 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.

S8, retracement and withdrawal

After the rocket launch is completed, the self-propelled hydraulic axle car 2 drives to the predetermined location, the vertical arm 1 is turned back to a horizontal state, the slewing seat gland 41 is released, the vertical cylinder pin 73 is pulled out, and the vertical cylinder adjustment device 72 is used. Pull 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 notch of the revolving half seat 4; the self-propelled hydraulic axis car 2 takes the vertical arm 1 away and launches District, return to the technical workshop, and complete the entire launch process.

The use of the rocket transport and erection system of this application can realize the safe transfer and erection of the medium-sized liquid rocket in the "three-level" test and launch mode, avoid the additional force generated by the structural deformation of the erector arm 1 on the rocket, and realize the rocket's transport 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. At the same time, 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 transport and erection system of this application omits the umbilical arm of the traditional fixed launch tower. In addition, the 0s fast backward movement of the rocket transport and erection system of this application can effectively avoid the space of the rocket for take-off drift and realize the filling of the rocket at the same time. Pulling and protection of the connector from falling off. The rocket transport and erection system of the present application integrates multiple functions, which can greatly shorten the launch time of the rocket and improve the launch efficiency.

The above are only illustrative specific implementations of this application. Without departing from the concept and principles of this application, any equivalent changes and modifications made by those skilled in the art shall fall within the protection scope of this application. .

Claims

A rocket transport and erection system, which is characterized in that it comprises a erection arm, a self-propelled hydraulic axle car and a launch pad;

The erection arm is arranged on the self-propelled hydraulic axle car, and the supported rocket is arranged on the top of the erection arm along the length direction of the erection arm; the self-propelled hydraulic axle car is used to pass through the erection arm. The vertical arm will be transported by the supported rocket to the launch pad;

Along the length direction of the erecting arm, a rocket supporting and holding device, a rocket auxiliary hydraulic support device and a rocket rear fulcrum support adjusting device are sequentially arranged on the erecting arm; the rocket supporting and holding device is used to The front end of the rocket is supported and held tightly. The rocket auxiliary hydraulic support device is used for floating support for the middle of the supported rocket; the rocket rear fulcrum support adjustment device is used for supporting the rear end of the rocket and is also used for supporting the rocket. The rotation of the rocket when it is erected and the positioning and docking of the rocket and the launch pad are adjusted.
The rocket transport and erection system according to claim 1, characterized in that, according to the distance from the launch pad, the ground close to the launch pad is sequentially provided with revolving halves and erectors from near to far. Cylinder support;

An end of the erecting arm close to the tail end of the supported rocket is provided with an erecting arm rotating shaft; the erecting arm rotating shaft is matched with the rotating half seat so that the erecting arm can rotate around the rotating half seat ；

Located on the erecting arm, an erecting assembly is provided at a position close to the supporting and adjusting device for the rear fulcrum of the rocket. The erecting assembly cooperates with the erecting cylinder support and is used to push the erecting arm to erect. .
The rocket transport erection system according to claim 2, wherein the erection assembly includes a erection cylinder, a erection cylinder adjustment device, and a erection cylinder pin; the erection cylinder passes through the erection cylinder The adjustment device is limited to both sides in the width direction of the erecting arm, the upper fulcrum of the erecting cylinder is hinged with the erecting arm, and the lower earring of the erecting cylinder is connected to the erecting cylinder pin through the erecting cylinder pin. The erection cylinder support is hinged; the erection cylinder adjustment device is used to pull the erection cylinder so that the lower earring of the erection cylinder can be hinged with the erection cylinder support.
The rocket transport and erection system according to claim 1 or 2 or 3, wherein the launching platform is provided with an arrow foot support plate and a windproof pressing device, and the arrow foot support plate is used for docking the rocket of the rocket. Foot; The wind-proof pressing device is used to compress the arrow foot.
The rocket transport and erection system according to claim 1 or 2 or 3, wherein the rocket supporting and holding device comprises a supporting component and a holding component, and the supporting component is used to support the rocket, and the supporting component is used to support the rocket. The horizontal and radial supporting rocket is arranged at the bottom of the erecting arm; the holding assembly is arranged above both sides of the erecting arm, and is used for holding 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 erecting arm along the radial direction of the supported rocket, and is used to guide the movement of the bracket along the radial direction of the supported rocket; The driving unit is used for driving the bracket to move in the radial direction of the supported rocket through the rotating unit.
The rocket transport and erection system according to claim 5, wherein the holding assembly includes a holding arm unit and a power unit, and the two holding arm units are arranged opposite to each other on both sides of the erecting arm. To hug the upper part of the rocket; the power unit is used to provide power for the arm unit, so that the two arm units can be 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 large holding arm is connected with the first holding tongs, and one end of the big holding arm is connected to the erector Arm connection, 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 erection arm, and the other end is connected with the large arm, the first oil cylinder is used to drive the large 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 transport and erection system according to claim 1 or 2 or 3, wherein the rocket auxiliary hydraulic support device comprises a hydraulic system, a guiding 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 rocket transport and erection system according to claim 7, wherein 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 passes through The rod cavity oil pipe and the rodless cavity oil pipe are connected with the hydraulic cylinder, and the hydraulic cylinder is connected with the guide support cylinder.
The rocket transport and erection system according to claim 8, wherein the hydraulic cylinder comprises a hydraulic cylinder tube, a hydraulic cylinder rod, a stroke limit sleeve and a cylinder pin; the hydraulic cylinder rod is slidably arranged on the hydraulic cylinder In the cylinder tube, the stroke limit sleeve is sleeved on the hydraulic cylinder rod along the length direction of the hydraulic cylinder rod, and is used to limit the stroke of the hydraulic cylinder rod in the hydraulic cylinder tube; the hydraulic cylinder The top end of the rod is connected with the guide support cylinder through the cylinder pin.
The rocket transport and erection system according to claim 8, wherein 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 transport and erection system according to claim 1 or 2 or 3, wherein the rocket rear fulcrum support adjustment device comprises a rotary support, a rotary pushing unit, a supporting unit, and a pulling unit; wherein, the rotary The pushing unit is arranged between the rotary support and the erecting arm, and is used to push the rotary support to rotate to allow the rocket take-off space after the rocket is turned to be supported by the launch pad; the support unit is arranged on the The revolving support is used to support the rear fulcrum of the rocket; the pulling unit is connected to the revolving support and the support unit, and during the rocket erection process, the support of the support unit to the rocket is gradually converted to the The pulling of the rocket by the pulling unit.
The rocket transport and erection system according to claim 11, wherein the rotary pushing unit comprises a second rotary pin, a limit support block and a driving cylinder;

Wherein, the rotary support is hinged with the vertical arm through the second rotary pin, the limit support block is used to position the position of the rotary support, and the drive cylinder is used to drive the rotary The support rotates around the second rotary pin shaft.
The rocket transport and erection system according to claim 11, wherein the support unit includes a support lift cylinder and an end journal seat, one end of the support lift cylinder is fixedly connected to the erection arm, and the other end is connected to the erection arm. The said end journal seat is fixedly connected;

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. Direction displacement, the end journal seat is used to support the rocket along the width direction of the erecting arm.
The rocket transport and erection system according to claim 11, wherein the pulling unit comprises an adjusting screw, a first tie rod seat and a second tie rod seat;

Wherein, 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.