Launch vehicle erect system integration device and method of operation

Abstract

The application provides a launch vehicle erecting system integration device and a working method, which comprises an erecting box assembly, a rocket launching platform, a launching rotary support, a first double-sided tooth groove support arm, a second double-sided tooth groove support arm, a rocket support bracket, a pulling rope system and a central controller. The rocket launching platform is arranged at one end of the erecting box assembly, and the launching rotary support is rotationally connected to the end of the erecting box assembly provided with the rocket launching platform. The first double-sided tooth groove support arm, the second double-sided tooth groove support arm and the pulling rope system cooperate to erect the rocket, and the launching is completed. The erecting is driven by a brand-new motor, the system composition is relatively simple, the reliability and safety of the erecting and launching system are improved, the erecting and launching process is fast in response and high in precision, the rocket can be erected and launched at any site and terrain, and the future mobile launching demand of the launch vehicle is met. After launching, the device can return to the initial state, the rocket can be hoisted again for the next launching, and the rocket launching efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of aerospace ground launch support, and in particular, to the subfield of launch vehicle erection and launch, specifically to an integrated device and operating method for a launch vehicle erection system. Background Technology

[0002] Launch vehicles can be launched in various ways, including land-based, sea-based, and air-launched. Before launch, a rocket typically needs to be erected from a horizontal position to a vertical position using an erector.

[0003] In the current field of ground launch support, the traditional method of erecting and launching a launch vehicle is as follows: after the launch vehicle is assembled in the final assembly workshop, it is transported to the launch site by a transport vehicle. At the launch site, the launch vehicle is erected onto a fixed launch pad using one or more sets of hydraulic cylinders, and then the rocket is launched.

[0004] A Chinese patent application with publication number CN110375581B discloses a rocket launch method, comprising: placing the rocket to be launched on the umbilical rod of an erecting device; rotating the erecting arm around the pivot axis using an erecting cylinder to bring the umbilical rod and the rocket to be launched into a vertical position; connecting the rocket to be launched to the launch pad; retracting the erecting cylinder to bring the erecting arm back to a horizontal position, and keeping the umbilical rod and the rocket to be launched in a vertical position during the horizontal position of the erecting arm; and after the rocket to be launched receives an ignition signal, the umbilical rod is tilted back by a hydraulic cylinder to make way for the rocket's takeoff space.

[0005] The existing hydraulic system for erecting and launching has the following disadvantages:

[0006] 1. Hydraulic systems require the construction of pump stations and the installation of complete oil pipelines and valves, making the system complex and with low reliability.

[0007] 2. Hydraulic systems are difficult to control precisely with servo, resulting in slow response and difficulty in guaranteeing accuracy.

[0008] 3. The use of high-pressure oil in hydraulic systems poses a high risk.

[0009] 4. Hydraulic system actuators are prone to leakage.

[0010] 5. It can only be launched from a fixed launch pad, has poor mobility, and does not meet the requirements of future mobile launches. Summary of the Invention

[0011] To address the shortcomings of existing technologies, the purpose of this invention is to provide an integrated device and operating method for a launch vehicle erection system.

[0012] An integrated device for a launch vehicle erection system according to the present invention includes: an erection box assembly, a rocket launch pad, a launch slewing bracket, a first double-sided toothed support arm, a second double-sided toothed support arm, a rocket body support bracket, a traction rope system, and a central controller. The rocket launch pad is disposed at one end of the erection box assembly, and the launch slewing bracket is rotatably connected to the end of the erection box assembly where the rocket launch pad is disposed. The lower end of the first double-sided toothed support arm is slidably connected to the base plate of the erection box assembly, and the lower end of the second double-sided toothed support arm is slidably connected to the base plate of the erection box assembly, with the second double-sided toothed support arm closer to the rocket launch pad than the first double-sided toothed support arm. A set of... The traction rope system includes a traction rope tightening assembly and a traction tightening rope. The traction rope tightening assembly is mounted on the erector assembly. One end of the traction tightening rope is wound around the traction rope tightening assembly, and the other end of the traction tightening rope passes sequentially through the erector assembly, the end of the launch slewing bracket near the rocket launch pad, and the end of the launch slewing bracket away from the rocket launch pad, and is connected to the rocket body support bracket connected to the upper end of the first double-sided toothed support arm. Under the action of the central controller, the launch slewing bracket rotates around its rotation axis with the erector assembly. The first double-sided toothed support arm slides along the length direction of the erector assembly, and the second double-sided toothed support arm slides along the length direction of the erector assembly. When any of the rocket body support brackets clamps or releases the rocket body, the traction rope tightening assembly winds up or unwinds.

[0013] Preferably, the erecting box assembly includes an erecting box body, a spherical groove, and a second slide rail. The spherical groove is disposed on the bottom plate of the erecting box body along its length, and the second slide rail is disposed on the upper surface of the top plate of the erecting box body along its length. Both the first double-sided toothed support arm and the second double-sided toothed support arm include a support arm body, a ball bearing, and a first connecting rod. The ball bearing is rotatably connected to the lower end of the support arm body through the first connecting rod, and the ball bearing is embedded in the spherical groove and slides in cooperation with the spherical groove. Two sets of slider assemblies are slidably disposed on the second slide rail. One set of slider assemblies is provided with a first motor and a gear. The first motor drives the gear to rotate, and the gear meshes with the upper surface of the first double-sided toothed support arm. The other set of slider assemblies is provided with a second motor and a gear. The second motor drives the gear to rotate, and the gear meshes with the upper surface of the second double-sided toothed support arm.

[0014] Preferably, both the first double-sided toothed support arm and the second double-sided toothed support arm include a support arm body and a ball head, with the ball head disposed at the upper end of the support arm body; the arrow body support bracket includes a first support bracket box and a second support bracket box, with the lower part of the first support bracket box and the lower part of the second support bracket box cooperating to form a ball socket; the ball head is embedded in the ball socket and rotates with it.

[0015] Preferably, the arrow body support bracket further includes a first ring bracket and a second ring bracket. The first ring bracket is slidably disposed on the first support bracket housing, and the second ring bracket is slidably disposed on the second support bracket housing. The first ring bracket and the second ring bracket move closer to or further away from each other under the action of the central controller.

[0016] Preferably, the rocket body support bracket further includes an electromagnetic rotor, one of which is respectively provided on the first support bracket housing and the second support bracket housing; the launch rotation bracket includes a launch bracket vertical rod and a launch bracket rotating rod, the launch bracket rotating rod is rotatably connected to the launch bracket vertical rod, the launch bracket rotating rod and the electromagnetic rotor are arranged correspondingly, and an electromagnetic block is provided on each of the launch bracket rotating rods; under the action of the central controller, the electromagnetic rotor passes through the first ring bracket and is magnetically connected to the electromagnetic block, and / or, the electromagnetic rotor passes through the second ring bracket and is magnetically connected to the electromagnetic block.

[0017] Preferably, the rotating rod of the launch support is provided with an embedded moving mechanism, which includes a second guide rail, a lead screw nut block, an eighth motor, a second lead screw, a connecting rod, and a moving block. The second guide rail is disposed on the rotating rod of the launch support. The eighth motor is drivenly connected to the second lead screw. The lead screw nut block is threadedly connected to the second lead screw. The moving block is connected to the lead screw nut block through the connecting rod. The lead screw nut block and / or the moving block slide in cooperation with the second guide rail. The electromagnetic block is disposed on the moving block.

[0018] Preferably, the erecting box assembly includes an erecting box body and a third slide rail. The third slide rail is disposed on the lower surface of the top plate of the erecting box body along its length. The traction rope tightening assembly is disposed on the lower surface of the top plate of the erecting box body and allows movement along the third slide rail. The traction rope tightening assembly includes a tightening wheel, a third motor, a toothed roller, a second connecting rod, a gear transmission box, and a first bearing assembly. The third motor is connected to the tightening wheel via the gear transmission box. The toothed roller is connected to the second connecting rod, and the second connecting rod is connected to the gear transmission box via the first bearing assembly. The toothed roller meshes with the lower surface of the first double-sided toothed support arm.

[0019] Preferably, the erector assembly includes an erector body; the rocket launch pad includes a launch pad base, a rotating connecting rod, an inclined support column, a bearing ring, a fourth motor, and a telescopic rod mechanism. The launch pad base is rotatably connected to the erector body via the rotating connecting rod. The inclined support column connects the launch pad base and the bearing ring. The fourth motor drives the telescopic rod mechanism to move in a direction close to or away from the center of the bearing ring.

[0020] Preferably, both the first and second double-sided toothed support arms include a support arm body, a sliding guide rod, and a sliding ring assembly. The sliding guide rod is disposed on the side of the support arm body and parallel to it. The sliding ring assembly includes a sliding ring collar and a sliding ring swing rod. The sliding ring swing rod and the sliding ring collar are hinged together. The sliding ring collar sleeves the sliding guide rod. The sliding ring swing rod is connected to the erecting box assembly through a damper.

[0021] According to the present invention, a launch vehicle erection system integration device and working method are provided, the working method comprising the following steps:

[0022] Step S1: Place the two arrow body support brackets horizontally onto the second slide rail on the upper surface of the erecting box assembly;

[0023] Step S2: Move the first and second ring brackets of the two arrow body support brackets away from each other, ensuring that the arrow body can be placed in them, and rotate the end bracket of the erecting box assembly to a position perpendicular to the top surface of the top plate of the erecting box. Use a lifting device to lift the arrow body onto the two arrow body support brackets of the end bracket.

[0024] Step S3: Rotate the launch support rod toward the head of the rocket body to a position parallel to the launch support vertical rod, and rotate the launch support vertical rod to a position parallel to the top surface of the top plate of the erection box.

[0025] Step S4: Rotate the launch gyratory support to a vertical position, while the tension rope tightening assembly gradually releases the tension rope and keeps it taut, so that the first and second ring brackets of the two rocket body support brackets move closer to each other and clamp the rocket body.

[0026] Step S5: Move the launch support rotating rod to a position perpendicular to the launch support vertical rod, while the traction rope tightening assembly gradually releases the traction tightening rope and keeps the traction tightening rope taut.

[0027] Step S6: Move the first double-sided toothed support arm and the second double-sided toothed support arm toward the rocket launch pad, while the traction rope tightening assembly gradually tightens the traction rope, and the rocket body is erected.

[0028] Step S7: Move the telescopic rod mechanism on the rocket launch pad toward the center of the bearing ring and lock it through the side wall of the bearing ring to the end of the rocket body. Then, disengage the first double-sided toothed support arm from the rocket body support bracket connected to it and return to its initial position. Disengage the second double-sided toothed support arm from the rocket body support bracket connected to it and return to its initial position.

[0029] Step S8: Make the first support bracket box and the second support bracket box of the two arrow body support brackets contact and lock, and make the first ring bracket and the second ring bracket of the two arrow body support brackets move away from each other to a predetermined position.

[0030] Step S9: Pass either electromagnetic rotor on the two arrow body support brackets through the corresponding first ring bracket or second ring bracket until it contacts the electromagnetic block, and simultaneously energize the electromagnetic block to connect the electromagnetic rotor to the electromagnetic block.

[0031] Step S10: Move any one of the first support bracket boxes and the second support bracket box to a designated safe position in a direction away from the axis of the rocket body;

[0032] Step S11: Move the telescopic rod mechanism away from the center of the bearing ring until the circumference of the arrow body is unlocked;

[0033] Step S12: Continue to rotate the end bracket downwards. At this point, the launch vehicle is in a launch-ready state. Then, the launch vehicle is ignited and launched.

[0034] Step S13: After the launch of the carrier rocket, any set of first support bracket boxes and second support bracket boxes shall be moved toward the direction close to the rocket body axis until they make contact, and the corresponding first support bracket box and second support bracket box shall be locked.

[0035] Step S14: Rotate the launch gyratory support until the first support bracket box and the second support bracket box contact the upper surface of the erection box. At the same time, the traction rope tightening assembly gradually tightens the traction rope and keeps the traction rope in a taut state.

[0036] Step S15: De-energize the electromagnetic block, and then allow any electromagnetic rotor to pass through the first or second ring bracket.

[0037] Step S16: Move any one of the first ring brackets and the second ring brackets as far apart as possible, then rotate the launch support rod toward the head of the rocket body to a position parallel to the launch support rod. At the same time, the traction rope tightening assembly gradually tightens the traction rope and keeps the traction rope taut.

[0038] Step S17: Rotate the end bracket to a position perpendicular to the top surface of the erecting box;

[0039] Repeat steps S4-S17 to complete the erection and launch of the next rocket and the preparation process after launch.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. This invention uses a first double-sided toothed support arm, a second double-sided toothed support arm, and a traction rope system to erect the rocket and complete the launch. It adopts a brand-new motor-driven erection system, which is relatively simple in composition, improves the reliability and safety of the erection and launch system, and has a fast response and high precision in the erection process. It can be used to erect and launch rockets in any location and terrain, which meets the needs of future mobile launch vehicles.

[0042] 2. This invention, through the cooperation of the rocket body support bracket, the launch rotation bracket and the traction rope system, enables the integrated device to return to its initial state after rocket launch, and then re-hoist the rocket for the next launch, which helps to improve rocket launch efficiency. Attached Figure Description

[0043] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0044] Figure 1 This invention mainly embodies the front view of the intermediate stage of the erection process of the integrated device;

[0045] Figure 2 This invention primarily embodies the side view of the intermediate stage of the integrated device erection process;

[0046] Figure 3 This is a side view illustrating the initial stage of the erection process of the integrated device, which is the main feature of this invention.

[0047] Figure 4 This is a front view of the launch phase of the integrated device erection process, which is the main feature of this invention.

[0048] Figure 5 This is a schematic diagram illustrating the main structure of the upright box assembly of this invention;

[0049] Figure 6 This is a schematic diagram illustrating the structure of the pull rope tightening component, which is the main feature of this invention.

[0050] Figure 7 This is a schematic diagram illustrating the double-sided toothed support arm structure of the present invention.

[0051] Figure 8 This is a schematic diagram of the sliding ring assembly of the double-sided toothed support arm, which is the main feature of this invention.

[0052] Figure 9 This invention is primarily illustrated by a perspective view of the damper assembly.

[0053] Figure 10 This invention is primarily illustrated by a perspective view of the arrow body support bracket.

[0054] Figure 11 This invention primarily embodies the top view of the arrow body support bracket;

[0055] Figure 12 This invention primarily embodies the side view of the launch rotating support;

[0056] Figure 13 This invention primarily embodies a top view of the launch rotation support;

[0057] Figure 14 for Figure 13 The enlarged view of part B mainly shows the schematic diagram of the moving block in the launch rotation support;

[0058] Figure 15 This is a schematic diagram illustrating the main structure of the launch pad in this invention;

[0059] Figure 16 for Figure 15 The enlarged view of part A mainly shows the schematic diagram of the telescopic rod structure.

[0060] As shown in the figure:

[0061] Detailed Implementation

[0062] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0063] like Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, an integrated device for a launch vehicle erection system according to the present invention includes an erection box assembly 5, a rocket launch pad 13, a launch slewing bracket 16, a first double-sided toothed support arm 1, a second double-sided toothed support arm 10, a rocket body support bracket, a traction rope system, and a central controller. The rocket launch pad 13 is located at one end of the erection box assembly 5, and the launch slewing bracket 16 is rotatably connected to the end of the erection box assembly 5 where the rocket launch pad 13 is located.

[0064] The lower end of the first double-sided toothed support arm 1 is slidably connected to the base plate of the erector assembly 5, and the lower end of the second double-sided toothed support arm 10 is slidably connected to the base plate of the erector assembly 5. The second double-sided toothed support arm 10 is closer to the rocket launch pad 13 than the first double-sided toothed support arm 1. A set of rocket body support brackets is rotatably connected to the upper ends of the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10, respectively.

[0065] The traction rope system includes a traction rope tightening assembly 7 and a traction tightening rope 15. The traction rope tightening assembly 7 is mounted on the erecting box assembly 5. One end of the traction tightening rope 15 is wound around the traction rope tightening assembly 7. The other end of the traction tightening rope 15 passes sequentially through the erecting box assembly 5, the end of the launch slewing bracket 16 near the rocket launch pad 13, and the end of the launch slewing bracket 16 away from the rocket launch pad 13, and is connected to the rocket body support bracket connected to the upper end of the first double-sided toothed support arm 1.

[0066] Under the control of the central controller, the launch slewing bracket 16 rotates around its rotation axis with the erector box assembly 5, the first double-sided toothed support arm 1 slides along the length direction of the erector box assembly 5, the second double-sided toothed support arm 10 slides along the length direction of the erector box assembly 5, any rocket body support bracket clamps or releases the rocket body, and the traction rope tightening assembly 7 winds up or unwinds.

[0067] like Figure 1 and Figure 5 As shown, specifically, the erecting box assembly 5 includes an erecting box body 51, a first slide rail 52, a spherical groove, a pulley 54, an angle sensor 55, an end bracket 56, a bracket rotation motor 57, a second slide rail 58, and a third slide rail 59. It should be noted that, to improve the stability of the integrated device, this application preferably has two sets of the first slide rail 52, the second slide rail 58, and the third slide rail 59 arranged parallel to each other on the erecting box body 51, and the length directions of the first slide rail 52, the second slide rail 58, and the third slide rail 59 are all parallel to the length direction of the erecting box body 51. The erecting box body 51 is the load-bearing structure of this integrated device and can be installed on a transport vehicle by screw connection. Two second slide rails 58 are installed on the upper surface of the top plate of the erecting box body 51, and two sets of slider assemblies 4 that can slide along the length direction of the second slide rails 58 are slidably arranged on the two slide rails. Two third slide rails 59 are installed on the lower surface of the top plate of the erecting box body 51.

[0068] Two first slide rails 52 are installed on the upper surface of the bottom plate of the erecting box 51, and a spherical groove 53 is formed between the two first slide rails 52. The spherical groove 53 is set on the bottom plate of the erecting box 51 along the length direction of the erecting box 51. Two pressure plates 6 are respectively set below the two first slide rails 52. The two sides of the two pressure plates 6 can be locked onto the two first slide rails 52 respectively, so that the two pressure plates 6 cannot move vertically during the sliding of the two first slide rails 52. Two pulleys 54 are set on the inner wall plate of the end of the erecting box 51 near the rocket launch pad 13. Two bracket rotary motors 57 are set on the upper inner side of the inner wall plate of the end of the erecting box 51 near the rocket launch pad 13. They can drive the end support to rotate through the transmission mechanism built into the end support plate. An angle sensor 55 is set on the end support to monitor the tilt angle between the rocket body and the ground during the erection process.

[0069] like Figure 1 , Figure 5 as well as Figure 6 As shown, the pull rope system consists of two sets, symmetrically arranged on both sides of the width of the erecting box 51. Since the structure, working principle, and installation method of the two sets of pull rope systems are identical, one set will be used as an example for explanation: The pull rope system includes a pull rope tightening assembly 7 and a pull tightening rope 15. The pull rope tightening assembly 7 is located on the lower surface of the top plate of the erecting box 51 and allows movement along the length of the third slide rail 59. The pull rope tightening assembly 7 includes a tightening wheel 73, a third motor 75, a toothed roller 71, a second connecting rod 72, a gear transmission box 74, and a first bearing assembly 76. The third motor 75 is connected to the tightening wheel 73 via the gear transmission box 74. The toothed roller 71 is connected to the second connecting rod 72, which is connected to the gear transmission box 74 via the first bearing assembly 76. The toothed roller 71 meshes with the lower surface of the first double-sided toothed support arm 1. It should be noted that the tensioning ropes 15 of both sets of tensioning rope systems are wound around two pulleys 54 set on the inner wall of the erecting box 51 and slide relative to them.

[0070] The two third motors 75 can simultaneously receive commands from the central controller and drive the two tensioning wheels 73 to rotate through the gear transmission box 74, thereby tightening the tensioning rope 15. The two toothed rollers 71 contact the lower surface of the double-sided toothed support arm 1. During the erection of the arrow body, as the double-sided toothed support arm 1 moves, the two toothed rollers 71 can rotate through the corresponding bearing assemblies.

[0071] like Figure 1 , Figure 5 , Figure 6 , Figure 7 as well as Figure 8As shown, the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10 have the same structure, but their dimensions can be the same or different. Both the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10 include a first rotating shaft 101, a first connecting rod 102, a ball bearing 103, a sliding ring assembly 104, a sliding ring swing rod 1042, a sliding guide rod 105, a ball head 106, and a support arm body 107, and the support arm body 107 is provided with toothed structures on both sides.

[0072] The ball 103 is rotatably connected to the lower end of the support arm body 107 via the first connecting rod 102, and the ball 103 is embedded in the spherical groove 53 and slides in cooperation with the spherical groove 53. Two sets of slider assemblies 4 are slidably arranged on the second slide rail 58. One set of slider assemblies 4 is equipped with a first motor 2 and a gear 3. The first motor 2 drives the gear 3 to rotate, and the gear 3 meshes with the upper surface of the first double-sided toothed support arm 1. The other set of slider assemblies 4 is equipped with a second motor 11 and a gear 3. The second motor 11 drives the gear 3 to rotate, and the gear 3 meshes with the upper surface of the second double-sided toothed support arm 10. The lower surface of the support arm body 107 of the first double-sided toothed support arm 1 meshes with the toothed rollers 71 of the two traction rope tightening assemblies 7. The ball head 106 is located at the upper end of the support arm body 107.

[0073] Two sets of arrow body support brackets 14 are provided, corresponding respectively to the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10, and the two arrow body support brackets 14 are located at the front end and the rear end of the arrow body, respectively. The arrow body support bracket 14 includes a first support bracket box 145 and a second support bracket box 1410, and the lower part of the first support bracket box 145 and the lower part of the second support bracket box 1410 cooperate to form a ball socket. During the erection process of the arrow body, the ball head 106 is embedded in the ball socket and rotates with it.

[0074] The sliding guide rod 105 is disposed on the side of the support arm body 107 and parallel to it. The sliding ring assembly 104 includes a sliding ring collar 1041 and a sliding ring swing rod 1042. The sliding ring swing rod 1042 and the sliding ring collar 1041 are hinged together. The sliding guide rod 105 is sleeved on the sliding ring collar 1041. The sliding ring swing rod 1042 is connected to the erecting box assembly 5 through a damper.

[0075] like Figure 1 and Figure 9As shown, the damper includes two first damper assemblies 8 and two second damper assemblies 9. The two first damper assemblies 8 are respectively disposed on both sides of the first double-sided toothed support arm 10, and the two second damper assemblies 9 are respectively disposed on both sides of the second double-sided toothed support arm 10. Since the structures, installation methods, and working methods of the two first damper assemblies 8 and the two second first damper assemblies 8 are the same, one set will be used as an example for explanation: it includes a first damping rod 81, a second damping rod 82, a third damping rod 810, a first damping collar 83, a second damping collar 84, a third damping collar 89, a first damping spring 85, a second damping spring 86, a third damping spring 88, and a fixing post 87. The fixing post 87 is fastened to the erecting box 51. The first damping rod 81, the first damping collar 83, and the first damping spring 85 are fitted and installed, with one end fixed to the fixing post 87; the second damping rod 82, the second damping collar 84, and the second damping spring 86 are fitted and installed, with one end fixed to the fixing post 87; the third damping rod 810, the third damping collar 89, and the third damping spring 88 are fitted and installed, with one end fixed to the fixing post 87. The three sliding ring rocker arms 1042 are respectively connected to the first damping ring 83, the second damping ring 84 and the third damping ring 89.

[0076] like Figure 1 , Figure 10 as well as Figure 11 As shown, since the structures, working principles, and installation methods of the two sets of arrow body support brackets are the same, the following description will be based on a set of traction rope systems: The arrow body support bracket 14 also includes a first ring bracket 147, a second ring bracket 1411, a fifth motor 141, a right-angle connecting rod 142, an electromagnetic rotating rod 143, a sixth motor 144, a lead screw nut 146, a seventh motor 148, a swing rod 149, a second bearing assembly 1412, a first guide rod support 1413, a coupling 1414, a drive lead screw 1415, a slider connecting bracket 1416, a second guide rod support 1417, and a third guide rod 1418.

[0077] The first ring bracket 147 is slidably mounted on the first support bracket housing 145, and the second ring bracket 1411 is slidably mounted on the second support bracket housing 1410. Under the control of the central controller, the first ring bracket 147 and the second ring bracket 1411 move closer to or further away from each other. One electromagnetic rotor 143 is respectively mounted on the first support bracket housing 145 and the second support bracket housing 1410. The launch rotating bracket 16 includes a launch bracket vertical rod 161 and a launch bracket rotating rod 165. The launch bracket rotating rod 165 is rotatably connected to the launch bracket vertical rod 161, and the launch bracket rotating rod 165 is correspondingly mounted to the electromagnetic rotor 143. An electromagnetic block 1667 is mounted on each launch bracket rotating rod 165. Under the control of the central controller, the electromagnetic rotor 143 passes through the first ring bracket 147 and is magnetically connected to the electromagnetic block 1667, and / or, the electromagnetic rotor 143 passes through the second ring bracket 1411 and is magnetically connected to the electromagnetic block 1667.

[0078] Two seventh motors 148 receive commands from the central controller and can control the rotation of two swing arms 149. The two swing arms 149 can rotate 90° from the first support bracket housing 145 to the second support bracket housing 1410, thus connecting the first and second support bracket housings 145 and 1410. The bottom center of both the connected first and second support bracket housings 145 and 1410 has a ball joint. The first and second ring brackets 147 and 1411 are respectively connected to the corresponding lead screws and nuts 146 on the left and right sides. The operation of the two sixth motors 144 can push the first and second ring brackets 147 and 1411 towards each other through two couplings 1414, two drive lead screws 1415, and two lead screw nuts 146. On or away from the arrow body axis, the ends of two drive screws 1415 are respectively fitted into two second bearing assemblies 1412. The first ring bracket 147 and the second ring bracket 1411 are respectively connected to a slider connecting bracket 1416. The slider connecting bracket 1416 can slide on the third guide rod 1418. The front end of the first ring bracket 147 and the second ring bracket 1411 each has a through hole. The two fifth motors 141 are respectively connected to the first support bracket box 145 and the second support bracket box 1410 through two right-angle connecting rods 142. The two fifth motors 141 receive instructions from the central controller and can push out two electromagnetic rotating rods 143 and pass through the through holes at the front end of the first ring bracket 147 or the second ring bracket 1411.

[0079] like Figure 1 , Figure 12 , Figure 13 as well as Figure 14As shown, the launch rotating support 16 also includes a launch support vertical rod 161, a launch support horizontal rod 162, a second rotating shaft 163, a rotating rod drive motor 164, a launch support rotating rod 165, and a rotating rod embedded moving mechanism 166. Specifically, there are two launch support vertical rods 161 arranged in parallel, two launch support horizontal rods 162 arranged in parallel, and two launch support rotating rods 165 are respectively arranged on the two launch support vertical rods 161. The rotating rod drive motor 164 is arranged in a one-to-one correspondence with the launch support rotating rod 165.

[0080] Each of the launch support rotating rods 165 is equipped with a rotating rod embedded moving mechanism 166. Since the structure, working principle and installation method of the four rotating rod embedded moving mechanisms 166 are the same, we will now describe one set of rotating rod embedded moving mechanisms 166 as an example: The rotating rod embedded moving mechanism 166 includes a second guide rail 1661, a lead screw nut block 1662, an eighth motor 1663, a second lead screw 1664, a connecting rod 1665 and a moving block 1666. The second guide rail 1661 is set on the launch support rotating rod 165. The eighth motor 1663 is drivenly connected to the second lead screw 1664. The lead screw nut block 1662 is threadedly connected to the second lead screw 1664. The moving block 1666 is connected to the lead screw nut block 1662 through the connecting rod 1665. The lead screw nut block 1662 and / or the moving block 1666 slide with the second guide rail 1661. The electromagnetic block 1667 is set on the moving block 1666.

[0081] The launch rotary support 16 can rotate around the second rotating shaft 163 under the drive of the two rotary support drive motors 12. In addition, under the drive of the four rotating rod drive motors 164, the four launch support rotating rods 165 can rotate in the vertical plane. The operation of the eighth motor 1663 can drive the moving block 1666 to slide on the two second guide rails 1661 through the second lead screw 1664, the lead screw nut block 1662, and the connecting rod 1665. The moving block 1666 has three through holes on its side and one through hole on its top surface. The two second guide rails 1661 pass through the two through holes on the left and right sides, which are symmetrically distributed. The second lead screw 1664 passes through the middle hole on the side. In the left and right direction, the middle hole on the side is not at the center of the side.

[0082] After the rocket is erected, the electromagnetic rotor 143 can pass through the through hole on the top surface and contact the electromagnetic block 1667. When the electromagnetic block 1667 is energized, the electromagnetic rotor 143 and the electromagnetic block 1667 are tightly connected by electromagnetic force. Two sets of pulley groups 17 are symmetrically arranged on the two sets of launch support rotating rods 165. The end of the tensioning rope 15 is connected to the rocket body support bracket 14, passes around the two pulley groups 17 on one side of the upper and lower launch support rotating rods 165 and the pulley 54 on one side at the end of the erection box assembly 5, and then connects to the tensioning wheel 73.

[0083] like Figure 1 , Figure 14 as well as Figure 15 As shown, the rocket launch pad 13 includes a launch pad base 132, a rotating connecting rod 131, an inclined support column 133, a bearing ring 134, a fourth motor 135, and a telescopic rod mechanism 136. The launch pad base 132 is rotatably connected to the erecting box 51 through the rotating connecting rod 131. The inclined support column 133 connects the launch pad base 132 and the bearing ring 134. The fourth motor 135 drives the telescopic rod mechanism 136 to move in a direction close to or away from the center position of the bearing ring 134.

[0084] The rotating connecting rod 131 is installed on the end side wall of the erecting box 51. The launch pad base 132 can rotate around the rotating connecting rod 131. Two pin holes are provided on each side of the rotating connecting rod 131 for positioning when the launch pad rotates to different positions. After receiving the control command, the launch pad first removes the two pins and then rotates. The bearing ring 134 and the inclined support column 133 are combined and installed on the upper surface of the rocket launch pad 13 base. The outer edge of the bearing ring 134 is a wall plate. Four fourth motors 135 are evenly distributed on the outside of the wall plate of the bearing ring 134. The wall plate has four through holes at the four fourth motors 135. The four fourth motors 135 receive the command from the central controller and can control the four corresponding telescopic rod mechanisms 136 to extend through the wall plate to the inside of the wall plate and lock with the bottom of the rocket.

[0085] The present invention also provides a method for operating an integrated device for a launch vehicle erection system, the method comprising the following steps:

[0086] Step S1: Place the two rocket body support brackets 14 horizontally onto the second slide rails 58 on the upper surface of the erecting box assembly 5. Specifically, the two rocket body support brackets 14 are placed horizontally on the two second slide rails 58 on the upper surface of the erecting box assembly 5. The central controller issues a command to control the two seventh motors 148 of each rocket body support bracket 14 to operate, driving the two swing rods 149 to rotate. The two swing rods 149 rotate 90° from the first support bracket box 145 to the second support bracket box 1410, thus connecting the first support bracket box 145 and the second support bracket box 1410. At this time, the first support bracket box 145 and the second support bracket box 1410 are in a locked state, and the two swing rods 149 are parallel to the lower surfaces of the first support bracket box 145 and the second support bracket box 1410.

[0087] Step S2: Move the first and second ring brackets 147 and 1411 of the two arrow body support brackets 14 away from each other, ensuring that the arrow body can be placed therein. Rotate the end bracket 56 of the erector assembly 5 to a position perpendicular to the top surface of the top plate of the erector assembly 51. Use a lifting device to hoist the arrow body onto the two arrow body support brackets 14 of the end bracket 56. Specifically, the central controller issues commands to control the two sixth motors 144 of each arrow body support bracket 14 to move the first and second ring brackets 147 and 1411 away from the arrow body axis to the furthest possible distance to ensure that the arrow body can be placed therein. Then, the central controller continues to issue commands to control the two bracket rotation motors 57 to rotate the end bracket 56 to a position perpendicular to the top surface of the top plate of the erector assembly 51 via a drive mechanism built into the end side wall of the erector assembly 51. Use a lifting device to hoist the arrow body onto the two arrow body support brackets 14 and the end bracket 56.

[0088] Step S3: Rotate the launch support rod 165 towards the head of the rocket body to a position parallel to the launch support vertical rod 161, and rotate the launch support vertical rod 161 to a position parallel to the top surface of the erecting box 51. Specifically, the central controller sends a command to control the four rod drive motors 164 to rotate the upper and lower sets of launch support rods 165 towards the head of the rocket body to a position parallel to the launch support vertical rod 161. Then, it sends a command to control the two rotary support drive motors 12 to rotate the launch support vertical rod 161 to a position parallel to the top surface of the erecting box 51. This state is the initial state of the two sets of launch rotary supports 16. In this state, the angle sensor 55 displays 0, and the rocket body is in a horizontal state.

[0089] Step S4: Rotate the launch slewing bracket 16 to a vertical position. Simultaneously, the tension rope tightening assembly 7 gradually releases the tension rope 15 and keeps it taut, causing the first ring bracket 147 and the second ring bracket 1411 of the two rocket body support brackets 14 to approach each other and clamp the rocket body. Specifically, the central controller issues a command to control the two slewing bracket drive motors 12 to rotate the launch slewing bracket 16 to a vertical position. At the same time, it issues a command to control the two third motors 75 of the two tension rope tightening assemblies 7 to rotate in opposite directions. The two tightening wheels 73 gradually release the two tension ropes 15 and keep them taut. Then, it continues to issue commands to control the two sixth motors 144 of each rocket body support bracket 14 to move the first ring bracket 147 and the second ring bracket 1411 towards the rocket body axis until the first ring bracket 147 and the second ring bracket 1411 clamp the rocket body.

[0090] Step S5: Move the launch bracket rotating rod 165 to a position perpendicular to the launch bracket vertical rod 161. Simultaneously, the tension rope tightening assembly 7 gradually releases the tension rope 15 and keeps it taut. Specifically, the central controller issues a command to control the four rotating rod drive motors 164 to rotate the upper and lower sets of launch bracket rotating rods 165 to a position perpendicular to the launch bracket vertical rod 161. During the rotation of the launch bracket rotating rod 165, the tension rope 15 needs to be released. At the same time, the central controller issues a command to control the two third motors 75 to rotate the two tightening wheels 73 in opposite directions to gradually release the two tension ropes 15 and keep them taut.

[0091] Step S6: Move the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10 toward the rocket launch pad 13, while the traction rope tightening assembly 7 gradually tightens the traction rope 15, and the rocket body is erected. Specifically, the central controller issues commands to operate the two first motors 2 and the two second motors 11 to push the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10 towards the end of the erecting housing 51. Simultaneously, it issues commands to operate the third motor 75 of the two tensioning rope assemblies 7, causing the two tensioning wheels 73 to rotate and gradually tighten the two tensioning ropes 15. Under the combined action of the pushing of the two double-sided toothed support arms and the tightening of the two tensioning ropes 15, the rocket body slowly erects. During the erection process, the angle sensor 55 can provide real-time feedback of the rocket body's tilt angle relative to the ground to the central controller. The central controller adjusts the rotation speeds of the two first motors 2, the two second motors 11, and the two third motors 75 based on the feedback data, thereby regulating the erection angular velocity of the rocket body. During the erection process, the two first motors 2, the two second motors 11, and the two sets of gears 3... Two sets of slider assemblies 4 can move on the second slide rail 58 on the upper surface of the top plate of the erecting box 51. Two pull rope tightening assemblies 7 can move on the third slide rail 59 on the lower surface of the top plate of the erecting box 51. Two rolling balls 103 at the lower ends of the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10 can move in the spherical groove 53 on the bottom plate of the erecting box 51. At the same time, two pressure plates 6 move on the two first slide rails 52 and restrict the movement of the first connecting rod 102 in the vertical direction. In addition, during the erection of the rocket body, the sliding ring assembly 104 of the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10 is connected to the damping collar of the first damper assembly 8 and the second damper assembly 9 respectively, which plays a buffering and protective role during the erection process. During the erection process, the bracket rotation motor 57 does not run, and the end bracket 56 rotates with the rocket body.

[0092] Step S7: Move the telescopic rod mechanism 136 on the rocket launch pad 13 toward the center of the support ring 134 and lock it through the side wall of the support ring 134 to the end of the rocket body. Then, disengage the first double-sided toothed support arm 1 from the rocket body support bracket it is connected to and return to its initial position. Disengage the second double-sided toothed support arm 10 from the rocket body support bracket it is connected to and return to its initial position. Specifically, after the rocket body is erected to a vertical position, the central controller issues a command to control the four fourth motors 135 of the rocket launch pad 13 to drive the four sets of telescopic rod mechanisms 136 to move toward the center of the support ring 134, pass through the side wall of the support ring 134 and lock it to the end of the rocket body. Then, it issues a command to control the two first motors 2 and the two second motors 11 to rotate in the opposite direction to disengage the first double-sided toothed support arm 1 and the second double-sided toothed support arm 10 from the ball sockets of the two rocket body support brackets 14 until they return to the position when the two rocket body support brackets 14 are placed horizontally.

[0093] Step S8: Lock the first and second support bracket housings of the two rocket body support brackets into contact, and move the first and second ring brackets 147 and 1411 of the two rocket body support brackets away from each other to a predetermined position. Specifically, the central controller issues a command to control the two seventh motors 148 of each rocket body support bracket 14 to rotate the two swing arms 149 to release the locking state of the first and second support bracket housings. Then, it issues a command to control the two sixth motors 144 of each rocket body support bracket 14 to move the first ring bracket 147 and the second ring bracket 1411 away from the rocket body axis until the through holes at the front ends of the first and second ring brackets 147 and 1411 are above the rotating shafts of the two fifth motors 141.

[0094] Step S9: Either electromagnetic rotor 143 on the two rocket body support brackets passes through the corresponding first ring bracket 147 or second ring bracket 1411 until it contacts the electromagnetic block 1667. Simultaneously, the electromagnetic block 1667 is energized to connect the electromagnetic rotor 143 to the electromagnetic block 1667. Specifically, the central controller issues a command to control the two fifth motors 141 of each rocket body support bracket 14 to move the two electromagnetic rotors 143 upwards, passing through the first ring bracket 147 or second ring bracket 1411 and the moving block 1666 until they contact the electromagnetic block 1667. Simultaneously, the two electromagnetic blocks 1667 are energized to connect the electromagnetic rotor 143 to the electromagnetic block 1667.

[0095] Step S10: Move any one of the first and second support bracket boxes to a designated safe position away from the rocket body axis. Specifically, the central controller issues a command to control four eighth motors 1663 to move the first and second support bracket boxes of the upper and lower rocket body support brackets 14 to a safe position away from the rocket body axis.

[0096] Step S11: Move the telescopic rod mechanism 136 away from the center of the bearing ring 134 until the circumference of the arrow body is unlocked. Specifically, the central controller issues a command to control the four fourth motors 135 to drive the four sets of telescopic rod mechanisms 136 away from the center of the bearing ring 134 until the circumference of the arrow body is unlocked.

[0097] Step S12: Continue rotating the end bracket 56 downwards. At this point, the launch vehicle is in a launch-ready state, and then the launch vehicle is ignited and launched. Specifically, the central controller issues a command to control the two bracket rotation motors 57 to continue rotating the end bracket 56 downwards through the drive mechanism built into the end side wall of the erecting box 51. At this point, the launch vehicle is in a launch-ready state, and then the launch vehicle is ignited and launched.

[0098] Step S13: After the launch vehicle launch is completed, any set of first and second support bracket boxes moves towards the direction close to the rocket body axis until they contact each other, and locks the corresponding first and second support bracket boxes. Specifically, after the launch vehicle launch is completed, the central controller issues a command to control four eighth motors 1663 to drive the first and second support bracket boxes of the upper and lower rocket body support brackets 14 to move towards the direction close to the rocket body axis until they contact each other. Then, it continues to issue commands to control the two seventh motors 148 of each rocket body support bracket 14 to operate, driving the two swing rods 149 to rotate. The two swing rods 149 rotate 90° from the first support bracket box to the second support bracket box, thus connecting the first and second support bracket boxes. At this time, the first and second support bracket boxes are in a locked state.

[0099] Step S14: Rotate the launch rotary support 16 until the first and second support bracket boxes contact the upper surface of the erection box 51. Simultaneously, the tension rope tightening assembly 7 gradually tightens the tension rope 15 and keeps it taut. Specifically, the central controller sends a command to control the two rotary support drive motors 12 to rotate the launch rotary support 16 until the first and second support bracket boxes contact the upper surface of the erection box 51. During this process, the tension rope 15 needs to be tightened. The central controller simultaneously sends a command to control the two third motors 75 to rotate the two tightening wheels 73 in the forward direction to gradually tighten the two tension ropes 15 and keep them taut.

[0100] Step S15: De-energize the electromagnetic block 1667, and then allow any one of the electromagnetic rotors 143 to pass through the first ring bracket 147 or the second ring bracket 1411. Specifically, the central controller issues a command to de-energize the electromagnetic block 1667, and then controls the two fifth motors 141 of each rocket body support bracket 14 to rotate in opposite directions, causing the two electromagnetic rotors 143 to move downwards and gradually detach from the electromagnetic block 1667, the moving block 1666, the first ring bracket 147, or the second ring bracket 1411.

[0101] Step S16: Move any one of the first ring brackets 147 and the second ring brackets 1411 as far apart as possible, and then rotate the launch support rod 165 toward the head of the rocket body to a position parallel to the launch support vertical rod 161. At the same time, the traction rope tightening assembly 7 gradually tightens the traction tightening rope 15 and keeps the traction tightening rope 15 in a taut state. Specifically, the central controller issues commands to control the two sixth motors 144 of each rocket body support bracket 14 to move the first ring bracket 147 and the second ring bracket 1411 away from the rocket body axis until they are moved to the farthest point so that the lifting device can lift the next rocket body onto the two rocket body support brackets 14. Then, it controls the four rotating rod drive motors 164 to rotate the upper and lower sets of launch bracket rotating rods 165 towards the head of the rocket body to a position parallel to the launch bracket vertical rod 161. During the process, the tensioning rope 15 needs to be tightened. At the same time, the central controller issues commands to control the two third motors 75 to rotate the two tightening wheels 73 in the forward direction to gradually tighten the two tensioning ropes 15 and keep them taut.

[0102] Step S17: Rotate the end bracket 56 to a position perpendicular to the top surface of the top plate of the erecting box 51. Specifically, the central controller issues a command to control the two bracket rotation motors 57 to rotate the end bracket 56 to a position perpendicular to the top surface of the top plate of the erecting box 51 via a drive mechanism built into the end side wall of the erecting box 51.

[0103] Repeat steps S4-S17 to complete the erection and launch of the next rocket and the preparation process after launch.

[0104] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0105] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0106] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An integrated device for a launch vehicle erection system, characterized in that, include: The rocket launcher assembly includes an erector box assembly, a rocket launch pad, a launch slewing bracket, a first double-sided toothed support arm, a second double-sided toothed support arm, a rocket body support bracket, a traction rope system, and a central controller. The rocket launch pad is located at one end of the erector box assembly, and the launch slewing bracket is rotatably connected to the end of the erector box assembly where the rocket launch pad is located. The lower end of the first double-sided toothed support arm is slidably connected to the bottom plate of the erecting box assembly, and the lower end of the second double-sided toothed support arm is slidably connected to the bottom plate of the erecting box assembly. The second double-sided toothed support arm is closer to the rocket launch pad than the first double-sided toothed support arm. The arrow body support bracket is rotatably connected to a set of the upper ends of the first double-sided toothed support arm and the second double-sided toothed support arm, respectively. The pulling rope system includes a pulling rope tightening assembly and a pulling tightening rope. The pulling rope tightening assembly is installed on the erecting box assembly. One end of the pulling tightening rope is wrapped around the pulling rope tightening assembly. The other end of the pulling tightening rope passes sequentially through the erecting box assembly, the end of the launch slewing bracket near the rocket launch pad, and the end of the launch slewing bracket away from the rocket launch pad, and is connected to the rocket body support bracket connected to the upper end of the first double-sided toothed support arm. Under the action of the central controller, the launch slewing bracket rotates around its rotation axis with the erector assembly, the first double-sided toothed support arm slides along the length direction of the erector assembly, the second double-sided toothed support arm slides along the length direction of the erector assembly, any of the rocket body support brackets clamps or releases the rocket body, and the traction rope tightening assembly winds up or unwinds. The erecting box assembly includes an erecting box body, a spherical groove, and a second slide rail. The spherical groove is disposed on the bottom plate of the erecting box body along the length direction of the erecting box body, and the second slide rail is disposed on the upper surface of the top plate of the erecting box body along the length direction of the erecting box body. Both the first double-sided toothed support arm and the second double-sided toothed support arm include a support arm body, a ball bearing, and a first connecting rod. The ball bearing is rotatably connected to the lower end of the support arm body through the first connecting rod, and the ball bearing is embedded in a spherical groove and slides in cooperation with the spherical groove. Two sets of slider assemblies are slidably arranged on the second slide rail. One set of slider assemblies is equipped with a first motor and a gear. The first motor drives the gear to rotate, and the gear meshes with the upper surface of the first double-sided toothed support arm. Another set of the slider assemblies is provided with a second motor and a gear, the second motor drives the gear to rotate, and the gear meshes with the upper surface of the second double-sided toothed support arm; The erecting box assembly also includes a third slide rail, which is disposed on the lower surface of the top plate of the erecting box along the length of the erecting box. The pulling rope tightening assembly is disposed on the lower surface of the top plate of the erecting box and allows movement along the third slide rail. The tensioning rope assembly includes a tensioning wheel, a third motor, a toothed roller, a second connecting rod, a gear transmission box, and a first bearing assembly. The third motor is connected to the tensioning wheel via the gear transmission box, the toothed roller is connected to the second connecting rod, and the second connecting rod is connected to the gear transmission box via the first bearing assembly. The toothed roller meshes with the lower surface of the first double-sided toothed support arm.

2. The integrated device for the launch vehicle erection system as described in claim 1, characterized in that, Both the first double-sided toothed support arm and the second double-sided toothed support arm include a support arm body and a ball head, wherein the ball head is disposed at the upper end of the support arm body; The rocket body support bracket includes a first support bracket box and a second support bracket box, and the lower part of the first support bracket box and the lower part of the second support bracket box cooperate to form a ball socket. The ball head is embedded in the ball socket and rotates in coordination with it.

3. The integrated device for the launch vehicle erection system as described in claim 2, characterized in that, The rocket body support bracket also includes a first ring bracket and a second ring bracket. The first ring bracket is slidably mounted on the first support bracket housing, and the second ring bracket is slidably mounted on the second support bracket housing. The first ring bracket and the second ring bracket move closer to or further away from each other under the action of the central controller.

4. The integrated device for the launch vehicle erection system as described in claim 3, characterized in that, The rocket body support bracket also includes an electromagnetic rotor, one of which is respectively provided on the first support bracket box and the second support bracket box; The launch rotating support includes a launch support vertical rod and a launch support rotating rod. The launch support rotating rod is rotatably connected to the launch support vertical rod. The launch support rotating rod and the electromagnetic rotating rod are arranged in a corresponding manner. An electromagnetic block is provided on each of the launch support rotating rods. Under the action of the central controller, the electromagnetic rotor passes through the first ring bracket and is magnetically connected to the electromagnetic block, and / or the electromagnetic rotor passes through the second ring bracket and is magnetically connected to the electromagnetic block.

5. The integrated device for the launch vehicle erection system as described in claim 4, characterized in that, The launch support rotating rod is equipped with a rotating rod embedded moving mechanism. The rotating rod embedded moving mechanism includes a second guide rail, a lead screw nut block, an eighth motor, a second lead screw, a connecting rod, and a moving block. The second guide rail is set on the launch support rotating rod. The eighth motor is drivenly connected to the second lead screw. The lead screw nut block is threadedly connected to the second lead screw. The moving block is connected to the lead screw nut block through the connecting rod. The lead screw nut block and / or the moving block slides with the second guide rail. The electromagnetic block is mounted on the movable block.

6. The integrated device for the launch vehicle erection system as described in claim 5, characterized in that, The rocket launch pad includes a launch pad base, a rotating connecting rod, an inclined support column, a load-bearing ring, a fourth motor, and a telescopic rod mechanism. The launch pad base is rotatably connected to the erection box through the rotating connecting rod. The inclined support column connects the launch pad base and the load-bearing ring. The fourth motor drives the telescopic rod mechanism to move in a direction close to or away from the center position of the load-bearing ring.

7. The integrated device for the launch vehicle erection system as described in claim 1, characterized in that, Both the first and second double-sided toothed support arms include a support arm body, a sliding guide rod, and a sliding ring assembly. The sliding guide rod is disposed on the side of the support arm body and parallel to it. The sliding ring assembly includes a sliding ring collar and a sliding ring swing rod. The sliding ring swing rod and the sliding ring collar are hinged together. The sliding ring collar sleeves the sliding guide rod. The sliding ring swing rod is connected to the erecting box assembly through a damper.

8. A method for operating an integrated device for a launch vehicle erection system, characterized in that, The working method of the launch vehicle erection system integration device according to claim 6 includes the following steps: Step S1: Place the two arrow body support brackets horizontally onto the second slide rail on the upper surface of the erecting box assembly; Step S2: Move the first and second ring brackets of the two arrow body support brackets away from each other, ensuring that the arrow body can be placed in them, and rotate the end bracket of the erecting box assembly to a position perpendicular to the top surface of the top plate of the erecting box. Use a lifting device to lift the arrow body onto the two arrow body support brackets of the end bracket. Step S3: Rotate the launch support rod toward the head of the rocket body to a position parallel to the launch support vertical rod, and rotate the launch support vertical rod to a position parallel to the top surface of the top plate of the erection box. Step S4: Rotate the launch gyratory support to a vertical position, while the tension rope tightening assembly gradually releases the tension rope and keeps it taut, so that the first and second ring brackets of the two rocket body support brackets move closer to each other and clamp the rocket body. Step S5: Move the launch support rotating rod to a position perpendicular to the launch support vertical rod, while the traction rope tightening assembly gradually releases the traction tightening rope and keeps the traction tightening rope taut. Step S6: Move the first double-sided toothed support arm and the second double-sided toothed support arm toward the rocket launch pad, while the traction rope tightening assembly gradually tightens the traction rope, and the rocket body is erected. Step S7: Move the telescopic rod mechanism on the rocket launch pad toward the center of the bearing ring and lock it through the side wall of the bearing ring to the end of the rocket body. Then, disengage the first double-sided toothed support arm from the rocket body support bracket connected to it and return to its initial position. Disengage the second double-sided toothed support arm from the rocket body support bracket connected to it and return to its initial position. Step S8: Make the first support bracket box and the second support bracket box of the two arrow body support brackets contact and lock, and make the first ring bracket and the second ring bracket of the two arrow body support brackets move away from each other to a predetermined position. Step S9: Pass either electromagnetic rotor on the two arrow body support brackets through the corresponding first ring bracket or second ring bracket until it contacts the electromagnetic block, and simultaneously energize the electromagnetic block to connect the electromagnetic rotor to the electromagnetic block. Step S10: Move any one of the first support bracket boxes and the second support bracket box to a designated safe position in a direction away from the axis of the rocket body; Step S11: Move the telescopic rod mechanism away from the center of the bearing ring until the circumference of the arrow body is unlocked; Step S12: Continue to rotate the end bracket downwards. At this point, the launch vehicle is in a launch-ready state. Then, the launch vehicle is ignited and launched. Step S13: After the launch of the carrier rocket, any set of first support bracket boxes and second support bracket boxes shall be moved toward the direction close to the rocket body axis until they make contact, and the corresponding first support bracket box and second support bracket box shall be locked. Step S14: Rotate the launch gyratory support until the first support bracket box and the second support bracket box contact the upper surface of the erection box. At the same time, the traction rope tightening assembly gradually tightens the traction rope and keeps the traction rope in a taut state. Step S15: De-energize the electromagnetic block, and then allow any electromagnetic rotor to pass through the first or second ring bracket. Step S16: Move any one of the first ring brackets and the second ring brackets as far apart as possible, then rotate the launch support rod toward the head of the rocket body to a position parallel to the launch support rod. At the same time, the traction rope tightening assembly gradually tightens the traction rope and keeps the traction rope taut. Step S17: Rotate the end bracket to a position perpendicular to the top surface of the erecting box; Repeat steps S4-S17 to complete the erection and launch of the next rocket and the preparation process after launch.

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