A box-type launching device based on a slanting nozzle rocket-boosted unmanned aerial vehicle

Abstract

The application discloses a box type launching device based on a rocket-assisted unmanned aerial vehicle with an inclined nozzle, which comprises a framework, a skin, a guide rail, an unmanned aerial vehicle releasing mechanism, a rocket clamping mechanism, a first docking mechanism and a second docking mechanism. The framework is the overall force bearing structure of the launching box device. The four sides of the framework are covered with the skin. The guide rail is fixed to the inner side area of both sides of the framework. The unmanned aerial vehicle releasing mechanism is installed on the upper side of the rear side of the framework. The rocket clamping mechanism is installed on the lower side of the rear side of the framework. The first docking mechanism and the second docking mechanism are installed on the upper and lower edges of both sides of the framework and are used for stacking and fixing the box type launching device. When the device is loaded, the unmanned aerial vehicle is pushed into the box type launching device along the guide rail. The unmanned aerial vehicle releasing mechanism fixes the unmanned aerial vehicle in the launching box. In the launching stage, the unmanned aerial vehicle releasing mechanism is separated from the unmanned aerial vehicle, and the rocket clamping mechanism tightly presses the lower support point of the rocket with the inclined nozzle. The application solves the problems of large occupation of the cluster launching site, high guarantee difficulty, inconvenience of position transfer and the like in the prior art.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and more specifically to a box-type launch device for a UAV boosted by a slanted-nozzle rocket. Background Technology

[0002] Currently, most small drones are launched using a zero-length launcher. This method has advantages such as mature technology, wide application, and small space requirements, but it also has significant drawbacks, such as requiring too much space for large-scale cluster launches, a large workload for personnel support, and inconvenience in relocating the launch site. In contrast, the box-type launcher offers advantages such as high drone protection, flexible field relocation, less post-launch support pressure, and is more suitable for rapid cluster launches. In recent years, it has been widely adopted for some drones.

[0003] In existing technical solutions, the launch boxes of drones are mostly made of welded steel, which makes them heavy and difficult to maintain. The propulsion method of drones is generally direct injection and oblique thrust, which results in a large overall envelope size of the drone and rocket, thus increasing the size of the launch box and further increasing its weight.

[0004] In the future, with the expansion of demand and scale for drone swarms, container-type drone launchers will have broad application prospects, especially container-type launchers that are lightweight, small in size, easy to maintain, and large in scale. Summary of the Invention

[0005] This invention addresses the problems existing in the current rack-mounted launch of UAVs by proposing a box-type launch device based on a rocket booster for UAVs with a slanted nozzle. It solves the problems of large site occupation, high support difficulty, and inconvenient site relocation in the existing technology for cluster launches. It has the advantages of high efficiency and convenience, and the invention is low in cost, light in weight, easy to maintain, and small in size.

[0006] The technical solution adopted to achieve the purpose of this invention is: A box-type launch device based on a rocket-assisted unmanned aerial vehicle (UAV) with a slanted nozzle includes a frame, skin, guide rails, a UAV release mechanism, a rocket clamping mechanism, a first docking mechanism, and a second docking mechanism. The frame is the overall load-bearing structure of the launch box device, and the four sides of the frame are covered with skin. The guide rails are fixed to the inner areas on both sides of the frame. The UAV release mechanism is installed on the upper rear side of the frame, and the rocket clamping mechanism is installed on the lower rear side of the frame. The first docking mechanism and the second docking mechanism are installed on the upper and lower edges on both sides of the frame, and the box-type launch device is stacked and fixed through the first docking mechanism and the second docking mechanism. During loading, the UAV connected to the slanted nozzle rocket is pushed into the box-type launch device along the guide rails, and the UAV release mechanism is connected to the UAV to fix the UAV inside the launch box. During the launch phase, the UAV release mechanism separates from the UAV, and the rocket clamping mechanism presses against the lower support point of the slanted nozzle rocket to eliminate the installation gap between the slanted nozzle rocket and the UAV.

[0007] Furthermore, a fixed connector is provided on the upper side of the tail of the UAV, which is used to connect with the UAV release mechanism during packaging; launch fulcrums for aligning with guide rails are provided on both sides of the fuselage, and a front dovetail assembly and a rear dovetail assembly for connecting with the oblique nozzle rocket are provided on the rear side of the fuselage.

[0008] Furthermore, the drone is equipped with folding wings and a folding tail fin, which are folded during packing.

[0009] Furthermore, the drone release mechanism is connected to the fixed connector via a shear pin. During the launch phase, the shear pin is cut by the rocket thrust, causing the drone to separate from the launch box.

[0010] Furthermore, the front dovetail assembly includes a front dovetail force transmission block, an elastic push rod mechanism, a thrust seat, a conformal structure, a rectifier cover, and a front dovetail connector with a dovetail groove. The front dovetail force transmission block is connected to the UAV body. The elastic push rod mechanism is built into the front dovetail force transmission block. The thrust seat is installed on the front dovetail force transmission block, and the front dovetail connector is installed on the thrust seat. The thrust of the oblique nozzle rocket is transmitted to the UAV body sequentially through the front dovetail connector, the thrust seat, and the front dovetail force transmission block. The elastic push rod mechanism is in a compressed state when the oblique nozzle rocket is installed in place. After the rocket has finished working, it generates thrust, causing the oblique nozzle rocket to separate from the body. The conformal structure and the rectifier cover are installed on the body with bolts to optimize the aerodynamic shape of the fuselage.

[0011] Furthermore, the rear dovetail assembly includes a rear dovetail mounting base and a rear dovetail connector with a dovetail groove. The rear dovetail mounting base is fixedly connected to the machine body, and the rear dovetail connector is installed on the rear dovetail mounting base. The positions of the front dovetail assembly and the rear dovetail assembly on the machine body are relatively fixed.

[0012] Furthermore, the main body of the oblique nozzle rocket is provided with a front dovetail support, a rear dovetail support, and a lower support. The front and rear dovetail support are dovetail-shaped protrusions adapted to the front and rear dovetail components of the UAV, respectively. The lower support is a protrusion located below the rear end of the rocket and works in conjunction with the rocket clamping mechanism. When the oblique nozzle rocket is connected to the UAV, the front and rear dovetail support are aligned with the dovetail grooves of the front and rear dovetail connectors, and then the oblique nozzle rocket is moved along the direction parallel to the fuselage axis until it reaches the end. When the nozzle rocket separates from the UAV, the elastic push rod mechanism pushes the front dovetail support, causing the front and rear dovetail support to slide backward along the dovetail groove until they detach from the dovetail groove, thus completing the separation.

[0013] Furthermore, when the oblique nozzle rocket is connected to the UAV, the position of the oblique nozzle rocket is restricted by inserting a pin into the mounting hole of the rear dovetail mounting base.

[0014] Furthermore, the frame is formed by splicing standard aluminum profiles and matching connectors; the skin is a double-layer aluminum plate, which is riveted to the inner and outer surfaces of the frame by two layers of skin, and sealant is applied to the skin boundary.

[0015] Furthermore, the second docking mechanism is provided with a U-shaped groove. When the box-type launch devices are stacked, the first docking mechanism and the second docking mechanism are aligned, and the bolts on the first docking mechanism are rotated and inserted into the U-shaped groove on the second docking mechanism. The box-type launch devices are fixed together by tightening the bolts.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention discloses a box-type launch scheme for a drone boosted by a slanted nozzle rocket, realizing a box-type launch scheme for a drone boosted by a slanted nozzle rocket and an installation scheme for the slanted nozzle rocket on the drone. By arranging the folding wings, folding tail fins, and slanted nozzle rocket, the envelope size of the launch box is effectively reduced. The launch box device has a simple structure, is easy to assemble, easy to maintain, lightweight, small in size, low in cost, and easy to maintain. The launch box device is equipped with a docking interface, which can easily realize the connection and fixation between boxes to achieve the purpose of large-scale clustering. Attached Figure Description

[0017] Figure 1 This is a structural diagram of the launch box assembly, in which, Figure 1 Image (a) is a schematic diagram of the overall firing box device. Figure 1 (b) is a schematic diagram of the assembly of the injection box device. Figure 1 (c) is a schematic diagram of the guide rails of the injection box device. Figure 1 Image (d) is a schematic diagram of the UAV release mechanism of the box-shooting device. Figure 1 (e) is a schematic diagram of the rocket clamping mechanism of the launch box device.

[0018] Figure 2 This is a structural diagram of the drone. Figure 2 Image (a) shows a schematic diagram of the UAV in its extended state. Figure 2 (b) is a schematic diagram of the folded state of the drone. Figure 2 Image (c) is a diagram showing the UAV viewed from below. Figure 2 (d) is a schematic diagram of the front swallowtail assembly of the UAV. Figure 2 Image (e) is a schematic diagram of the rear swallowtail assembly of the UAV. Figure 2 (f) is a schematic diagram of the folding tail fin of the UAV.

[0019] Figure 3 This is a structural diagram of a rocket with an angled nozzle. Figure 3 Image (a) is a schematic diagram of a rocket with an oblique nozzle. Figure 3 (b) is a front view of the rocket with an angled nozzle.

[0020] Figure 4 This is a diagram showing the installation of a slant-nozzle rocket on a drone.

[0021] Figure 5 A diagram illustrating the packaging of a drone. Figure 5 (a) is a schematic diagram of the device for pushing the UAV into the launch box. Figure 5 (b) is a schematic diagram of the connection of the UAV packing.

[0022] Figure 6 This is a diagram showing the stacking of launch boxes.

[0023] In the diagram: 1. Launch container assembly; 1.1 First docking mechanism; 1.2 Second docking mechanism; 1.3 Skin; 1.4 Guide rail; 1.5 Frame; 1.6 UAV release mechanism; 1.7 Rocket clamping mechanism; 2. UAV; 2.1 Fixed joint; 2.2 Launch fulcrum; 2.3 Airframe; 2.4 Folding wing; 2.5 Folding tail fin; 2.6 Rear dovetail assembly; 2.6.1 Rear dovetail mounting base; 2.6.2 Rear dovetail joint; 2.7 Front dovetail assembly; 2.7.1 Front dovetail force transmission block; 2.7.2 Elastic push rod mechanism; 2.7.3 Thrust seat; 2.7.4 Conformal structure; 2.7.5 rectifier cover plate; 2.7.6 Front dovetail joint; 3. Slanted nozzle rocket; 3.1 Rocket body; 3.2 Front dovetail fulcrum; 3.3 Rear dovetail fulcrum; 3.4 Lower fulcrum; 4. Pin. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments. Example 1

[0025] Figure 1This is a schematic diagram of the launch container assembly. The container-type launch device 1 includes a frame 1.5, a skin 1.3, a guide rail 1.4, a UAV release mechanism 1.6, a rocket clamping mechanism 1.7, a first docking mechanism 1.1, and a second docking mechanism 1.2. The launch box frame 1.5 is assembled using standard aluminum profiles and matching connectors. The inner and outer skins 1.3 are riveted to the inner and outer cladding surfaces of the frame 1.5, and sealant is applied to the edges of the skins 1.3 to prevent leakage. The skin 1.3 is a double-layer aluminum plate, which is used to protect the equipment inside the box and prevent the high-pressure and high-temperature gases emitted by the rocket during the launch phase from damaging the equipment outside the box. The guide rail 1.4 is fixed to the inner areas of both sides of the frame 1.5 using bolts and nuts; the guide rail 1.4 is a "C" shaped metal rail used to constrain the movement trajectory of the UAV 2 inside the box; The drone release mechanism 1.6 is installed on the upper rear side of the frame 1.5 by bolts and nuts to fix the drone 2 and prevent the drone 2 from moving around in the box. When the drone 2 is launched, it is triggered by a signal to release the drone. The rocket clamping mechanism 1.7 is installed on the lower rear side of the frame 1.5 by bolts and nuts, and is used to tighten the lower support point of the oblique nozzle rocket to eliminate the installation gap of the oblique nozzle rocket on the UAV 2; the rocket clamping mechanism 1.7 adopts an existing known structure, such as tightening with a self-locking ball screw, or tightening with a compression spring. The first docking mechanism 1.1 and the second docking mechanism 1.2 are a pair of mating mechanisms, which are installed on the upper and lower edges of the frame 1.5 by screws. After the launch box devices are stacked, the first docking mechanism 1.1 and the second docking mechanism 1.2 cooperate with each other to make the upper and lower boxes tightly connected.

[0026] Figure 6 This is a stacking diagram of the launch box device 1. After the launch box device 1 is lifted into place, the first docking mechanism 1.1 and the second docking mechanism 1.2 are aligned. The bolts on the first docking mechanism 1.1 are rotated and inserted into the U-shaped grooves on the second docking mechanism 1.2. Then the bolts are tightened to fix each launch box device. Example 2

[0027] This embodiment provides a UAV 2 adapted to a launch box device, including a body 2.3, folding wings 2.4, folding tail fins 2.5, a fixed connector 2.1, a launch fulcrum 2.2, a front dovetail assembly 2.7, and a rear dovetail assembly 2.6. The main structure of the UAV 2 is the body 2.3, wherein... Folding wings 2.4 and folding tail 2.5 are arranged on the fuselage 2.3. The folding wings 2.4 and folding tail 2.5 can be folded in the direction of the arrow in the figure. That is, the folding wings 2.4 are folded horizontally on both sides of the fuselage 2.3, and the folding tail 2.5 is folded on top of the fuselage 2.3. The folding wings and folding tail can be folded to reduce the envelope size of the UAV in the box. A fixing connector 2.1 is provided on the upper side of the tail of the fuselage 2.3, which is used to fix the drone in place with the drone release mechanism inside the box; Four launch points 2.2 are set on both sides of the fuselage 2.3. The launch points are made of metal and work with the track to constrain the UAV to move along the track. The front dovetail assembly 2.7 and the rear dovetail assembly 2.6 are set on the rear side of the fuselage. The front dovetail assembly 2.7 and the rear dovetail assembly 2.6 are the mounting interfaces of the oblique nozzle rocket 3 on the fuselage 2.3. They are used for mounting the oblique nozzle rocket by positioning with tooling. The front dovetail assembly 2.7 consists of a front dovetail force transmission block 2.7.1, an elastic push rod mechanism 2.7.2, a thrust seat 2.7.3, a conformal structure 2.7.4, a rectifier cover plate 2.7.5, and a front dovetail connector 2.7.6. The front dovetail force transmission block 2.7.1 is connected to the UAV body 2.3 by bolts and adhesive bonding. The thrust seat 2.7.3 is bolted onto the front dovetail force transmission block 2.7.1, and the front dovetail joint 2.7.6 is bolted onto the thrust seat 2.7.3. The thrust of the oblique nozzle rocket 3 is transmitted sequentially to the UAV body 2.3 through the front dovetail joint 2.7.6, the thrust seat 2.7.3, and the front dovetail force transmission block 2.7.1. The elastic push rod mechanism 2.7.2 is built into the front dovetail force transmission block 2.7.1. Its elastic push rod is in a compressed state when the rocket is installed. After the rocket has finished working, it generates thrust to help the oblique nozzle rocket 3 separate from the body 2.3. The conformal structure 2.7.4 and the fairing cover 2.7.5 are bolted onto the body 2.3 to optimize the aerodynamic shape of the fuselage and compensate for the aerodynamic effects caused by local depressions in the structural design of the body 2.3. The rear dovetail assembly consists of a rear dovetail mounting base 2.6.1 and a rear dovetail connector 2.6.2. The rear dovetail mounting base 2.6.1 is installed to the machine body 2.3 by bolts and adhesive bonding, and the rear dovetail connector 2.6.2 is installed on the rear dovetail mounting base 2.6.1 by bolts. The front dovetail assembly 2.7 and the rear dovetail assembly 2.6 are relatively fixed in position on the machine body. To ensure accuracy, they need to be positioned and installed using specially designed tooling. Example 3

[0028] This embodiment provides a slant-nozzle rocket that is compatible with launch canisters and drones.

[0029] Figure 3The diagram shows the external shape of the oblique nozzle rocket 3, which includes the rocket body 3.1, the front dovetail pivot 3.2, the rear dovetail pivot 3.3, and the lower pivot 3.4. The main structure of the oblique nozzle rocket 3 is the rocket body 3.1. The front dovetail support 3.2, rear dovetail support 3.3, and lower support 3.4 are fixed to the rocket body 3.1 using welding. The front dovetail support 3.2 is a dovetail-shaped protrusion located above the front of the rocket and mates with the UAV's front dovetail assembly; the rear dovetail support 3.3 is a dovetail-shaped protrusion located above the rear of the rocket and mates with the UAV's rear dovetail assembly; the lower support is a protrusion located below the rear of the rocket and works in conjunction with the rocket's clamping mechanism. Figure 4 The diagram shows the installation of the oblique nozzle rocket 3 on the UAV 2. The UAV 2 is erected, and the oblique nozzle rocket 3 is lifted. The front dovetail pivot 3.2 and rear dovetail pivot 3.3 are aligned with the front dovetail assembly 2.7 and rear dovetail assembly 2.6 of the UAV, ensuring that the front and rear dovetail pivots 3.2 and 3.3 are aligned with the "dovetail grooves" of the front and rear dovetail connectors 2.7.6 and 2.6.2. The oblique nozzle rocket 3 is then moved along the parallel fuselage axis until it reaches its end. A pin 4 is then inserted into the mounting hole of the rear dovetail mounting base 2.6.1 to restrict the position of the oblique nozzle rocket 3. After the oblique nozzle rocket finishes operating, the elastic push rod mechanism 2.7.2 pushes the front dovetail pivot 3.2, causing the front and rear dovetail pivots 3.2 and 3.3 to slide backward along the "dovetail grooves" until they disengage from the "dovetail grooves," thus separating the oblique nozzle rocket 3 from the UAV 2.

[0030] Figure 5 The diagram shows the packaging for Drone 2. Drone 2 is set up, with the folding wings 2.4 and folding tail fins 2.5 arranged along... Figure 2 After folding in the indicated direction, a specialized loading mechanism lifts the UAV 2, aligning the launch fulcrum 2.2 with the guide rail 1.4. Then, the UAV 2 is pushed into the launch container 1 along the guide rail. Once in place, the UAV release mechanism 1.6 connects to the fixed connector 2.1 via a shear pin, securing the UAV 2 within the launch container 1. During launch, the rocket thrust cuts the shear pin, separating the UAV from the launch container. Afterward, the wheel of the rocket clamping mechanism 1.7 is rotated, causing the mechanism to press against the lower fulcrum 3.4, eliminating the installation gap between the oblique nozzle rocket 3 and the UAV 2.

[0031] The innovations of this invention include: proposing a novel launch box device design, a UAV oblique nozzle rocket booster structure, and a box-type launch scheme for the UAV based on the oblique nozzle rocket booster; the launch box device includes a frame, skin, guide rails, UAV release mechanism, and rocket clamping mechanism, wherein the frame is assembled from standard aluminum profiles and specialized connectors; the UAV oblique nozzle rocket booster structure uses two "dovetail groove" shaped fits with the UAV, and an elastic push rod structure is set at the front fit to help the rocket detach after the booster is completed; and a box-type launch scheme for the UAV based on the oblique nozzle rocket booster. The design incorporates folding wings and a folding tail to reduce the envelope size. The UAV can glide along a track inside the launch box and is secured within the box by a release mechanism located above and behind the launch box. During launch, the mechanism releases the UAV via a signal command. After the angled-nozzle rocket is secured inside the box with the UAV, a rocket clamping mechanism located below and behind the launch box holds the angled nozzle in place. A support point is designed at the bottom of the rocket to eliminate the installation gap between the angled-nozzle rocket and the UAV. This box-type launch design can also utilize fixed wings and other rocket booster technologies, combined with launch box devices of appropriate sizes, to achieve a box-type launch solution.

[0032] The above description is merely a specific embodiment of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the technical concept and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A box-type launch device for an unmanned aerial vehicle (UAV) based on a rocket-assisted oblique nozzle, characterized in that, The system includes a frame, skin, guide rails, a drone release mechanism, a rocket clamping mechanism, a first docking mechanism, and a second docking mechanism. The frame serves as the overall load-bearing structure of the launch container, with skin covering its four sides. The guide rails are fixed to the inner areas of both sides of the frame. The drone release mechanism is installed on the upper rear side of the frame, and the rocket clamping mechanism is installed on the lower rear side of the frame. The first and second docking mechanisms are installed on the upper and lower edges of both sides of the frame, and are used to stack and fix the container launch device. During loading, the drone connected to the inclined nozzle rocket is pushed into the container launch device along the guide rails, and the drone release mechanism connects to the drone, fixing the drone inside the launch container. During launch, the drone release mechanism separates from the drone, and the rocket clamping mechanism presses against the lower support point of the inclined nozzle rocket, eliminating the installation gap between the inclined nozzle rocket and the drone. The drone has a fixed connector on the upper side of the tail section, which is used to connect with the drone release mechanism during packaging; launch fulcrums for aligning with guide rails are provided on both sides of the body, and a front dovetail assembly and a rear dovetail assembly for connecting with the oblique nozzle rocket are provided on the rear side of the fuselage. The front dovetail assembly includes a front dovetail force transmission block, an elastic push rod mechanism, a thrust seat, a conformal structure, a rectifier cover, and a front dovetail connector with a dovetail groove. The front dovetail force transmission block is connected to the UAV body. The elastic push rod mechanism is built into the front dovetail force transmission block. The thrust seat is installed on the front dovetail force transmission block, and the front dovetail connector is installed on the thrust seat. The thrust of the oblique nozzle rocket is transmitted to the UAV body sequentially through the front dovetail connector, the thrust seat, and the front dovetail force transmission block. The elastic push rod mechanism is in a compressed state when the oblique nozzle rocket is installed in place. After the rocket has finished working, it generates thrust, causing the oblique nozzle rocket to separate from the body. The conformal structure and the rectifier cover are installed on the body with bolts to optimize the aerodynamic shape of the fuselage.

2. The box-type launch device for an unmanned aerial vehicle based on a rocket-assisted oblique nozzle according to claim 1, characterized in that, The drone is equipped with folding wings and a folding tail fin, which are folded during packing.

3. The box-type launch device for an unmanned aerial vehicle based on a rocket-assisted oblique nozzle according to claim 1, characterized in that, The drone release mechanism is connected to the fixed joint by a shear pin. During the launch phase, the shear pin is cut by the rocket thrust, causing the drone to separate from the launch box device.

4. The box-type launch device for an unmanned aerial vehicle based on a rocket-assisted oblique nozzle according to claim 1, characterized in that, The rear dovetail assembly includes a rear dovetail mounting base and a rear dovetail connector with a dovetail groove. The rear dovetail mounting base is fixedly connected to the machine body, and the rear dovetail connector is installed on the rear dovetail mounting base. The positions of the front dovetail assembly and the rear dovetail assembly on the machine body are relatively fixed.

5. The box-type launch device for an unmanned aerial vehicle based on a rocket-assisted oblique nozzle according to claim 4, characterized in that, The main body of the oblique nozzle rocket is provided with a front dovetail support, a rear dovetail support, and a lower support. The front and rear dovetail support are dovetail-shaped protrusions that are adapted to the front and rear dovetail components of the UAV, respectively. The lower support is a protrusion located below the rear end of the rocket and works in conjunction with the rocket clamping mechanism. When the oblique nozzle rocket is connected to the UAV, the front and rear dovetail support are aligned with the dovetail grooves of the front and rear dovetail connectors, and then the oblique nozzle rocket is moved along the direction parallel to the fuselage axis until it reaches the end. When the nozzle rocket separates from the UAV, the elastic push rod mechanism pushes the front dovetail support, causing the front and rear dovetail support to slide backward along the dovetail grooves until they detach from the dovetail grooves, thus completing the separation.

6. The box-type launch device for an unmanned aerial vehicle based on a rocket-assisted oblique nozzle according to claim 5, characterized in that, When the oblique nozzle rocket is connected to the UAV, the position of the oblique nozzle rocket is restricted by inserting a pin into the mounting hole of the rear dovetail mounting base.

7. The box-type launch device for an unmanned aerial vehicle based on a rocket-assisted oblique nozzle according to claim 1, characterized in that, The frame is formed by splicing standard aluminum profiles and matching connectors; the skin is a double-layer aluminum plate, which is riveted to the inner and outer surfaces of the frame, and sealant is applied to the skin boundary.

8. The box-type launch device for an unmanned aerial vehicle based on a rocket-assisted oblique nozzle according to any one of claims 1 to 7, characterized in that, The second docking mechanism is provided with a U-shaped groove. When the box-type launch devices are stacked, the first docking mechanism and the second docking mechanism are aligned. The bolts on the first docking mechanism are rotated and inserted into the U-shaped groove on the second docking mechanism. The box-type launch devices are fixed together by tightening the bolts.

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