Multi-degree-of-freedom carrier rocket rear end locking mechanism

Abstract

The invention discloses a multi-degree-of-freedom carrier rocket rear end locking mechanism which comprises a base, the base is rotationally provided with an overturning seat, the overturning seat is provided with an operation platform, the overturning seat is connected with a driving part and rotates along a rotating shaft in cooperation with the overturning seat, a horizontal moving mechanism is installed on the overturning seat, and a lifting mechanism is installed on the horizontal moving mechanism. A locking mechanism is installed on the lifting mechanism and used for locking the rear end of the rocket, and the overturning base, the horizontal moving mechanism and the lifting mechanism jointly achieve multi-degree-of-freedom direction adjustment of the locking mechanism. Rapid positioning and locking of the carrier rocket are achieved, and preparation work and time of the rocket before launching in a launching site are greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of locking devices, in particular to a rear end locking mechanism for a multi-degree-of-freedom carrier rocket. Background Art

[0002] With the development of commercial aerospace technology, the mass and length of launch vehicles have gradually increased, and the requirements for launch systems have become more stringent. The traditional fixed launch tower has a long construction period and high maintenance costs. Therefore, the "three horizontal and one vertical" launch method is currently adopted, and a movable erection frame is used instead of a fixed tower. The fixation of the movable launch frame and the launch vehicle is particularly important. During the transportation and erection of the rocket, the rear-end locking mechanism is required to support the rocket and quickly position and lock / unlock it.

[0003] The comparative document discloses a patent document entitled A Rocket Rear End Locking System, with the publication number CN220912121U, which includes a rocket rear end locking device; the rocket rear end locking device includes a supporting assembly, a lifting assembly and a plug-in assembly; the supporting assembly is used to support the lifting assembly; the plug-in assembly is connected to the lifting assembly; when the rocket rear end locking device supports the rocket rear end, the lifting assembly adjusts the height of the plug-in assembly so that the plug-in assembly is adaptively connected to the rocket rear end to support the rocket rear end.

[0004] The flexibility of the entire azimuth adjustment through the above structure is not high, the installation and locking are relatively cumbersome, and the stability is not good. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a multi-degree-of-freedom carrier rocket rear end locking mechanism.

[0006] The present invention is achieved through the following technical solutions.

[0007] The present invention provides a multi-degree-of-freedom carrier rocket rear end locking mechanism, comprising a base, a flip seat is rotatably arranged on the base, an operating platform is arranged on the flip seat, a driving member is connected to the flip seat, and the flip seat rotates along a rotation axis in cooperation with the flip seat, a horizontal moving mechanism is installed on the flip seat, a lifting mechanism is installed on the horizontal moving mechanism, a locking mechanism is installed on the lifting mechanism, the locking mechanism is used to lock the rear end of the rocket, and the flip seat, the horizontal moving mechanism and the lifting mechanism jointly realize the adjustment of the multi-degree-of-freedom orientation of the locking mechanism.

[0008] Preferably, the driving member is configured as a flip electric cylinder, and the end of the movable shaft of the flip electric cylinder is rotatably connected to the flip seat.

[0009] Preferably, the horizontal moving mechanism includes a middle slide rail, a middle slide seat, a sliding adjustment machine and a moving rod. The middle slide rail is arranged on the flip seat, the middle slide seat is slidably arranged on the middle slide rail, the sliding adjustment machine is fixedly arranged on the flip seat, the end of the movable shaft of the sliding adjustment machine is connected to the moving rod, and the moving rod is also connected to the middle slide seat, and the moving direction of the movable shaft of the sliding adjustment machine is the same as the sliding direction of the middle slide rail.

[0010] Preferably, the lifting mechanism includes an upper slide seat, an upper slide rail and a lifting adjustment machine, the upper slide rail is installed on the inclined surface of the middle slide seat, the upper slide seat is slidably set on the upper slide rail, the lifting adjustment machine is installed on the upper slide seat, the end of the movable shaft of the lifting adjustment machine is connected to the inclined surface of the middle slide seat, and the telescopic direction of the movable shaft of the lifting adjustment machine is in the same direction as the sliding direction of the upper slide rail.

[0011] Preferably, the locking mechanism comprises a ball joint and a connecting shaft, the ball joint is sleeved on the connecting shaft, and the connecting shaft is mounted on the upper slide seat.

[0012] Preferably, a pressure sensor is provided on the upper slide seat.

[0013] Preferably, the adjustment angle of the flip seat is set to α, 0<α≤30°.

[0014] Preferably, a distance sensor is provided on the flip seat.

[0015] Preferably, the base, the flip seat, the middle slide seat and the upper slide seat are all configured as shell structures, and the interiors of the base, the flip seat, the middle slide seat and the upper slide seat are all configured as cavities.

[0016] Preferably, the cross-section of the middle slide rail is a T-shaped groove.

[0017] The beneficial effects of the present invention are:

[0018] 1. The rocket foot is locked by combining the flip seat, middle slide seat, upper slide seat and locking mechanism. The carrier rocket is fixed without relying on the bottom support equipment, ensuring the transportation and erection of the rocket during the connection process with the mobile launch pad, realizing multi-degree-of-freedom position adjustment, realizing rapid positioning and locking of the carrier rocket, and greatly reducing the preparation work and time of the rocket before launch at the launch site.

[0019] 2. The base, flip seat, middle slide seat and upper slide seat are all set as shell structures, which can reduce the overall weight and achieve a larger load. The structure is stable and reliable, and can meet the load requirements during the transportation and erection of large-scale sports rockets.

[0020] 3. Simple structure, strong stability and easy installation and disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 It is a front view of the structure of the present invention;

[0023] Figure 3 It is a top view of the structure of the present invention;

[0024] Figure 4 It is a side view of the structure of the present invention;

[0025] Figure 5 It is a schematic diagram of the base structure of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the flip seat of the present invention;

[0027] Figure 7 It is a schematic diagram of the slide structure in the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of the upper slide seat of the present invention;

[0029] Fig. 9 It is a schematic diagram of the locking mechanism structure of the present invention;

[0030] Fig.10 It is a schematic diagram of the local structure of the connection between the present invention and the carrier rocket;

[0031] Fig.11 This is a schematic diagram of the structure of the turning and flipping seat of the connecting rod structure of the present invention;

[0032] Fig.12 It is a schematic diagram of the sliding structure of the slide seat in the present invention;

[0033] Fig.13 It is a schematic diagram of the sliding structure of the upper slide seat of the present invention;

[0034] In the figure: 1-base; 2-turn seat; 3-middle slide seat; 4-upper slide seat; 51-middle slide rail; 52-upper slide rail; 6-locking mechanism, 61-ball joint; 611-left ball joint; 612-right ball joint; 613-fixed plate; 614-ball socket; 62-connecting shaft; 7-operating platform; 8-turn electric cylinder; 9-sliding adjustment machine; 10-lifting adjustment machine; 11-distance sensor; 12-fixed platform; 13-first transfer rod; 14-second transfer rod; 15-chassis. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0037] Embodiment 1

[0038] In this embodiment, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , including a base 1, the base 1 is a box-shaped structure, and the stability of the bottom is enhanced. The base 1 is rotatably provided with a flip seat 2, and an operating platform 7 is installed on the side of the flip seat 2 for easy operation. The flip seat 2 is connected with a driving member, and the flip seat 2 rotates along the rotating axis in cooperation with the flip seat 2. The driving member is set as a flip electric cylinder 8. In a specific embodiment, the end of the movable shaft of the flip electric cylinder 8 is rotatably connected to the rotating shaft on the surface of the flip seat 2, and the force-generating end of the flip electric cylinder 8 is also provided with a handle, and the output of the movable shaft of the flip electric cylinder 8 is realized by manual and servo electric methods, and the angle is accurately adjusted;

[0039] In another specific embodiment, referring to Fig.11 A first transfer rod 13 and a second transfer rod 14 are provided on the flip seat 2. The first transfer rod 13 is hinged on the surface of the flip seat 2. The second transfer rod 14 is hinged to the other end of the first transfer rod 13. The second transfer rod 14 is hinged to a chassis 15. The chassis 15 is placed on the ground. The end of the axis of the flip electric cylinder 8 is rotatably connected to the rotating shaft of the first transfer rod 13 and the second transfer rod 14. By pushing the angle change between the first transfer rod 13 and the second transfer rod 14, the angle change between the flip seat 2 and the base 1 is realized.

[0040] The adjustment angle of the flip seat 2 is set to α, 0<α≤30°, and the rotation angle of the flip seat 2 is controlled within a certain range to avoid excessive rotation to damage the flip electric cylinder 8 when it retracts back and forth, and to avoid excessive deviation of the entire structure.

[0041] A distance sensor 11 is also provided on the flip seat 2 to facilitate real-time detection of the flip angle of the flip seat 2, control angle changes, and accurately locate the connection with the rocket.

[0042] In this embodiment, refer to Figure 1 , Figure 6 , Figure 7 and Fig.13, a horizontal moving mechanism is installed on the flip seat 2, and the horizontal moving mechanism includes a middle slide rail 51, a middle slide seat 3, a sliding adjustment machine 9 and a moving rod. The middle slide rail 51 is fixedly installed on both sides of the flip seat 2 along the length direction. The sliding direction of the middle slide rail 51 is the same as the length direction of the flip seat 2. The cross-sectional shape of the middle slide rail 51 is a T-shaped groove. Both sides of the bottom of the middle slide seat 3 along the length direction are fixed with matching slide rails. The matching slide rails are slidably matched on the middle slide rail 51, and the middle slide seat 3 moves along the sliding direction of the middle slide rail 51;

[0043] A cavity is set in the flip seat 2, and the sliding adjustment machine 9 is fixedly set in the cavity. The end of the axis of the sliding adjustment machine 9 is connected to the moving rod, and the moving rod passes through the cavity and is also connected to the middle slide seat 3. The moving direction of the movable axis of the sliding adjustment machine 9 is the same as the sliding direction of the middle slide rail 51. A limiting hole is opened on the upper part of the flip seat 2 to limit the moving range of the moving rod, thereby limiting the moving range of the middle slide seat 3; the sliding adjustment machine 9 drives the moving rod to move, driving the middle slide seat 3 to move in the horizontal direction, and the moving distance of the horizontal moving mechanism is set to S: -100mm<S≤100mm, which is convenient for adjusting the horizontal position of the locking mechanism 6.

[0044] In this embodiment, refer to Figure 1 , Figure 7 , Figure 8 A lifting mechanism is installed on the middle slide 3, and the lifting mechanism includes an upper slide 4, an upper slide rail 52 and a lifting adjustment machine 10. One side of the middle slide 3 is set as an inclined surface, and the upper slide rail 52 is installed on the inclined surface of the middle slide 3. There are two upper slide rails 52, and both sides of the upper slide 4 are slidably set on the two upper slide rails 52;

[0045] A fixed platform 12 is fixedly connected to the inclined surface of the middle slide 3, and a lifting and adjusting machine 10 is installed on the upper slide 4. The end of the movable shaft of the lifting and adjusting machine 10 is connected to the fixed platform 12, and the extension direction of the movable shaft of the lifting and adjusting machine 10 is in the same direction as the sliding direction of the upper slide rail 52; the upper slide 4 is driven by the lifting and adjusting machine 10 to move along the upper slide rail 52, and the upper slide 4 is moved to the connection position of the rocket. A pressure sensor is provided on the upper slide 4 to detect whether the upper slide 4 is subjected to pressure, thereby detecting whether the upper slide 4 is moved to the connection position of the rocket, so that the upper slide 4 is accurately positioned at the connection position of the rocket.

[0046] In this embodiment, refer to Figure 1 , Fig.10 and Fig.12A locking mechanism 6 is installed on the upper slide seat 4, and the locking mechanism 6 is used to lock the rear end of the rocket. The locking mechanism 6 includes a ball joint 61 and a connecting shaft 62. The ball joint 61 consists of a left ball joint 611, a right ball joint 612 and a ball socket 614. The left ball joint 611, the right ball joint 612 and the ball socket 614 are combined with each other and are jointly sleeved on the connecting shaft 62. The connecting shaft 62 is installed on the upper slide seat 4. A fixing plate 613 is arranged on the outer side of the right ball joint 612, and a mounting hole is arranged on the fixing plate 613. The rocket's arrow foot is sleeved on the ball joint 61, and the rocket's arrow foot presses the ball joint structure to realize the locking of the rear end of the rocket. The rocket's arrow foot is fixed by a bolt passing through the rocket's arrow foot and then through the mounting hole and fixed on the upper slide seat to realize the fixation of the rocket's arrow foot.

[0047] The ball joint 61 can rotate on the connecting shaft 62 to a certain extent, so that the adjustable angle of the locking mechanism 6 is β, -3°<β≤3°, which is convenient for adjusting the accurate position.

[0048] In this embodiment, the base 1, the flip seat 2, the middle slide seat 3 and the upper slide seat 4 are all configured as a shell structure, and the base 1, the flip seat 2, the middle slide seat 3 and the upper slide seat 4 are all configured as cavities, which can reduce the overall weight and achieve a larger load. The structure is stable and reliable, and can meet the load requirements during the transportation and erection of large-scale sports rockets.

[0049] In this embodiment, the turning seat 2 , the horizontal moving mechanism and the lifting mechanism jointly realize the adjustment of the locking mechanism 6 in multiple degrees of freedom.

[0050] The working principle of this embodiment is as follows: the flip seat 2 is driven to flip to a certain angle by the flip electric cylinder 8, and the slide seat 3 moves in the horizontal direction under the drive of the sliding adjustment machine 9. At the same time, the lifting adjustment machine 10 drives the upper slide seat 4 to move, so as to realize the multi-free movement of the locking mechanism 6, and quickly locate it at the rocket arrow foot, and insert the part composed of the ball joint 61 and the connecting shaft 62 into the rocket arrow foot. The rocket arrow foot presses the part composed of the ball joint 61 and the connecting shaft 62, and then passes the bolt through the rocket arrow foot and is fixed on the upper slide seat 4 through the mounting hole to realize the locking of the rear end of the rocket. The positioning is accurate, the locking is convenient, the structure is stable and reliable, and it meets the load-bearing requirements during the transportation and erection of large-scale carrier rockets.

[0051] Embodiment 2

[0052] Reference Fig.12 , the moving distance of the lifting mechanism is set to S: -50mm<S≤50mm.

[0053] Embodiment 3

[0054] The adjustable angle of the locking mechanism 6 is β, -1.5°<β≤1.5°.

[0055] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A multi-degree-of-freedom launch vehicle rear end locking mechanism, characterized in that: The invention comprises a base (1), wherein a flip seat (2) is rotatably arranged on the base (1), an operating platform (7) is arranged on the flip seat (2), the flip seat (2) is connected to a driving member, and rotates along a rotation axis in cooperation with the flip seat (2), a horizontal moving mechanism is installed on the flip seat (2), a lifting mechanism is installed on the horizontal moving mechanism, a locking mechanism (6) is installed on the lifting mechanism, and the locking mechanism (6) is used to lock the rear end of the rocket, and the flip seat (2), the horizontal moving mechanism and the lifting mechanism jointly realize the adjustment of the multi-degree-of-freedom orientation of the locking mechanism.

2. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 1, characterized in that: The driving member is arranged as a tilting electric cylinder (8), and the end of a movable shaft of the tilting electric cylinder (8) is rotatably connected to the tilting seat (2).

3. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 1, characterized in that: The horizontal moving mechanism comprises a middle slide rail (51), a middle slide seat (3), a sliding adjustment machine (9) and a moving rod. The middle slide rail (51) is arranged on the flip seat (2). The middle slide seat (3) is slidably arranged on the middle slide rail (51). The sliding adjustment machine (9) is fixedly arranged on the flip seat (2). The end of the movable shaft of the sliding adjustment machine (9) is connected to the moving rod. The moving rod is also connected to the middle slide seat (3). The moving direction of the movable shaft of the sliding adjustment machine (9) is the same as the sliding direction of the middle slide rail (51).

4. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 3, characterized in that: The lifting mechanism comprises an upper slide seat (4), an upper slide rail (52) and a lifting and lowering adjustment machine (10); the upper slide rail (52) is mounted on the inclined surface of the middle slide seat (3); the upper slide seat (4) is slidably arranged on the upper slide rail (52); the lifting and lowering adjustment machine (10) is mounted on the upper slide seat (4); the end of the movable shaft of the lifting and lowering adjustment machine (10) is connected to the inclined surface of the middle slide seat (3); and the telescopic direction of the movable shaft of the lifting and lowering adjustment machine (10) is in the same direction as the sliding direction of the upper slide rail (52).

5. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 4, characterized in that: The locking mechanism (6) comprises a ball joint (61) and a connecting shaft (62), the ball joint (61) is sleeved on the connecting shaft (62), and the connecting shaft (62) is installed on the upper slide seat (4).

6. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 4, characterized in that: A pressure sensor is arranged on the upper slide seat (4).

7. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 1, characterized in that: The adjustment angle of the turning seat (2) is set to α, 0<α≤30°.

8. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 1, characterized in that: A distance sensor (11) is arranged on the turning seat (2).

9. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 4, characterized in that: The base (1), the flip seat (2), the middle slide seat (3) and the upper slide seat (4) are all arranged as a shell structure, and the interiors of the base (1), the flip seat (2), the middle slide seat (3) and the upper slide seat (4) are all arranged as cavities.

10. A multi-degree-of-freedom carrier rocket rear end locking mechanism as claimed in claim 3, characterized in that: The cross-sectional shape of the middle slide rail (51) is a T-shaped groove.

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