Carrier rocket collaborative transportation device and docking system

Abstract

The invention relates to the technical field of carrier rocket transfer, in particular to a carrier rocket collaborative transportation device and a docking system.The carrier rocket collaborative transportation device comprises a first carrier, a second carrier, a first position adjusting mechanism and a second position adjusting mechanism, and when a docking task is executed, the first carrier and the second carrier move collaboratively; and the first position adjusting mechanism and the second position adjusting mechanism are used for driving the erecting arm to carry out position coarse adjustment. And then, the first position adjusting mechanism and the second position adjusting mechanism are used for driving the whole erecting arm to perform transverse small-amplitude movement, longitudinal small-amplitude movement, oblique small-amplitude movement or small-angle tail swinging movement, so that the position of the erecting arm is accurately adjusted. And compared with a mode of docking only depending on multi-vehicle collaborative operation, the docking difficulty is reduced, and the docking precision and the docking efficiency during docking are greatly improved. And meanwhile, the stability and the reliability of the butt joint process are improved.

Description

Technical Field

[0001] The present invention relates to the field of carrier rocket transportation technology, and in particular to a carrier rocket coordinated transportation device and a docking system. Background Art

[0002] As a carrier rocket, before launching, the liquid rocket needs to be mounted on the erection arm, and then the rotating seat set at one end of the erection arm is docked with the rotating seat set on the fixed launch platform. After that, the rotating seat of the erection arm rotates around its own axis to turn the erection arm and the liquid rocket from a horizontal state to a vertical state. Therefore, the precise docking of the rotating seat on the erection arm and the rotating seat on the fixed launch platform has become one of the guarantees for the successful launch of the liquid rocket.

[0003] Therefore, how to improve the docking accuracy and efficiency when the rotating seat of the erection arm and the rotating seat of the fixed launch platform are docked has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The present invention provides a launch vehicle cooperative transport device and a docking system, which are used to solve the problem of how to improve the docking accuracy and efficiency when a rotating seat of an erection arm is docked with a rotating seat of a fixed launch platform.

[0005] In one aspect, the present invention provides a launch vehicle coordinated transport device, comprising: First vehicle; The second carrier; the second carrier and the first carrier are used to collaboratively carry and transport the erection arm carrying the launch vehicle; The first position adjustment mechanism is installed on the first carrier, and the top surface is suitable for connecting with one end of the erection arm; the first carrier can drive the first position adjustment mechanism to move up and down, so as to drive one end of the erection arm to move up and down; the first position adjustment mechanism can drive one end of the erection arm to move and / or rotate within the plane where the first position adjustment mechanism is located; The second position adjustment mechanism is installed on the second carrier; the top surface of the second position adjustment mechanism is respectively suitable for connecting with the other end of the erecting arm; the second carrier can drive the second position adjustment mechanism to move up and down, so as to drive the other end of the erecting arm to move up and down; the second position adjustment mechanism can drive the other end of the erecting arm to move within the plane where the second position adjustment mechanism is located.

[0006] In some embodiments, the first position adjustment mechanism includes: A first static platform is installed on the top surface of the first carrier; A first active platform is movably mounted on the top surface of the first static platform in a horizontal plane; The first driver is provided with a first driving end and a first fixed end; the first fixed end is hinged to the first static platform, and the first driving end is hinged to the first active platform; the first active platform is driven to move relative to the first static platform through the first driving end.

[0007] In some embodiments, the first position adjustment mechanism further comprises: The rotating platform is rotatably mounted on the top surface of the first active platform via a rotating shaft, and can drive the erecting arm to rotate; The second driver is provided with a second driving end and a second fixed end; the second fixed end is hinged to the first active platform; the second driving end is hinged to the rotating shaft; the rotating platform is driven to rotate relative to the first active platform through the second driving end.

[0008] In some embodiments, the first position adjustment mechanism further comprises: A first rolling element is rotatably mounted on the top surface of the first static platform and abuts against the bottom surface of the first active platform; The second rolling element is rotatably mounted on the top surface of the first active platform and abuts against the bottom surface of the rotating platform.

[0009] In some embodiments, the second position adjustment mechanism includes: A second static platform is installed on the top surface of the second carrier; A second active platform is movably mounted on the top surface of the second static platform in a horizontal plane; The third driver is provided with a third driving end and a third fixed end; the third fixed end is hinged to the second static platform, and the third driving end is hinged to the second active platform; the second active platform is driven to move relative to the second static platform through the third driving end.

[0010] In some embodiments, the second position adjustment mechanism further comprises: The third rolling element is rotatably mounted on the top surface of the second static platform and abuts against the bottom surface of the second active platform.

[0011] In some embodiments, the first driver, the second driver, and the third driver are respectively equipped with displacement sensors; Angle rotary encoders are respectively installed at the hinge between the first fixed end of the first driver and the first static platform, the hinge between the second fixed end of the second driver and the first active platform, and the hinge between the third fixed end of the third driver and the second static platform.

[0012] In some embodiments, it also includes: Hydraulic oil tank; A first multi-position multi-way proportional valve is connected to the first driver and the hydraulic oil tank respectively; The second multi-position multi-way proportional valve is connected to the second driver and the hydraulic oil tank respectively. The third multi-position multi-way proportional valve is communicated with the third driver and the hydraulic oil tank respectively.

[0013] In some of the embodiments, a hydraulic lock, an electromagnetic switch valve and a safety valve are disposed in the first driver, the second driver and the third driver.

[0014] On the other hand, the present invention further provides a launch vehicle docking system, comprising an erection arm, a fixed launch platform and a launch vehicle cooperative transportation device provided by any of the above embodiments; One end of the erecting arm is mounted on the top surface of the first position adjustment mechanism, and the other end is mounted on the top surfaces of the two second position adjustment mechanisms, and a first rotating seat is provided at one end close to the second position adjustment mechanism; The top surface of the fixed launching platform is provided with a second rotating seat matched with the first rotating seat so as to fixedly connect the erecting arm with the fixed launching platform.

[0015] The beneficial effects of the present invention are as follows: the carrier rocket cooperative transport device of the present invention is provided with a first carrier, a first position adjustment mechanism, a second carrier and a second position adjustment mechanism. When performing a docking task, the first carrier and the second carrier move in coordination, and the first position adjustment mechanism and the second position adjustment mechanism drive the erection arm to perform a rough position adjustment. Afterwards, the erection arm is driven as a whole to perform a small lateral movement, a small longitudinal movement, a small oblique movement or a small angle tail swinging action with the help of the first position adjustment mechanism and the second position adjustment mechanism to finely adjust the position of the erection arm. When the first rotating seat of the erection arm is located directly above the second rotating seat of the fixed launch platform, the first carrier drives the first position adjustment mechanism to move downward, and the second carrier drives the second position adjustment mechanism to move downward, so as to drive the erection arm as a whole to move downward, so that the first rotating seat of the erection arm falls on the second rotating seat of the fixed launch platform. Compared with the form of docking relying only on the coordinated operation of multiple vehicles, the docking difficulty is reduced, and the docking accuracy and docking efficiency during docking are greatly improved. At the same time, the stability and reliability of the docking process are improved. During the docking process, there is no need to repeatedly coordinate and adjust the position of the vehicle, which reduces the labor intensity of operators, saves docking costs, and makes the launch mission arrangement more flexible and can better adapt to different launch mission requirements and time arrangements. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of some specific embodiments of a carrier rocket docking system of the present invention; Figure 2 It is a schematic diagram of the docking of the first rotating seat of the erection arm and the second rotating seat of the fixed launch platform; Figure 3 yes Figure 1The structural schematic diagrams of some specific embodiments of the first position adjustment mechanism in the carrier rocket docking system shown; Figure 4 yes Figure 1 The structural schematic diagrams of some specific embodiments of the second position adjustment mechanism in the carrier rocket docking system shown; Figure 5 It is a schematic diagram of the working principles of the first driver and the second driver in the first position adjustment mechanism.

[0017] In the accompanying drawings, 110, the first carrier; 120, the first position adjustment mechanism; 121, the first static platform; 122, the first active platform; 123, the first driver; 1231, the hydraulic lock; 1232, the shut-off valve; 1233, the safety valve; 124, the rotating platform; 125, the second driver; 126, the first rolling element; 127, the second rolling element; 130, the second carrier; 140, the second position adjustment mechanism; 141, the second static platform; 142, the second active platform; 143, the third driver; 144, the third rolling element; 160, the first multi-position multi-way proportional valve; 170, the second multi-position multi-way proportional valve; 200, the erection arm; 210, the first rotating seat; 300, the fixed launch platform; 310, the second rotating seat; 400, the launch vehicle. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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.

[0019] At present, with the help of multiple hydraulic module vehicles, the erection arm and the liquid rocket carried on the erection arm are transferred to the vicinity of the fixed launch platform. When the rotating seat of the erection arm is docked with the rotating seat of the fixed launch platform, multiple hydraulic vehicles cooperate to complete the lifting, center rotation, crab walking, horizontal movement, straight movement and small angle swinging, so that the erection arm can complete the lifting, center rotation, crab walking, horizontal movement, straight movement and small angle swinging. On the one hand, when multiple vehicles work together, the control accuracy is limited, and the coordination of the actions between the vehicles is difficult, which restricts the docking accuracy of the rotating seat of the erection arm and the rotating seat of the fixed launch platform; on the other hand, when multiple vehicles work together, the position adjustment process of the erection arm is very complicated, and the actions between the vehicles need to be repeatedly coordinated and adjusted, which consumes a lot of time and restricts the docking efficiency. Therefore, how to improve the docking accuracy and docking efficiency when the rotating seat of the erection arm is docked with the rotating seat of the fixed launch platform has become a technical problem that needs to be solved urgently by technical personnel in this field.

[0020] To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 On the one hand, the present invention provides a launch vehicle cooperative transportation device, comprising a first carrier 110, a second carrier 130, a first position adjustment mechanism 120 and a second position adjustment mechanism 140. The first carrier 110 and the second carrier 130 can move on the ground, and are used to cooperatively carry and transport the erection arm 200 carrying the launch vehicle 400. The first position adjustment mechanism 120 is installed on the first carrier 110 and can move with the first carrier 110. The top surface of the first position adjustment mechanism 120 is suitable for connecting with one end of the erection arm 200. The first carrier 110 can drive the first position adjustment mechanism 120 to move up and down, so as to drive one end of the erection arm 200 to move up and down. The first position adjustment mechanism 120 can drive one end of the erection arm 200 to move and / or rotate within the plane where the first position adjustment mechanism 120 is located. That is, the first position adjustment mechanism 120 can not only drive the head end of the erecting arm 200 to move up and down, but also drive the head end of the erecting arm 200 to move and / or rotate within the plane where the first position adjustment mechanism 120 is located. The second position adjustment mechanism 140 is installed on the second carrier 130 and can move with the second carrier 130. The top surface of the second position adjustment mechanism 140 is suitable for connecting with the other end of the erecting arm 200. The second carrier 130 can drive the second position adjustment mechanism 140 to move up and down, so as to drive the other end of the erecting arm 200 to move up and down. The second position adjustment mechanism 140 can drive the other end of the erecting arm 200 to move within the plane where the second position adjustment mechanism 140 is located. That is, the second position adjustment mechanism 140 can not only drive the tail end of the erecting arm 200 to move up and down, but also drive the tail end of the erecting arm 200 to move horizontally, longitudinally or obliquely within the plane where the second position adjustment mechanism 140 is located. When performing the docking task, the first carrier 110 and the second carrier 130 move in coordination, and the first position adjustment mechanism 120 and the second position adjustment mechanism 140 drive the erection arm 200 to perform a rough position adjustment. Afterwards, the first position adjustment mechanism 120 and the second position adjustment mechanism 140 drive the erection arm 200 to perform a small horizontal movement, a small vertical movement, and a small diagonal movement as a whole, so as to finely adjust the position of the erection arm 200, thereby greatly improving the docking accuracy and efficiency during docking.

[0021] Preferably, the first carrier 110 and the first position adjustment mechanism 120 are each one, and the second carrier 130 and the second position adjustment mechanism 140 are each two. The two second carriers 130 are arranged in parallel. The two second position adjustment mechanisms 140 are installed on the second carriers 130 in a one-to-one correspondence with the two second carriers, and can move with the corresponding second carriers 130. The top surfaces of the two second position adjustment mechanisms 140 are suitable for connecting with the other end of the erection arm 200. The two second carriers 130 can drive the corresponding second position adjustment mechanism 140 to move up and down, so as to drive the other end of the erection arm 200 to move up and down. The two second position adjustment mechanisms 140 can not only drive the tail end of the erection arm 200 to move up and down, but also drive the tail end of the erection arm 200 to move horizontally, longitudinally or obliquely within the plane where the second position adjustment mechanism 140 is located, and can also cooperate to drive the tail end of the erection arm 200 to swing within the plane where the second position adjustment mechanism 140 is located. When performing the docking task, the first carrier 110 and the two second carriers 130 move in coordination, and the erection arm 200 is driven to roughly adjust its position through the first position adjustment mechanism 120 and the two second position adjustment mechanisms 140. Afterwards, the erection arm 200 is driven to perform a small lateral movement, a small longitudinal movement, a small diagonal movement, or a small angle tail swinging action with the help of the first position adjustment mechanism 120 and the two second position adjustment mechanisms 140, so as to finely adjust the position of the erection arm 200, further improving the docking accuracy and efficiency during docking.

[0022] The working process and principle of the launch vehicle cooperative transport device are as follows: First, the launch vehicle 400 is mounted on the erection arm 200, and then the first rotating seat 210 disposed at one end of the erection arm 200 is docked with the second rotating seat 310 disposed on the fixed launch platform 300. When performing the docking task, first, the first carrier 110 and the two second carriers 130 move in coordination, and the erection arm 200 is driven to perform a rough position adjustment through the first position adjustment mechanism 120 and the two second position adjustment mechanisms 140. Afterwards, the erection arm 200 is driven to perform a small lateral movement, a small longitudinal movement, a small oblique movement, or a small angle tail swinging action with the help of the first position adjustment mechanism 120 and the two second position adjustment mechanisms 140, so as to finely adjust the position of the erection arm 200. When the first rotating seat 210 of the erecting arm 200 is located directly above the second rotating seat 310 of the fixed launching platform 300, the first carrier 110 drives the first position adjustment mechanism 120 to move downward, and the two second carriers 130 drive the corresponding second position adjustment mechanisms 140 to move downward, so as to drive the erecting arm 200 to move downward as a whole, so that the first rotating seat 210 of the erecting arm 200 falls onto the second rotating seat 310 of the fixed launching platform 300, as shown in FIG. Figure 2As shown, the first rotating seat 210 of the vertical arm 200 and the second rotating seat 310 of the fixed launch platform 300 are fixedly connected by means of a latch mechanism. Compared with the form of docking that only relies on the collaborative operation of multiple vehicles, the difficulty of docking is reduced, and the docking accuracy and efficiency during docking are greatly improved. At the same time, the stability and reliability of the docking process are improved. During the docking process, there is no need to repeatedly coordinate and adjust the position of the vehicle, which reduces the labor intensity of the operator, saves the docking cost, makes the arrangement of the launch mission more flexible, and can better adapt to different launch mission requirements and time arrangements.

[0023] In some embodiments, the first position adjustment mechanism 120 includes a first static platform 121, a first active platform 122 and a first driver 123. The first static platform 121 is mounted on the top surface of the first carrier 110 by bolts to facilitate the disassembly, replacement and installation of the first position adjustment mechanism 120. The first active platform 122 is movably mounted on the top surface of the first static platform 121 in a horizontal plane. The first active platform 122 is connected to one end of the erecting arm 200. The first driver 123 is provided with a first driving end and a first fixed end. The first fixed end is hinged to the first static platform 121, and the first driving end is hinged to the first active platform 122. The first active platform 122 is driven to move relative to the first static platform 121 by the first driving end, so as to drive one end of the erecting arm 200 to move slightly.

[0024] In other embodiments, the first position adjustment mechanism 120 includes a first static platform 121, a first active platform 122, a first driver 123, a rotating platform 124, and a second driver 125. The first static platform 121 is mounted on the top surface of the first carrier 110 by bolts, so as to facilitate the disassembly, replacement, installation and use of the first position adjustment mechanism 120. The first active platform 122 is movably mounted on the top surface of the first static platform 121 in a horizontal plane. The first driver 123 is provided with a first driving end and a first fixed end. The first fixed end is hinged on the first static platform 121, and the first driving end is hinged on the first active platform 122, and the first active platform 122 is driven to move relative to the first static platform 121 by the first driving end. The rotating platform 124 is rotatably mounted on the top surface of the first active platform 122 by a rotating shaft. The rotating platform 124 is connected to one end of the erecting arm 200, and can drive one end of the erecting arm 200 to rotate. The second driver 125 is provided with a second driving end and a second fixed end. The second fixed end is hinged on the first active platform 122. The second driving end is hinged on the rotating shaft. The second driving end drives the rotating platform 124 to rotate relative to the first active platform 122, so as to drive one end of the erecting arm 200 to rotate.

[0025] In some other embodiments, Figure 3As shown, the first position adjustment mechanism 120 includes a first static platform 121, a first active platform 122, a first driver 123, a rotating platform 124, a second driver 125, a first rolling element 126 and a second rolling element 127. The first static platform 121 is mounted on the top surface of the first carrier 110 by bolts, so as to facilitate the disassembly, replacement and installation of the first position adjustment mechanism 120. The first active platform 122 is movably mounted on the top surface of the first static platform 121 in a horizontal plane. The first driver 123 is provided with a first driving end and a first fixed end. The first fixed end is hinged on the first static platform 121, and the first driving end is hinged on the first active platform 122. The first driving end drives the first active platform 122 to move relative to the first static platform 121. The rotating platform 124 is rotatably mounted on the top surface of the first active platform 122 by a rotating shaft. The rotating platform 124 is connected to one end of the erecting arm 200, and can drive one end of the erecting arm 200 to rotate. The second driver 125 is provided with a second driving end and a second fixed end. The second fixed end is hinged on the first active platform 122. The second driving end is hinged on the rotating shaft. The rotating platform 124 is driven to rotate relative to the first active platform 122 by the second driving end to drive one end of the erecting arm 200 to rotate. The first rolling element 126 is rotatably mounted on the top surface of the first static platform 121 and abuts against the bottom surface of the first active platform 122 to reduce the resistance encountered by the first active platform 122 during translation, thereby reducing kinetic energy loss and improving motion control accuracy. The second rolling element 127 is rotatably mounted on the top surface of the first active platform 122 and abuts against the bottom surface of the rotating platform 124 to reduce the resistance encountered by the rotating platform 124 during rotation, thereby reducing kinetic energy loss and improving motion control accuracy.

[0026] Preferably, there are multiple first drivers 123, specifically, the number of first drivers 123 can be one, two, three or four. When the number of first drivers 123 is one, the manufacturing cost is low. When the number of first drivers 123 is two, the driving force is shared with each other. The first fixed ends of the two first drivers 123 are respectively hinged to the opposite sides or adjacent sides of the first static platform 121, and the first driving ends of the two first drivers 123 are hinged to the opposite sides or adjacent sides of the first active platform 122. When the number of first drivers 123 is four, the driving force is further shared with each other, improving the driving efficiency and driving effect. The first fixed ends of the four first drivers 123 are respectively hinged to the four corners or four sides of the first static platform 121, and the first driving ends of the four first drivers 123 are respectively hinged to the four corners or four sides of the first active platform 122, which can drive the first active platform 122 to achieve more degrees of freedom of movement.

[0027] Preferably, the number of the second drivers 125 is multiple, specifically, the second drivers 125 can be one, two or four. When the number of the second drivers 125 is one, the manufacturing cost is low. When the number of the second drivers 125 is two, the driving force is shared with each other. The second fixed ends of the two second drivers 125 are respectively hinged to the adjacent two sides or adjacent two corners of the first active platform 122, and the second driving ends of the two second drivers 125 are hinged to the side walls of the rotating shaft. The axes of the two second drivers 125 form a preset angle. Specifically, the preset angle is 60°, 90° or 120°, so that the rotating shaft can achieve different rotation amplitudes. When the number of the second drivers 125 is four, the driving force is further shared with each other, improving the driving efficiency and driving effect. The second fixed ends of the four second drivers 125 are respectively hinged at the four corners or four sides of the first active platform 122, and the second driving ends of the four second drivers 125 are respectively hinged at the four sides of the rotating shaft, which can drive the first rotating platform 124 to achieve different rotation amplitudes, so that the erecting arm 200 can achieve different tail swing amplitudes.

[0028] Preferably, there are multiple first rolling elements 126, and the multiple first rolling elements 126 are distributed in a rectangular, triangular, or circular array. The multiple first rolling elements 126 are rotatably mounted on the top surface of the first static platform 121, and are respectively in contact with the bottom surface of the first active platform 122, so as to reduce the resistance encountered by the first active platform 122 during translation, thereby reducing kinetic energy loss and improving motion control accuracy.

[0029] Preferably, there are multiple second rolling elements 127, and the multiple second rolling elements 127 are distributed in a rectangular, triangular, or circular array. The multiple second rolling elements 127 are rotatably mounted on the top surface of the first active platform 122, and are respectively in contact with the bottom surface of the rotating platform 124, so as to reduce the resistance encountered by the rotating platform 124 when rotating, thereby reducing kinetic energy loss and improving motion control accuracy.

[0030] Preferably, each first rolling element 126 and each second rolling element 127 is a universal ball, which has a low cost, a significant effect of reducing resistance, and can meet the requirements of use under high-load conditions.

[0031] Preferably, the first static platform 121 is a rectangular structure, which increases the contact area when the first static platform 121 is connected to the first carrier 110, thereby improving the stability of the connection between the first position adjustment mechanism 120 and the first carrier 110. Of course, the first static platform 121 can also be a triangular structure, a diamond structure, a circular structure or an irregular shape. The first active platform 122 and the rotating platform 124 are rectangular structures, which increase the contact area when connected to the erection arm 200, thereby improving the stability of the connection between the first position adjustment mechanism 120 and the erection arm 200. Of course, the first active platform 122 and the rotating platform 124 can also be a triangular structure, a diamond structure, a circular structure or an irregular shape.

[0032] Preferably, the first static platform 121 , the first active platform 122 and the rotating platform 124 may be made of steel, which has high strength, or may be made of plastic, which has low weight.

[0033] In some of the embodiments, each second position adjustment mechanism 140 includes a second static platform 141, a second active platform 142 and a third driver 143. The second static platform 141 is mounted on the top surface of a second carrier 130 by bolts to facilitate the disassembly, replacement and installation of the second position adjustment mechanism 140. The second active platform 142 is movably mounted on the top surface of the second static platform 141 in a horizontal plane. The second active platform 142 is connected to the other end of the erection arm 200. The third driver 143 is provided with a third driving end and a third fixed end. The third fixed end is hinged on the second static platform 141, and the third driving end is hinged on the second active platform 142. The second active platform 142 is driven to move relative to the second static platform 141 by the third driving end, thereby driving the other end of the erection arm 200 to move slightly.

[0034] In other embodiments, such as Figure 4As shown, each second position adjustment mechanism 140 includes a second static platform 141, a second active platform 142, a third driver 143 and a third rolling element 144. The second static platform 141 is mounted on the top surface of a second carrier 130 by bolts to facilitate the disassembly, replacement and installation of the second position adjustment mechanism 140. The second active platform 142 is movably mounted on the top surface of the second static platform 141 in a horizontal plane. The second active platform 142 is connected to the other end of the erection arm 200. The third driver 143 is provided with a third driving end and a third fixed end. The third fixed end is hinged on the second static platform 141, and the third driving end is hinged on the second active platform 142. The second active platform 142 is driven to move relative to the second static platform 141 by the third driving end, thereby driving the other end of the erection arm 200 to move slightly. The third rolling element 144 is rotatably mounted on the top surface of the second static platform 141 and abuts against the bottom surface of the second active platform 142 to reduce the resistance encountered by the second active platform 142 during translation, thereby reducing kinetic energy loss and improving motion control accuracy.

[0035] Preferably, there are multiple third drivers 143, specifically, the number of the third drivers 143 can be one, two, three or four. When the number of the third drivers 143 is one, the manufacturing cost is low. When the number of the third drivers 143 is two, the driving force is shared with each other. The third fixed ends of the two third drivers 143 are respectively hinged to the opposite sides or adjacent sides of the second static platform 141, and the third driving ends of the two third drivers 143 are hinged to the opposite sides or adjacent sides of the second active platform 142. When the number of the third drivers 143 is four, the driving force is further shared with each other, improving the driving efficiency and driving effect. The third fixed ends of the four third drivers 143 are respectively hinged to the four corners or four sides of the second static platform 141, and the third driving ends of the four third drivers 143 are respectively hinged to the four corners or four sides of the second active platform 142, which can drive the second active platform 142 to move with more degrees of freedom.

[0036] Preferably, there are multiple third rolling elements 144, and the multiple third rolling elements 144 are distributed in a rectangular, triangular, or circular array. The multiple third rolling elements 144 are rotatably mounted on the top surface of the second static platform 141, and are respectively in contact with the bottom surface of the second active platform 142, so as to reduce the resistance encountered by the second active platform 142 during translation, thereby reducing kinetic energy loss and improving motion control accuracy.

[0037] Preferably, each third rolling element 144 is a universal ball, which has low cost, significant resistance reduction effect, and can meet the requirements of heavy load conditions.

[0038] Preferably, the second static platform 141 is a rectangular structure, which increases the contact area when the second static platform 141 is connected to the second carrier 130, thereby improving the stability of the connection between the second position adjustment mechanism 140 and the second carrier 130. Of course, the second static platform 141 can also be a triangular structure, a diamond structure, a circular structure or an irregular shape. The second active platform 142 is a rectangular structure, which increases the contact area when connected to the erection arm 200, thereby improving the stability of the connection between the second position adjustment mechanism 140 and the erection arm 200. Of course, the second active platform 142 can also be a triangular structure, a diamond structure, a circular structure or an irregular shape.

[0039] Preferably, the second static platform 141 and the second active platform 142 may be made of steel, which has high strength, or plastic, which has low weight.

[0040] Preferably, a displacement sensor is installed on each first driver 123, each second driver 125, and each third driver 143. Each displacement sensor is used to detect the displacement of the corresponding driver and send the detection result to the controller, which controls whether each first driver 123, each second driver 125, and each third driver 143 works, thereby improving the degree of automation and the control accuracy.

[0041] Preferably, an angle rotary encoder can be installed at the hinge between the first fixed end of each first driver 123 and the first static platform 121, at the hinge between the second fixed end of each second driver 125 and the first active platform 122, and at the hinge between the third fixed end of each third driver 143 and the second static platform 141. An angle rotary encoder can also be installed at the hinge between the first driving end of each first driver 123 and the first active platform 122, at the hinge between the second driving end of each second driver 125 and the rotating shaft, and at the hinge between the third driving end of each third driver 143 and the second active platform 142. Each angle rotary encoder is used to detect the rotation angle of the corresponding hinge point, and send the detection result to the controller, which controls whether each first driver 123, each second driver 125 and each third driver 143 are working, thereby improving the degree of automation and the control accuracy.

[0042] Preferably, each first driver 123, each second driver 125 and each third driver 143 can be a driving cylinder. Each first driver 123, each second driver 125 and each third driver 143 can be directly driven by the high-pressure hydraulic oil in the hydraulic oil tank, without the need to build an additional hydraulic station, saving costs and making the operation more convenient. Of course, each first driver 123, each second driver 125 and each third driver 143 can also be a servo electric cylinder, which has higher control accuracy. Each first driver 123, each second driver 125 and each third driver 143 can also be an electric push rod, which can control thrust and speed by adjusting the pitch, and can achieve very precise positioning and motion control. There is no need to use liquid or gas or other working fluids during work, so there will be no problem of hydraulic oil or gas leakage polluting the working environment, and the environmental protection performance is better. At the same time, it is easy to install and the maintenance cost is also low. Each first driver 123, each second driver 125 and each third driver 143 can also be a cylinder, which has relatively stable power output, relatively fast action, high reliability, simple structure and low maintenance cost.

[0043] For example, there are four first drivers 123, and the first fixed ends of the four first drivers 123 are respectively hinged at the four corners of the first static platform 121, and the first driving ends of the four first drivers 123 are respectively hinged at the four corners of the first active platform 122. There are two second drivers 125, and the second fixed ends of the two second drivers 125 are respectively hinged at two adjacent corners of the first active platform 122, and the second driving ends of the two second drivers 125 are respectively hinged on the side wall of the rotating shaft. The axis angle of the two second drivers 125 is 90°. There are four second drivers 143, and the third fixed ends of the four second drivers 143 are respectively hinged at the four corners of the second static platform 141, and the third driving ends of the four second drivers 143 are respectively hinged at the four corners of the third active platform 142. Each first driver 123, each second driver 125 and each third driver 143 is a driving cylinder. When the position of the erecting arm 200 is finely adjusted horizontally, vertically or diagonally, the second driving ends of the two second drivers 125 are in a locked state, the rotating platform 124 cannot rotate around its own axis, and the driving ends of two of the first drivers 123 of the first position adjustment mechanism 120 and two of the third drivers 143 of each second position adjustment mechanism 140 are in a floating state, and the driving ends of the other two first drivers 123 of the first position adjustment mechanism 120 and the other two third drivers 143 of each second position adjustment mechanism 140 are in motion. When the erecting arm 200 performs a small angle tail swinging action, the driving ends of the two second drivers 125 are in a floating state, the rotating platform 124 can rotate around its own axis, the driving ends of the four first drivers 123 of the first position adjustment mechanism 120 are in a locked state, the driving ends of two of the third drivers 143 of each second position adjustment mechanism 140 are in a floating state, and the driving ends of the other two third drivers 143 are in motion.

[0044] like Figure 5 As shown, when each first driver 123, each second driver 125 and each third driver 143 is a driving cylinder, each first driver 123, each second driver 125 and each third driver 143 is provided with a hydraulic lock 1231, a shutoff valve 1232 and a safety valve 1233. When the shutoff valve 1232 loses power, the corresponding oil circuit is cut off, and the hydraulic lock 1231 locks the driving end of the corresponding driver, and the driving end of the corresponding driver can be controlled to extend and retract through the multi-position multi-way proportional valve. When the shutoff valve 1232 is energized, the corresponding oil circuit is connected, and the hydraulic lock 1231 unlocks the lock on the driving end of the corresponding driver, and the driving end of the corresponding linear driver is in a floating state. The safety valve 1233 improves the safety of the operation of the corresponding linear driver.

[0045] Specifically, in the exemplary embodiment, the launch vehicle cooperative transportation device further includes a hydraulic oil tank, four first multi-position multi-way proportional valves 160, two second multi-position multi-way proportional valves 170, four third multi-position multi-way proportional valves and a controller. Each first multi-position multi-way proportional valve 160 is respectively connected to a first driver 123 and a hydraulic oil tank. Each second multi-position multi-way proportional valve 170 is respectively connected to a second driver 125 and a hydraulic oil tank. Each third multi-position multi-way proportional valve is respectively connected to a third driver 143 and a hydraulic oil tank. The controller is electrically connected to each displacement sensor, each angle rotary encoder, each first multi-position multi-way proportional valve 160, each second multi-position multi-way proportional valve 170, each third multi-position multi-way proportional valve, each shut-off valve 1232 of the first driver 123, each shut-off valve 1232 of the second driver 125, and each shut-off valve 1232 of the third driver 143, respectively, and is capable of receiving the displacement signal detected by the displacement sensor and the rotation angle signal detected by the angle rotary encoder, and controlling the shut-off valve 1232 of each first driver 123, the shut-off valve 1232 of each second driver 125, the shut-off valve 1232 of each third driver 143, each first multi-position multi-way proportional valve 160, each second multi-position multi-way proportional valve 170, and each third multi-position multi-way proportional valve to operate according to these signals, thereby controlling the displacement and swing angle of each first driver 123, each second driver 125, and each third driver 143.

[0046] It should be noted that the first carrier 110 and each second carrier 130 are hydraulic modular vehicles, each of which is provided with a hydraulic oil tank and a hydraulic lifter. The hydraulic lifter of the first carrier 110 can drive the first position adjustment mechanism 120 to move up and down. The hydraulic lifter of each second carrier 130 can drive the corresponding second position adjustment mechanism 140 to move up and down. The high-pressure oil source carried by the carrier can be directly used to perform the operation, without the need to build an additional hydraulic station, which saves costs and makes the operation more convenient.

[0047] Preferably, each first multi-position multi-way proportional valve 160 , each second multi-position multi-way proportional valve 170 and each third multi-position multi-way proportional valve are three-position five-way valves to meet actual needs.

[0048] On the other hand, referring to Figure 1 and Figure 2The present invention also provides a launch vehicle docking system, including an erection arm 200, a fixed launch platform 300 and a launch vehicle cooperative transportation device. One end of the erection arm 200 is detachably mounted on the top surface of the first position adjustment mechanism 120 by bolts, and the other end is detachably mounted on the top surfaces of the two second position adjustment mechanisms 140 by bolts, and a first rotating seat 210 is provided at one end close to the second position adjustment mechanism 140. A second rotating seat 310 adapted to the first rotating seat 210 is provided on the top surface of the fixed launch platform 300. When performing the docking task, first, the first carrier 110 and the two second carriers 130 move in coordination, and the erection arm 200 is driven by the first position adjustment mechanism 120 and the two second position adjustment mechanisms 140 to perform a rough position adjustment. Afterwards, the erection arm 200 is driven to move horizontally, vertically, diagonally, or at a small angle by means of the first position adjustment mechanism 120 and the two second position adjustment mechanisms 140, so as to fine-tune the position of the erection arm 200. When the first rotating seat 210 of the erection arm 200 is located directly above the second rotating seat 310 of the fixed launch platform 300, the first carrier 110 drives the first position adjustment mechanism 120 to move downward, and the two second carriers 130 drive the corresponding second position adjustment mechanisms 140 to move downward, so as to drive the erection arm 200 to move downward as a whole, so that the first rotating seat 210 of the erection arm 200 falls onto the second rotating seat 310 of the fixed launch platform 300, as shown in FIG. Figure 2 As shown, the first rotating seat 210 of the vertical arm 200 and the second rotating seat 310 of the fixed launch platform 300 are fixedly connected by means of a latch mechanism. Compared with the form of docking that only relies on the collaborative operation of multiple vehicles, the difficulty of docking is reduced, and the docking accuracy and efficiency during docking are greatly improved. At the same time, the stability and reliability of the docking process are improved. During the docking process, there is no need to repeatedly coordinate and adjust the position of the vehicle, which reduces the labor intensity of the operator, saves the docking cost, makes the arrangement of the launch mission more flexible, and can better adapt to different launch mission requirements and time arrangements.

[0049] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0053] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A launch vehicle coordinated transport device, characterized in that: include: First vehicle; Second vehicle; The second carrier and the first carrier are used to collaboratively carry and transport the erection arm carrying the launch vehicle; A first position adjustment mechanism is installed on the first carrier, and the top surface is suitable for connecting with one end of the erection arm; the first carrier can drive the first position adjustment mechanism to move up and down, so as to drive one end of the erection arm to move up and down; the first position adjustment mechanism can drive one end of the erection arm to move and / or rotate within the plane where the first position adjustment mechanism is located; The second position adjustment mechanism is installed on the second carrier; the top surface of the second position adjustment mechanism is respectively suitable for connecting with the other end of the erecting arm; the second carrier can drive the second position adjustment mechanism to move up and down, so as to drive the other end of the erecting arm to move up and down; the second position adjustment mechanism can drive the other end of the erecting arm to move within the plane where the second position adjustment mechanism is located.

2. The launch vehicle coordinated transport device according to claim 1, characterized in that: The first position adjustment mechanism comprises: A first static platform, mounted on the top surface of the first carrier; a first active platform, movably mounted on the top surface of the first static platform in a horizontal plane; The first driver is provided with a first driving end and a first fixed end; the first fixed end is hinged to the first static platform, and the first driving end is hinged to the first active platform; the first active platform is driven to move relative to the first static platform through the first driving end.

3. The launch vehicle coordinated transport device according to claim 2, characterized in that: The first position adjustment mechanism also includes: A rotating platform is rotatably mounted on the top surface of the first active platform via a rotating shaft, and is capable of driving the erecting arm to rotate; The second driver is provided with a second driving end and a second fixed end; the second fixed end is hinged to the first active platform; the second driving end is hinged to the rotating shaft; the rotating platform is driven to rotate relative to the first active platform through the second driving end.

4. The launch vehicle coordinated transport device according to claim 3, characterized in that: The first position adjustment mechanism also includes: A first rolling element is rotatably mounted on the top surface of the first static platform and abuts against the bottom surface of the first active platform; The second rolling element is rotatably mounted on the top surface of the first active platform and abuts against the bottom surface of the rotating platform.

5. The launch vehicle coordinated transport device according to claim 3, characterized in that: The second position adjustment mechanism comprises: a second static platform, mounted on the top surface of the second carrier; a second active platform movably mounted on the top surface of the second static platform in a horizontal plane; The third driver is provided with a third driving end and a third fixed end; the third fixed end is hinged to the second static platform, and the third driving end is hinged to the second active platform; the second active platform is driven to move relative to the second static platform through the third driving end.

6. The launch vehicle coordinated transport device according to claim 5, characterized in that: The second position adjustment mechanism also includes: The third rolling element is rotatably mounted on the top surface of the second static platform and abuts against the bottom surface of the second active platform.

7. The launch vehicle coordinated transport device according to claim 5, characterized in that: The first driver, the second driver and the third driver are respectively equipped with displacement sensors; Angle rotary encoders are respectively installed at the hinge between the first fixed end of the first driver and the first static platform, the hinge between the second fixed end of the second driver and the first active platform, and the hinge between the third fixed end of the third driver and the second static platform.

8. The launch vehicle coordinated transport device according to claim 5, characterized in that: Also includes: Hydraulic oil tank; A first multi-position multi-way proportional valve, connected to the first driver and the hydraulic oil tank respectively; The second multi-position multi-way proportional valve is connected to the second driver and the hydraulic oil tank respectively. The third multi-position multi-way proportional valve is communicated with the third driver and the hydraulic oil tank respectively.

9. The launch vehicle coordinated transport device according to claim 8, characterized in that: The first driver, the second driver and the third driver are each provided with a hydraulic lock, an electromagnetic switch valve and a safety valve.

10. A launch vehicle docking system, characterized in that: It comprises an erection arm, a fixed launch platform and a launch vehicle coordinated transport device as claimed in any one of claims 1 to 9; One end of the erecting arm is mounted on the top surface of the first position adjustment mechanism, and the other end is mounted on the top surfaces of the two second position adjustment mechanisms, and a first rotating seat is provided at one end close to the second position adjustment mechanism; The top surface of the fixed launching platform is provided with a second rotating seat matched with the first rotating seat so as to fixedly connect the erecting arm with the fixed launching platform.

Images