Launch vehicle cooperative transport device and docking system

Abstract

The present application relates to the technical field of launch vehicle transfer, and particularly relates to a launch vehicle cooperative transportation device and a docking system, wherein the launch vehicle cooperative transportation device comprises a first carrier, a second carrier, a first position adjusting mechanism and a second position adjusting mechanism; when performing a docking task, the first carrier and the second carrier move cooperatively, and the first position adjusting mechanism and the second position adjusting mechanism drive a vertical arm to perform coarse adjustment of the position. Then, the first position adjusting mechanism and the second position adjusting mechanism drive the vertical arm to perform lateral small-amplitude movement, longitudinal small-amplitude movement, oblique small-amplitude movement or small-angle tail swing movement, so as to finely adjust the position of the vertical arm. Compared with the form of relying on cooperative operation of multiple vehicles to perform docking, the docking difficulty is reduced, and the docking precision and docking efficiency during docking are greatly improved. Meanwhile, the stability and reliability of the docking process are improved.

Description

Technical Field

[0001] This invention relates to the field of launch vehicle transport technology, and in particular to a launch vehicle collaborative transport device and docking system. Background Technology

[0002] As a type of launch vehicle, liquid-fueled rockets require mounting on an erector arm before launch. A rotating seat located at one end of the erector arm is then docked with a rotating seat on a fixed launch pad. The rotating seat on the erector arm then rotates around its own axis, changing the erector arm and liquid-fueled rocket from a horizontal to a vertical position. Therefore, precise docking between the rotating seat on the erector arm and the rotating seat on the fixed launch pad is crucial for a successful liquid-fueled rocket launch.

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

[0004] This invention provides a launch vehicle collaborative transportation device and docking system to solve the problem of how to improve the docking accuracy and efficiency when docking the rotating seat of the launch arm with the rotating seat of the fixed launch pad.

[0005] On one hand, the present invention provides a launch vehicle-assisted transportation device, comprising:

[0006] First vehicle;

[0007] The second vehicle; the second vehicle and the first vehicle are used together to support and transport the erecting arm carrying the launch vehicle;

[0008] A first position adjustment mechanism is mounted on a first carrier, and its top surface is adapted to connect to one end of an erecting arm. The first carrier is capable of driving the first position adjustment mechanism to move up and down, thereby driving one end of the erecting arm to move up and down. The first position adjustment mechanism is capable of driving one end of the erecting arm to move and / or rotate within the plane where the first position adjustment mechanism is located.

[0009] The second position adjustment mechanism is installed on the second carrier; the top surface of the second position adjustment mechanism is adapted to connect 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.

[0010] In some embodiments, the first position adjustment mechanism includes:

[0011] The first static platform is installed on the top surface of the first vehicle;

[0012] a first active platform movably mounted on a top surface of the first static platform in a horizontal plane;

[0013] a first driver 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 by the first driving end.

[0014] In some embodiments, the first position adjusting mechanism further comprises:

[0015] a rotating platform rotatably mounted on the top surface of the first active platform through a rotating shaft, and capable of driving the vertical arm to rotate;

[0016] a second driver provided with a second driving end and a second fixed end; the second fixed end is hinged to the first active platform, and the second driving end is hinged to the rotating shaft; the rotating platform is driven to rotate relative to the first active platform by the second driving end.

[0017] In some embodiments, the first position adjusting mechanism further comprises:

[0018] a first rolling member rotatably mounted on the top surface of the first static platform and abutting against the bottom surface of the first active platform;

[0019] a second rolling member rotatably mounted on the top surface of the first active platform and abutting against the bottom surface of the rotating platform.

[0020] In some embodiments, the second position adjusting mechanism comprises:

[0021] a second static platform mounted on the top surface of the second carrier;

[0022] a second active platform movably mounted on the top surface of the second static platform in a horizontal plane;

[0023] a third driver 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 by the third driving end.

[0024] In some embodiments, the second position adjusting mechanism further comprises:

[0025] a third rolling member rotatably mounted on the top surface of the second static platform and abutting against the bottom surface of the second active platform.

[0026] In some embodiments, displacement sensors are respectively mounted on the first driver, the second driver and the third driver;

[0027] An angle rotation encoder is installed at the hinged position of the first fixed end of the first driver and the first static platform, the hinged position of the second fixed end of the second driver and the first active platform, and the hinged position of the third fixed end of the third driver and the second static platform, respectively.

[0028] In some embodiments, further comprising:

[0029] A hydraulic oil tank;

[0030] A first multi-position multi-way proportional valve, which is in communication with the first driver and the hydraulic oil tank, respectively;

[0031] A second multi-position multi-way proportional valve, which is in communication with the second driver and the hydraulic oil tank, respectively

[0032] A third multi-position multi-way proportional valve, which is in communication with the third driver and the hydraulic oil tank, respectively.

[0033] In some embodiments, 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.

[0034] In another aspect, the present application also provides a launch vehicle cooperative transportation device, which comprises an erecting arm, a fixed launch platform and any of the above-mentioned embodiments.

[0035] One end of the erecting arm is installed on the top surface of the first position adjusting mechanism, and the other end is installed on the top surface of the two second position adjusting mechanisms, and the end close to the second position adjusting mechanism is provided with a first rotating seat.

[0036] The top surface of the fixed launch platform is provided with a second rotating seat matched with the first rotating seat, so as to fixedly connect the erecting arm and the fixed launch platform.

[0037] The beneficial effects of this invention are as follows: The launch vehicle collaborative transportation device of this invention, by setting up a first carrier, a first position adjustment mechanism, a second carrier, and a second position adjustment mechanism, allows the first and second carriers to move collaboratively during docking operations. The first and second position adjustment mechanisms drive the erecting arm to perform coarse position adjustments. Subsequently, the first and second position adjustment mechanisms drive the erecting arm to perform small-amplitude lateral, longitudinal, diagonal, or small-angle tail movements to fine-tune its position. When the first rotating seat of the erecting arm is directly above the second rotating seat of the fixed launch pad, the first carrier drives the first position adjustment mechanism downwards, and the second carrier drives the second position adjustment mechanism downwards, causing the entire erecting arm to move downwards so that the first rotating seat of the erecting arm lands on the second rotating seat of the fixed launch pad. Compared to docking relying solely on multi-vehicle collaborative operations, this reduces docking difficulty and significantly improves docking accuracy and efficiency. Simultaneously, it enhances the stability and reliability of the docking process. 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 operators, saves docking costs, and makes the arrangement of launch missions more flexible, so as to better adapt to different launch mission requirements and schedules. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of some specific embodiments of a launch vehicle docking system of the present invention;

[0039] Figure 2 This is a schematic diagram showing the docking of the first rotating seat of the erecting arm and the second rotating seat of the fixed launch platform.

[0040] Figure 3 yes Figure 1 The diagram shows a structural schematic of some specific embodiments of the first position adjustment mechanism in the launch vehicle docking system.

[0041] Figure 4 yes Figure 1 The diagram shows a structural schematic of some specific embodiments of the second position adjustment mechanism in the launch vehicle docking system.

[0042] Figure 5 This is a schematic diagram illustrating the working principle of the first and second drives in the first position adjustment mechanism.

[0043] In the drawings, 110, first carrier; 120, first position adjusting mechanism; 121, first static platform; 122, first active platform; 123, first driver; 1231, hydraulic lock; 1232, shut-off valve; 1233, safety valve; 124, rotating platform; 125, second driver; 126, first rolling element; 127, second rolling element; 130, second carrier; 140, second position adjusting mechanism; 141, second static platform; 142, second active platform; 143, third driver; 144, third rolling element; 160, first multi-position multi-way proportional valve; 170, second multi-position multi-way proportional valve; 200, erecting arm; 210, first rotating seat; 300, fixed launching platform; 310, second rotating seat; 400, carrier rocket. DETAILED DESCRIPTION

[0044] The technical solutions of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0045] At present, the erecting arm and the liquid rocket carried on the erecting arm are transferred to the vicinity of the fixed launching platform by means of multiple hydraulic module vehicles, and when the rotating seat of the erecting arm and the rotating seat of the fixed launching platform are docked, multiple hydraulic vehicles cooperatively complete the actions of lifting, center rotation, crabbing, horizontal movement, straight movement and small-angle swinging, so that the erecting arm completes the actions of lifting, center rotation, crabbing, horizontal movement, straight movement and small-angle swinging. On the one hand, when multiple vehicles cooperatively work, the control precision is limited, and the action coordination between the vehicles is difficult, which restricts the docking precision of the rotating seat of the erecting arm and the rotating seat of the fixed launching platform; on the other hand, when multiple vehicles cooperatively work, the position adjusting process of the erecting arm is very complex, the actions between the vehicles need to be repeatedly coordinated and adjusted, a large amount of time is consumed, and the docking efficiency is restricted. Therefore, how to improve the docking precision and docking efficiency when the rotating seat of the erecting arm and the rotating seat of the fixed launching platform are docked has become a technical problem to be solved by those skilled in the art.

[0046] To solve the above problems, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5In one aspect, the present application provides a launch vehicle cooperative transportation device, which comprises a first carrier 110, a second carrier 130, a first position adjusting mechanism 120 and a second position adjusting mechanism 140. The first carrier 110 and the second carrier 130 are capable of moving on the ground, and are used for cooperatively carrying and transporting an erecting arm 200 with a launch vehicle 400. The first position adjusting mechanism 120 is installed on the first carrier 110 and is capable of moving with the first carrier 110. The top surface of the first position adjusting mechanism 120 is adapted to be connected with one end of the erecting arm 200. The first carrier 110 is capable of driving the first position adjusting mechanism 120 to move up and down, so as to drive one end of the erecting arm 200 to move up and down. The first position adjusting mechanism 120 is capable of driving one end of the erecting arm 200 to move and / or rotate in the plane where the first position adjusting mechanism 120 is located. That is, the first position adjusting mechanism 120 is capable of driving the leading end of the erecting arm 200 to move up and down, and is also capable of driving the leading end of the erecting arm 200 to move and / or rotate in the plane where the first position adjusting mechanism 120 is located. The second position adjusting mechanism 140 is installed on the second carrier 130 and is capable of moving with the second carrier 130. The top surface of the second position adjusting mechanism 140 is adapted to be connected with the other end of the erecting arm 200. The second carrier 130 is capable of driving the second position adjusting 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 adjusting mechanism 140 is capable of driving the other end of the erecting arm 200 to move in the plane where the second position adjusting mechanism 140 is located. That is, the second position adjusting mechanism 140 is capable of driving the trailing end of the erecting arm 200 to move up and down, and is also capable of driving the trailing end of the erecting arm 200 to move laterally, longitudinally or obliquely in the plane where the second position adjusting mechanism 140 is located. When performing a docking task, the first carrier 110 and the second carrier 130 move cooperatively, and drive the erecting arm 200 to coarsely adjust the position of the erecting arm 200 through the first position adjusting mechanism 120 and the second position adjusting mechanism 140. Then, the erecting arm 200 is driven to move laterally, longitudinally or obliquely in a small range through the first position adjusting mechanism 120 and the second position adjusting mechanism 140, so as to finely adjust the position of the erecting arm 200, thereby greatly improving the docking precision and the docking efficiency.

[0047] Preferably, the first carrier 110 and the first position adjusting mechanism 120 are one each, while the second carrier 130 and the second position adjusting mechanism 140 are two each. The two second carriers 130 are arranged side by side. The two second position adjusting mechanisms 140 are installed on the second carriers 130 one by one and can move with the corresponding second carriers 130. The top surfaces of the two second position adjusting mechanisms 140 are adapted to be connected with the other end of the erecting arm 200. The two second carriers 130 can drive the corresponding second position adjusting mechanisms 140 to move up and down, so as to drive the other end of the erecting arm 200 to move up and down. The two second position adjusting mechanisms 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 laterally, longitudinally or obliquely in the plane where the second position adjusting mechanisms 140 are located, and can also drive the tail end of the erecting arm 200 to swing in the plane where the second position adjusting mechanisms 140 are located. When performing the docking task, the first carrier 110 and the two second carriers 130 move cooperatively, and the erecting arm 200 is driven by the first position adjusting mechanism 120 and the two second position adjusting mechanisms 140 to perform the position coarse adjustment. Then, the erecting arm 200 is driven as a whole by the first position adjusting mechanism 120 and the two second position adjusting mechanisms 140 to perform the lateral small-amplitude movement, the longitudinal small-amplitude movement, the oblique small-amplitude movement or the small-angle tail swinging action, so as to fine adjust the position of the erecting arm 200, and further improve the docking precision and the docking efficiency during the docking.

[0048] The working process and principle of the launch vehicle cooperative transportation device are as follows:

[0049] First, the launch vehicle 400 is carried on the erecting arm 200, and then the first rotating seat 210 arranged at one end of the erecting arm 200 is docked with the second rotating seat 310 arranged on the fixed launch platform 300. When performing the docking task, first, the first carrier 110 and the two second carriers 130 move cooperatively, and the erecting arm 200 is driven by the first position adjusting mechanism 120 and the two second position adjusting mechanisms 140 to perform the position coarse adjustment. Then, the erecting arm 200 is driven as a whole by the first position adjusting mechanism 120 and the two second position adjusting mechanisms 140 to perform the lateral small-amplitude movement, the longitudinal small-amplitude movement, the oblique small-amplitude movement or the small-angle tail swinging action, so as to fine adjust the position of the erecting 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 launch platform 300, the first carrier 110 drives the first position adjusting mechanism 120 to move downward, and the two second carriers 130 drive the corresponding second position adjusting mechanisms 140 to move downward, so as to drive the erecting arm 200 as a whole to move downward, so that the first rotating seat 210 of the erecting arm 200 falls on the second rotating seat 310 of the fixed launch platform 300, as shown in FIG. 2. Figure 2As shown, the first rotating seat 210 of the vertical arm 200 and the second rotating seat 310 of the fixed launching platform 300 are fixedly connected by means of the bolt mechanism. Compared with the form of relying on the cooperation of multiple vehicles for docking, the docking difficulty is reduced, and the docking precision and docking efficiency during docking are greatly improved. Meanwhile, the stability and reliability of the docking process are improved. During the docking process, the position of the vehicle does not need to be repeatedly coordinated and adjusted, the labor intensity of the operator is reduced, the docking cost is saved, the arrangement of the launching task is more flexible, and different launching task requirements and time arrangements can be better adapted to.

[0050] In some embodiments, the first position adjusting mechanism 120 includes a first static platform 121, a first active platform 122, and a first driver 123. The first static platform 121 is bolted to the top surface of the first vehicle 110, so as to facilitate the disassembly, replacement, and installation of the first position adjusting mechanism 120. The first active platform 122 is movably installed on the top surface of the first static platform 121 in the horizontal plane. The first active platform 122 is connected to one end of the vertical 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 driving end drives the first active platform 122 to move relative to the first static platform 121, so as to drive one end of the vertical arm 200 to move slightly.

[0051] In other embodiments, the first position adjusting 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 bolted to the top surface of the first vehicle 110, so as to facilitate the disassembly, replacement, and installation of the first position adjusting mechanism 120. The first active platform 122 is movably installed on the top surface of the first static platform 121 in the horizontal plane. 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 driving end drives the first active platform 122 to move relative to the first static platform 121. The rotating platform 124 is rotatably installed 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 vertical arm 200, and can drive one end of the vertical 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 to the first active platform 122. The second driving end is hinged to 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 vertical arm 200 to rotate.

[0052] In yet other embodiments, as shown in FIG. 4, the first position adjusting 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. Figure 3As shown, the first position adjusting mechanism 120 comprises 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 bolted to the top surface of the first carrier 110, so as to facilitate the disassembly, replacement and installation of the first position adjusting mechanism 120. The first active platform 122 is movably installed 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 to the first static platform 121, and the first driving end is hinged to the first active platform 122, so as to drive the first active platform 122 to move relative to the first static platform 121 through the first driving end. The rotating platform 124 is rotatably installed on the top surface of the first active platform 122 through a rotating shaft. The rotating platform 124 is connected with one end of the vertical lifting arm 200 and can drive one end of the vertical lifting 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 to the first active platform 122. The second driving end is hinged to the rotating shaft. The second driver 125 drives the rotating platform 124 to rotate relative to the first active platform 122 through the second driving end, so as to drive one end of the vertical lifting arm 200 to rotate. The first rolling element 126 is rotatably installed on the top surface of the first static platform 121 and abuts against the bottom surface of the first active platform 122, so as to reduce the resistance when the first active platform 122 moves, thereby reducing the kinetic energy loss and improving the action control accuracy. The second rolling element 127 is rotatably installed on the top surface of the first active platform 122 and abuts against the bottom surface of the rotating platform 124, so as to reduce the resistance when the rotating platform 124 rotates, thereby reducing the kinetic energy loss and improving the action control accuracy.

[0053] Preferably, the first driver 123 is multiple, specifically, the number of the first driver 123 can be one, two, three or four. When the number of the first driver 123 is one, the manufacturing cost is lower. When the number of the first driver 123 is two, the driving force is shared by the two first drivers 123. 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 respectively hinged to the opposite sides or adjacent sides of the first active platform 122. When the number of the first driver 123 is four, the driving force is further shared by the four first drivers 123, so as to improve the driving efficiency and 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, so as to drive the first active platform 122 to realize more degrees of freedom of movement.

[0054] Preferably, the second driver 125 is in a plurality, specifically, the second driver 125 can be one, two or four. When the second driver 125 is one, the manufacturing cost is lower. When the second driver 125 is two, the driving force is shared by each other. The second fixed end of the two second drivers 125 is respectively hinged to the adjacent two sides or adjacent two corners of the first active platform 122, and the second driving end of the two second drivers 125 is hinged to the side wall of the rotating shaft. The axis of the two second drivers 125 is at a preset included angle. Specifically, the preset included angle is 60°, 90° or 120°, so that the rotating shaft can realize different rotation amplitudes. When the second driver 125 is four, the driving force is further shared by each other, and the driving efficiency and driving effect are improved. The second fixed end of the four second drivers 125 is respectively hinged to the four corners or four sides of the first active platform 122, and the second driving end of the four second drivers 125 is respectively hinged to the four sides of the rotating shaft, which can drive the first rotating platform 124 to realize different rotation amplitudes, so that the vertical arm 200 can realize different tail swing amplitudes.

[0055] Preferably, the first rolling member 126 is in a plurality, and the plurality of first rolling members 126 is distributed in a rectangular, triangular or circular array. The plurality of first rolling members 126 is respectively rotatably installed on the top surface of the first static platform 121 and respectively abuts against the bottom surface of the first active platform 122, so as to reduce the resistance when the first active platform 122 translates, thereby reducing the kinetic energy loss and improving the motion control precision.

[0056] Preferably, the second rolling member 127 is in a plurality, and the plurality of second rolling members 127 is distributed in a rectangular, triangular or circular array. The plurality of second rolling members 127 is respectively rotatably installed on the top surface of the first active platform 122 and respectively abuts against the bottom surface of the rotating platform 124, so as to reduce the resistance when the rotating platform 124 rotates, thereby reducing the kinetic energy loss and improving the motion control precision.

[0057] Preferably, each first rolling member 126 and each second rolling member 127 is a universal ball, which has a lower cost, a more obvious resistance reduction effect and can meet the use requirements in a large load working condition.

[0058] Preferably, the first static platform 121 is rectangular in shape, which increases the contact area when the first static platform 121 is connected to the first carrier 110, and in turn, increases 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 triangular, rhombic, circular or irregular in shape. The first active platform 122 and the rotating platform 124 are rectangular in shape, which increases the contact area when the first active platform 122 and the rotating platform 124 are connected to the riser 200, and in turn, increases the stability of the connection between the first position adjustment mechanism 120 and the riser 200. Of course, the first active platform 122 and the rotating platform 124 can also be triangular, rhombic, circular or irregular in shape.

[0059] Preferably, the first static platform 121, the first active platform 122 and the rotating platform 124 are made of steel, which is strong, or made of plastic, which is light in weight.

[0060] In some 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 bolted to the top surface of one of the second carriers 130, so as 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 the horizontal plane. The second active platform 142 is connected to the other end of the riser 200. The third driver 143 is provided with a third driving end and a third fixed end. The third fixed end is hinged to the second static platform 141, and the third driving end is hinged to 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, and in turn, drives the other end of the riser 200 to move slightly.

[0061] In other embodiments, as shown in FIG. 2, each second position adjustment mechanism 140 includes a second static platform 141, a second active platform 142 and a fourth driver 143. Figure 4As shown, each second position adjusting mechanism 140 comprises a second static platform 141, a second active platform 142, a third driver 143 and a third rolling member 144. The second static platform 141 is bolted to the top surface of one second carrier 130, so as to facilitate the disassembly, replacement and installation of the second position adjusting mechanism 140. The second active platform 142 is movably installed on the top surface of the second static platform 141 in the horizontal plane. The second active platform 142 is connected to the other end of the vertical arm 200. The third driver 143 is provided with a third driving end and a third fixed end. The third fixed end is hinged to the second static platform 141, and the third driving end is hinged to the second active platform 142. The second active platform 142 is driven to move relative to the second static platform 141 through the third driving end, thereby driving the other end of the vertical arm 200 to move slightly. The third rolling member 144 is rotatably installed on the top surface of the second static platform 141 and abuts against the bottom surface of the second active platform 142, so as to reduce the resistance when the second active platform 142 translates, thereby reducing the kinetic energy loss and improving the action control accuracy.

[0062] Preferably, the third driver 143 is multiple, specifically, the number of the third driver 143 can be one, two, three or four. When the number of the third driver 143 is one, the manufacturing cost is lower. When the number of the third driver 143 is two, the driving force is shared by 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 respectively hinged to the opposite sides or adjacent sides of the second active platform 142. When the number of the third driver 143 is four, the driving force is further shared by each other, thereby improving the driving efficiency and 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, so as to drive the second active platform 142 to move with more degrees of freedom.

[0063] Preferably, the third rolling member 144 is multiple, and the multiple third rolling members 144 are distributed in a rectangular, triangular or circular array. The multiple third rolling members 144 are respectively rotatably installed on the top surface of the second static platform 141 and respectively abut against the bottom surface of the second active platform 142, so as to reduce the resistance when the second active platform 142 translates, thereby reducing the kinetic energy loss and improving the action control accuracy.

[0064] Preferably, each third rolling member 144 is a universal ball, which has a lower cost and a more obvious resistance reduction effect, and can meet the use requirements in heavy load conditions.

[0065] Preferably, the second static platform 141 is rectangular in structure, which increases the contact area when the second static platform 141 is connected with the second carrier 130, and further improves the stability of the connection between the second position adjusting mechanism 140 and the second carrier 130. Of course, the second static platform 141 can also be triangular in structure, rhombic in structure, circular in structure, or irregular in shape. The second active platform 142 is rectangular in structure, which increases the contact area when the second active platform 142 is connected with the vertical arm 200, and further improves the stability of the connection between the second position adjusting mechanism 140 and the vertical arm 200. Of course, the second active platform 142 can also be triangular in structure, rhombic in structure, circular in structure, or irregular in shape.

[0066] Preferably, the second static platform 141 and the second active platform 142 can be made of steel, which has high strength, or made of plastic, which has light weight.

[0067] Preferably, a displacement sensor is installed on each first driver 123, each second driver 125, and each third driver 143, respectively. Each displacement sensor is used to detect the displacement of the corresponding driver, and sends the detection result to the controller, so that the controller controls whether each first driver 123, each second driver 125, and each third driver 143 works, which improves the degree of automation and improves the control accuracy.

[0068] Preferably, an angle rotary encoder can be installed at the hinged joint between the first fixed end of each first driver 123 and the first static platform 121, at the hinged joint between the second fixed end of each second driver 125 and the first active platform 122, and at the hinged joint 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 hinged joint between the first driving end of each first driver 123 and the first active platform 122, at the hinged joint between the second driving end of each second driver 125 and the rotating shaft, and at the hinged joint 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 hinged joint, and sends the detection result to the controller, so that the controller controls whether each first driver 123, each second driver 125, and each third driver 143 works, which improves the degree of automation and improves the control accuracy.

[0069] Preferably, each first driver 123, each second driver 125 and each third driver 143 can be a driving oil cylinder. Each first driver 123, each second driver 125 and each third driver 143 can be directly driven by high-pressure hydraulic oil in a hydraulic oil tank, without the need to build an additional hydraulic station, saving cost and being more convenient to operate. Of course, each first driver 123, each second driver 125 and each third driver 143 can also be a servo cylinder, which has higher control precision. Each first driver 123, each second driver 125 and each third driver 143 can also be an electric push rod, which can control the thrust and speed by adjusting the pitch, and can achieve very precise positioning and motion control. During operation, it does not need to rely on liquid or gas working medium, so there is 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 lower. Each first driver 123, each second driver 125 and each third driver 143 can also be a pneumatic cylinder, which has stable power output, fast action, strong reliability, simple structure and low maintenance cost.

[0070] For example, the first drivers 123 are four, 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. The second drivers 125 are two, 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 included angle between the axes of the two second drivers 125 is 90°. The second drivers 143 are four, 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 oil cylinder. When the position of the vertical arm 200 is adjusted horizontally, vertically, or obliquely, 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 first drivers 123 of the first position adjustment mechanism 120 and two third drivers 143 of each second position adjustment mechanism 140 are in a floating state. 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 action. When the vertical arm 200 performs a small-angle tail swing 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 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 action.

[0071] As shown in Figure 5 When each first driver 123, each second driver 125, and each third driver 143 is a driving oil cylinder, a hydraulic lock 1231, a shut-off valve 1232, and a safety valve 1233 are arranged in each first driver 123, each second driver 125, and each third driver 143. When the shut-off valve 1232 loses power, the corresponding oil circuit is cut off, 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 or retract through a multi-position multi-way proportional valve. When the shut-off valve 1232 is powered on, the corresponding oil circuit is turned on, the hydraulic lock 1231 unlocks the locking of 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.

[0072] Specifically, in the exemplary embodiment, the launch vehicle cooperative transportation device further comprises 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 in communication with a first driver 123, the hydraulic oil tank, respectively. Each second multi-position multi-way proportional valve 170 is in communication with a second driver 125, the hydraulic oil tank, respectively. Each third multi-position multi-way proportional valve is in communication with a third driver 143, the hydraulic oil tank, respectively. The controller is electrically connected with 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, 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, is capable of receiving the displacement signal detected by the displacement sensor and the rotary 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, each third multi-position multi-way proportional valve to work, thereby controlling the displacement and swing angle of each first driver 123, each second driver 125, and each third driver 143.

[0073] It should be noted that the first carrier 110 and each second carrier 130 are hydraulic module vehicles, each provided with a hydraulic oil tank and a hydraulic lifter. The hydraulic lifter of the first carrier 110 is capable of driving the first position adjusting mechanism 120 to move up and down. The hydraulic lifter of each second carrier 130 is capable of driving the corresponding second position adjusting mechanism 140 to move up and down. It can act directly by means of the high-pressure oil source carried by the carrier, without the need for additional construction of a hydraulic station, saving cost and being more convenient to operate.

[0074] 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.

[0075] On the other hand, with reference to Figure 1 and Figure 2The application further provides a launch vehicle docking system, which comprises an erecting arm 200, a fixed launching platform 300 and a launch vehicle cooperative transport device. One end of the erecting arm 200 is detachably installed on the top surface of the first position adjusting mechanism 120 through bolts, and the other end is detachably installed on the top surface of the two second position adjusting mechanisms 140 through bolts, and the end close to the second position adjusting mechanism 140 is provided with a first rotating seat 210. The top surface of the fixed launching platform 300 is provided with a second rotating seat 310 matched with the first rotating seat 210. When performing the docking task, first, the first carrier 110 and the two second carriers 130 move cooperatively, and the erecting arm 200 is driven to perform coarse position adjustment by the first position adjusting mechanism 120 and the two second position adjusting mechanisms 140. Then, the erecting arm 200 is driven to perform lateral small-amplitude movement, longitudinal small-amplitude movement, oblique small-amplitude movement or small-angle tail swing movement as a whole by the first position adjusting mechanism 120 and the two second position adjusting mechanisms 140, so as to finely adjust the position of the erecting 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 adjusting mechanism 120 to move downward, and the two second carriers 130 drive the corresponding second position adjusting 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 on the second rotating seat 310 of the fixed launching platform 300, as shown in FIG. 8, and then the first rotating seat 210 of the erecting arm 200 and the second rotating seat 310 of the fixed launching platform 300 are fixedly connected by means of the bolt mechanism. Compared with the form of relying on cooperative operation of multiple vehicles for docking, the docking difficulty is reduced, and the docking precision 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, the positions of the carriers do not need to be repeatedly coordinated and adjusted, the labor intensity of the operators is reduced, the docking cost is saved, the arrangement of the launching task is more flexible, and different launching task requirements and time arrangements can be better adapted to. Figure 2 As shown in FIG. 8, and then the first rotating seat 210 of the erecting arm 200 and the second rotating seat 310 of the fixed launching platform 300 are fixedly connected by means of the bolt mechanism. Compared with the form of relying on cooperative operation of multiple vehicles for docking, the docking difficulty is reduced, and the docking precision 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, the positions of the carriers do not need to be repeatedly coordinated and adjusted, the labor intensity of the operators is reduced, the docking cost is saved, the arrangement of the launching task is more flexible, and different launching task requirements and time arrangements can be better adapted to.

[0076] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0077] In addition, the terms "first", "second", etc. are used only to describe the purpose and are not to be interpreted as indicating or implying relative importance or a specific number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0078] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0079] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0080] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A launch vehicle-assisted transportation device, characterized in that, include: First vehicle; Second vehicle; The second vehicle and the first vehicle are used together to carry and transport the erecting arm carrying the launch vehicle; A first position adjustment mechanism is mounted on the first carrier, and its top surface is adapted to connect to one end of the erecting arm; the first carrier can drive the first position adjustment mechanism to move up and down, so as to drive one end of the erecting arm to move up and down; the first position adjustment mechanism can drive one end of the erecting arm to move and / or rotate within the plane where the first position adjustment mechanism is located. A second position adjustment mechanism is mounted on the second carrier; the top surface of the second position adjustment mechanism is adapted to connect with the other end of the erecting arm; the second carrier can drive the second position adjustment mechanism to move up and down, thereby driving 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. The first position adjustment mechanism includes: The first static platform is installed on the top surface of the first vehicle; The first active platform is movably installed on the top surface of the first static platform in the horizontal plane; A first driver is provided with a first driving end and a first fixed end; the first fixed end is hinged to the first stationary platform, and the first driving end is hinged to the first active platform; the first driving end drives the first active platform to move relative to the first stationary platform. The first position adjustment mechanism further includes: A rotating platform is rotatably mounted on the top surface of the first active platform via a rotating shaft, which can drive the erecting arm to rotate. The second driver has 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 second driving end drives the rotating platform to rotate relative to the first active platform.

2. The launch vehicle cooperative transportation device according to claim 1, characterized in that, The first position adjustment mechanism further includes: The 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.

3. The launch vehicle cooperative transportation device according to claim 1, characterized in that, The second position adjustment mechanism includes: The second static platform is installed on the top surface of the second vehicle; The second active platform is movably mounted on the top surface of the second static platform in the horizontal plane; The third actuator is provided with a third driving end and a third fixed end; the third fixed end is hinged to the second stationary platform, and the third driving end is hinged to the second active platform; the third driving end drives the second active platform to move relative to the second stationary platform.

4. The launch vehicle cooperative transportation device according to claim 3, 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.

5. The launch vehicle cooperative transportation device according to claim 3, characterized in that, Displacement sensors are respectively installed on the first driver, the second driver, and the third driver; An angle rotary encoder is installed at the hinge point between the first fixed end of the first driver and the first stationary platform, the hinge point between the second fixed end of the second driver and the first active platform, and the hinge point between the third fixed end of the third driver and the second stationary platform.

6. The launch vehicle cooperative transportation device according to claim 3, characterized in that, Also includes: Hydraulic oil tank; The first multi-position proportional valve is connected to the first actuator and the hydraulic oil tank respectively; The second multi-position proportional valve is connected to the second actuator and the hydraulic oil tank, respectively. The third multi-position proportional valve is connected to the third actuator and the hydraulic oil tank, respectively.

7. The launch vehicle cooperative transportation device according to claim 6, characterized in that, The first driver, the second driver, and the third driver are all equipped with a hydraulic lock, a solenoid switch valve, and a safety valve.

8. A launch vehicle docking system, characterized in that, Includes an erecting arm, a fixed launch pad, and a launch vehicle cooperative transport device as described in any one of claims 1 to 7; 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 surface of the two second position adjustment mechanisms. A first rotating seat is provided at the end near the second position adjustment mechanism. The top surface of the fixed launch platform is provided with a second rotating seat that is adapted to the first rotating seat, so as to fix the erecting arm to the fixed launch platform.

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