Secondary unplugging structure based on electric winch and working method

Abstract

The invention discloses a secondary unplugging structure based on an electric winch and a working method, and relates to the technical field of space.The secondary unplugging structure based on the electric winch comprises a mounting support, the electric winch used for controlling a traction rope, at least one guide wheel, the traction rope, a plug and a socket; wherein the electric winch is arranged at the upper end of the mounting bracket; the at least one guide wheel is arranged on one side of the mounting bracket and is positioned below the electric winch; one end of the traction rope is connected with the electric winch, and the other end of the traction rope penetrates through at least one guide wheel and then is connected with the plug; the plug is detachably connected with the socket. The reliability of the traction rope during recovery operation can be ensured through the electric winch, and the pulling success rate is increased.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a secondary plug-in / plug-out structure and a working method based on an electric winch. Background Art

[0002] The socket of the second-stage unplugging structure is on the second-stage rocket. After the plug of the second-stage unplugging structure is connected with the socket, the electrical circuit can be connected. When separating, the plug and the socket are usually separated quickly and safely through a mechanical separation unplugging structure, an automatic separation unplugging structure or a cold separation unplugging structure to ensure that the second-stage rocket can continue its flight mission smoothly.

[0003] However, the existing mechanical separation plug-in and unplug-in structures usually use ropes or hooks to mechanically pull and separate. The disadvantage is that during the process of rocket filling, if the rocket undergoes static deformation, causing the axial direction of the plug to change, the angle between the mechanical pull-out axial direction and the axial direction of the plug will be offset greater than the allowable range, increasing the risk of mechanical unplugging failure. The existing automatic separation plug-in and unplug-in structures generally rely on actuating devices such as electromagnets to drive the plug out. This type of structure is relatively complex and has high reliability requirements for components. Once a part fails, such as electromagnet failure, it may cause the plug-in and unplug to fail to separate normally, affecting the smooth progress of the rocket launch mission. The existing cold separation plug-in and unplug-in structures usually use actuating devices such as gunpowder to generate thrust to separate the primary and secondary rocket bodies. The use of gunpowder actuating devices will increase the complexity and risk of the system, and the performance of gunpowder is greatly affected by environmental factors. Under extreme environmental conditions such as low temperature and high temperature, the reliability of gunpowder may be reduced, thereby affecting the normal operation of the plug-in and unplug-in structure.

[0004] Therefore, it is necessary to provide a new two-stage unplugging structure and working method based on an electric winch to solve the above-mentioned problems, thereby ensuring the reliability of the pulling rope during the recovery operation and improving the success rate of unplugging. Summary of the invention

[0005] The purpose of the present application is to provide a two-stage unplugging structure and working method based on an electric winch, which can ensure the reliability of the pulling rope during the recovery operation through the electric winch and improve the success rate of unplugging.

[0006] To achieve the above-mentioned purpose, the present application provides a two-stage plug-in / disconnection structure based on an electric winch, comprising: a mounting bracket, an electric winch for controlling a pulling rope, at least one guide wheel, a pulling rope, a plug and a socket; wherein the electric winch is arranged at the upper end of the mounting bracket; at least one guide wheel is arranged on one side of the mounting bracket and is located below the electric winch; one end of the pulling rope is connected to the electric winch, and the other end of the pulling rope is connected to the plug after passing through at least one guide wheel; the plug and the socket are detachably connected.

[0007] As above, the mounting bracket includes: an upper bracket and a lower bracket; wherein the lower end of one side of the upper bracket is connected to one end of the lower bracket, and there is a connection angle between the upper bracket and the lower bracket; the other side of the upper bracket is connected to the mounting position; the other end of the lower bracket is connected to the mounting position; the electric winch is arranged at the upper end of the upper bracket, and the electric winch is close to the connection between the upper bracket and the lower bracket; at least one guide wheel is arranged on one side of the upper bracket.

[0008] As above, wherein the upper bracket at least includes: a first upper beam, a second upper beam and a third upper beam; wherein one end of the first upper beam is connected to the installation position, the other end of the first upper beam is connected to one end of the second upper beam, the other end of the second upper beam is connected to one end of the third upper beam, and the other end of the third upper beam is connected to the installation position; the electric winch is connected to the upper end of the second upper beam; at least one guide wheel is arranged on a side of the second upper beam away from the installation position.

[0009] As above, wherein the lower bracket at least includes: a first lower beam and a second lower beam; wherein one end of the first lower beam is connected to the installation position, the other end of the first lower beam is connected to the other end of the first upper beam, and there is a connection angle between the first lower beam and the first upper beam; one end of the second lower beam is connected to the installation position, the other end of the second lower beam is connected to one end of the third upper beam, and there is a connection angle between the second lower beam and the third upper beam.

[0010] As above, there are two guide wheels, the first guide wheel is arranged on the side of the second upper beam away from the installation position; the second guide wheel is arranged on the second lower beam; the other end of the pulling rope passes through the first guide wheel and the second guide wheel in sequence, and is connected to the plug.

[0011] As above, wherein the pulling rope is a steel wire rope.

[0012] As above, the length of the pulling rope = theoretical design length + slack + connection length.

[0013] As above, the electric winch at least includes: a motor as a power source, a coupling, a reducer, a drum, a torque limiter, a manual one-way ratchet mechanism, a frame, a base, a first bearing seat, a second bearing seat and a third bearing seat; wherein the input shaft of the reducer is connected to the motor through a coupling for reducing the speed of the motor; the output shaft of the reducer is connected to an axis of the drum for driving the drum to rotate; the drum is connected to one end of the pulling rope for retracting and releasing the pulling rope; the torque limiter is installed in the transmission link between the reducer and the drum, and when the torque is greater than the preset torque threshold, it is used to limit the torque transmission, thereby ensuring that the drum is not overloaded; the torque limiter is also used to output a signal to shut down the motor and the reducer; the ratchet in the manual one-way ratchet mechanism is connected to another axis of the drum Then, the pawl in the manual one-way ratchet mechanism is connected to the frame arranged on the base, and the pawl is used to prevent the ratchet from reversing, thereby preventing the reel from reversing; the first bearing seat is arranged on the base, and the first bearing seat is located between the reducer and the torque limiter, the output shaft of the reduction shaft is located on the first bearing seat, and the output shaft of the reduction shaft is supported by the first bearing seat; the second bearing seat is arranged on the base, and the second bearing seat is located between the torque limiter and the reel, one axis of the reel is located on the second bearing seat, and one axis of the reel is supported by the second bearing seat; the third bearing seat is arranged on the base, and the third bearing seat is located between the reel and the manual one-way ratchet mechanism, the other axis of the reel is located on the third bearing seat, and the other axis of the reel is supported by the third bearing seat; the lower end of the base is connected to the upper end of the mounting bracket.

[0014] As mentioned above, the electric winch also includes: a tensioning cycloid device, which is arranged on the base and connected to the drum. When the tensioning cycloid device detects a change in the tension of the pulling rope, the tensioning cycloid device adjusts the position of the drum to change the tension of the pulling rope.

[0015] The present application also provides a working method, which is applied to the above-mentioned two-stage plug-in and unplugging structure based on an electric winch, and the working method includes the following steps: S1: when the rocket is in a horizontal state, the socket is installed on the rocket body, the mounting bracket is installed on the erection frame, and the electric winch arranged on the mounting bracket is connected to one end of the pulling rope, and the other end of the pulling rope passes through the guide wheel and is connected to the plug, and the pulling rope is in a line-release state; the rocket body is hoisted onto the erection frame, and the plug and the socket are docked. After the docking is completed, the parameters of the pulling rope are checked, and after the verification is completed, S2 is executed; S2: the rocket is erected in place, the rocket lands on the launch pad, the process operation is completed, and after the erection frame is erected After reaching the preset angle, the socket and the plug complete automatic electrical disconnection, and the electric winch receives the automatic electrical disconnection signal. If the automatic electrical disconnection signal indicates that the automatic electrical disconnection is successful, the electric winch runs, drives the pulling rope to recycle the plug, and sends a recovery signal; if the automatic electrical disconnection signal indicates that the automatic electrical disconnection fails, the electric winch runs, drives the pulling rope to make the plug passively fall off, recycles the plug, and sends a recovery signal; S3: If the recovery signal is successful, the plug-out is completed, and the erecting frame returns to the level; if the recovery signal is a failure, the erecting frame is controlled to move, and the displacement of the erecting frame drives the electric winch to move, thereby driving the pulling rope to make the plug passively fall off, recycle the plug, and the erecting frame returns to the level.

[0016] The beneficial effects achieved by this application are as follows:

[0017] (1) The two-stage disconnection and insertion structure based on the electric winch of the present application can ensure the reliability of the pulling rope during the recovery operation through the electric winch, thereby improving the success rate of disconnection and insertion.

[0018] (2) When the plug is automatically disconnected successfully, the secondary disconnection structure based on the electric winch of the present application can retract the plug through the electric winch; when the plug fails to be automatically disconnected, the secondary disconnection structure based on the electric winch of the present application can pull the plug through the electric winch to achieve passive disconnection and recovery.

[0019] (3) The two-stage unplugging structure based on the electric winch of the present application can adjust the angle of the pulling rope through the guide wheel so that the angle of the pulling rope is within the allowable range, thereby increasing the success rate of mechanical unplugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a structural schematic diagram of an embodiment of a two-stage plug-in / plug-out structure based on an electric winch;

[0022] Figure 2 The present invention is a flow chart of an embodiment of a working method. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0024] like Figure 1 As shown, the present application provides a two-stage plug-in / disconnection structure based on an electric winch, comprising: a mounting bracket 1, an electric winch 2 for controlling a pulling rope 4, at least one guide wheel 3, a pulling rope 4, a plug 5 and a socket 6. The electric winch 2 is arranged at the upper end of the mounting bracket 1. At least one guide wheel 3 is arranged on one side of the mounting bracket 1 and is located below the electric winch 2. One end of the pulling rope 4 is connected to the electric winch 2, and the other end of the pulling rope 4 is connected to the plug 5 after passing through at least one guide wheel 3. The plug 5 and the socket 6 are detachably connected.

[0025] Specifically, the two-stage unplugging and plugging structure based on the electric winch of the present application can ensure the reliability of the pulling rope 4 during the recovery operation through the electric winch 2, thereby improving the success rate of unplugging and plugging; the angle of the pulling rope 4 can be adjusted through the guide wheel 3 so that the angle of the pulling rope 4 is within the allowable range, thereby increasing the success rate of mechanical unplugging and plugging.

[0026] Among them, the specific value of the allowable range is set according to the actual situation. The present application preferably has the following conditions: if the angle of the pulling rope 4 is not greater than 5°, it is within the allowable range; if the angle of the pulling rope 4 is greater than or equal to 5°, it is outside the allowable range.

[0027] Furthermore, the mounting bracket 1 is disposed on the erecting frame (i.e., the mounting position), but is not limited to being disposed on the erecting frame, and can also be disposed on other positions of the rocket body where the plug 5 and the socket 6 need to be detached, recovered, and protected. The present application is preferably: after the erecting frame is assembled, the secondary plug-in / plug-out structure based on the electric winch is installed on the erecting frame. After installation, there is a safe distance between the secondary plug-in / plug-out structure based on the electric winch and the rocket body, which can improve safety when the rocket is hoisted. The specific value of the safety distance is set according to actual conditions.

[0028] Furthermore, the mounting bracket 1 includes: an upper bracket 11 and a lower bracket 12. The lower end of one side of the upper bracket 11 is connected to one end of the lower bracket 12, and there is a connection angle between the upper bracket 11 and the lower bracket 12; the other side of the upper bracket 11 is connected to the mounting position (for example: the erecting frame); the other end of the lower bracket 12 is connected to the mounting position (for example: the erecting frame); the electric winch 2 is arranged at the upper end of the upper bracket 11, and the electric winch 2 is close to the connection between the upper bracket 11 and the lower bracket 12; at least one guide wheel 3 is arranged on one side of the upper bracket 11.

[0029] Specifically, the mounting bracket 1 is an integrated structure or a separated structure. The specific value of the connection angle is set according to the actual situation.

[0030] Furthermore, the upper bracket 11 at least includes: a first upper beam 111, a second upper beam 112 and a third upper beam 113; wherein, one end of the first upper beam 111 is connected to the installation position, the other end of the first upper beam 111 is connected to one end of the second upper beam 112, the other end of the second upper beam 112 is connected to one end of the third upper beam 113, and the other end of the third upper beam 113 is connected to the installation position; the electric winch 2 is connected to the upper end of the second upper beam 112; and at least one guide wheel 3 is arranged on a side of the second upper beam 112 away from the installation position.

[0031] Furthermore, the upper bracket 11 also includes: an upper mounting beam, one end of which is connected to the first upper beam 111, the other end of which is connected to the third upper beam 113, and the upper mounting beam is located between the second upper beam 112 and the mounting position (for example: a vertical frame); the electric winch 2 is connected to the upper end of the second upper beam 112 and the upper end of the upper mounting beam; at least one guide wheel 3 is arranged on a side of the second upper beam 112 away from the upper mounting beam.

[0032] Specifically, the installation stability of the electric winch 2 is improved by the upper installation beam.

[0033] Furthermore, the lower bracket 12 at least includes: a first lower beam 121 and a second lower beam 122; wherein, one end of the first lower beam 121 is connected to the installation position, the other end of the first lower beam 121 is connected to the other end of the first upper beam 111, and there is a connection angle between the first lower beam 121 and the first upper beam 111; one end of the second lower beam 122 is connected to the installation position, the other end of the second lower beam 122 is connected to one end of the third upper beam 113, and there is a connection angle between the second lower beam 122 and the third upper beam 113.

[0034] Furthermore, the specific number of guide wheels 3 is set according to actual conditions. The present application preferably has: two guide wheels 3, the first guide wheel is arranged on the side of the second upper beam 112 away from the installation position; the second guide wheel is arranged on the second lower beam 122; the other end of the pulling rope 4 passes through the first guide wheel and the second guide wheel in sequence, and is connected to the plug 5.

[0035] Furthermore, the pulling rope 4 is a steel wire rope, but is not limited to a steel wire rope. The present application preferably uses a steel wire rope, which can ensure that the breaking force is much greater than the pulling force.

[0036] Further, after horizontal installation, the slack margin of the steel wire rope is not less than 500mm, but not limited to 500mm. After the vertical frame is erected and tilted 30', the slack margin of the steel wire rope is not less than 200mm, but not limited to 200mm.

[0037] Furthermore, the specific length of the pulling rope 4 is set according to the actual situation, and the preferred embodiment of the present application is: the length of the pulling rope 4 = theoretical design length + slack + connection length.

[0038] Specifically, the specific values ​​of the theoretical design length, the slack and the connection length are set according to the actual situation. For example: according to the task requirements, the pre-chamfer angle of the erection frame is set to 30', but not limited to 30'. Taking into account the pre-chamfer accuracy deviation, the length of the pulling rope 4 is designed according to the pre-chamfer angle of 30'±10'. When the length of the pulling rope 4 is designed according to the pre-chamfer angle of 40', the theoretical design length of the pulling rope 4 is 1125mm (wherein the structural length is 710mm and the pre-chamfer distance is 415mm). After increasing the slack by 200mm, the length of the pulling rope 4 is 1325mm. In addition, the length of the pulling rope 4 also needs to increase the connection length, which is the length of the connection position of the pulling rope 4 with the electric winch 2 and the plug 5. If the pre-chamfer angle is 20', the theoretical design length of the pulling rope 4 is 920mm (wherein the structural length is 710mm and the pre-chamfer distance is 210mm). At this time, the slack is 405mm.

[0039] Furthermore, the pulling rope 4 is connected to the plug 5 through a wire rope clamp, but is not limited to being connected to the plug 5 through a wire rope clamp. The present application preferably connects to the plug 5 through a wire rope clamp.

[0040] Furthermore, the electric winch 2 at least includes: a motor as a power source, a coupling, a reducer, a drum, a torque limiter, a manual one-way ratchet mechanism, a frame, a base, a first bearing seat, a second bearing seat and a third bearing seat. Among them, the input shaft of the reducer is connected to the motor through a coupling to reduce the speed of the motor; the output shaft of the reducer is connected to an axis of the drum to drive the drum to rotate; the drum is connected to one end of the pulling rope 4 to retract and release the pulling rope 4; the torque limiter is installed in the transmission link between the reducer and the drum, and when the torque is greater than the preset torque threshold, it is used to limit the torque transmission, thereby ensuring that the drum is not overloaded; the torque limiter is also used to output a signal to shut down the motor and the reducer; the ratchet in the manual one-way ratchet mechanism is connected to the other axis of the drum, and the pawl in the manual one-way ratchet mechanism is connected to the frame arranged on the base, and the ratchet is prevented from reversing through the pawl. , thereby preventing the reel from reversing; the first bearing seat is arranged on the base, and the first bearing seat is located between the reducer and the torque limiter, the output shaft of the reduction shaft is located on the first bearing seat, and the output shaft of the reduction shaft is supported by the first bearing seat; the second bearing seat is arranged on the base, and the second bearing seat is located between the torque limiter and the reel, one shaft of the reel is located on the second bearing seat, and one shaft of the reel is supported by the second bearing seat; the third bearing seat is arranged on the base, and the third bearing seat is located between the reel and the manual one-way ratchet mechanism, the other shaft of the reel is located on the third bearing seat, and the other shaft of the reel is supported by the third bearing seat; the lower end of the base is connected to the upper end of the mounting bracket 1.

[0041] Furthermore, the electric winch 2 also includes: a tensioning cycloid device, which is arranged on the base and connected to the drum. When the tensioning cycloid device detects a change in the tension of the pulling rope 4, the tensioning cycloid device adjusts the position of the drum to change the tension of the pulling rope 4.

[0042] Specifically, as an embodiment, a tensioning cycloid device having a connecting rod mechanism with an adjusting screw is used, one end of the connecting rod in the connecting rod mechanism is connected to the bracket of the tensioning cycloid device, and the other end of the connecting rod is connected to the side plate of the reel. When the cycloid device detects a change in the tension of the pull rope 4, the connecting rod mechanism is driven to fine-tune the position of the reel, thereby changing the tension of the pull rope 4.

[0043] As another embodiment, a tensioning cycloid device with a pulley group is used, which is connected by the pulley group. After the traction rope 4 is led out from the drum, it first passes around the pulley in the pulley group. The tension of the traction rope 4 is adjusted by the displacement change of the pulley. The movement of the pulley can indirectly change the tightness of the traction rope 4 on the drum.

[0044] Furthermore, the electric winch 2 also includes: an outer shell, which is connected to the upper end of the base. After the connection, the motor, coupling, reducer, drum, torque limiter, manual one-way ratchet mechanism, frame, first bearing seat, second bearing seat, third bearing seat and tensioning cycloid device are all located in the outer shell.

[0045] Furthermore, the motor is an explosion-proof motor, but is not limited to explosion-proof motors. The present application preferably adopts an explosion-proof motor as a power source, has the advantages of smooth and free movement, no impact or shaking, and has a reliable locking function, and can maintain reliable operation.

[0046] Specifically, the electric winch 2 has a braking function.

[0047] like Figure 2 As shown, the present application also provides a working method, which is applied to the above-mentioned two-stage plug-out structure based on the electric winch, and the working method includes the following steps:

[0048] S1: When the rocket is in a horizontal state, install the socket on the rocket body, install the mounting bracket on the erection frame, connect the electric winch on the mounting bracket to one end of the pulling rope, and connect the other end of the pulling rope to the plug after passing through the guide wheel, and the pulling rope is in a line-release state; hoist the rocket body onto the erection frame, dock the plug with the socket, and after docking, check the parameters of the pulling rope. After the verification, execute S2.

[0049] Specifically, the slack of the pulling rope is checked. The existing method can be used to check the parameters of the pulling rope, so it will not be described in detail.

[0050] S2: The rocket is erected and landed on the launch pad, completing the process operation. After the erection frame is erected, it falls to the preset angle, the socket and plug are automatically disconnected, and the electric winch receives the automatic disconnection signal. If the automatic disconnection signal is a success, the electric winch runs, drives the pulling rope to recycle the plug, and sends a recovery signal; if the automatic disconnection signal is a failure, the electric winch runs, drives the pulling rope to passively disconnect the plug, recycles the plug, and sends a recovery signal.

[0051] Specifically, the specific value of the preset prognosis angle is set according to the actual situation, and the preferred value in this application is: 30′.

[0052] Furthermore, when the plug is recovered, the time for the electric winch 2 to drag the pulling rope 4 is less than the preset control time.

[0053] Specifically, the specific value of the preset control time is set according to actual conditions, and the preferred value in this application is: 7s.

[0054] S3: If the recovery signal is successful, the plug is removed and the erection frame returns to the horizontal position; if the recovery signal is unsuccessful, the erection frame is controlled to move, and the displacement of the erection frame drives the electric winch to move, thereby driving the pulling rope to passively remove the plug, and recover the plug, and the erection frame returns to the horizontal position.

[0055] The beneficial effects achieved by this application are as follows:

[0056] (1) The two-stage disconnection and insertion structure based on the electric winch of the present application can ensure the reliability of the pulling rope during the recovery operation through the electric winch, thereby improving the success rate of disconnection and insertion.

[0057] (2) When the plug is automatically disconnected successfully, the secondary disconnection structure based on the electric winch of the present application can retract the plug through the electric winch; when the plug fails to be automatically disconnected, the secondary disconnection structure based on the electric winch of the present application can pull the plug through the electric winch to achieve passive disconnection and recovery.

[0058] (3) The two-stage unplugging structure based on the electric winch of the present application can adjust the angle of the pulling rope through the guide wheel so that the angle of the pulling rope is within the allowable range, thereby increasing the success rate of mechanical unplugging.

[0059] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic creative concepts. Therefore, the scope of protection of the present application is intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application. Obviously, those skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the protection scope of the present application and its equivalent technology, the present application is also intended to include these modifications and variations.

Claims

1. A two-stage plug-in / plug-out structure based on an electric winch, characterized in that: include: A mounting bracket, an electric winch for controlling the pulling rope, at least one guide wheel, the pulling rope, a plug and a socket; Wherein, the electric winch is arranged at the upper end of the mounting bracket; At least one guide wheel is arranged on one side of the mounting bracket and is located below the electric winch; One end of the pulling rope is connected to the electric winch, and the other end of the pulling rope passes through at least one guide wheel and is connected to the plug; The plug and the socket are detachably connected.

2. The two-stage plug-in / plug-out structure based on an electric winch according to claim 1, characterized in that: The mounting bracket includes: an upper bracket and a lower bracket; Wherein, the lower end of one side of the upper bracket is connected to one end of the lower bracket, and there is a connection angle between the upper bracket and the lower bracket; The other side of the upper bracket is connected to the mounting position; The other end of the lower bracket is connected to the installation position; The electric winch is arranged at the upper end of the upper bracket, and the electric winch is close to the connection between the upper bracket and the lower bracket; At least one guide wheel is arranged on one side of the upper bracket.

3. The two-stage plug-in / plug-out structure based on an electric winch according to claim 2, characterized in that: The upper bracket at least includes: a first upper beam, a second upper beam and a third upper beam; One end of the first upper beam is connected to the installation position, the other end of the first upper beam is connected to one end of the second upper beam, the other end of the second upper beam is connected to one end of the third upper beam, and the other end of the third upper beam is connected to the installation position; the electric winch is connected to the upper end of the second upper beam; At least one guide wheel is arranged on a side of the second upper beam away from the installation position.

4. The two-stage plug-in / plug-out structure based on an electric winch according to claim 3, characterized in that: The lower bracket at least includes: a first lower beam and a second lower beam; Wherein, one end of the first lower beam is connected to the installation position, the other end of the first lower beam is connected to the other end of the first upper beam, and there is a connection angle between the first lower beam and the first upper beam; One end of the second lower beam is connected to the installation position, the other end of the second lower beam is connected to one end of the third upper beam, and a connection angle is formed between the second lower beam and the third upper beam.

5. The two-stage plug-in / plug-out structure based on an electric winch according to claim 4, characterized in that: There are two guide wheels, and the first guide wheel is arranged on a side of the second upper beam away from the installation position; The second guide wheel is arranged on the second lower beam; The other end of the pulling rope passes through the first guide wheel and the second guide wheel in sequence and is connected with the plug.

6. The two-stage plug-in / plug-out structure based on an electric winch according to claim 1, characterized in that: The pulling rope is a steel wire rope.

7. The two-stage plug-in / plug-out structure based on an electric winch according to claim 1, characterized in that: The length of the pulling rope = theoretical design length + slack + connection length.

8. The two-stage plug-in / plug-out structure based on an electric winch according to claim 1, characterized in that: The electric winch at least comprises: a motor as a power source, a coupling, a reducer, a drum, a torque limiter, a manual one-way ratchet mechanism, a frame, a base, a first bearing seat, a second bearing seat and a third bearing seat; The input shaft of the reducer is connected to the motor through a coupling to reduce the speed of the motor; the output shaft of the reducer is connected to a shaft of the reel to drive the reel to rotate; The reel is connected to one end of the pulling rope and is used to retract and release the pulling rope; The torque limiter is installed in the transmission link between the reducer and the drum. When the torque is greater than the preset torque threshold, it is used to limit the torque transmission, thereby ensuring that the drum is not overloaded. The torque limiter is also used to output a signal to shut down the motor and reducer. The ratchet in the manual one-way ratchet mechanism is connected to the other shaft of the reel, and the pawl in the manual one-way ratchet mechanism is connected to the frame arranged on the base, and the pawl prevents the ratchet from reversing, thereby preventing the reel from reversing; The first bearing seat is arranged on the base, and the first bearing seat is located between the reducer and the torque limiter, the output shaft of the reduction shaft is located on the first bearing seat, and the output shaft of the reduction shaft is supported by the first bearing seat; The second bearing seat is arranged on the base, and the second bearing seat is located between the torque limiter and the reel, and one shaft of the reel is located on the second bearing seat, and one shaft of the reel is supported by the second bearing seat; The third bearing seat is arranged on the base, and the third bearing seat is located between the reel and the manual one-way ratchet mechanism, the other shaft of the reel is located on the third bearing seat, and the other shaft of the reel is supported by the third bearing seat; The lower end of the base is connected to the upper end of the mounting bracket.

9. The two-stage plug-in / plug-out structure based on an electric winch according to claim 8, characterized in that: The electric winch also includes: a tensioning cycloid device, which is arranged on the base and connected to the drum. When the tensioning cycloid device detects a change in the tension of the pulling rope, the tensioning cycloid device adjusts the position of the drum to change the tension of the pulling rope.

10. A working method, characterized in that: Applied to the two-stage plug-out structure based on the electric winch as described in any one of claims 1 to 9, the working method comprises the following steps: S1: When the rocket is in a horizontal state, the socket is installed on the rocket body, the mounting bracket is installed on the erection frame, the electric winch arranged on the mounting bracket is connected to one end of the pulling rope, the other end of the pulling rope passes through the guide wheel and is connected to the plug, and the pulling rope is in a line-release state; the rocket body is hoisted onto the erection frame, the plug and the socket are docked, and after the docking is completed, the parameters of the pulling rope are checked, and after the verification is completed, S2 is executed; S2: The rocket is erected and placed on the launch pad, completing the process operation. After the erection frame is erected, it falls to the preset angle, the socket and the plug are automatically disconnected, and the electric winch receives the automatic disconnection signal. If the automatic disconnection signal indicates that the automatic disconnection is successful, the electric winch runs, drives the pulling rope to recycle the plug, and sends a recovery signal; if the automatic disconnection signal indicates that the automatic disconnection fails, the electric winch runs, drives the pulling rope to passively disconnect the plug, recycles the plug, and sends a recovery signal; S3: If the recovery signal is successful, the plug is removed and the erection frame returns to the horizontal position; if the recovery signal is unsuccessful, the erection frame is controlled to move, and the displacement of the erection frame drives the electric winch to move, thereby driving the pulling rope to passively remove the plug, and recover the plug, and the erection frame returns to the horizontal position.

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