Quick Response Backward Inverting Device for the Erector Arm of Launch Vehicle

Abstract

The present invention provides a quick-response back-tilting device for the erection arm of a launch vehicle, comprising: an accumulator, an erection control valve group, a hydraulic oil tank, a motor pump group, an electric control cabinet, a hydraulic oil circuit, and an erection oil cylinder group. The device controls the extension and retraction speeds of the erection oil cylinder group through a pump-controlled oil source combination and the erection control valve group, plans the speeds and processes of the erection and back-tilting actions of the erection arm, and controls the retraction of the erection oil cylinder group through the pump-controlled oil source combination, the 0s back-tilting oil source, and the erection control valve group. The hydraulic lock of the erection oil cylinder is opened in advance, and a high-frequency-response flow cartridge valve is used for the millisecond-level response back-tilting of the erection arm; the erection oil cylinder group includes erection oil cylinders, which are installed in a foundation pit under the erection arm and are driven by a hydraulic oil source. The present invention avoids the limitation that the erection arm needs to be tilted backward or pre-tilted by a certain angle in the traditional method, can protect the rocket before rocket launch, and thus improves the efficiency and safety of rocket launch.

Description

Technical Field

[0001] The present invention relates to the technical field of rocket ground launch support, and specifically, to a quick-response back-down device for the erection arm of a launch vehicle. Background Art

[0002] During the rocket launch process, a rocket launched in the three-horizontal measurement and launch mode needs to use an erection arm to erect the rocket from a horizontal state to a vertical state. The erection arm not only plays a role in supporting and positioning the rocket during this process, but also acts as a launch tower, providing necessary guarantees for rocket launch. However, during the rocket takeoff stage, due to the powerful thrust generated by the rocket engine and the influence of external environmental factors, the rocket may experience takeoff drift. To avoid damage to the erection arm and launch facilities caused by the drift during rocket takeoff, the erection arm usually needs to be retracted before the rocket takes off.

[0003] In the patent document with the publication number CN216745722U, a quick-backdown implementation system for a rocket erection frame is disclosed, which includes an erection oil cylinder and a hydraulic system. The erection oil cylinder is arranged on the ground on one side of the launch pad. The lower hinge point of the erection oil cylinder is connected to the ground, and its upper hinge point is connected to the erection frame. The hydraulic system is connected to the erection oil cylinder and is used to control the extension and retraction of the erection oil cylinder, so that the erection oil cylinder drives the erection frame to quickly fall backward relative to the rocket at the moment of rocket zero-second ignition. Since the hydraulic lock of the erection oil cylinder opens slowly when the erection frame falls backward at zero second, the response time is at the second level, and the oil inlet valve from the accumulator to the small chamber and the oil return valve from the large chamber to the fuel tank open slowly, and the response time is also at the second level, there is a risk of collision. The traditional avoidance method is to achieve it by retracting or pre-retracting the erection arm at an angle in advance. However, this method has obvious problems: it cannot protect the rocket before the rocket launch, that is, the erection arm cannot immediately disengage from the rocket at the moment of rocket takeoff, which may affect the takeoff stability and safety of the rocket. In addition, retracting or pre-retracting the erection arm in advance also increases the complexity and uncertainty during the launch process, posing higher requirements for precise control of the launch.

[0004] Therefore, it is necessary to propose a more advanced and efficient method for the quick back-down of the erection arm to solve the problems existing in the prior art. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a quick-response back-down device for the erection arm of a launch vehicle.

[0006] A quick-response backhaul device for the erection arm of a launch vehicle according to the present invention includes: an accumulator, an erection control valve group, a hydraulic oil tank, a motor pump group, an electric control cabinet, a hydraulic oil circuit, and an erection cylinder group. The device controls the extension and retraction speeds of the erection cylinder group through a pump-controlled oil source combination and an erection control valve group, plans the speeds and processes of the erection and backhaul actions of the erection arm, and controls the retraction of the erection cylinder group through a pump-controlled oil source combination, a 0s backhaul oil source, and an erection control valve group. The hydraulic lock of the erection cylinder is opened in advance, and a high-frequency response flow cartridge valve is used for the millisecond-level response backhaul of the erection arm to protect the rocket before launch;

[0007] The erection cylinder group is connected to the hydraulic oil circuit; the hydraulic oil circuit is connected to the erection control valve group; the erection control valve group is respectively connected to the accumulator, the motor pump group, and the hydraulic oil tank; the hydraulic oil tank is connected to the motor pump group; the motor pump group is connected to the electric control cabinet;

[0008] The erection cylinder group includes erection cylinders, which are installed in a foundation pit below the erection arm and are driven by a hydraulic oil source to push the erection arm to perform erection and backhaul actions;

[0009] The pump-controlled oil source combination includes a main oil supply circuit, a pilot oil supply circuit, and a large-flow oil return unit, which provide oil supply and oil return during the erection and backhaul processes of the erection arm, and provide auxiliary oil supply and return functions in the front section and all oil supply and return functions in the rear section during the 0s backhaul process of the erection arm;

[0010] The 0s backhaul oil source is used to control the 0s backhaul action of the erection cylinder.

[0011] Preferably, the pump-controlled oil source combination includes a main oil supply circuit, a pilot oil supply circuit, and a large-flow oil return unit, which provide oil supply and oil return for the erection and backhaul processes of the erection arm and assist in oil supply and return during the backhaul process of the erection arm;

[0012] The main oil supply circuit is connected to the pilot oil supply circuit, and the large-flow oil return unit is used to achieve the response backhaul of the erection arm and is composed of multiple groups of oil return filters.

[0013] Preferably, the 0s backhaul oil source includes a backhaul oil return valve group, a backhaul oil supply accumulator group, a backhaul accumulator oil supply valve group, and a sensor. By controlling the backhaul action of the erection cylinder, the erection arm is backhauled to the target angle within a specified time;

[0014] The backhaul oil supply accumulator group is respectively connected to the backhaul accumulator oil supply valve group and the sensor. The backhaul oil return valve group includes multiple groups of parallel high-frequency response flow cartridge valves, and each group adopts a connection form of two valves in series.

[0015] Preferably, the backward oil return valve group includes multiple groups of high-frequency response flow cartridge valves connected in parallel, and each group adopts a connection form with two valves in series; the release response time of the high-frequency response flow cartridge valve is in milliseconds.

[0016] Preferably, the backward oil supply accumulator group includes a nitrogen cylinder group, an accumulator group, a gas circuit cut-off valve, an oil circuit cut-off valve and a pressure sensor, and extrudes the oil stored in the accumulator by compressed nitrogen to supply oil during the backward process;

[0017] The oil circuit cut-off valve is connected to the accumulator group; the accumulator group is respectively connected to the pressure sensor and the gas circuit cut-off valve, the gas circuit cut-off valve is connected to the nitrogen cylinder group, and the nitrogen cylinder group is connected to the pressure sensor.

[0018] Preferably, the backward accumulator oil supply valve group includes an accumulator filling valve, a release valve and an accumulator valve group. Among them, the accumulator filling valve is used to control the filling of the accumulator, and the release valve is composed of multiple groups of high-frequency response flow cartridge valves connected in parallel to control the oil supply flow for the accumulator during the backward process.

[0019] Preferably, the erection control valve group includes a balance valve, an electro-hydraulic proportional reversing valve, a sequence valve and a pilot valve, which are used to control the erection and leveling actions of the erection cylinder, and enter the oil in the small chamber and discharge the oil in the large chamber of the cylinder by connecting with the backward control part;

[0020] The balance valve is respectively connected to the sequence valve and the pilot valve; the pilot valve is connected to the sequence valve; the sequence valve is connected to the electro-hydraulic proportional reversing valve.

[0021] Preferably, the device further includes a hydraulic pipeline, which is used to connect the oil sources between the erection oil sources and the control valve group and the erection cylinder, and includes steel pipes, rubber hoses, pipe joints, flanges, pipe clamps and pipe clamp supports;

[0022] The rubber hose is connected to the flange; the flange is connected to the steel pipe; the steel pipe is connected to the pipe joint and the pipe clamp; the pipe clamp is arranged on the pipe clamp support.

[0023] Preferably, the device further includes a control system for the erection arm to respond to backward movement. The control system judges the opening time of the oil replenishment accumulator unit according to the monitored value of the angle of the erection arm, and closes the oil replenishment accumulator unit when the angle of the erection arm is less than a predetermined value.

[0024] Preferably, the large-flow oil return unit in the pump control oil source combination is used to realize the backward movement response of the erection arm, and is composed of multiple groups of oil return filters, and can generate flow through the large-chamber oil discharge during the backward process;

[0025] The oil supply and return assembly in the erection control valve group is used to realize the response backward tilt of the erection arm, and is connected to the backward tilt control part to realize the entry of oil into the small chamber of the oil cylinder and the discharge of oil from the large chamber;

[0026] The oil supply and return assembly mainly includes a large-diameter connector, a pipe joint, and an internal channel of a valve block, which are used to connect the large and small chambers of the oil cylinder with the accumulator and the oil return valve group.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention provides a method for quickly responding and retracting the erection arm of a launch vehicle, which can enable the launch vehicle in the three-level test launch mode to achieve 0s separation of the connector; it avoids the limitation that the erection arm needs to be retracted in advance or pre-retracted by a certain angle in the traditional method, thereby improving the efficiency and safety of rocket launch;

[0029] 2. Through the 0s back-fall function of the erection arm, the present invention can ensure that the erection arm can quickly avoid the rocket when it takes off, without the need to adjust the angle in advance; it can not only reduce the risk of rocket drift caused by improper position of the erection arm, but also protect the carrier rocket until the last moment before launch, ensuring the safety and reliability of the launch process;

[0030] 3. The present invention utilizes the characteristics of the oil cylinder that it can withstand large loads and has a large speed ratio, and sets multiple groups of accumulators in the rod chamber circuit to store oil, opens the hydraulic lock in advance, and controls the on-off through a high-frequency response valve, thereby realizing the rapid contraction of the oil cylinder in milliseconds; significantly enhancing the response speed of the system, so that the erecting arm can quickly and accurately complete the reversing action. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0032] Figure 1 It is an overall diagram of a rapid response reversal device for erection arm of a launch vehicle according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of a rapid response reversal device system for a launch vehicle erection arm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0035] Example 1:

[0036] Referring to Figure 1 and Figure 2 , a quick-response back-tilting device for a launch vehicle erection arm provided by the present invention includes: an accumulator, an erection control valve group, a hydraulic oil tank, a motor pump group, an electric control cabinet, a hydraulic oil circuit, and an erection oil cylinder group. The device controls the extension and retraction speeds of the erection oil cylinder group through a pump-controlled oil source combination and an erection control valve group, plans the speed and process of the erection and back-tilting actions of the erection arm, and controls the retraction of the erection oil cylinder group through a pump-controlled oil source combination, a 0s back-tilting oil source, and an erection control valve group. The hydraulic lock of the erection oil cylinder is opened in advance, and a high-frequency-response flow cartridge valve is used to perform millisecond-level response back-tilting of the erection arm to protect the rocket before launch; the erection oil cylinder group is connected to the hydraulic oil circuit; the hydraulic oil circuit is connected to the erection control valve group; the erection control valve group is respectively connected to the accumulator, the motor pump group, and the hydraulic oil tank; the hydraulic oil tank is connected to the motor pump group; the motor pump group is connected to the electric control cabinet; the erection oil cylinder group includes erection oil cylinders, which are installed in a foundation pit under the erection arm and are driven by a hydraulic oil source to push the erection arm to perform erection and back-tilting actions; the pump-controlled oil source combination includes a main oil supply circuit, a pilot oil supply circuit, and a large-flow oil return unit, which provide oil supply and oil return during the erection and back-tilting processes of the erection arm, and provide auxiliary oil supply and oil return functions in the front section and all oil supply and oil return functions in the rear section during the 0s back-tilting process of the erection arm; the 0s back-tilting oil source is used to control the 0s back-tilting action of the erection oil cylinder.

[0037] The pump-controlled oil source combination includes a main oil supply circuit, a pilot oil supply circuit, and a large-flow oil return unit, which provide oil supply and oil return for the erection and back-tilting processes of the erection arm and assist in oil supply and oil return during the back-tilting process of the erection arm; the main oil supply circuit is connected to the pilot oil supply circuit, and the large-flow oil return unit is used to achieve the response back-tilting of the erection arm and is composed of multiple groups of oil return filters.

[0038] The 0s back-tilting oil source includes a back-tilting oil return valve group, a back-tilting oil supply accumulator group, a back-tilting accumulator oil supply valve group, and sensors. By controlling the back-tilting action of the erection oil cylinder, the erection arm is back-tilted to the target angle within a specified time; the back-tilting oil supply accumulator group is respectively connected to the back-tilting accumulator oil supply valve group and the sensors, and the back-tilting oil return valve group includes multiple groups of parallel high-frequency-response flow cartridge valves, and each group adopts a connection form of two valves in series.

[0039] The backward-return oil valve group includes multiple sets of high-frequency-response flow cartridge valves connected in parallel, and each set adopts a connection form with two valves in series; the release response time of the high-frequency-response flow cartridge valve is in milliseconds. The backward-return oil supply accumulator group includes a nitrogen cylinder group, an accumulator group, a gas circuit cut-off valve, an oil circuit cut-off valve and a pressure sensor, and extrudes the oil stored in the accumulator through compressed nitrogen to supply oil during the backward-return process; the oil circuit cut-off valve is connected to the accumulator group; the accumulator group is respectively connected to the pressure sensor and the gas circuit cut-off valve, the gas circuit cut-off valve is connected to the nitrogen cylinder group, and the nitrogen cylinder group is connected to the pressure sensor.

[0040] The backward-return accumulator oil supply valve group includes an accumulator filling valve, a release valve and an accumulator valve group. Among them, the accumulator filling valve is used to control the filling of the accumulator, and the release valve is composed of multiple sets of high-frequency-response flow cartridge valves connected in parallel, and controls the oil supply flow for the accumulator during the backward-return process.

[0041] The erection control valve group includes a balance valve, an electro-hydraulic proportional reversing valve, a sequence valve and a pilot valve, which are used to control the erection and leveling actions of the erection cylinder, and through connection with the backward-return control part, the oil in the small chamber of the cylinder enters and the oil in the large chamber is discharged; the balance valve is respectively connected to the sequence valve and the pilot valve; the pilot valve is connected to the sequence valve; the sequence valve is connected to the electro-hydraulic proportional reversing valve.

[0042] The device also includes a hydraulic pipeline, which is used to connect the oil sources between the erection oil sources and the control valve group and the erection cylinder, and includes steel pipes, rubber hoses, pipe joints, flanges, pipe clamps and pipe clamp supports; the rubber hoses are connected to the flanges; the flanges are connected to the steel pipes; the steel pipes are connected to the pipe joints and pipe clamps; the pipe clamps are arranged on the pipe clamp supports.

[0043] The device also includes a control system for the erection arm to respond to backward-return. The control system judges the opening time of the oil replenishment accumulator unit according to the angle monitoring value of the erection arm, and closes the oil replenishment accumulator unit when the angle of the erection arm is less than a predetermined value. The large-flow oil return unit in the pump control oil source combination is used to realize the backward-return response of the erection arm, and is composed of multiple sets of oil return filters, and can generate flow through the large-chamber oil discharge during the backward-return process; the oil supply and return component in the erection control valve group is used to realize the backward-return response of the erection arm, and is connected to the backward-return control part to realize the entry of the oil in the small chamber of the cylinder and the discharge of the oil in the large chamber; the oil supply and return component mainly includes large-diameter connectors, pipe joints and internal channels of the valve block to realize the connection between the large and small chambers of the cylinder and the accumulator and the oil return valve group.

[0044] Example 2:

[0045] The present invention relates to a method for the rapid response and backward retraction of the erection arm of a launch vehicle. In the three-horizontal measurement and launch mode of the launch vehicle, in order to avoid the drift of the rocket during takeoff, the erection arm usually needs to be retracted backward in advance or tilted backward by a certain angle, and it is impossible to protect the rocket before the rocket is launched. The present invention provides a method for the rapid response and backward retraction of the erection arm of a launch vehicle. By utilizing the characteristics of large load-bearing capacity and large speed ratio of the oil cylinder, multiple accumulators are arranged in the rod chamber circuit to store oil. A stepped pressure is set at the accumulator end, and the hydraulic lock is opened in advance. A high-frequency response valve is arranged between the oil cylinder and the accumulator for on-off control, which can realize the rapid contraction of the oil cylinder in milliseconds and drive the rapid response and backward retraction of the erection arm of the launch vehicle.

[0046] A device capable of realizing the rapid response and backward retraction of the erection arm of a launch vehicle, including devices such as accumulators, erection control valve groups, hydraulic oil tanks, motor pump groups, electronic control cabinets, hydraulic oil circuits, and erection oil cylinders, which form the following functional units: erection oil cylinder groups, pump control oil source combinations, erection control valve groups, 0s backward retraction oil sources, and hydraulic pipelines.

[0047] The erection oil cylinder group mainly includes erection oil cylinders, which are installed in the foundation pit under the erection arm and are driven by the hydraulic oil source to push the erection arm to move, realizing the erection and backward retraction of the erection arm, and is the hydraulic actuator in the erection system.

[0048] The pump control oil source combination mainly includes a main oil supply circuit, a pilot oil supply circuit, a large-flow oil return unit, etc., which provide reliable oil supply and oil return during the erection and backward retraction of the erection arm, and at the same time provide auxiliary oil supply and return functions in the first stage and all oil supply and return functions in the second stage during the 0s rapid backward retraction process of the erection arm.

[0049] The erection control valve group mainly includes a balance valve, an electro-hydraulic proportional reversing valve, a sequence valve, a pilot valve, etc., which are used to control the erection and leveling actions of the erection oil cylinder.

[0050] The 0s backward retraction oil source is used to control the 0s rapid backward retraction action of the erection oil cylinder.

[0051] The hydraulic pipeline is mainly used to connect the oil sources between the erection oil sources, the control valve group combination, and the erection oil cylinder. It includes steel pipes, rubber hoses, pipe joints, flanges, pipe clamps, pipe clamp supports, etc.

[0052] By controlling the extension and retraction speeds of the erection oil cylinder through the pump control oil source combination and the erection control valve group, the process and speed planning of the erection and backward retraction of the erection arm are realized; by controlling the rapid retraction of the erection oil cylinder through the pump control oil source combination, the 0s backward retraction oil source, and the erection control valve group, the rapid backward retraction of the erection arm is realized.

[0053] After 0s, the oil supply source part for backward movement includes a quick backward movement oil return valve group, a quick backward movement oil supply accumulator group, a quick backward movement accumulator oil supply valve group (including an accumulator liquid filling control valve group), and sensors, etc. The function of the quick backward movement control loop is to realize the bypass oil return for the quick backward movement of the erection cylinder and the quick oil supply control of the accumulator, ensuring that it can quickly backward move to the target angle within the specified time.

[0054] The large-flow oil return unit in the pump control oil source combination is used to realize the quick response backward movement of the erection arm. It consists of multiple groups of oil return filters, which can effectively pass the relatively large flow generated by the large cavity oil discharge during the quick backward movement process. At the same time, it generates a relatively small pressure loss, ensuring the reliability of the quick backward movement.

[0055] The quick oil supply and return component in the erection control valve group is used to realize the quick response backward movement of the erection arm. It is connected to the quick backward movement control part to realize the quick entry of the oil in the small cavity of the cylinder and the quick discharge of the oil in the large cavity, ensuring the reliable completion of the quick backward movement process.

[0056] The quick oil supply and return component mainly includes large-diameter connectors, pipe joints, and internal channels of the valve block, which are used to realize the reliable connection between the large and small cavities of the cylinder, the accumulator, and the quick oil return valve group.

[0057] The quick backward movement oil return valve group includes multiple groups of parallel high-frequency response flow cartridge valves, and each group adopts a connection form of two valves in series. Each group of two valves in series can effectively ensure the reliable deceleration at the end of the quick backward movement (reliable valve closing).

[0058] This high-frequency response valve can provide fast and accurate oil return opening control and end deceleration control for the quick backward movement. Cooperating with the control system, it can realize the fast opening and smooth deceleration during the quick backward movement process.

[0059] The quick backward movement oil supply accumulator group mainly includes a nitrogen cylinder group, an accumulator group, a gas circuit stop valve, an oil circuit stop valve, a pressure sensor, etc.

[0060] When filling with liquid, the oil enters the oil cavity of the accumulator, compressing the nitrogen in the gas cylinder. When the movement reaches the position, the nitrogen is compressed to the maximum working pressure, and the oil is stored in the oil cavity of the piston accumulator. When releasing, the compressed nitrogen squeezes out the oil stored in the accumulator.

[0061] The quick backward movement accumulator oil supply valve group (including the accumulator liquid filling control valve group) includes an accumulator liquid filling valve, a quick release valve, and an accumulator valve group.

[0062] The accumulator liquid filling valve is mainly used to control the liquid filling of the accumulator. When the valve opens, the oil output by the pump enters the oil end of the accumulator through the filling valve, and stops filling after closing. A pressure sensor and a pressure switch are set on the upper oil end of the accumulator to ensure the reliability of the liquid filling in place.

[0063] The quick-release valve consists of multiple groups of high-frequency-response flow cartridge valves connected in parallel, meeting the oil supply flow requirements of the accumulator during the quick backward retraction process and having a certain redundancy. This high-frequency-response valve can provide fast and precise oil supply opening control and end deceleration control for the quick backward retraction, and cooperate with the control system to achieve fast opening and smooth deceleration during the quick backward retraction process.

[0064] The accumulator valve group includes an overflow valve, an electromagnetic ball valve, and a manual ball valve, mainly used for pressure limitation of the accumulator, manual and electric pressure relief control under abnormal conditions, and ensuring the maintainability and convenience of maintenance of the accumulator valve group.

[0065] The purpose of the present invention is to provide a solution for the quick backward retraction of the erection arm of a launch vehicle, enabling the connector to be detached at 0 s. Without the need for the erection arm to retract backward in advance or pre-retract at a certain angle, it can avoid the takeoff drift of the rocket.

[0066] The present invention proposes a method for the quick response backward retraction of the erection arm of a launch vehicle. By retracting the erection arm backward at 0 s, without the need for pre-backward retraction or pre-retraction at a certain angle, it can avoid the takeoff drift area of the launch vehicle and protect the launch vehicle until the last moment before launch.

[0067] The following will be combined with Figure 1 、 Figure 2 to further describe in detail the method for the quick response backward retraction of the erection arm of the launch vehicle of the present invention.

[0068] Figure 1 This is the overall diagram of the device for the quick response backward retraction of the erection arm of the launch vehicle according to the embodiment of the present invention. Figure 2 This is the system schematic diagram of the device for the quick response backward retraction of the erection arm of the launch vehicle according to the embodiment of the present invention.

[0069] The device for the quick response backward retraction of the erection arm of a launch vehicle includes devices such as an accumulator 1, an erection control valve group 2, a hydraulic oil tank 3, a motor pump group 4, an electric control cabinet 5, a hydraulic oil circuit 6, and an erection oil cylinder 7. Through these separate devices, the following functional units are formed: an erection oil cylinder group, a pump control oil source combination, an erection control valve group, a 0 s backward retraction oil source, and a hydraulic pipeline. For the schematic diagram, please refer to Figure 2 。

[0070] The erection oil cylinder group mainly includes erection oil cylinders, which are installed in the foundation pit under the erection arm and are driven by a hydraulic oil source to push the erection arm to move, realizing the erection and backward retraction actions of the erection arm. It is the hydraulic actuator in the erection system.

[0071] The pump control oil source combination mainly includes a main oil supply circuit, a pilot oil supply circuit, and a large-flow oil return unit, etc., providing reliable oil supply and oil return during the erection and backward retraction process of the erection arm, and at the same time providing auxiliary oil supply and return functions in the front section and all oil supply and return functions in the rear section during the 0 s quick backward retraction process of the erection arm.

[0072] The erection control valve group, which mainly includes a balance valve, an electro-hydraulic proportional directional valve, a sequence valve, a pilot valve, etc., is used to control the erection and leveling actions of the erection cylinder.

[0073] The 0s oil return source is used to control the 0s rapid oil return action of the erection cylinder.

[0074] The hydraulic pipeline, which is mainly used to connect the oil sources between the erection oil sources and the control valve group combination and the erection cylinder. It includes steel pipes, rubber hoses, pipe joints, flanges, pipe clamps, pipe clamp supports, etc.

[0075] The rapid response and retraction device of the launch vehicle erection arm controls the extension and retraction speeds of the erection cylinder through the pump control oil source combination and the erection control valve group, realizing the process and speed planning of the erection and retraction of the erection arm; through the pump control oil source combination, the 0s oil return source, and the erection control valve group, it controls the rapid retraction of the erection cylinder to realize the rapid retraction of the erection arm.

[0076] The rapid response and backward retraction method of the launch vehicle erection arm includes main working processes such as erection, retraction, and rapid backward retraction. The execution of each process is as follows:

[0077] Erection of the launch vehicle assembly: The erection process includes self-inspection (completed by the electric control system), troubleshooting (completed by the electric control system), normal startup (completed by the electric control system and the hydraulic system), erection (completed by the electric control system and the hydraulic system), etc.

[0078] During the self-inspection process, monitor whether the readings of the pressure sensor are near 0 bar, whether the readings of the temperature sensor conform to the ambient temperature, adjust the pressure of the relief valve within a small range, start the main pump at a small displacement, and monitor whether the readings of the main circuit pressure sensor and the flow sensor are within a reasonable range. If the system detects that the parameters of the main and standby systems exceed the reasonable range, stop running, check for faults and then perform self-inspection again to ensure the normal operation of the system.

[0079] When starting to erect, open the hydraulic lock of the erection cylinder, set reasonable currents for the proportional relief valve and the proportional directional valve during the startup process, ensure that the system pressure range and the system flow are within the required range, control the pump displacement to rise uniformly to the first-stage extension speed, collect the angular velocity of the erection arm, and if the collected speed is less than the required speed, increase the pump displacement and quickly iterate repeatedly until the first-stage erection speed requirement is met.

[0080] During the stage change process, first reduce the pump displacement (reduce the control current), and after a smooth stage change, increase the pump displacement to the required value of the second-stage erection speed. Similarly, iterate through the monitored value of the angular velocity of the erection arm until the second-stage erection speed requirement is met.

[0081] During the erection process, the pressure of the unlocking circuit is monitored in real time. If the unlocking pressure is less than the predetermined value, the pilot pump is switched through the electromagnetic directional valve to ensure the normal unlocking function of the erection cylinder. If the unlocking pressure still cannot reach the expected value, the stop procedure is entered.

[0082] The carrier rocket assembly or the erection arm is retracted: The retraction process includes self-check (completed by the electronic control system), troubleshooting (completed by the electronic control system), normal startup (completed by the electronic control system and the hydraulic system), retraction (completed by the electronic control system and the hydraulic system), etc.

[0083] During the self-check process, monitor whether the readings of the pressure sensor are near 0 bar and whether the readings of the temperature sensor conform to the ambient temperature. Adjust the pressure of the relief valve within a small range, start the main pump with a small displacement, and monitor whether the readings of the main circuit pressure sensor and the flow sensor are within a reasonable range. If the system detects that the parameters of the main and standby systems exceed the reasonable range, stop the operation, check for faults, and then perform a self-check again to ensure the normal operation of the system.

[0084] When starting to retract, gradually increase the displacement of the pump to the second-stage retraction speed at a uniform speed, monitor the angular velocity of the erection arm, and perform iteration on the second-stage retraction speed until the requirements of the second-stage retraction speed are met; during the stage change process, adjust the pump displacement to decelerate, and then accelerate after the stage change is completed. Similarly, perform speed iteration until the requirements of the first-stage retraction speed are met.

[0085] During the retraction process with the rocket, the pressure of the large chamber is monitored in real time, and the retraction back pressure is ensured to meet the set requirements by adjusting the opening of the bypass directional valve. The unlocking pressure needs to be monitored in real time under this working condition.

[0086] The rapid retraction of the erection arm: The working process of the rapid retraction is similar to that of the retraction with the rocket. The difference is that the system flow rate and the oil return flow rate during the rapid retraction process are much larger than those in the retraction with the rocket condition. The opening time of the oil replenishment energy storage unit is judged by angle monitoring. When the angle is less than the predetermined value, the oil replenishment energy storage unit is opened to meet the large flow rate requirements during the rapid retraction. The unlocking pressure needs to be monitored in real time under this working condition.

[0087] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0088] Those skilled in the art know that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in the form of pure computer-readable program code, the method steps can be logically programmed to enable the system and its various devices, modules, and units provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers, etc. to achieve the same functions. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a kind of hardware component, and the devices, modules, and units included therein for implementing various functions can also be regarded as the structures within the hardware component; the devices, modules, and units for implementing various functions can also be regarded as either software modules for implementing the method or structures within the hardware component.

[0089] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A rapid response reversing device for a launch vehicle erection arm, characterized in that: include: Accumulator, erection control valve group, hydraulic oil tank, motor pump group, electric control cabinet, hydraulic oil circuit and erection cylinder group. The device controls the extension and retraction speed of the erection cylinder group through the pump control oil source combination and the erection control valve group, performs speed and process planning of the erection and reversal of the erection arm, and controls the retraction of the erection cylinder group through the pump control oil source combination, 0s reversal oil source and the erection control valve group, opens the erection cylinder hydraulic lock in advance and uses the high-frequency response flow cartridge valve to perform millisecond-level response reversal of the erection arm, so as to protect the rocket before the rocket is launched; The erecting cylinder group is connected to the hydraulic oil circuit; the hydraulic oil circuit is connected to the erecting control valve group; the erecting control valve group is respectively connected to the accumulator, the motor pump group and the hydraulic oil tank; the hydraulic oil tank is connected to the motor pump group; the motor pump group is connected to the electric control cabinet; The erecting cylinder group includes an erecting cylinder, which is installed in the foundation pit below the erecting arm and driven by a hydraulic oil source to push the erecting arm to perform erecting and falling back actions; The pump-controlled oil source combination includes a main oil supply circuit, a pilot oil supply circuit and a large-flow oil return unit, which provide oil supply and oil return for the erection boom during the erection and reversing process, and provide auxiliary oil supply and return functions in the front section of the erection boom 0s after reversing process and all oil supply and return functions in the rear section; The 0s return oil source is used to control the 0s return action of the vertical oil cylinder; The pump-controlled oil source combination includes a main oil supply circuit, a pilot oil supply circuit and a large-flow oil return unit, which provide oil supply and oil return for the erection and return process of the erection arm, and assist in the supply and return of oil during the return process of the erection arm; The main oil supply circuit is connected to the pilot oil supply circuit, and the large flow oil return unit is used to achieve the response backfall of the erection arm, and is composed of multiple groups of return oil filters; The 0s back-up oil source includes a back-up oil return valve group, a back-up oil supply accumulator group, a back-up accumulator oil supply valve group and a sensor, and controls the back-up action of the erection oil cylinder so that the erection arm can be backed up to the target angle within a specified time; The back-up oil supply accumulator group is connected to the back-up accumulator oil supply valve group and the sensor respectively. The back-up oil return valve group includes multiple groups of high-frequency response flow cartridge valves connected in parallel, and each group adopts the connection form of two valves connected in series.

2. The rapid response reversing device for the erection arm of a launch vehicle according to claim 1 is characterized in that: The rear return oil valve group includes multiple groups of high-frequency response flow cartridge valves connected in parallel, and each group adopts a connection form of two valves connected in series; the release response time of the high-frequency response flow cartridge valve is in milliseconds.

3. The rapid response reversing device for the erection arm of a launch vehicle according to claim 2 is characterized in that: The back-dump oil supply accumulator group includes a nitrogen bottle group, an accumulator group, a gas circuit shut-off valve, an oil circuit shut-off valve and a pressure sensor. The oil stored in the accumulator is squeezed out by compressing nitrogen to supply oil during the back-dump process. The oil circuit stop valve is connected to the accumulator group; the accumulator group is respectively connected to the pressure sensor and the gas circuit stop valve, the gas circuit stop valve is connected to the nitrogen cylinder group, and the nitrogen cylinder group is connected to the pressure sensor.

4. The rapid response reversing device for the erection arm of a launch vehicle according to claim 1, characterized in that: The back-up accumulator oil supply valve group includes an accumulator filling valve, a release valve and an accumulator valve group, wherein the accumulator filling valve is used to control the filling of the accumulator, and the release valve is composed of multiple groups of high-frequency response flow cartridge valves connected in parallel to control the oil supply flow for the accumulator during the back-up process.

5. The rapid response reversing device for the erection arm of a launch vehicle according to claim 1 is characterized in that: The erection control valve group includes a balance valve, an electro-hydraulic proportional reversing valve, a sequence valve and a pilot valve, which are used to control the erection and return actions of the erection oil cylinder, and are connected with the back-down control part to allow the oil in the small chamber of the oil cylinder to enter and the oil in the large chamber to be discharged; The balancing valve is connected to the sequence valve and the pilot valve respectively; the pilot valve is connected to the sequence valve; and the sequence valve is connected to the electro-hydraulic proportional reversing valve.

6. The rapid response reversing device for the erection arm of a launch vehicle according to claim 1, characterized in that: The device also includes a hydraulic pipeline, which is used to connect the oil source between the erection oil source and the control valve group with the erection oil cylinder, including a steel pipe, a rubber hose, a pipe joint, a flange, a pipe clamp and a pipe clamp support; The rubber hose is connected to the flange; the flange is connected to the steel pipe; the steel pipe is connected to the pipe joint and the pipe clamp; the pipe clamp is arranged on the pipe clamp support.

7. The rapid response reversing device for the erection arm of a launch vehicle according to claim 1, characterized in that: The device also includes a control system for the erection arm to fall back in response, the control system determines the opening time of the oil replenishment energy storage unit according to the angle monitoring value of the erection arm, and closes the oil replenishment energy storage unit when the erection arm angle is less than a predetermined value.

8. The rapid response reversing device for the erection arm of a launch vehicle according to claim 1, characterized in that: The large flow oil return unit in the pump control oil source combination is used to realize the response back-fall of the erection arm, and is composed of multiple groups of oil return filters, which can generate flow through large cavity oil discharge during the back-fall process; The oil supply and return assembly in the erection control valve group is used to realize the response backward tilt of the erection arm, and is connected to the backward tilt control part to realize the entry of oil into the small chamber of the oil cylinder and the discharge of oil from the large chamber; The oil supply and return assembly mainly includes a large-diameter connector, a pipe joint, and an internal channel of a valve block, which are used to connect the large and small chambers of the oil cylinder with the accumulator and the oil return valve group.

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