Carrier rocket transfer device

Abstract

The invention relates to the technical field of carrier rocket transfer, in particular to a carrier rocket transfer device which comprises a carrier and a position adjusting mechanism. The carrier is used for bearing and transporting the erecting arm carrying the carrier rocket so as to transfer the carrier rocket to the position close to the fixed launching pad. The position adjusting mechanism is installed on the carrier. The carrier can drive the position adjusting mechanism to move up and down so as to drive the erecting arm to move up and down. The position adjusting mechanism can drive the erecting arm to move or rotate in the plane where the position adjusting mechanism is located. When the rotating base arranged at one end of the erecting arm is in butt joint with the rotating base arranged on the fixed launching pad, the erecting arm is driven by the carrier to conduct position coarse adjustment, then the erecting arm is driven by the position adjusting mechanism to move or rotate in the plane where the position adjusting mechanism is located, the position of the erecting arm is accurately adjusted, the butt joint difficulty is greatly reduced, and the butt joint efficiency is improved. The butt joint precision and the butt joint efficiency are improved when the rotating seat of the erecting arm is in butt joint with the rotating seat of the fixed launching pad.

Description

Technical Field

[0001] The present invention relates to the technical field of carrier rocket transfer, and in particular to a carrier rocket transfer device. Background Art

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

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

[0004] The invention provides a carrier rocket transfer device for solving the problem of how to improve the docking accuracy and efficiency when a rotating seat of an erection arm is docked with a rotating seat of a fixed launch platform.

[0005] The present invention provides a carrier rocket transfer device, comprising: A carrier, used to carry and transport the erection arm carrying the launch vehicle; The position adjustment mechanism is installed on the carrier and can move with the carrier; the top surface of the position adjustment mechanism is suitable for connecting with the erection arm; The carrier can drive the position adjustment mechanism to move up and down, so as to drive the erection arm to move up and down; the position adjustment mechanism can drive the erection arm to move and / or rotate within the plane where the position adjustment mechanism is located.

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

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

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

[0009] In some embodiments, the first actuator and the second actuator are driving cylinders.

[0010] In some of the embodiments, a hydraulic lock, an electromagnetic switch valve and a safety valve are respectively disposed in the first driver and the second driver.

[0011] In some of the embodiments, displacement sensors are respectively installed on the first driver and the second driver.

[0012] In some of the embodiments, an angle rotary encoder is installed at a hinge between the first fixed end and the static platform and at a hinge between the second fixed end and the active platform.

[0013] In some embodiments, there are plural first and second drivers, respectively.

[0014] In some of these embodiments, the vehicle is a hydraulic modular vehicle.

[0015] The beneficial effects of the present invention are as follows: The carrier rocket transfer device of the present invention is provided with a carrier and a position adjustment mechanism, and the carrier can be moved on the ground to transport the position adjustment mechanism, the erection arm and the carrier rocket to the vicinity of the fixed launch platform. When the rotating seat provided at one end of the erection arm is docked with the rotating seat provided on the fixed launch platform, the erection arm is driven by the carrier to perform a rough position adjustment, and then the position adjustment mechanism is used to drive the erection arm to move and / or rotate within the plane where the position adjustment mechanism is located to fine-tune the position of the erection arm. When the rotating seat of the erection arm is located directly above the rotating seat of the fixed launch platform, the carrier drives the position adjustment mechanism to move downward to drive the erection arm to move downward as a whole, so that the rotating seat of the erection arm falls on the rotating seat of the fixed launch platform. The rotating seat of the erection arm and the rotating seat of the fixed launch platform are then fixedly connected with the help of a latch mechanism. Compared with the docking method that relies solely on the coordinated operation of multiple vehicles, the addition of a position adjustment mechanism makes it easier to fine-tune the position of the erection arm, greatly reducing the difficulty of docking and improving the docking accuracy and efficiency when the rotating seat of the erection arm and the rotating seat of the fixed launch platform are docked. At the same time, the stability and reliability of the docking process are improved. During the docking process, there is no need to repeatedly coordinate and adjust the position of the vehicle, which reduces the labor intensity of the operators, saves the docking cost, and makes the launch mission arrangement more flexible, which can better adapt to different launch mission requirements and time arrangements. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of some specific embodiments of a carrier rocket transfer device of the present invention; Figure 2 yes Figure 1 The schematic structural diagrams of some specific embodiments of the position adjustment mechanism in the carrier rocket transfer device shown; Figure 3 yes Figure 2 The schematic structural diagrams of other specific embodiments of the position adjustment mechanism in the carrier rocket transfer device are shown.

[0017] In the accompanying drawings, 110 is a carrier; 120 is a position adjustment mechanism; 121 is a static platform; 122 is an active platform; 123 is a first driver; 124 is a rotating platform; 125 is a second driver; 126 is a first rolling element; and 127 is a second rolling element. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

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

[0020] To solve the above problems, refer to Figure 1 and Figure 2The present invention provides a carrier rocket transfer device, including a carrier 110 and a position adjustment mechanism 120. The carrier 110 is used to carry and transport an erection arm carrying a carrier rocket, so as to transport the position adjustment mechanism 120, the erection arm and the carrier rocket to the vicinity of a fixed launch pad. The position adjustment mechanism 120 is installed on the carrier 110 and can move with the carrier 110. The top surface of the position adjustment mechanism 120 is suitable for connecting with the erection arm. The carrier 110 can drive the position adjustment mechanism 120 to move up and down, so as to drive the erection arm and the carrier rocket to move up and down. The position adjustment mechanism 120 can drive the erection arm to move and / or rotate within the plane where the position adjustment mechanism 120 is located, so as to drive the carrier rocket to move and / or rotate within the plane where the position adjustment mechanism 120 is located. When the rotating seat provided at one end of the erection arm is docked with the rotating seat provided on the fixed launch platform, the position of the erection arm is roughly adjusted by the carrier 110, and then the position adjustment mechanism 120 is used to drive the erection arm to move and / or rotate slightly within the plane where the position adjustment mechanism 120 is located, so as to finely adjust the position of the erection arm. When the rotating seat of the erection arm is located directly above the rotating seat of the fixed launch platform, the carrier 110 drives the position adjustment mechanism 120 to move downward to drive the erection arm to move downward as a whole, so that the rotating seat of the erection arm falls on the rotating seat of the fixed launch platform. Then, the rotating seat of the erection arm and the rotating seat of the fixed launch platform are fixedly connected by means of a latch mechanism. Compared with the form of docking that only relies on the collaborative operation of multiple vehicles, the position adjustment mechanism 120 is added, so that the position of the erection arm is easier to finely adjust, which greatly reduces the difficulty of docking and improves the docking accuracy and efficiency when the rotating seat of the erection arm and the rotating seat of the fixed launch platform are docked. At the same time, the stability and reliability of the docking process are improved. During the docking process, there is no need to repeatedly coordinate and adjust the position of the vehicle 110, which reduces the labor intensity of the operators, saves the docking cost, and makes the launch mission arrangement more flexible and can better adapt to different launch mission requirements and time arrangements.

[0021] In some embodiments, such as Figure 2 As shown, the position adjustment mechanism 120 includes a static platform 121, an active platform 122, and a first driver 123. The static platform 121 is installed on the top surface of the carrier 110. The active platform 122 is movably installed on the top surface of the 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 static platform 121, and the first driving end is hinged to the active platform 122. The active platform 122 is driven to move slightly relative to the static platform through the first driving end. The overall structure of the position adjustment mechanism 120 is relatively simple and occupies a small space.

[0022] In other embodiments, such as Figure 3As shown, the position adjustment mechanism 120 includes a static platform 121, an active platform 122, a first driver 123, a rotating platform 124 and a second driver 125. The static platform 121 is mounted on the top surface of the carrier 110. The active platform 122 is movably mounted on the top surface of the static platform 121 in a horizontal plane. The first driver 123 is provided with a first driving end and a first fixed end. The first fixed end is hinged on the static platform 121, and the first driving end is hinged on the active platform 122. The active platform 122 is driven to move slightly relative to the static platform through the first driving end. The rotating platform 124 is rotatably mounted on the top surface of the active platform 122 through a rotating shaft. When the tail end of the erection arm performs a small-angle tail swinging action, the rotating platform 124 can drive the head end of the erection arm to rotate, which is conducive to the erection arm to achieve a small-angle tail swinging action, reducing the resistance of the tail swinging, further reducing the difficulty of docking, and improving the docking accuracy and docking efficiency. The second driver 125 is provided with a second driving end and a second fixed end. The second fixed end is hinged on the active platform 122. The second driving end is hinged on the rotating shaft. The second driving end drives the rotating platform 124 to rotate relative to the active platform 122, providing power for the rotation of the rotating platform 124.

[0023] In some other embodiments, the position adjustment mechanism 120 includes a static platform 121, an 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 static platform 121 is mounted on the top surface of the carrier 110. The active platform 122 is movably mounted on the top surface of the static platform 121 in a horizontal plane. The first driver 123 is provided with a first driving end and a first fixed end. The first fixed end is hinged on the static platform 121, and the first driving end is hinged on the active platform 122, and the active platform 122 is driven to move slightly relative to the static platform through the first driving end. The rotating platform 124 is rotatably mounted on the top surface of the active platform 122 through a rotating shaft, and can drive the head end or tail end of the erection arm to rotate. When the tail end of the erecting arm performs a small-angle tail swinging action, the rotating platform 124 can drive the head end of the erecting arm to rotate, which is conducive to the erecting arm to achieve a small-angle tail swinging action, reduces the resistance of the tail swinging, further reduces the difficulty of docking, and improves the docking accuracy and docking efficiency. The second driver 125 is provided with a second driving end and a second fixed end. The second fixed end is hinged on the active platform 122. The second driving end is hinged on the rotating shaft. The rotating platform 124 is driven to rotate relative to the active platform 122 by the second driving end, providing power for the rotation of the rotating platform 124. The first rolling element 126 is rotatably mounted on the top surface of the static platform 121 and abuts against the bottom surface of the active platform 122 to reduce the resistance of the active platform 122 during translation, thereby reducing kinetic energy loss and improving motion control accuracy. The second rolling element 127 is rotatably mounted on the top surface of the active platform 122 and abuts against the bottom surface of the rotating platform 124 to reduce the resistance of the rotating platform 124 during rotation, thereby reducing kinetic energy loss and improving motion control accuracy.

[0024] Preferably, the static platform 121 is detachably mounted on the top surface of the carrier 110 by bolts or clamping parts, so as to facilitate the removal, replacement and installation of the static platform 121 and the position adjustment mechanism 120. Of course, the static platform 121 can also be welded to the top surface of the carrier 110 to improve the stability of the connection between the static platform 121 and the carrier.

[0025] Preferably, the number of the first drivers 123 is multiple, specifically, the first drivers 123 can be one, two or four. When the number of the first drivers 123 is one, the manufacturing cost is low. When the number of the first drivers 123 is two, the driving force is shared with each other. The first fixed ends of the two first drivers 123 are respectively hinged to the opposite sides or adjacent sides of the static platform 121, and the first driving ends of the two first drivers 123 are hinged to the opposite sides or adjacent sides of the active platform 122. When the number of the first drivers 123 is four, the driving force is further shared with each other, improving the driving efficiency and driving effect. The first fixed ends of the four first drivers 123 are respectively hinged to the four corners or four sides of the 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 active platform 122, which can drive the active platform 122 to achieve more degrees of freedom of movement.

[0026] Preferably, the number of the second drivers 125 is multiple, specifically, the second drivers 125 can be one, two or four. When the number of the second drivers 125 is one, the manufacturing cost is low. When the number of the second drivers 125 is two, the driving force is shared with each other. The second fixed ends of the two second drivers 125 are respectively hinged to the adjacent two sides or adjacent two corners of the active platform 122, and the second driving ends of the two second drivers 125 are hinged to the side wall of the rotating shaft. The axes of the two second drivers 125 form a preset angle. Specifically, the preset angle is 60°, 90° or 120°, so that the rotating shaft can achieve different rotation amplitudes. When the number of the second drivers 125 is four, the driving force is further shared with each other, and the driving efficiency and driving effect are improved. The second fixed ends of the four second drivers 125 are respectively hinged to the four corners or four sides of the active platform 122, and the second driving ends of the four second drivers 125 are respectively hinged to the four sides of the rotating shaft, which can drive the rotating platform 124 to achieve more degrees of freedom.

[0027] Preferably, there are multiple first rolling elements 126, and the multiple first rolling elements 126 are distributed in a rectangular, triangular, or circular array. The multiple first rolling elements 126 are rotatably mounted on the top surface of the static platform 121, and are respectively in contact with the bottom surface of the active platform 122, so as to reduce the resistance encountered by the active platform 122 during translation, thereby reducing kinetic energy loss and improving motion control accuracy.

[0028] Preferably, there are multiple second rolling elements 127, and the multiple second rolling elements 127 are distributed in a rectangular, triangular, or circular array. The multiple second rolling elements 127 are rotatably mounted on the top surface of the active platform 122, and are respectively in contact with the bottom surface of the rotating platform 124, so as to reduce the resistance encountered by the rotating platform 124 when rotating, thereby reducing kinetic energy loss and improving motion control accuracy.

[0029] Preferably, the static platform 121 is a rectangular structure, which increases the contact area when the static platform 121 is connected to the carrier 110, thereby improving the stability of the connection between the position adjustment mechanism 120 and the carrier 110. Of course, the static platform 121 can also be a triangular structure, a diamond structure, a circular structure or an irregular shape. The active platform 122 and the rotating platform 124 are rectangular structures, which increase the contact area when connected to the erection arm, thereby improving the stability of the connection between the position adjustment mechanism 120 and the erection arm. Of course, the active platform 122 and the rotating platform 124 can also be a triangular structure, a diamond structure, a circular structure or an irregular shape.

[0030] Preferably, the static platform 121 , the active platform 122 and the rotating platform 124 may be made of steel, which has high strength, or plastic, which has low weight.

[0031] Preferably, the carrier 110 is a hydraulic module vehicle, provided with a hydraulic lifter and a hydraulic oil tank. The position adjustment mechanism 120 is installed on the hydraulic lifter, and the hydraulic lifter drives the position adjustment mechanism 120 to move up and down, thereby driving the vertical arm to move up and down.

[0032] Preferably, each first driver 123 and each second driver 125 can be a driving cylinder. Each first driver 123 and each second driver 125 can be directly driven to move by means of high-pressure hydraulic oil in the hydraulic oil tank without the need to build an additional hydraulic station, which saves costs and makes the operation more convenient. Of course, each first driver 123 and each second driver 125 can also be a servo electric cylinder, which has higher control accuracy. Each first driver 123 and each second driver 125 can also be an electric push rod, which can control thrust and speed by adjusting the pitch, and can achieve very precise positioning and motion control. There is no need to use liquid or gas and other working fluids during work, so there will be no problem of hydraulic oil or gas leakage polluting the working environment, and the environmental protection performance is better. At the same time, it is easy to install and the maintenance cost is also low. Each first driver 123 and each second driver 125 can also be a cylinder, with relatively stable power output, faster action, strong reliability, simple structure and low maintenance cost.

[0033] Preferably, each first rolling element 126 and each second rolling element 127 is a universal ball, which has a low cost, a significant effect of reducing resistance, and can meet the requirements of use under high-load conditions.

[0034] For example, there are four first drivers 123, and the first fixed ends of the four first drivers 123 are respectively hinged at the four corners of the static platform 121, and the first driving ends of the four first drivers 123 are respectively hinged at the four corners of the active platform 122. There are two second drivers 125, and the second fixed ends of the two second drivers 125 are respectively hinged at two adjacent corners of the active platform 122, and the second driving ends of the two second drivers 125 are respectively hinged on the side walls of the rotating shaft. The axis angle of the two second drivers 125 is 90°. Each first driver 123 and each second driver 125 is a driving cylinder. When the position of the erecting arm is fine-tuned horizontally, vertically or diagonally, the piston rods of the two second drivers 125 are in a locked state, the rotating platform 124 cannot rotate around its own axis, and the piston rods of two of the first drivers 123 are in a floating state, and the piston rods of the other two first drivers 123 are in a motion; when the erecting arm performs a small-angle tail swinging action, the piston rods of the two second drivers 125 are in a floating state, the rotating platform 124 can rotate around its own axis, and the piston rods of the four first drivers 123 are all in a locked state.

[0035] When each first driver 123 and each second driver 125 are driving oil cylinders, each first driver 123 and each second driver 125 are respectively provided with a hydraulic lock, an electromagnetic switch valve and a safety valve. When the electromagnetic switch valve loses power, the corresponding oil circuit is cut off, and the hydraulic lock locks the piston rod of the corresponding linear driver, and the piston rod of the linear driver can be controlled to extend and retract through the proportional valve. When the electromagnetic switch valve is energized, the corresponding oil circuit is connected, the hydraulic lock unlocks the lock on the corresponding piston rod, and the corresponding piston rod is in a floating state. The safety valve improves the safety of the operation of the corresponding linear driver.

[0036] Preferably, a displacement sensor is installed on each first driver 123 and each second driver 125. Each displacement sensor is used to detect the displacement of the corresponding driver and send the detection result to the controller, which controls whether each first driver 123 and each second driver 125 are working, thereby improving the degree of automation and the control accuracy.

[0037] Preferably, an angle rotary encoder may be installed at the hinge between the first fixed end of each first driver 123 and the static platform 121, and at the hinge between the second fixed end of each second driver 125 and the active platform 122. An angle rotary encoder may also be installed at the hinge between the first driving end of each first driver 123 and the active platform 122, and at the hinge between the second driving end of each second driver 125 and the rotating shaft. Each angle rotary encoder is used to detect the rotation angle of the corresponding intersection point, and send the detection result to the controller, which controls whether each first driver 123 and each second driver 125 are working, thereby improving the degree of automation and the control accuracy.

[0038] Specifically, in the exemplary embodiment, the position adjustment mechanism 120 further includes a controller. The controller is electrically connected to each displacement sensor, each angle rotary encoder, each electromagnetic switch valve, and each proportional valve, and is capable of receiving a displacement signal detected by the displacement sensor and a rotation angle signal detected by the angle rotary encoder, and controls each electromagnetic switch valve and each proportional valve to work according to these signals, so as to control the displacement amount and swing angle of each first driver 123 and each second driver 125.

[0039] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0043] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A carrier rocket transfer device, characterized in that: include: A carrier, used to carry and transport the erection arm carrying the launch vehicle; A position adjustment mechanism is installed on the carrier and can move with the carrier; the top surface of the position adjustment mechanism is suitable for connecting with the erection arm; Wherein, the carrier can drive the position adjustment mechanism to move up and down, so as to drive the erection arm to move up and down; the position adjustment mechanism can drive the erection arm to move and / or rotate within the plane where the position adjustment mechanism is located.

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

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

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

5. The launch vehicle transfer device according to claim 3, characterized in that: The first driver and the second driver are driving cylinders.

6. The launch vehicle transfer device according to claim 5, characterized in that: A hydraulic lock, an electromagnetic switch valve and a safety valve are respectively arranged in the first driver and the second driver.

7. The carrier rocket transfer device according to claim 3, characterized in that: The first driver and the second driver are respectively equipped with displacement sensors.

8. The carrier rocket transfer device according to claim 3, characterized in that: Angle rotary encoders are respectively installed at the hinge between the first fixed end and the static platform and at the hinge between the second fixed end and the active platform.

9. The carrier rocket transfer device according to claim 3, characterized in that: There are plural first drivers and plural second drivers.

10. The carrier rocket transfer device according to any one of claims 1 to 9, characterized in that: The vehicle is a hydraulic module vehicle.

Images