Rocket erecting, overturning and docking device, system and method

Abstract

The invention discloses a rocket erecting, overturning and docking device, system and method, and relates to the field of rocket docking. The rocket erecting, overturning and docking device comprises at least two overturning bases arranged on a fixed launching pad, at least two positioning journals arranged on a movable launching pad and matched with two supporting plates correspondingly and an auxiliary limiting assembly, each overturning base is provided with the corresponding supporting plate, each supporting plate is provided with a rotating groove, and the rotating grooves are matched with the positioning journals. According to the rocket erecting and overturning butt-joint device, the butt-joint structure is simplified, by means of cooperation of the positioning journals and the rotating grooves in the supporting plate, the butt-joint effect is improved, and the butt-joint effect is improved. The butt joint process of the fixed launching pad and the movable launching pad is more accurate, simpler and more convenient, the butt joint efficiency is effectively improved, meanwhile, the auxiliary limiting assembly is matched, radial limiting of the positioning shaft neck and the supporting plate is ensured, and overturning and shaking are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of rocket docking, and more specifically, to a rocket erection and flipping docking device, system and method. Background Art

[0002] Rockets are common vehicles for space flight. Before they are launched, they need to undergo various performance tests and inspections in the technical area, and then be transported to the launch area, where they are docked and erected on the launch pad.

[0003] At present, most domestic rockets use the "three vertical" test launch mode, but the "three vertical" mode has a high construction cost and a long hoisting and docking time. In order to adapt to the characteristics of commercial aerospace, the "three horizontal" test launch mode with low cost and fast docking and erection is particularly important. For example, the CZ-6 model rocket adopts this mode. However, the existing docking method is still relatively cumbersome, time-consuming, and not flexible enough.

[0004] In summary, how to improve docking efficiency is a problem that currently needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a rocket erection, flipping and docking device, system and method, which can effectively shorten the erection and docking time, thereby shortening the parking time of the rocket in the launch area and improving the utilization efficiency of the launch pad.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A rocket erection, flipping and docking device, comprising:

[0008] At least two flip bases are arranged on the fixed launching platform, each of the flip bases is provided with a support plate, and each of the support plates is provided with a rotation groove;

[0009] At least two positioning journals are arranged on the movable launching platform and respectively cooperate with the two supporting plates, and each positioning journal is overlapped in the corresponding rotating groove;

[0010] An auxiliary limiting assembly is used to radially limit the corresponding positioning journal and the support plate.

[0011] Preferably, the auxiliary limit assembly comprises a linear motor, two of which are provided, and each of which is provided on two of the flip bases respectively, and a limit pin is fixedly provided at the output end of each of the linear motors, and each of the limit pins is provided towards the corresponding support plate respectively;

[0012] Both ends of the positioning journal are provided with limiting lugs, each of the limiting lugs is provided with a limiting hole coaxial with the positioning journal, and the limiting pin is arranged coaxially with the limiting hole.

[0013] Preferably, each of the flip bases is provided with a flip lug, and the movable launching platform is provided with a docking lug cooperating with the flip lug, and positioning holes are provided on the flip lug and the docking lug, and the plurality of positioning holes are coaxially arranged with the limit pin.

[0014] Preferably, each of the flip ears is provided with a docking groove, the corresponding docking ear is inserted into the docking groove, and a gap is formed between the docking ear and the inner wall of the docking groove.

[0015] Preferably, the rotating groove is a V-shaped groove, and the axis of the V-shaped groove coincides with the axis of the positioning journal.

[0016] A rocket erection, flip and docking system, comprising the rocket erection, flip and docking device as described in any one of the above items, and further comprising:

[0017] A transport vehicle is arranged below the erecting frame to drive the erecting frame to move;

[0018] A measuring unit, used to measure the real-time position of the erection frame, and to assist in determining whether the center line of the erection frame is perpendicular to the launch platform;

[0019] A control unit is electrically connected to the measuring unit, and is used to receive data from the measuring unit and control the transport vehicle to drive the erecting frame to adjust.

[0020] Preferably, it further comprises a positioning unit, wherein the positioning unit is used to position the center line of the erecting frame so that the center line of the erecting frame coincides with the center line of the flip docking device.

[0021] Preferably, there are three transport vehicles in total, and the three transport vehicles are arranged in linkage, and are respectively arranged at one end of the erection frame away from the fixed launching platform and at both sides of one end of the erection frame close to the fixed launching platform.

[0022] Preferably, the positioning unit includes a laser transmitter disposed on the movable transmitting platform and a laser receiver disposed on the fixed transmitting platform and cooperating with the laser transmitter.

[0023] A docking method for a rocket erection and flip docking system, applied to any of the above-mentioned rocket erection and flip docking systems, the docking method comprising:

[0024] A coordinate system is established with the turning axis of the erecting frame as the X axis, the horizontal parking direction of the erecting frame as the Y axis, the vertical upward direction of the erecting frame as the Z axis, and the center of the turning docking device as the coordinate origin;

[0025] The transport vehicle synchronously moves the erection frame and the movable launching platform to one side of the fixed launching platform;

[0026] According to the real-time position of the erecting frame measured by the measuring unit, the control unit controls the transport vehicle to continue adjusting so that the axis of the positioning journal is located above and parallel to the X-axis and the center line of the erecting frame is located directly above the Y-axis, and the positioning journal is higher than the highest point of the support plate;

[0027] Limiting the movement of the erecting frame along the X-axis and the Y-axis, and controlling the erecting frame to fall along the Z-axis, so that the positioning journal falls into the rotating groove, and the axis of the positioning journal coincides with the axis of the rotating groove;

[0028] The auxiliary limiting assembly radially limits the corresponding positioning journal and the support plate to complete docking.

[0029] The rocket erection and flip docking device provided in the present application simplifies the docking structure. With the help of the cooperation between the positioning shaft neck and the rotating groove on the support plate, the docking process between the fixed launch platform and the movable launch platform is more precise and simple, which effectively improves the docking efficiency. At the same time, it cooperates with the auxiliary limit assembly to ensure the radial limitation of the positioning shaft neck and the support plate, avoids flipping and shaking, and further improves the stability of flip docking.

[0030] The further solution provided by the present application also provides a rocket erection and flip docking system, which introduces a transport vehicle, a measuring unit and a control unit to cooperate with the docking device to form a complete automated docking system. The measuring unit monitors the position of the erection frame in real time, and the control unit accurately controls the movement of the transport vehicle based on these data, thereby realizing the automation and intelligence of the docking process. The accuracy and efficiency of docking are further improved.

[0031] A further solution provided in the present application provides a docking method for a rocket erection and flip docking system. By establishing a coordinate system, the docking method can accurately describe the relative position relationship between the erection frame, the movable launch platform and the fixed launch platform, so that the positioning journal can accurately fall into the rotating groove, thereby ensuring the efficiency and accuracy of the docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0033] Figure 1 This is an overall schematic diagram of the vertical frame flipping and docking in this embodiment;

[0034] Figure 2 This is an exploded view of the effect of the vertical frame flipping and docking in this embodiment;

[0035] Figure 3 This is a schematic diagram of the docking device structure in this embodiment;

[0036] Figure 4 This is a diagram showing the effect of docking completion in this embodiment;

[0037] Figure 5 Schematic diagram of coordinate axes in this embodiment.

[0038] Figure 1-Figure 5 , the reference numerals include:

[0039] 1. Fixed launch platform; 2. Erecting frame; 21. Docking lug; 22. Positioning journal; 3. Transport vehicle; 41. Flip base; 42. Auxiliary limit assembly; 43. Flip lug; 44. Support plate; 5. Movable launch platform; 6. Center line. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Unless otherwise defined, the technical terms or scientific terms used in the present application shall have the usual meanings understood by persons with ordinary skills in the field to which the invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly. The embodiments of the present application disclose a rocket erection, flipping and docking device, system and method.

[0042] The core of the invention is to provide a rocket erection, flipping and docking device.

[0043] Another core of the present invention is to provide a rocket erection, flip and docking system, including the above-mentioned rocket erection, flip and docking device.

[0044] Another core of the present invention is to provide a docking method for a rocket erection and flip docking system, which is applied to the above-mentioned rocket erection and flip docking system.

[0045] Please refer to Figures 1 to 4 .

[0046] The rocket erection, flipping and docking device provided by the present invention includes at least two flip bases 41 arranged on the fixed launch platform 1, at least two positioning shaft necks 22 respectively matched with two support plates 44 arranged on the movable launch platform 5, and an auxiliary limiting assembly 42. A support plate 44 is arranged on each flip base 41, and a rotation groove is opened on each support plate 44. Each positioning shaft neck 22 is overlapped in the corresponding rotation groove, and the auxiliary limiting assembly 42 is used to radially limit the corresponding positioning shaft neck 22 and the support plate 44.

[0047] Specifically, the movable launching platform 5 is fixedly connected to one end of the erecting frame 2 close to the fixed launching platform 1, and the above-mentioned flip docking device is arranged between the movable launching platform 5 and the fixed launching platform 1, and is used to connect between the movable launching platform 5 and the fixed launching platform 1 so that the movable launching platform 5 drives the erecting frame 2 to flip. The two flip bases 41 are welded and fixed on the fixed launching platform 1, and the two flip bases 41 are arranged opposite to each other. The support plate 44 is vertically arranged on one side of the corresponding flip base 41, and is located on the movable launching platform 5. Two corresponding positioning journals 22 are provided. The spacing between the two positioning journals 22 is the same as the spacing between the two support plates 44. Both support plates 44 are provided with rotation grooves. During the docking process, the two positioning journals 22 are respectively placed in the two rotation grooves, so that the movable launching platform 5 can rotate along the axis of the positioning journal 22. In order to avoid radial displacement of the positioning journal 22 in the rotation groove during rotation, an auxiliary limit assembly 42 is also provided in the above-mentioned flip docking device. The auxiliary limit assembly 42 is used to realize radial limitation of the positioning journal 22 and the rotation groove on the support plate 44, thereby ensuring the stability of rotation.

[0048] The above-mentioned rocket erection and flip docking device effectively simplifies the docking structure. With the help of the cooperation between the positioning shaft neck 22 and the rotating groove on the support plate 44, the docking process between the fixed launch platform 1 and the movable launch platform 5 is more accurate and simple, which effectively improves the docking efficiency. At the same time, it cooperates with the auxiliary limit assembly 42 to ensure the radial limitation of the positioning shaft neck 22 and the support plate 44, avoids flipping and shaking, and further improves the stability of flip docking.

[0049] The rocket erection, flipping and docking device provided by the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments.

[0050] In a specific embodiment, reference Figures 1 to 4 The auxiliary limit assembly 42 includes a linear motor, and there are two linear motors in total, and each linear motor is respectively arranged on two flip bases 41. A limit pin is fixedly arranged at the output end of each linear motor, and each limit pin is respectively arranged toward the corresponding support plate 44. Limit support ears are arranged at both ends of the positioning shaft neck 22, and each limit support ear is provided with a limit hole coaxial with the positioning shaft neck 22, and the limit pin is coaxially arranged with the limit hole.

[0051] Specifically, the linear motor is located on the flip base 41 on the other side away from the support plate 44. Each flip base 41 is provided with a linear motor. The shaft of the output end of the linear motor coincides with the shaft of the rotating groove on the support plate 44, and the output end of the linear motor is coaxially connected with a limit pin. The linear motor can move linearly along the axis with the limit pin. In order to improve the stability of the positioning journal 22, limit ears are provided at both ends of the positioning journal 22 on the movable launch platform 5. The positioning journal 22 is horizontally located between the two limit ears. Similarly, the support plate 44 is also located between the two limit ears. During the docking process between the movable launch platform 5 and the fixed launch platform 1, the two limit ears gradually move to the position of clamping the support plate 44, thereby facilitating the positioning journal 22 to be placed in the rotating groove of the support plate 44. A limit hole is provided on the limit ear close to the linear motor. When the positioning journal 22 overlaps the rotating groove of the support plate 44, the linear motor starts to work. The output end of each linear motor pushes its corresponding limit pin to move toward the support plate 44. Since the stop pin and the stop hole are designed to be coaxially arranged, as the linear motor advances, the stop pin will be accurately inserted into the stop holes of the stop ears at both ends of the positioning journal 22, ensuring that the radial position of the positioning journal 22 in the rotating groove is firmly fixed, and even in the high-dynamic flipping process, it can effectively prevent any unexpected radial displacement or shaking of the positioning journal 22. The cooperation between the stop pin and the stop hole not only provides the necessary stability, but also simplifies the adjustment steps during the docking process, because once the stop pin is fully inserted into the stop hole, the entire system automatically reaches the predetermined docking position and alignment state.

[0052] In addition, the use of linear motors provides precise and fast control capabilities, allowing the docking process to be completed within a strict time window, which is critical for operations such as rocket launches that require extremely high time accuracy. The fast response and precise positioning capabilities of linear motors ensure that the flip docking task can be completed smoothly and safely even in emergency or time-sensitive situations.

[0053] To further enhance the reliability and safety of the device, sensors and control systems can be integrated on the linear motor to monitor the position and status of the limit pin in real time. In this way, if any abnormality occurs during the docking process, such as the limit pin failing to be properly inserted into the limit hole, the system can immediately issue an alarm and take measures, such as suspending the flipping operation, to avoid potential accident risks.

[0054] Optionally, the positioning journal 22 can be configured as a hollow structure, and then limiting holes are provided through the limiting ears at both ends, and the limiting pins are inserted into the two limiting holes in sequence, thereby further improving the rotation stability of the device.

[0055] Based on any of the above embodiments, Figures 1 to 4 Each flip base 41 is provided with a flip ear 43, and the movable launching platform 5 is provided with a docking ear 21 cooperating with the flip ear 43. Positioning holes are opened on the flip ear 43 and the docking ear 21, and the multiple positioning holes are coaxially arranged with the limit pin.

[0056] Specifically, the flip lug 43 is provided on the linear motor and the support plate 44, and is located on the flip base 41. Correspondingly, a docking lug 21 cooperating with the flip lug 43 is provided on the movable launch platform 5. At the same time, a positioning hole coaxial with the limit pin is provided on the flip lug 43 and the docking lug 21. After the positioning shaft neck 22 is overlapped in the rotating groove, the linear motor drives the limit pin to pass through the positioning hole and the limit hole in sequence, thereby providing additional connection points and stability guarantees. The design of the flip lug 43 and the docking lug 21 not only strengthens the structural connection between the movable launch platform 5 and the fixed launch platform 1, but also further enhances the accuracy and stability of the docking process through the positioning holes provided on them.

[0057] Based on any of the above embodiments, Figures 1 to 4 A docking groove is provided on each flip ear 43, and the corresponding docking ear 21 is inserted into the docking groove, and a gap is formed between the docking ear 21 and the inner wall of the docking groove. Specifically, a certain gap is left to allow a certain error in the docking process, thereby improving the docking efficiency.

[0058] Specifically, a docking groove for inserting the docking lug 21 is provided in the middle of the flip lug 43, which provides a tighter and more stable interface for the connection between the movable launch platform 5 and the fixed launch platform 1. When the docking lug 21 is inserted into the docking groove of the flip lug 43, the contact area between the two is greatly increased, thereby enhancing the rigidity and stability of the connection. A certain gap is left between the inner wall of the docking groove and the docking lug 21. Since there are errors in the docking process, the gap can be easily fine-tuned according to the errors, thereby improving the docking efficiency. In addition, the coordination between the docking groove and the docking lug 21 also simplifies the docking process. Before the docking begins, the operator only needs to slowly move the movable launch platform 5 closer to the fixed launch platform 1 so that the docking lug 21 naturally slides into the corresponding docking groove. Once fully inserted, the physical connection between the flip lug 43 and the docking lug 21 is formed, laying a solid foundation for subsequent flipping and limiting operations.

[0059] It should be noted that the design of the docking groove and the docking lug 21 also takes into account the need for easy maintenance and replacement. After long-term use or extreme conditions, if the docking parts are worn or damaged, the operator can relatively easily disassemble and replace the damaged parts without large-scale disassembly or reconstruction of the entire docking system.

[0060] In a specific embodiment provided in the present application, the rotation groove is a V-shaped groove, and the axis of the V-shaped groove coincides with the axis of the positioning journal 22 .

[0061] Specifically, the design of the V-groove helps guide the positioning journal 22 into the correct position. Since the two side walls of the V-groove are inclined, they act like two guide surfaces and can guide the positioning journal 22 into the groove along the correct path. This design reduces misoperation during docking and improves the efficiency and accuracy of docking. In addition, the V-groove also has a certain self-locking function. When the positioning journal 22 is fully inserted into the V-groove, due to the clamping effect of the two side walls of the groove on the positioning journal 22, even under the condition of external force, the positioning journal 22 is not easy to slip out of the groove. This self-locking function provides additional protection for stability during the flipping process. At the same time, the design of the V-groove also takes into account the dynamic characteristics during the flipping process. During the flipping process, the movable launch platform 5 will rotate around the axis of the positioning journal 22. Since the axis of the V-groove coincides with the axis of the positioning journal 22, this rotation can be carried out smoothly without additional resistance or friction. This helps to reduce energy loss during the flipping process and improve the efficiency and stability of the flipping.

[0062] The rocket erection, flipping and docking system provided by the present invention includes the rocket erection, flipping and docking device as described above, and also includes a transport vehicle 3, a measuring unit and a control unit. The transport vehicle 3 is arranged below the erection frame 2 to drive the erection frame 2 to move. The measuring unit is used to measure the real-time position of the erection frame 2 and to assist in determining whether the center line of the erection frame is perpendicular to the launch platform. The measurement method can be manual measurement, preferably laser-assisted measurement. The control unit is electrically connected to the measuring unit, and the control unit is used to receive data from the measuring unit and control the transport vehicle 3 to drive the erection frame 2 to adjust.

[0063] Specifically, the transport vehicle 3 is arranged below the erection frame 2, and is used to drive the erection frame 2 and the movable launch platform 5 to move. The transport vehicle 3 can not only carry the erection frame 2 and the movable launch platform 5 (including the rocket) above it, but also accurately move the erection frame 2 to the specified position under the command of the control unit. The measuring unit is responsible for real-time monitoring of the real-time position of the erection frame 2. Through high-precision sensors and algorithms, the measuring unit can accurately capture every tiny movement of the erection frame 2 in three-dimensional space. These data are crucial for subsequent control and adjustment because they provide accurate feedback information for the control unit. The control unit is responsible for receiving the data from the measuring unit, and issuing instructions to the transport vehicle 3 to adjust the position of the erection frame 2 according to the preset algorithm and logic. This closed-loop control system ensures that the erection frame 2 can move according to the predetermined trajectory and speed, thereby realizing the precise control of the rocket erection, flipping and docking process.

[0064] The above-mentioned rocket erection and flip docking system introduces the transport vehicle 3, the measuring unit and the control unit to cooperate with the docking device to form a complete docking system. The measuring unit and the control unit can be used manually or automatically. The measuring unit monitors the position of the erection frame in real time, and the control unit accurately controls the movement of the transport vehicle based on these data, thereby improving the accuracy and efficiency of docking.

[0065] Based on any of the above embodiments, the rocket erection, flipping and docking system further includes a positioning unit, which is used to position the center line 6 of the erection frame 2 so that the center line 6 of the erection frame 2 coincides with the center line of the flipping and docking device.

[0066] Specifically, the main responsibility of the positioning unit is to accurately locate the center line of the erection frame 2 to ensure that the center line of the erection frame 2 coincides with the center line of the flip docking device. The positioning unit can use a variety of high-precision measurement and positioning technologies, which can monitor the position and posture of the erection frame 2 in real time, and accurately calculate the actual position of the center line 6 of the erection frame 2 through complex algorithms and data processing. Then, the positioning unit compares this information with the position of the center line of the flip docking device and generates the necessary adjustment instructions. Once the positioning unit detects that there is a deviation between the center line 6 of the erection frame 2 and the center line of the flip docking device, it will immediately feed this information back to the control unit. The control unit will then issue precise adjustment instructions to the transport vehicle 3 based on the size and direction of the deviation. After receiving the instruction, the transport vehicle 3 will accurately adjust the position of the erection frame 2 until the center line 6 of the erection frame 2 completely coincides with the center line of the flip docking device.

[0067] Furthermore, the positioning unit includes a laser transmitter disposed on the movable transmitting platform 5 and a laser receiver disposed on the fixed transmitting platform 1 and cooperating with the laser transmitter.

[0068] Specifically, the positioning unit is mainly composed of a laser transmitter arranged on the movable launch platform 5, and a laser receiver arranged on the fixed launch platform 1 and precisely matched with the laser transmitter. The laser transmitter is installed at the center line position of the movable launch platform 5, and it can emit one or more high-precision laser beams. Corresponding to the laser transmitter, the laser receiver is arranged at the center line position of the fixed launch platform 1. It can accurately capture the laser beam emitted by the laser transmitter and convert the received optical signal into an electrical signal through the internal high-precision sensor. When the movable launch platform 5 gradually approaches the fixed launch platform 1 driven by the transport vehicle 3, the laser transmitter starts to emit a laser beam. These lasers are finally accurately irradiated on the laser receiver. After receiving the laser signal, the laser receiver immediately converts it into an electrical signal and sends it to the control unit. After receiving the signal from the laser receiver, the control unit will perform calculations and analysis. It uses pre-stored geometric relationships and algorithms to accurately calculate the position and posture of the movable launch platform 5 relative to the fixed launch platform 1 according to the transmission time and direction of the laser beam. Then, the control unit will issue precise adjustment instructions to the transport vehicle 3 based on this information to ensure that the center line of the erection frame 2 completely coincides with the center line of the flip docking device.

[0069] Optionally, a heavy hammer may be hung and its mark may be moved to the vicinity of the center line of the flipping device, and the two center lines may be considered to be substantially coincident.

[0070] Based on any of the above embodiments, Figure 1 and Figure 2There are three transport vehicles 3 in total, and the three transport vehicles 3 are arranged in linkage with each other. The three transport vehicles 3 are respectively arranged at one end of the erection frame 2 away from the fixed launching platform 1 and at both sides of one end of the erection frame 2 close to the fixed launching platform 1.

[0071] Specifically, the system is equipped with three transport vehicles 3, which are linked to form a stable and flexible transport platform. One is located at the end of the erection frame 2 away from the fixed launch platform 1, and is used to support and move the rear of the erection frame; the other two are respectively arranged on both sides of the end of the erection frame 2 close to the fixed launch platform 1, forming a double-sided support for the front of the erection frame. This layout ensures the stability of the erection frame during movement. The three transport vehicles can synchronize each other's moving speed and direction in real time to ensure that the erection frame always remains horizontal and stable during movement. This linkage mechanism greatly reduces the risk of shaking or tilting of the erection frame due to the lack of synchronization of the transport vehicles, thereby improving the safety and reliability of the entire system. In addition, the configuration of the three transport vehicles also improves the adaptability and flexibility of the system. Whether in a spacious launch site or in a narrow space, the system can achieve precise movement and positioning of the erection frame by adjusting the relative positions and angles of the three transport vehicles. This flexibility enables the system to be applicable to more types of launch missions, further expanding its scope of application.

[0072] refer to Figures 1 to 5 The docking method of the rocket erection and flip docking system provided by the present invention is applied to the above-mentioned rocket erection and flip docking system, and the docking method comprises:

[0073] S1, establish a coordinate system with the turning axis of the erection frame 2 as the X-axis, the horizontal parking direction of the erection frame 2 as the Y-axis, the vertical upward direction of the erection frame 2 as the Z-axis, and the center of the turning docking device as the coordinate origin;

[0074] S2, the transport vehicle 3 moves the erection frame 2 and the movable launching platform 5 synchronously to the side of the fixed launching platform 1;

[0075] S3, according to the real-time position of the erecting frame 2 measured by the measuring unit, the control unit controls the transport vehicle 3 to continue adjusting so that the axis of the positioning journal 22 is located above and parallel to the X-axis and the center line of the erecting frame 2 is located directly above the Y-axis, and the positioning journal 22 is higher than the highest point of the support plate 44;

[0076] S4, limiting the movement of the erecting frame 2 along the X-axis and the Y-axis, and controlling the erecting frame 2 to fall along the Z-axis, so that the positioning journal 22 falls into the rotating groove, and the axis of the positioning journal 22 coincides with the axis of the rotating groove;

[0077] S5. The auxiliary limiting assembly 42 radially limits the corresponding positioning journal 22 and the support plate 44 to complete the docking.

[0078] Specifically, the turning axis of the erecting frame 2 is the X axis, the horizontal parking direction of the erecting frame 2 is the Y axis, the vertical upward direction of the erecting frame 2 is the Z axis, and the center of the turning docking device is used as the coordinate origin to establish a coordinate system. The three transport vehicles 3 transport the erection frame 2 and the movable platform to the side of the fixed launching platform 1 with the flip device, and move the three trolleys backward at the same time, slowly approach one side of the movable launching platform 5 toward the fixed launching platform 1, and at the same time measure the distance deviation between the center line 6 (surface) of the erection frame and the center line (surface) between the two sets of flip devices, limit the movement in the X-axis direction and the rotation in the Z-axis direction, and ensure that the tail docking ear 21 of the erection frame 2 and the limit ear can be smoothly inserted into the flip ears 43 on both sides. At this time, it should be ensured that the auxiliary positioning journal 22 is higher than the highest point of the V-groove support plate 44 to prevent interference in the retreat process, continue to control the erection frame 2 to retreat, and slowly lower the trolley after it is judged to be in place, that is, it is judged that the specific descending distance can make the auxiliary positioning journal axis coincide with the V-groove axis, so that the auxiliary positioning journal 22 is located on the V-groove support plate 44, and finally control the linear motor to insert the limit pin to limit the movement of the Y and Z axes and the rotation of the Y axis to complete the docking.

[0079] The above-mentioned measurement of the distance deviation between the two center lines can be based on measuring the distance between the rear of the erection frame 2 (or the movable launch platform 5) and the fixed launch platform 1 along the front and rear sides of the X-axis during the retreat process. The distances on both sides are not much different, indicating that the center line 6 of the erection frame 2 is parallel to the center lines of the two flip devices. Then, a mark is made at a certain center position of the erection frame, which can be a laser or a hanging hammer. The mark is moved to the vicinity of the center line of the flip device. It can be considered that the above-mentioned two center lines are basically coincident, and the two degrees of freedom of movement in the X-axis direction and rotation in the Z-axis direction can be restricted. Then, the docking lug 21 can be retreated and inserted. The center lines of the above-mentioned two flip devices can reserve the center expansion line when laying cement, or they can be marked separately later. This method is only a specific implementation example, and any behavior using the above-mentioned docking method should be within the scope of protection.

[0080] After the above-mentioned judgment that the erecting frame 2 has retreated into place, the transport vehicle 3 can measure the Y-axis coordinate of the auxiliary positioning shaft neck axis during the retreat process. If the Y-axis coordinate does not change during the descent of the vehicle, the measured value can be controlled at around 0; if the descent of the vehicle causes the Y-axis coordinate to change, the height and Y-axis measurement value of the vehicle before descent can be controlled according to the corresponding Y-axis change corresponding to the descent distance, so as to control the shaft neck to be accurately located in the V-groove.

[0081] The deviations reported by all the above measurements can be corrected by adjusting the three transport vehicles 3.

[0082] After the journal is in place, start the linear motor and insert the limit pin to limit the movement of the Y and Z axes and the rotation of the Y axis to complete the docking.

[0083] The docking method of the above-mentioned rocket erection and flip docking device can accurately describe the relative position relationship between the erection frame 2, the movable launch platform 5 and the fixed launch platform 1 by establishing a coordinate system, so that the positioning journal can accurately fall into the rotating groove, thereby ensuring the efficiency and accuracy of the docking.

[0084] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0085] The above is a detailed introduction to a rocket erection, flipping and docking device, system and method provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A rocket erection and flip docking device, characterized in that: include: At least two flip bases (41) are arranged on the fixed launch platform (1), each of the flip bases (41) is provided with a support plate (44), and each of the support plates (44) is provided with a rotation groove; At least two positioning journals (22) are arranged on the movable launching platform (5) and respectively cooperate with the two support plates (44), each positioning journal (22) being overlapped in the corresponding rotating groove; An auxiliary limiting assembly (42), the auxiliary limiting assembly (42) being used to radially limit the corresponding positioning journal (22) and the support plate (44).

2. A rocket erection and flip docking device according to claim 1, characterized in that: The auxiliary limiting assembly (42) comprises a linear motor, two of which are provided, and each of which is provided on two flip bases (41), and a limiting pin is fixedly provided at the output end of each linear motor, and each of the limiting pins is provided towards the corresponding support plate (44); Both ends of the positioning shaft neck (22) are provided with limit support ears, each of the limit support ears is provided with a limit hole coaxial with the positioning shaft neck (22), and the limit pin is arranged coaxially with the limit hole.

3. A rocket erection and flip docking device according to claim 2, characterized in that: Each of the flip bases (41) is provided with a flip ear (43), and the movable launching platform (5) is provided with a docking ear (21) that cooperates with the flip ear (43). Positioning holes are provided on the flip ear (43) and the docking ear (21), and a plurality of the positioning holes are coaxially arranged with the limiting pin.

4. A rocket erection and flip docking device according to claim 3, characterized in that: A docking groove is formed on each of the flip ears (43), and the corresponding docking ear (21) is inserted into the docking groove, and a gap is formed between the docking ear (21) and the inner wall of the docking groove.

5. A rocket erection and flip docking device according to any one of claims 1 to 4, characterized in that: The rotating groove is a V-shaped groove, and the axis of the V-shaped groove coincides with the axis of the positioning journal (22).

6. A rocket erection, flipping and docking system, characterized in that: The rocket erection, flipping and docking device according to any one of claims 1 to 5 further comprises: A transport vehicle (3) is arranged below the erecting frame (2) to drive the erecting frame (2) to move; A measuring unit, used to measure the real-time position of the erection frame (2) to assist in determining whether the center line of the erection frame is perpendicular to the launch platform; A control unit, the control unit is electrically connected to the measuring unit, the control unit is used to receive data from the measuring unit and control the transport vehicle (3) to drive the erection frame (2) to adjust.

7. A rocket erection, flipping and docking system according to claim 6, characterized in that: It also comprises a positioning unit, which is used to position the center line (6) of the erecting frame (2) so that the center line (6) of the erecting frame (2) coincides with the center line of the flip docking device.

8. The rocket erection, flipping and docking system according to claim 6, characterized in that: A total of three transport vehicles (3) are provided, and the three transport vehicles (3) are arranged in linkage with each other. The three transport vehicles (3) are respectively arranged at one end of the erection frame (2) away from the fixed launch platform (1) and at both sides of one end of the erection frame (2) close to the fixed launch platform (1).

9. The rocket erection, flipping and docking system according to claim 7, characterized in that: The positioning unit comprises a laser transmitter arranged on the movable transmitting platform (5) and a laser receiver arranged on the fixed transmitting platform (1) and cooperating with the laser transmitter.

10. A docking method for a rocket erection and flip docking system, characterized in that: Applied to the rocket erection and flip docking system according to any one of claims 6 to 9, the docking method comprises: A coordinate system is established with the turning axis of the erecting frame (2) as the X-axis, the horizontal parking direction of the erecting frame (2) as the Y-axis, the vertical upward direction of the erecting frame (2) as the Z-axis, and the center of the turning docking device as the coordinate origin; The transport vehicle (3) synchronously moves the erection frame (2) and the movable launching platform (5) to one side of the fixed launching platform (1); According to the real-time position of the erecting frame (2) measured by the measuring unit, the control unit controls the transport vehicle (3) to continue adjusting so that the axis of the positioning journal (22) is located above and parallel to the X-axis and the centerline of the erecting frame (2) is located directly above the Y-axis, and the positioning journal (22) is higher than the highest point of the support plate (44); Limiting the movement of the erecting frame (2) along the X-axis and the Y-axis, and controlling the erecting frame (2) to fall along the Z-axis, so that the positioning journal (22) falls into the rotating groove, and the axis of the positioning journal (22) coincides with the axis of the rotating groove; The auxiliary limiting assembly (42) radially limits the corresponding positioning journal (22) and the support plate (44) to complete docking.

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