Rocket containing and releasing assembly and device and rocket containing and releasing method

Abstract

The embodiment of the invention provides a rocket restraining and releasing assembly and device and a rocket restraining and releasing method. The rocket restraining and releasing assembly comprises a backward base, a locking mechanism and a slow release mechanism. The backward inverted base comprises a top plate, a bottom plate, a base driving device, an arrow corner supporting seat, a fixing frame and a plurality of swing rods, the top plate and the bottom plate are arranged in parallel up and down, the two ends of each swing rod are hinged to the top plate and the bottom plate respectively, and the swing rods, the top plate and the bottom plate form a movable parallelogram structure; the top of the fixing frame is provided with an arrow corner supporting seat. The bottom of the fixing frame is fixedly connected with the top plate. One end of the base driving device is hinged to the bottom plate, and the other end of the base driving device is hinged to the top plate. The locking mechanism is arranged on the top plate and used for restraining or releasing a rocket. The slow release mechanism is arranged on the locking mechanism and used for slowly releasing the ignited rocket. According to the rocket restraining and releasing assembly and device and the rocket restraining and releasing method, the releasing space of the rocket is increased, the overall structure of the device is simplified, and operation is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of rocket launch auxiliary equipment, and particularly to a rocket restraint release assembly, a device and a rocket restraint release method. Background Art

[0002] The rocket restraint release launch technology is mainly used for the support, restraint and release of the rocket during the ignition and takeoff stage. The rocket restraint release device is a safety device during rocket launch. It provides a support point for the rocket and at the same time provides a pressing force at the initial stage of rocket ignition to fix the rocket on the launch pad. When it is determined that the rocket ignition is successful and there is no fault, the pressing arm is quickly retracted to release the rocket. The setting of the restraint release device can effectively improve the success rate and safety of rocket launch.

[0003] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art:

[0004] Most of the rocket restraint release devices in the prior art do not have a slow release mechanism. After the rocket is ignited, the release speed of the rocket is too fast, which is very likely to damage the electronic components on the rocket due to the huge impact force generated by rocket launch. At the same time, if some faults that do not meet the launch conditions occur after the rocket is ignited, without the slow release mechanism to continuously restrain the rocket after ignition, there may be a problem of rocket launch failure, and the potential safety hazard is relatively large. The rearward tilting mechanisms adopted in the prior art mostly have complex structures and large volumes, and the release space formed by the rearward tilting is also small. The locking mechanisms in the prior art are also relatively complex, and the operations of locking and unlocking are inconvenient, and the locking reliability is poor, and the rocket cannot be locked and released safely and effectively. Summary of the Invention

[0005] In view of this, the purpose of the embodiments of the present invention is to provide a rocket restraint release assembly, a device and a rocket restraint release method to improve the problems of complex rearward tilting structure, inconvenient operation and small formed release space existing in the prior art.

[0006] In a first aspect, an embodiment of the present invention provides a rocket restraint release assembly, including a rearward tilting base, a locking mechanism and a slow release mechanism;

[0007] The rear tilting base includes a top plate, a bottom plate, a base driving device, arrow angle support seats, a fixing frame, and a plurality of swing rods. The top plate and the bottom plate are arranged parallel to each other vertically. The two ends of each swing rod are respectively hinged to the top plate and the bottom plate, and form a movable parallelogram structure with the top plate and the bottom plate. The arrow angle support seats are provided at the top of the fixing frame. The bottom of the fixing frame is fixedly connected to the top plate. The fixing frame forms stepped portions on both sides of the arrow angle support seats respectively. The arrow angle support seats are used to support the arrow angles. The base driving device is a telescopic mechanism, with one end hinged to the bottom plate and the other end hinged to the top plate, and is used to drive the top plate to move towards the rocket when restraining the rocket, so that the projection of one end of the top plate on the bottom plate is located on the side of the bottom plate away from the second end; or is used to drive the top plate to move away from the rocket when releasing the rocket, so that the projection of the end of the top plate close to the first end of the bottom plate on the bottom plate is located on the bottom plate.

[0008] The locking mechanism is arranged on the top plate and is used to restrain or release the rocket.

[0009] The slow release mechanism is arranged on the locking mechanism and is used to slowly release the rocket after ignition.

[0010] Further, the rear tilting base includes at least two groups of swing rods. Each group of swing rods includes at least two swing rods. The two ends of the first group of swing rods are respectively arranged close to the first ends of the top plate and the bottom plate. The two ends of the second group of swing rods are respectively arranged close to the second ends of the top plate and the bottom plate. The fixed end of the base driving device is arranged close to the first end of the bottom plate, and the driving end of the base driving device is arranged close to the second end of the top plate.

[0011] Further, the base driving device includes a hydraulic cylinder or a pneumatic cylinder. The number of the base driving devices is two, and the two base driving devices are arranged in parallel.

[0012] Further, the rear tilting base further includes a plurality of support columns. The bottoms of the support columns are fixed on the bottom plate, and the support columns are used to support the top plate when restraining the rocket.

[0013] Further, the rear tilting base further includes arrow angle support seats and a fixing frame. The arrow angle support seats are provided at the top of the fixing frame. The bottom of the fixing frame is fixedly connected to the top plate. The fixing frame forms stepped portions on both sides of the arrow angle support seats respectively. The arrow angle support seats are used to support the arrow angles.

[0014] Further, the locking mechanism includes a pressure head, a connecting rod, a connecting rod with a crank, and a locking driving device; one end of the connecting rod and the pressure head are hinged at a first hinge point, the other end of the connecting rod and the locking driving device are hinged at a second hinge point, the bottom of the connecting rod and the connecting rod with a crank are hinged at a third hinge point, the bottom of the pressure head is hinged to the top plate, the bottom end of the connecting rod with a crank is hinged to the top plate at a fourth hinge point, and the bottom of the locking driving device is hinged to the top plate. The locking driving device is used to drive one end of the connecting rod to rise, so that the free end of the pressure head moves away from the step portion to release the rocket, or drive one end of the connecting rod to descend, so that the pressure head approaches the step portion to hold the rocket in place.

[0015] Further, when the rocket is in a constrained state, the first hinge point, the third hinge point, and the fourth hinge point are collinear to form a dead point locking structure.

[0016] Further, the slow release mechanism includes a sliding rod, a crank, a rocker, a limit block, and a damping cylinder; one end of the crank is hinged to the sliding rod, and the other end is hinged to one end of the damping cylinder. The other end of the damping cylinder is hinged to the pressure head; one end of the rocker is hinged to the bottom of the crank, and the other end is hinged to the pressure head; the sliding rod passes through the central hole of the limit block, and the limit block is fixed on the upper surface of the pressure head to limit the sliding rod to move only in the vertical direction of the upper surface of the pressure head; a pressing portion for cooperating with the arrow angle support seat is provided at the end of the crank away from the damping cylinder.

[0017] Further, the rocket holding and releasing assembly further includes a separator, which includes a fixed part and a separating part. The damping cylinder is hinged to the separating part, the fixed part is fixed on the pressure head, and the fixed part and the separating part are used to be connected as an integral structure or separated into two parts. The fixed part is used to drive the separating part to separate from the fixed part.

[0018] Further, a shear-resistant pin is inserted through the separating part. One end of the shear-resistant pin is provided with a spherical portion, and the spherical portion is located on the side of the separating part close to the fixed part; a spherical groove for cooperating with the spherical portion is provided on the fixed part, and the spherical portion is used to abut against the spherical groove.

[0019] In a second aspect, an embodiment of the present invention provides a rocket holding and releasing device, which includes a plurality of rocket holding and releasing assemblies as described above. The plurality of rocket holding and releasing assemblies are respectively detachably connected to the launch pad, and the plurality of rocket holding and releasing assemblies are arranged around the launch position of the rocket and are evenly distributed.

[0020] In a third aspect, an embodiment of the present invention provides a method for holding and releasing a rocket, which is used for the rocket holding and releasing device as described above. The rearward tilting base includes an arrow corner support seat, and the locking mechanism includes a pressing head, a connecting rod, a connecting rod with a bracket, and a locking driving device; one end of the connecting rod and the pressing head are hinged at a first hinge point, the other end of the connecting rod and the locking driving device are hinged at a second hinge point, the bottom of the connecting rod and the connecting rod with a bracket are hinged at a third hinge point, and the bottom end of the connecting rod with a bracket is hinged to the top plate at a fourth hinge point; the slow release mechanism includes a crank and a damping cylinder, and a pressing part is provided on the crank.

[0021] The method for holding and releasing the rocket includes the following steps:

[0022] Erect the rocket at the launching position of the launching pad.

[0023] Control the base driving device to drive the top plate to move towards the rocket, and make the arrow corner support seat located at the bottom of the rocket arrow corner to support the rocket arrow corner.

[0024] Control the locking driving device to drive the end of the connecting rod with the second hinge point to move upward until the pressing part of the crank abuts against the arrow corner, and make the first hinge point, the third hinge point and the fourth hinge point collinear to lock the arrow corner.

[0025] Ignite the rocket, and the damping cylinder applies a damping force to the rocket. If the rocket meets the release condition, unload the damping force of the damping cylinder, and at the same time control the locking driving device to make the locking mechanism tilt backward to make the pressing part leave the rocket arrow corner, and control the base driving device to make the rearward tilting base tilt backward to provide a launching space for the rocket, so as to realize the release of the rocket.

[0026] If the rocket does not meet the release condition, extinguish the rocket, and under the action of the damping force of the damping cylinder, the rocket descends and resets to the holding state.

[0027] The above technical solution has the following beneficial effects: The rocket restraint and release assembly provided by the present invention includes a rear tilting base, a locking mechanism, and a slow release mechanism. The rear tilting base can form a release space for avoiding the rocket during rocket launch. The locking mechanism can restrain or release the rocket. The slow release mechanism can continuously restrain the rocket after ignition to prevent damage to internal components caused by sudden release of the rocket. At the same time, it can also prevent safety accidents such as rollover due to faults after rocket ignition. The rear tilting base provided by the present invention is an active parallelogram structure. Utilizing the instability of the parallelogram structure, the top plate can be moved in the direction close to or away from the rocket launch position by the drive of the base drive device to restrain or release the rocket. The rear tilting base provided by the present invention has a simple structure and convenient operation. At the same time, the size of the release space formed by the rear tilting base can be adjusted by installing base drive devices with different telescopic ranges to meet the launch requirements of rockets with different structures. The rocket restraint and release device and the rocket restraint and release method provided by the present invention include the above rocket restraint and release assembly, and therefore, also have the above beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 It is a schematic assembly structure diagram of the rocket restraint and release device and the rocket body in an embodiment of the present invention.

[0030] Figure 2 It is a schematic structural diagram of the rocket restraint and release assembly in an embodiment of the present invention.

[0031] Figure 3 It is a schematic front sectional view of the assembly of the rocket restraint and release device and the rocket arrow angle in an embodiment of the present invention.

[0032] Figure 4 It is a schematic structural diagram of the rear tilting base in an embodiment of the present invention.

[0033] Figure 5 It is a schematic diagram of the rear tilting process of the rear tilting base in an embodiment of the present invention.

[0034] Figure 6 It is a schematic structural diagram of the rocket restraint and release assembly from another perspective in an embodiment of the present invention.

[0035] Figure 7 It is a schematic structural diagram of the locking mechanism in an embodiment of the present invention.

[0036] Figure 8 It is a schematic diagram of the state when the locking mechanism of the embodiment of the present invention presses the rocket.

[0037] Figure 9 It is a schematic diagram of the state when the locking mechanism of the embodiment of the present invention releases the rocket.

[0038] Figure 10 It is a schematic structural diagram of the slow-release mechanism of the embodiment of the present invention.

[0039] Figure 11 It is a schematic structural diagram of another perspective of the rocket restraint and release assembly of the embodiment of the present invention.

[0040] Figure 12 It is a schematic cross-sectional structural diagram of the rocket restraint and release assembly of the embodiment of the present invention.

[0041] Figure 13 It is a simplified schematic structural diagram of the slow-release mechanism of the embodiment of the present invention.

[0042] Figure 14 It is a schematic front cross-sectional structural diagram of the rocket restraint and release assembly of the embodiment of the present invention.

[0043] Figure 15 It is a schematic cross-sectional structural diagram of another perspective of the rocket restraint and release assembly of the embodiment of the present invention.

[0044] Figure 16 It is of the embodiment of the present invention Figure 15 An enlarged schematic diagram of the structure at position A.

[0045] The meanings of the reference numerals in the drawings are as follows:

[0046] 100. Rocket restraint and release assembly;

[0047] 10. Rear tilting base; 11. Top plate; 12. Bottom plate; 13. Base driving device; 14. Swing rod; 15. Support column; 16. Arrow angle support seat; 161. Arrow angle support surface; 17. Fixed frame; 171. Step portion;

[0048] 20. Locking mechanism; 21. Pressing head; 211. Support plate; 2111. First plate surface; 2112. Avoidance groove; 2113. Protruding portion; 2114. Second plate surface; 212. Connecting plate; 2121. First connecting portion; 2122. Second connecting portion; 213. Reinforcing rib; 22. Connecting rod; 23. Linking rod; 24. Locking driving device; 25. Fixed seat; 26. Mounting seat;

[0049] 30. Slow-release mechanism; 31. Crank; 32. Rocker; 33. Damper cylinder; 34. Separator; 341. Fixed part; 3411. Fixed part body; 3412. Body fixing seat; 342. Separating part; 3421. Anti-shear pin; 35. Sliding rod; 36. Limit block;

[0050] 40. Rocket body; 41. Rocket fin. Detailed implementation mode

[0051] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, many specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present invention by showing examples of the present invention. In the drawings and the following description, at least some of the well-known structures and technologies are not shown in order to avoid unnecessarily obscuring the present invention; and, for clarity, the dimensions of some structures may be exaggerated. In addition, the features, structures, or characteristics described below may be combined in any suitable manner in one or more embodiments.

[0052] As Figures 1 to 3 shown, the rocket restraint and release device according to the embodiment of the present invention includes a plurality of rocket restraint and release assemblies 100, the plurality of rocket restraint and release assemblies 100 are respectively detachably connected to the launch pad, and the plurality of rocket restraint and release assemblies 100 are arranged around the launch position of the rocket and evenly distributed. For example, the rocket restraint and release assembly 100 and the launch pad can be detachably connected by bolts, and the detachable connection method is convenient for disassembling, maintaining and replacing the rocket restraint and release assembly 100. The restraint and release assembly is used to support, fix or release the rocket fin 41 on the rocket body 40, so the number of rocket restraint and release assemblies 100 is the same as the number of rocket fins 41 of the rocket. For example, in this embodiment, the number of rocket restraint and release assemblies 100 is 4, and the 4 rocket restraint and release assemblies 100 are distributed in a cross shape around the rocket. The plurality of rocket restraint and release assemblies 100 are evenly distributed around the rocket, and the pressure and impact force of each rocket restraint and release assembly 100 received from the rocket are balanced, and its restraint force on the rocket is also balanced, which is beneficial to realizing the smooth launch of the rocket.

[0053] Each rocket restraint and release assembly 100 respectively includes a rearward tilting base 10, a locking mechanism 20 and a slow-release mechanism 30. The rearward tilting base 10 can move backward to form an avoidance space for rocket launch. The locking mechanism 20 is used to restrain or release the rocket, and the slow-release mechanism 30 is used to slowly release the rocket to improve the safety and stability of rocket launch.

[0054] As Figures 2 to 4As shown in the figure, the rear tilting base 10 includes a top plate 11, a bottom plate 12, a base driving device 13, and a plurality of swing rods 14. The top plate 11 and the bottom plate 12 are arranged parallel to each other vertically. The two ends of the swing rod 14 are respectively hinged to the top plate 11 and the bottom plate 12, and form a movable parallelogram structure with the top plate 11 and the bottom plate 12, and the rear tilting and avoidance are realized by using the instability of the parallelogram structure. The base driving device 13 is a telescopic mechanism, one end of which is hinged to the bottom plate 12, and the other end is hinged to the top plate 11, and is used to drive the top plate 11 to move towards the rocket when holding the rocket, so that the projection of one end of the top plate 11 on the bottom plate 12 is located on the side of the bottom plate 12 away from the second end L2; or is used to drive the top plate 11 to move away from the rocket when releasing the rocket, so that the projection of the end of the top plate 11 close to the first end L1 of the bottom plate 12 on the bottom plate 12 is located on the bottom plate 12. That is, when holding the rocket, the end of the top plate 11 close to the first end of the bottom plate 12 approaches the rocket, and when releasing the rocket, the end of the top plate 11 close to the first end of the bottom plate 12 retracts towards the side of the bottom plate 12.

[0055] Specifically, in this embodiment, the rear tilting base 10 includes at least two groups of swing rods 14. Each group of swing rods 14 includes at least two swing rods 14. The two ends of the first group of swing rods 14 are respectively arranged close to the first end L1 of the top plate 11 and the bottom plate 12, and the two ends of the second group of swing rods 14 are respectively arranged close to the second end L2 of the top plate 11 and the bottom plate 12. In this embodiment, both the top plate 11 and the bottom plate 12 are rectangular plates, and the shapes and sizes of the top plate 11 and the bottom plate 12 are the same. One end of the top plate 11 and the bottom plate 12 in the length direction is the first end L1, and the other end is the second end L2. The first end L1 is arranged close to the launching position side. The number of swing rods 14 is two groups. Each group of swing rods 14 respectively includes two swing rods 14. One group of swing rods 14 is arranged near the first end L1 of the top plate 11 and the bottom plate 12, and the other group of swing rods 14 is arranged near the second end L2 of the top plate 11 and the bottom plate 12. And each group of swing rods 14 is respectively arranged near both ends of the top plate 11 and the bottom plate 12 in the width direction. The fixed end of the base driving device 13 is arranged close to the first end L1 of the bottom plate 12, and the driving end of the base driving device 13 is arranged close to the second end L2 of the top plate 11. In this embodiment, the base driving device 13 is a cylinder or a hydraulic cylinder, preferably a hydraulic cylinder. The body of the hydraulic cylinder is arranged on the bottom plate 12 between the two swing rods 14 close to the first end L1, and the telescopic rod of the hydraulic cylinder is arranged on the top plate 11 between the two swing rods 14 close to the second end L2. As Figure 5As shown in the figure, when the hydraulic cylinder extends (as shown in the right figure), it pushes the second end L2 of the top plate 11 to move away from the launching position. When the first end L1 of the top plate 11 moves to be basically level with the first end L1 of the bottom plate 12, the telescopic rod of the hydraulic cylinder extends to the maximum length, and the rearward tilting base 10 completes the rearward tilting action to form an avoidance space. When the hydraulic cylinder retracts (as shown in the left figure), it pulls the second end L2 of the top plate 11 to move towards the launching position. When the telescopic rod shortens to the minimum length, the first end L1 of the top plate 11 extends towards the launching position to the maximum distance to hold the rocket in place. The rearward tilting base 10 of this embodiment changes the length of the diagonal side of the parallelogram structure through the base driving device 13, achieving the purpose of changing the shape of the parallelogram. In actual use, according to the space requirements of rocket launching, a matching base driving device 13 can be selected to change the rearward tilting distance of the rearward tilting base 10, thereby forming release spaces of different sizes, making the application range of the rocket holding and releasing assembly 100 wider. To ensure the reliability of the rearward tilting of the rearward tilting base 10, two base driving devices 13 can be arranged in parallel, so that when one base driving device 13 fails, the other base driving device 13 can still ensure the smooth rearward tilting of the rearward tilting base 10.

[0056] As Figure 4 shown, the rearward tilting base 10 further includes a plurality of support columns 15. The bottoms of the support columns 15 are fixed to the bottom plate 12, and the support columns 15 are used to support the top plate 11 when holding the rocket in place. The support columns 15 of this embodiment are square columnar structures with a rectangular cross-section, and the support columns 15 are also arranged in groups. Each group of support columns 15 includes two support columns 15, and the two support columns 15 in each group are respectively arranged near both sides in the width direction of the bottom plate 12. Multiple groups of support columns 15 are evenly distributed along the length direction of the bottom plate 12, and the support columns 15 are arranged between two groups of swing rods 14. The bottoms of the support columns 15 are welded and fixed to the bottom plate 12, and the other ends are not connected to other components. The height of the support columns 15 is equal to the distance between the top plate 11 and the bottom plate 12 when holding the rocket in place, and is used to support the top plate 11 when holding the rocket in place, so that the structure of the rearward tilting base 10 is more stable. When the rocket is released, after the rearward tilting base 10 completes the rearward tilting, at this time, the height of the top plate 11 relative to the bottom plate 12 is greater than the height of the top plate 11 relative to the bottom plate 12 when holding the rocket in place. Therefore, the support columns 15 lose the supporting effect on the top plate 11, but at this time, the top plate 11 only needs to bear the supporting force of other components arranged on it, and does not need to bear the downward pressure of the rocket. Therefore, the support columns 15 can be dispensed with for supporting it.

[0057] The rear - tilt base 10 further includes an arrow - angle support base 16 and a fixing frame 17. The top of the fixing frame 17 is provided with the arrow - angle support base 16. The bottom of the fixing frame 17 is fixedly connected to the top plate 11. The fixing frame 17 forms step portions 171 on both sides of the arrow - angle support base 16 respectively. The arrow - angle support base 16 is used to support the arrow angle 41. The fixing frame 17 is arranged on the top plate 11 and is close to the first end L1. The fixing frame 17 is provided with the arrow - angle support base 16. The width of the arrow - angle support base 16 is smaller than the width of the fixing frame 17. Therefore, a step portion 171 is respectively formed on the upper surface of the fixing frame 17 on both sides of the arrow - angle support base 16. The top of the arrow - angle support base 16 is provided with an arrow - angle support surface 161. The shape of the arrow - angle support surface 161 matches the shape of the arrow angle 41. For example, if the shape of the arrow angle 41 is cylindrical, the arrow - angle support surface 161 is an arc - shaped concave surface with a cross - section size matching it; if the shape of the arrow angle 41 is cuboid - shaped, the arrow - angle support surface 161 is a plane with a cross - section size matching it.

[0058] The rear - tilt base 10 of this embodiment has a simple structure, a simple and easy - to - operate rear - tilt method, a relatively large rear - tilt space formed, and can be appropriately adjusted according to actual needs, expanding the application range of the device. Through the redundant design of the base driving device 13, the reliability of the rear - tilt operation of the rear - tilt base 10 is ensured. When the rear - tilt base 10 completes the release of the rocket, its rear - tilt structure can ensure that the rocket has as much space as possible, ensuring the launch safety of the rocket and avoiding possible collisions when the rocket leaves the launch pad.

[0059] As Figure 6 and Figure 7 shown, the locking mechanism 20 is arranged on the top plate 11 and is used to hold back or release the rocket. Specifically, the locking mechanism 20 includes a pressure head 21, a connecting rod 22, a connecting rod frame 23, and a locking driving device 24. One end of the connecting rod 22 and the pressure head 21 are hinged at the first hinge point A (the hinge point in this article refers to the axis of the hinge shaft). The other end of the connecting rod 22 and the locking driving device 24 are hinged at the second hinge point B. The bottom of the connecting rod 22 and the connecting rod frame 23 are hinged at the third hinge point C. The bottom of the pressure head 21 is hinged to the top plate 11. The bottom end of the connecting rod frame 23 is hinged to the top plate 11 at the fourth hinge point D. The bottom of the locking driving device 24 is hinged to the top plate 11. The locking driving device 24 is used to drive one end of the connecting rod 22 to rise, so that the free end of the pressure head 21 moves away from the step portion 171 to release the rocket, or drive one end of the connecting rod 22 to descend, so that the pressure head 21 abuts against the step portion 171 to hold back the rocket.

[0060] Specifically, the locking mechanism 20 is actually a rear-inclined mechanism. The ram 21 of this embodiment includes a support plate 211, reinforcing ribs 213, and two connecting plates 214. The support plate 211 has a structure similar to an angle iron, including a first plate surface 2111 and a second plate surface 2114 that are perpendicular to each other. One end of the first plate surface 2111 is connected to one end of the second plate surface 2114. An avoidance groove 2112 is provided at the other end of the first plate surface 2111, such that the end of the first plate surface 2111 forms a "C" shape, that is, a protruding portion 2113 is formed on each side of the avoidance groove 2112. When the rocket is in a constrained state, the protruding portion 2113 is above the step portion 171, and a certain gap is maintained between the protruding portion 2113 and the step portion 171. The avoidance groove 2112 is used to avoid the arrow angle support seat 16. The reinforcing ribs 213 are provided on the lower surfaces of the first plate surface 2111 and the second plate surface 212. The two connecting plates 214 are respectively provided near the two ends in the width direction of the first plate surface 2111 and the second plate surface 212. And each connecting plate 214 includes a first connecting portion 2141 and a second connecting portion 2142 that are arranged at a right angle. The first connecting portion 2141 is connected to the upper surface of the first plate surface 2111 and is perpendicular to the first plate surface 2111; the second connecting portion 2142 is connected to the surface of the second plate surface 212 near the side of the connecting rod 23, and the second connecting portion 2142 is perpendicular to the second plate surface 212. The hinge point of the connecting rod 22 and the ram 21 is provided on the connecting plate 214, at the intersection of the first connecting portion 2141 and the second connecting portion 2142, that is, near the end of the top of the connecting plate 214 close to the connecting rod 22. The overall shape of the connecting rod 22 is in an inverted triangular shape. The two ends of the upper part of the connecting rod 22 are respectively hinged to the ram 21 and the locking driving device 24, and the bottom end of the connecting rod 22 is hinged to the connecting rod 23. The bottom parts of the connecting rod 23 and the ram 21 are respectively connected to the top plate 11 of the rear-inclined base 10 through mounting seats 26. The mounting seats 26 are respectively fixed on the top plate 11. The connecting rod 23 is hinged to its corresponding mounting seat 26, and the ram 21 is also hinged to its corresponding mounting seat 26, so as to achieve the hinge connection with the top plate 11. A fixed seat 25 is provided at one end of the top plate 11 away from the arrow angle support seat 16. The fixed seat 25 is connected to the end surface of the side wall of the top plate 11, and a fixed surface is provided on the fixed seat 25. The fixed surface is arranged lower than the upper surface of the top plate 11, and the fixed surface is used to mount the locking driving device 24. The locking driving device 24 can be, for example, a telescopic mechanism such as a cylinder or a hydraulic cylinder. The fixed end of the locking driving device 24 is hinged to the fixed surface, and the telescopic rod is hinged to the connecting rod 22. When the telescopic rod of the locking driving device 24 retracts, it drives the connecting rod 22 to press down the two protruding portions 2113 of the ram 21, so as to ensure that the rocket is in a constrained state. The first hinge point A, the third hinge point C, and the fourth hinge point D are collinear to form a dead point locking structure (such as Figure 8As shown in the figure. The locking mechanism 20 of this embodiment utilizes the dead point clamping principle in mechanical mechanics, greatly improving the stability of the restraint on the rocket, and at the same time, the overall structure of the locking mechanism 20 is simple. At this time, no matter how large the reaction force (except for the destructive reaction force) of the locked rocket is, it cannot make the pressure head 21 loosen, and this reaction force will not damage the locking mechanism, which is the dead point clamping principle in mechanical mechanics. When it is necessary to release the rocket, only the telescopic rod of the hydraulic cylinder (locking drive device 24) needs to be controlled to extend. At this time, the telescopic rod will drive the tail end of the connecting rod 22 to tilt upward, thereby causing the third hinge point C to move upward while rotating. Because the third hinge point C is the hinge point of the connecting rod 22 and the swing link 23, it will cause the swing link 23 to rotate in the clockwise direction as shown in the figure, and the first hinge point A of the connecting rod 22 will move downward and to the right as shown in the figure, finally causing the pressure head 21 to tilt backward to complete the release of the rocket (as Figure 9 shown).

[0061] As Figures 10 to 12 shown, the slow release mechanism 30 is arranged on the locking mechanism 20 and is used to slowly release the rocket after ignition. The slow release mechanism 30 includes a sliding rod 35, a crank 31, a rocker 32, a limit block 36, and a damping cylinder 33; one end of the crank 31 is hinged to the sliding rod 35, and the other end is hinged to one end of the damping cylinder 33. The other end of the damping cylinder 33 is hinged to the pressure head 21; one end of the rocker 32 is hinged to the bottom of the crank 31, and the other end is hinged to the pressure head 21; the sliding rod 35 is inserted into the central hole of the limit block 36, and the limit block 36 is fixed on the upper surface of the pressure head 21 to limit the sliding rod 35 to move only in the vertical direction of the upper surface of the pressure head 21; a pressing portion for cooperating with the arrow angle support seat 16 is provided at the end of the crank 31 far from the damping cylinder 33. The crank 31 is similar in structure to the connecting rod 22 and is also in an inverted triangular structure. The two ends of the upper part of the crank 31 are respectively hinged to the sliding rod 35 and the damping cylinder 33, the bottom of the crank 31 is hinged to one end of the rocker 32, and the other end of the rocker 32 is hinged to one end of the connecting plate 214 close to the protruding portion 2113. Two limit blocks 36 are respectively fixed on the upper surfaces of the corresponding protruding portions 2113. The limit block 36 is provided with a central hole, and the protruding portion 2113 is also provided with a through hole corresponding to the central hole. The sliding rod 35 is inserted into the central hole. The simplified diagram of the slow release mechanism 30 is as Figure 13 shown.

[0062] As Figures 14 to 16As shown, in some embodiments, to prevent the rocket from failing to be released due to a malfunction of the locking drive device 24, a separator 34 may also be provided. The separator 34 includes a fixed part 341 and a separating part 342. The damping cylinder 33 is hinged to the separating part 342. The fixed part 341 is fixed to the pressure head 21. The fixed part 341 and the separating part 342 are used to be connected as an integral structure or separated into two parts. The fixed part 341 is used to drive the separating part 342 to separate from the fixed part 341. The separator 34 can be, for example, a pneumatic separator 34 or an electric separator 34, etc., as long as it can achieve the separation of the separating part 342 from the fixed part 341, and the specific structure is not limited. In this embodiment, the separator 34 is selected as a pneumatic separator 34. The fixed part 341 includes a fixed part body 3411 and a body fixing seat 3412. The fixed part body 3411 is fixed to the pressure head 21 through the body fixing seat 3412. The separating part 342 is hinged to the fixed end of the damping cylinder 33. When it is necessary to hold the rocket in place, the fixed part 341 and the separating part 342 are connected and fixed together. When releasing the rocket, if the locking drive device 24 fails to achieve backward movement, the separator 34 is activated to separate the separating part 342 and the fixed part 341 into two parts. At this time, the fixed end of the damping cylinder 33 loses its connection with the pressure head 21 and can move freely. The telescopic rod of the damping cylinder 33 is hinged to the crank 31. At this time, the reaction force of the rocket is no longer affected by the resistance of the damping cylinder 33. When it is necessary to activate the pneumatic separator 34, high-pressure gas needs to be provided to the separator 34 to cut off the connection between the tail end of the damping cylinder 33 and the pressure head 21. For the damping cylinder 33 to play a damping role during operation, its telescopic rod needs to always remain in the extended state.

[0063] In some embodiments, a shear-resistant pin 3421 may also be inserted through the body connection seat of the separating part 342. One end of the shear-resistant pin 3421 is provided with a spherical part, and the spherical part is located on the side of the body connection seat close to the body fixing seat 3412. A spherical groove for cooperating with the spherical part is provided on the body fixing seat 3412, and the spherical part is used to abut against the spherical groove. The purpose of designing the shear-resistant pin 3421 is to protect the separator 34. When the damping cylinder 33 is stressed, a corresponding acting force will be generated at its tail end, which will cause a relative displacement of the interface at the tail-end hinge point. The role of the shear-resistant pin 3421 is to resist the generation of this displacement.

[0064] The embodiment of the present invention also provides a method for holding and releasing a rocket, which is used for the above-mentioned rocket holding and releasing device. The method for holding and releasing a rocket includes the following steps:

[0065] S1. Erect the rocket at the launch position of the launch pad.

[0066] S2. Control the base drive device 13 to drive the top plate 11 to move towards the rocket, and make the arrow-angle support seat 16 located at the bottom of the rocket arrow angle 41 to support the rocket arrow angle 41.

[0067] Specifically, control the telescopic rod of the base driving device 13 to retract, move the top plate 11 towards the rocket, make the top of the support column 15 contact the bottom of the top plate 11 to form a support for the top plate 11, and the step portion 171 of the support seat supports the bottom of the rocket arrow angle 41.

[0068] S3. Control the locking driving device 24 to drive the end of the connecting rod 22 with the second hinge point to move downward until the pressing portion abuts against the arrow angle 41, and make the first hinge point, the third hinge point and the fourth hinge point collinear to lock the arrow angle 41.

[0069] Specifically, control the telescopic rod of the locking driving device 24 to retract downward, and at the same time drive the end of the second hinge point of the connecting rod 22 to move downward, thereby causing the third hinge point to rotate and move downward, so that the first hinge point moves upward, driving the protruding portion pressing portion of the pressure head 21 to press against the top of the arrow angle 41. When the first hinge point, the third hinge point and the fourth hinge point are collinear, it reaches the dead point position, and the locking mechanism 20 locks the rocket arrow angle 41.

[0070] S4. Ignite the rocket, and the damping cylinder 33 applies a damping force to the rocket. If the rocket meets the release condition, unload the damping force of the damping cylinder 33. At the same time, control the locking driving device 24 to make the locking mechanism 20 tilt backward to make the pressing portion leave the rocket arrow angle 41, and control the base driving device 13 to make the tilting base 10 tilt backward to provide a launching space for the rocket, thereby realizing the release of the rocket.

[0071] After the rocket is ignited, the reaction force of the rocket pushes the sliding rod 35 to move upward along the central hole of the limit block 36. At this time, no matter how large the reaction force of the rocket is, it cannot make the locking force of the locking mechanism 20 fail. During the process of the rocket pushing the sliding rod 35 upward, the telescopic rod of the damping cylinder 33 applies a damping force to the rocket, and the rocket rises slowly. At this time, it is necessary to judge whether the rocket meets the release condition. If it meets the release condition, drain the hydraulic oil of the damping cylinder 33, and at the same time supply oil to the hydraulic cylinders of the base driving device 13 and the locking driving device 24. In this way, the resistance of the damping cylinder 33 to the rocket can be quickly eliminated, and at the same time, the tilting base 10 and the locking mechanism 20 tilt backward almost simultaneously to realize the release of the rocket. At this time, if the locking driving device 24 of the locking mechanism 20 fails, the rocket is released by separating the separating portion 342 from the fixing portion 341 through the separator 34.

[0072] S5. If the rocket does not meet the release condition, extinguish the rocket, and under the action of the damping force of the damping cylinder 33, the rocket descends and resets to the restraint state.

[0073] If the release conditions of the rocket are not met, the rocket needs to be extinguished. The resistance of the damping cylinder 33 pushes the rocket downward. Since the damping force of the damping cylinder 33 remains unchanged, the sliding rod 35 will move downward, and then the rocket will be pressed onto the rocket restraint and release device again.

[0074] The rocket restraint and release assembly, device and method provided by the embodiments of the present invention can realize the restraint and release functions of the rocket by its rearward tilting base. At the same time, its rearward tilting structure can provide a large launching space for the rocket launch, improving the safety of the rocket launch. The rearward tilting base is provided with two sets of base driving devices, which is a redundant design to ensure that the restraint and release functions of the rocket can still be smoothly realized when one set of base driving devices fails. The rearward tilting base utilizes the instability principle of the parallelogram, with a very simple and reliable overall structure. At the same time, it can also adjust the size of the rearward tilting distance according to needs to meet the launching space requirements of rockets of different specifications. Its locking mechanism realizes the restraint of the rocket by using the dead point principle, with high safety and reliability. The reaction force generated during the rocket launch will not cause the restraint state to fail, and the structure is simple and easy to operate. The slow release mechanism can realize the slow release function of the rocket, avoiding damage to the internal components caused by the impact force during the rocket launch. At the same time, the slow release of the rocket by the slow release mechanism can also facilitate the inspection of the state of the rocket after ignition, avoiding safety accidents caused by rocket ignition failure.

[0075] The rocket restraint and release assembly, device and method provided by the embodiments of the present invention completely adopt existing mature technologies. It combines the restraint and slow release functions of the rocket into an integrated design, ensuring the stable and reliable restraint function and the continuity of the release action. The rocket restraint and release device provided by the embodiments of the present invention has a simple and reliable overall structural form. It innovatively combines two planar four-bar linkages into one, realizing the simplification of the structure and a significant improvement in functional reliability. The embodiments of the present invention add a slow release function and adopt an emergency cut-off function as a backup design. When the locking drive device fails, the emergency cut-off function can still be enabled to destroy the structural stability of the slow release mechanism, thereby ensuring the reliable release of the rocket.

[0076] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper, lower, inner and outer" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation of the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0077] Unless otherwise clearly defined and limited in the present invention, the terms "installation, connection, and coupling" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can also be a mechanical connection, an electrical connection, or a direct connection, and can also be indirectly connected through an intermediate medium, or it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] Although the present invention has been described with reference to preferred embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A rocket restraint release assembly, characterized in that: It comprises a rearward-falling base (10), a locking mechanism (20) and a slow-release mechanism (30); The rear inverted base (10) comprises a top plate (11), a bottom plate (12), a base driving device (13), an arrow angle support seat (16), a fixing frame (17) and a plurality of swinging rods (14); the top plate (11) and the bottom plate (12) are arranged in parallel up and down; the two ends of the swinging rod (14) are respectively hinged to the top plate (11) and the bottom plate (12), and form a movable parallelogram structure with the top plate (11) and the bottom plate (12); the top of the fixing frame (17) is provided with the arrow angle support seat (16); the bottom of the fixing frame (17) is fixedly connected to the top plate (11); the fixing frame (17) is respectively formed on both sides of the arrow angle support seat (16); The base driving device (13) is provided with a step portion (171), and the arrow angle support seat (16) is used to support the arrow angle (41); the base driving device (13) is a telescopic mechanism, one end of which is hinged to the bottom plate (12), and the other end of which is hinged to the top plate (11), and is used to drive the top plate (11) to move in a direction close to the rocket when restraining the rocket, so that the projection of one end of the top plate (11) on the bottom plate (12) is located on the side of the bottom plate (12) away from the second end; or to drive the top plate (11) to move in a direction away from the rocket when releasing the rocket, so that the projection of one end of the top plate (11) close to the first end of the bottom plate (12) on the bottom plate (12) is located on the bottom plate (12); The locking mechanism (20) is arranged on the top plate (11) and is used to restrain or release the rocket; The slow-release mechanism (30) is arranged on the locking mechanism (20) and is used for slowly releasing the rocket after ignition.

2. The rocket restraint release assembly according to claim 1, characterized in that: The rear-falling base (10) comprises at least two groups of swing rods (14), each group of the swing rods (14) comprises at least two swing rods (14), the two ends of the first group of swing rods (14) are respectively arranged close to the first ends of the top plate (11) and the bottom plate (12), and the two ends of the second group of swing rods (14) are respectively arranged close to the second ends of the top plate (11) and the bottom plate (12); the fixed end of the base driving device (13) is arranged close to the first end of the bottom plate (12), and the driving end of the base driving device (13) is arranged close to the second end of the top plate (11).

3. The rocket restraint release assembly according to claim 2, characterized in that: The base driving device (13) comprises a hydraulic cylinder or a pneumatic cylinder. The number of the base driving devices (13) is two, and the two base driving devices (13) are arranged in parallel.

4. The rocket restraint release assembly according to claim 1, characterized in that: The inverted base (10) further comprises a plurality of support columns (15), the bottoms of the support columns (15) being fixed on the bottom plate (12), and the support columns (15) being used to support the top plate (11) when restraining the rocket.

5. The rocket restraint release assembly according to claim 1, characterized in that: The locking mechanism (20) comprises a pressure head (21), a connecting rod (22), a connecting rod (23) and a locking drive device (24); one end of the connecting rod (22) and the pressure head (21) are hinged at a first hinge point, the other end of the connecting rod (22) and the locking drive device (24) are hinged at a second hinge point, the bottom of the connecting rod (22) and the connecting rod (23) are hinged at a third hinge point, the bottom of the pressure head (21) is hinged to the top plate (11), and the connecting rod (23) is hinged to the top plate (11). The bottom end of the connecting rod (23) is hinged to the top plate (11) at a fourth hinge point, and the bottom of the locking drive device (24) is hinged to the top plate (11). The locking drive device (24) is used to drive one end of the connecting rod (22) to rise so that the free end of the pressure head (21) moves away from the step portion (171) to release the rocket, or drive one end of the connecting rod (22) to descend so that the pressure head (21) is close to the step portion (171) to restrain the rocket.

6. The rocket restraint release assembly according to claim 5, characterized in that: When the rocket is in a restrained state, the first hinge point, the third hinge point and the fourth hinge point are collinear to form a dead point locking structure.

7. The rocket restraint release assembly according to claim 5, characterized in that: The slow-release mechanism (30) comprises a sliding rod (35), a crank (31), a rocker (32), a limit block (36) and a damping cylinder (33); one end of the crank (31) is hinged to the sliding rod (35), and the other end is hinged to one end of the damping cylinder (33); the other end of the damping cylinder (33) is hinged to the pressure head (21); one end of the rocker (32) is hinged to the bottom of the crank (31), and the other end is hinged to the pressure head (21); the sliding rod (35) is inserted into the central hole of the limit block (36), and the limit block (36) is fixed on the upper surface of the pressure head (21) to limit the sliding rod (35) to move only in the vertical direction of the upper surface of the pressure head (21); the end of the crank (31) away from the damping cylinder (33) is provided with a pressing portion used in conjunction with the arrow angle support seat (16).

8. The rocket restraint release assembly according to claim 7, characterized in that: It also includes a separator (34), the separator (34) including a fixing portion (341) and a separating portion (342), the damping cylinder (33) being hinged to the separating portion (342), the fixing portion (341) being fixed to the pressure head (21), the fixing portion (341) and the separating portion (342) being used to be connected as an integral structure or separated into two parts, and the fixing portion (341) being used to drive the separating portion (342) to separate from the fixing portion (341).

9. The rocket restraint release assembly according to claim 8, characterized in that: An anti-shear pin (3421) is passed through the separation portion (342), and a spherical portion is provided at one end of the anti-shear pin (3421), and the spherical portion is located on a side of the separation portion (342) close to the fixing portion (341); a spherical groove for use with the spherical portion is provided on the fixing portion (341), and the spherical portion is used to abut against the spherical groove.

10. A rocket restraining and releasing device, characterized in that: It comprises a plurality of rocket restraining and releasing assemblies (100) as described in any one of claims 1 to 9, wherein the plurality of rocket restraining and releasing assemblies (100) are respectively detachably connected to the launch pad, and the plurality of rocket restraining and releasing assemblies (100) are arranged around and evenly distributed along the launch position of the rocket.

11. A method for restraining and releasing a rocket, characterized in that: The rocket restraining and releasing device as claimed in claim 10, wherein the rearward-falling base (10) comprises an arrow angle support seat (16), and the locking mechanism (20) comprises a pressure head (21), a connecting rod (22), a connecting rod (23) and a locking driving device (24); one end of the connecting rod (22) and the pressure head (21) are hinged at a first hinge point, the other end of the connecting rod (22) and the locking driving device (24) are hinged at a second hinge point, the bottom of the connecting rod (22) and the connecting rod (23) are hinged at a third hinge point, and the bottom end of the connecting rod (23) and the top plate (11) are hinged at a fourth hinge point; the slow-release mechanism (30) comprises a crank (31) and a damping cylinder (33), and a pressing portion is provided on the crank (31); The rocket's containment and release method comprises the following steps: erecting the rocket at the launching position of the launching pad; Controlling the base driving device (13) to drive the top plate (11) to move in a direction close to the rocket, and making the arrow angle support seat (16) be located at the bottom of the rocket arrow angle (41) to support the rocket arrow angle (41); Controlling the locking drive device (24) to drive the end of the connecting rod (22) provided with the second hinge point to move upward until the pressing portion of the crank abuts against the arrow angle (41), and making the first hinge point, the third hinge point and the fourth hinge point collinear, so as to lock the arrow angle (41); The rocket is ignited, and the damping cylinder (33) applies a damping force to the rocket. If the rocket meets the release condition, the damping force of the damping cylinder (33) is unloaded, and at the same time, the locking drive device (24) is controlled to make the locking mechanism (20) fall backward so that the pressing part leaves the rocket angle (41), and the base drive device (13) is controlled to make the fall-back base (10) fall backward to provide a launching space for the rocket, thereby realizing the release of the rocket; If the rocket does not meet the release condition, the rocket is turned off, and under the action of the damping force of the damping cylinder (33), the rocket descends and resets to a restrained state.

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