Docking locking system

Abstract

The invention relates to a butt joint locking system which at least comprises an erecting vehicle and a launching pad which are suitable for a rocket, the erecting vehicle at least comprises an axis vehicle serving as a chassis and an adapter frame arranged on the axis vehicle, and a loading structure used for bearing the rocket is arranged on the adapter frame. A locking device is arranged on the launching pad, and when the transfer frame is located at a preset butt joint position relative to the launching pad, the locking device locks the transfer frame on the launching pad. The docking lock system further includes a navigation device that guides the erection vehicle to move toward the docking position when the erection vehicle is within a predetermined area near the launch pad, where the docking lock system stops movement of the axis vehicle when the erection vehicle is moved to a distance from the launch pad within a range of a predetermined first threshold, and stops movement of the axis vehicle when the distance from the launch pad is within a range of a predetermined second threshold. And the transfer frame is allowed to slide in a horizontal plane relative to the axis vehicle. By means of the butt joint locking system, butt joint positioning of the erecting vehicle and the launching pad of the rocket can be achieved with high precision.

Description

Technical Field

[0001] The present invention relates to a docking and locking system, in particular to a docking and locking system for achieving docking between a rocket erection vehicle and a launch platform. Background Art

[0002] In recent years, with the advancement of space technology, especially the booming commercial space industry, the use of large-diameter and long-length rockets has increased significantly. Accordingly, the concept of a "three-level" launch model has emerged. This model involves horizontal assembly, horizontal testing, and horizontal transport. Specifically, all work on the rocket before it is erected on the launch tower is completed horizontally. Compared to the earlier "three-vertical" model, in which the rocket is assembled, tested, and transported in a vertical position, the "three-level" model eliminates the need for the tall service towers of the "three-vertical" model and streamlines the assembly, testing, and transport processes.

[0003] While the "three-level" model offers many advantages, it also presents some challenges for rockets. For example, after the rocket is transported horizontally to the launch station, it must be erected from a horizontal position to a vertical position. Furthermore, upon termination of launch, the rocket must be returned from a vertical position to a horizontal position.

[0004] To ensure smooth transitions between the horizontal and vertical positions, the rocket erection vehicle must dock and position itself with the launch pad with high precision. However, uneven ground conditions are unavoidable at launch sites. Furthermore, the large size and heaviness of rockets hinder high docking accuracy during erection operations. Therefore, there is a need for technology that can guarantee high docking accuracy in the "three-level" mode. Summary of the Invention

[0005] The purpose of the present invention is to provide a docking and locking system to solve the problems existing in the prior art. Using the docking and locking system of the present invention, the docking and positioning of the rocket erection vehicle and the launch platform can be achieved with high precision.

[0006] To achieve the above object, the present invention provides the following solutions: A docking and locking system comprises at least a rocket erection vehicle and a launch platform, wherein the erection vehicle comprises at least an axis vehicle as a chassis and an adapter frame mounted on the axis vehicle, wherein an upper structure for supporting the rocket is mounted on the adapter frame, the upper structure being capable of pivoting relative to the adapter frame to allow the rocket to transition between a horizontal state and a vertical state, and wherein a locking device is mounted on the launch platform, and when the adapter frame is in a predetermined docking position relative to the launch platform, the locking device locks the adapter frame to the launch platform. The docking and locking system further comprises a navigation device, which guides the erection vehicle toward the docking position when the erection vehicle is within a predetermined area near the launch platform, and wherein when the erection vehicle moves to a distance within a predetermined first threshold relative to the launch platform, the docking and locking system stops the axis vehicle and allows the adapter frame to slide in a horizontal plane relative to the axis vehicle.

[0007] Using this navigation device, the erector vehicle can be continuously navigated as it moves toward the launch pad, constantly overcoming interference caused by factors such as operational errors, uneven ground, and the weight of the rocket, allowing the erector vehicle to move in the predetermined direction with high precision and ultimately accurately position itself at the predetermined docking position.

[0008] Preferably, the navigation device comprises at least a navigation magnetic strip and a magnetic strip detector, wherein the navigation magnetic strip is provided on the ground for generating a navigation signal pointing to the docking position, and the magnetic strip detector is provided on the erection vehicle for detecting the navigation signal generated by the navigation magnetic strip, thereby guiding the erection vehicle to move toward the docking position.

[0009] The navigation magnetic strip is installed on the ground, so its position is fixed, ensuring that the navigation signal generated by the navigation magnetic strip always points to the correct docking position. The magnetic strip detector is installed on the erection vehicle. By detecting the navigation signal, it can continuously feedback whether the erection vehicle deviates from the predetermined direction.

[0010] Preferably, the navigation magnetic strip is linear, and the length of the navigation magnetic strip is not less than 1.5 times the entire length of the erecting vehicle. The magnetic stripe detector includes two groups of magnetic stripe detectors arranged on the axis vehicle, and the two groups of magnetic stripe detectors are arranged symmetrically about the longitudinal axis of the axis vehicle.

[0011] When the navigation magnetic stripe is straight, simply aligning the longitudinal axis of the axis vehicle with the navigation magnetic stripe ensures that the axis vehicle's movement direction follows the navigation magnetic stripe. When two sets of magnetic stripe detectors are positioned symmetrically about the axis vehicle's longitudinal axis, when the axis vehicle's longitudinal axis aligns with the navigation magnetic stripe, the values ​​of the navigation signals detected by the two sets of magnetic stripe detectors are identical; otherwise, the values ​​of the navigation signals detected by the two sets of magnetic stripe detectors will differ. By comparing the values ​​of the navigation signals detected by each set of magnetic stripe detectors, it is easy to determine whether the axis vehicle's longitudinal axis deviates from the navigation magnetic stripe, allowing for timely adjustments to the axis vehicle's movement direction. This facilitates high-precision navigation, and is particularly beneficial for achieving high-precision automatic navigation of the axis vehicle.

[0012] Preferably, the navigation device also includes a laser reflector and a laser detector, wherein the laser reflector is arranged on the launching platform, located on the side of the launching platform corresponding to the docking position, and the laser detector is arranged on the axis vehicle, emits a laser signal toward the laser reflector, and detects the laser signal reflected by the laser reflector.

[0013] By detecting the laser signal reflected by the laser reflector, the laser detector can accurately detect the distance between the axis vehicle and the side of the launch platform in real time. Its detection accuracy can reach the millimeter level, which is conducive to the realization of high-precision automatic navigation of the axis vehicle.

[0014] Preferably, the laser reflector includes two laser reflectors, and the laser detector includes two groups of laser detectors arranged at the rear of the axle vehicle and corresponding to the two laser reflectors respectively.

[0015] By using two sets of laser detectors, each detecting a laser signal, the distance between the two sides of the axle vehicle can be determined. This allows for further determination of whether the longitudinal axis of the axle vehicle is skewed relative to the intended direction of movement. Due to the laser detectors' precision, skew of even a few millimeters can be detected promptly, making it particularly advantageous for achieving high-precision automated navigation of the axle vehicle.

[0016] Preferably, one of the adapter frame and the launch platform is provided with a retractable positioning pin, and the other of the adapter frame and the launch platform is provided with a positioning pin hole. When the adapter frame is not in the docking position, the positioning pin is in a retracted position, and when the adapter frame is in the docking position, the positioning pin is in an extended position and inserted into the positioning pin hole.

[0017] The retractable locating pins help ensure the adapter is positioned precisely at the docking location. Before the adapter is positioned correctly, the locating pins are retracted and do not interfere with its movement. Once the locating pins are extended and inserted into the locating pin holes, the adapter is positioned precisely at the docking location.

[0018] Preferably, the locking device includes at least one locking hook and at least one first pressing device arranged on the launching platform, and the adapter frame is provided with a locking hook pressure block corresponding to the locking hook and an adapter frame wedge corresponding to the first pressing device. When the adapter frame is located in the docking position, the locking hook is engaged with the corresponding locking hook pressure block and the first pressing device is pressed on the adapter frame wedge.

[0019] By engaging the locking hook with the locking hook pressure block and pressing the adapter wedge by the first pressing device, the adapter can be firmly locked on the launch pad, avoiding unexpected shaking of the adapter during the subsequent rocket erection process.

[0020] Preferably, the axis vehicle is provided with a second clamping device and a retractable adapter frame positioning pin, and the adapter frame is provided with a clamping position for the second clamping device to abut and an adapter frame positioning hole for the adapter frame positioning pin to be inserted. When the adapter frame positioning pin is extended to be inserted into the adapter frame positioning hole and the second clamping device is pressed on the clamping position, the axis vehicle and the adapter frame are locked to each other. When the adapter frame positioning pin is retracted and the second clamping device releases the pressure on the clamping position, the axis vehicle and the adapter frame are not locked to each other. At least one lower sliding plate is provided on the top of the axis vehicle, and at least one upper sliding plate corresponding to the lower sliding plate is provided at the bottom of the adapter frame. When the axis vehicle and the adapter frame are not locked to each other, the upper sliding plate can slide in a horizontal plane relative to the lower sliding plate, so that the adapter frame can slide in a horizontal plane relative to the axis vehicle within a second threshold range.

[0021] As the erection vehicle moves toward the docking position, the second clamping device on the axle vehicle and the adapter frame positioning pins lock the axle vehicle and adapter frame together, preventing undesirable displacement of the adapter frame. After the erection vehicle moves to the docking position, the axle vehicle can be fixed in position. Then, by allowing the adapter frame to slide horizontally relative to the axle vehicle, the adapter frame's position can be finely adjusted, ultimately positioning the adapter frame in the desired docking position with high precision.

[0022] Preferably, the upper sliding plate and the lower sliding plate are both made of tetrafluoroethylene plates.

[0023] Teflon sheets offer advantages such as high strength, corrosion resistance, high and low temperature resistance, and a low coefficient of friction. When carrying large and heavy rockets, sliding plates made of Teflon sheets can easily slide against each other while meeting load requirements in all seasons, facilitating high-precision positioning of the adapter frame.

[0024] Preferably, the navigation device includes at least any one of a magnetic stripe navigation device, a laser navigation device, an ultrasonic navigation device, a guide rail navigation device and a sliding ball navigation device.

[0025] The navigation device can be implemented in a variety of ways, either using a single method for navigation or using multiple methods to coordinate navigation, thereby providing convenience for adapting to different site conditions and working conditions.

[0026] The present invention has at least the following technical effects: According to at least one embodiment of the present invention, the docking and locking system can achieve high-precision docking and positioning of a rocket erector vehicle and a launch pad. The docking and locking system of the present application can ensure high docking and positioning accuracy even when applied to large-diameter and long launch vehicles.

[0027] Furthermore, according to at least one embodiment of the present invention, the docking and locking system eliminates the need for on-site personnel operation and instead enables rapid, accurate, and highly precise docking positioning under remote control. This remote-controlled operation saves manpower, improves docking efficiency, and shortens rocket launch preparation time. Furthermore, the system allows for easy unlocking, enabling the rapid evacuation of the erector vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 is a perspective view of an exemplary embodiment of a docking locking system according to the present invention.

[0030] Figure 2 for Figure 1 Rear view of the axle car.

[0031] Figure 3 for Figure 1 A perspective view of the axle car in Figure 2.

[0032] Figure 4 for Figure 1 Top view of the axle car in the figure.

[0033] Figure 5 A schematic side view of the clamping device on the launch pad.

[0034] Figure 6 A schematic side view of a positioning pin set on a launch pad.

[0035] Figure 7 A schematic side view of a locking hook arranged on a launch pad.

[0036] Figure 8 for Figure 1 Schematic side view of the docking locking system in the locked state after positioning is completed.

[0037] Figure 9 Shown in an enlarged manner Figure 8 Part A and its surrounding structure.

[0038] Description of reference numerals: 1. Launching platform; 2. Erecting vehicle; 3. Axis vehicle; 4. Adapter frame; 5. First clamping device; 6. Locating pin; 7. Locking hook; 8. Laser reflector; 9. Navigation magnetic strip; 10. Adapter frame wedge; 11. Locking hook pressure block; 12. Sliding plate; 13. Magnetic strip detector; 14. Adapter frame locating pin; 15. Second clamping device; 16. Laser detector; 17. Locating pin hole; 18. Pressing tongue; 19. Structural body; 20. Screw elevator; 21. Locating pin rod; 22. Guide sleeve; 23. Lifting cylinder; 24. Locking hook body; 25. Locking hook swivel seat; 26. Screw; 27. Screw swivel seat. DETAILED DESCRIPTION

[0039] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purposes, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are used to illustrate the principles of the present invention, and are not configured to limit the present invention. In addition, the structural members in the drawings are not necessarily drawn to scale. For example, the sizes of some structural members or areas in the drawings may be enlarged for other structural members or areas to facilitate understanding of the embodiments of the present invention.

[0040] The directional words appearing in the following description refer to the directions shown in the drawings and do not limit the specific structure of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0041] In addition, the terms "include", "comprising", "having" or any other variations thereof are intended to cover non-exclusive inclusion, so that a structure or component comprising a series of elements includes not only those elements, but also other mechanical elements not explicitly listed or inherent in the structure or component. In the absence of more limitations, the elements defined by the sentence "comprising..." do not exclude the presence of other identical elements in the article or device comprising the elements.

[0042] Spatially relative terms such as "below," "beneath," "under," "low," "above," "on," "high," and the like are used to facilitate description to explain the positioning of one element relative to a second element, indicating that these terms are intended to encompass different orientations of the device in addition to those shown in the figures. Additionally, for example, "one element is above / below another element" may indicate that the two elements are in direct contact, or may indicate that there are other elements between the two elements. Furthermore, terms such as "first," "second," and the like are also used to describe various elements, regions, portions, and the like, and do not specifically refer to an order or sequence, and should not be considered limiting. Similar terms are used throughout the description to indicate similar elements.

[0043] In the process of describing the present invention below, in certain scenario descriptions, only "rocket", "carrier rocket", "spacecraft", "space carrier" or "missile" may be used. This is only for the convenience of description, and its connotation is not limited to the specific words used. Generally speaking, the carrier rocket of the present invention includes not only space carriers and rockets used to carry satellites or spacecraft or other probes, but also includes those used to carry various types of missiles, rockets and other weapons, as well as similar products that can send payloads into the air. When interpreting the above specific words, those skilled in the art shall not limit the carrier rocket to only one of the space carrier, rocket or missile based on the specific words used to describe the scenario, thereby narrowing the scope of protection of the present invention.

[0044] For those skilled in the art, the present invention can be implemented 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.

[0045] In this embodiment, there may be descriptions such as "staff". Those skilled in the art should understand that the description of "staff" is only for the purpose of more conveniently describing the implementation of the present invention. It is only an exemplary general concept and does not specifically limit a specific person.

[0046] The present invention provides a docking and locking system, which is used to achieve docking and locking of a rocket erection vehicle and a launch platform. Figure 1 An exemplary embodiment of the docking lock system of the present invention is shown.

[0047] like Figure 1 As shown, the docking and locking system includes a launch platform 1 and an erection vehicle 2. One side of the launch platform 1 is provided with a docking position for docking with the erection vehicle 2. For ease of description, this side is hereinafter referred to as the "docking side". Figure 1 In the embodiment, the side of the launching platform 1 facing the erecting vehicle 2 is the docking side, and the erecting vehicle 2 has its rear end facing the docking side.

[0048] A linear magnetic navigation strip 9 is installed on the ground in front of the docking side of launch pad 1. The end of navigation strip 9, which is closer to launch pad 1, is located at the center of the docking position, while the end of navigation strip 9, which is farther from launch pad 1, is perpendicular to the docking side. For example, the length of navigation strip 9 is no less than 1.5 times the overall length of erection vehicle 2. As erection vehicle 2 approaches launch pad 1, aligning the longitudinal axis of erection vehicle 2 with navigation strip 9 guides erection vehicle 2 to the correct docking position.

[0049] On the docking side of the launch platform 1, with the navigation magnetic strip 9 as the center, two locking hooks 7, two laser reflectors 8, two retractable positioning pins 6 and four sets of first clamping devices 5 are symmetrically arranged on the left and right sides.

[0050] The erection vehicle 2 includes an axle vehicle 3 as a chassis and an adapter frame 4 mounted on the axle vehicle 3. The adapter frame 4 is provided with a superstructure for supporting the rocket. The superstructure can pivot relative to the adapter frame 4 to switch the rocket between a horizontal and vertical position.

[0051] At the rear of the axle vehicle 3, there are two locking hook pressure blocks 11 corresponding to the two locking hooks 7, two groups of laser detectors 16 corresponding to the two laser reflectors 8, two positioning pin holes 17 corresponding to the two positioning pins 6, and four adapter frame wedges 10 corresponding to the four groups of first clamping devices 5.

[0052] Please note that the respective quantities of the locking hook 7, the laser reflector 8, the positioning pin 6, the first clamping device 5, the locking hook pressure block 11, the laser detector 16, the positioning pin hole 17 and the adapter frame wedge 10 are not limited to the above. The respective quantities of these components can be set arbitrarily while ensuring that the purpose of the present invention is achieved.

[0053] like Figure 3 As shown, two groups of magnetic stripe detectors 13 are provided at the rear of the axis vehicle 3 and are symmetrical about the longitudinal axis of the axis vehicle 3. The two groups of magnetic stripe detectors 13 detect the navigation signals generated by the navigation magnetic stripe 9 respectively.

[0054] An adapter frame positioning pin 14 and a second clamping device 15 are also provided on the axis vehicle 3. The adapter frame positioning pin 14 is retractable and is used to cooperate with the adapter frame positioning hole (not shown) on the adapter frame 4 to achieve the positioning of the adapter frame 4 relative to the axis vehicle 3. The second clamping device 15 can clamp and release the clamping position set on the adapter frame 4 from the side. The number of the adapter frame positioning pin 14 and the second clamping device 15 is not limited to one. For example, in this embodiment, the number of the adapter frame positioning pin 14 is one, and the number of the second clamping devices 15 is fourteen groups.

[0055] like Figure 4 As shown, a plurality of sliding plates 12 are provided on the top of the axle vehicle 3, and a plurality of sliding plates 12 are correspondingly provided on the bottom of the adapter frame 4. The sliding plates 12 provided on the top of the axle vehicle 3 are examples of lower sliding plates, and the sliding plates 12 provided on the bottom of the adapter frame 4 are examples of upper sliding plates. For example, the number of lower sliding plates is 36, and the number of upper sliding plates is also 36, so that a total of 36 pairs of sliding plates 12 are provided on the entire vehicle. The axle vehicle 3 carries the adapter frame 4 via these sliding plates 12. The sliding plates 12 can all be made of tetrafluoroethylene plates.

[0056] Please note that the number of the sliding plates 12 is not limited to 36 pairs, and it can be one pair or other numbers as long as the purpose of the present invention can be achieved.

[0057] When the adapter frame positioning pin 14 is extended and inserted into the adapter frame positioning hole, and the second clamping device 15 clamps the clamping position on the adapter frame 4, the axis vehicle 3 and the adapter frame 4 are locked to each other. When the adapter frame positioning pin 14 is retracted and the second clamping device 15 releases the clamping position, the sliding plate 12 arranged on the top of the axis vehicle 3 can slide on the sliding plate 12 arranged on the bottom of the adapter frame 4, so that the adapter frame 4 can slide in the horizontal plane relative to the axis vehicle 3. The allowable distance of this sliding (i.e., the second threshold) can be designed to be, for example, approximately 50 mm. That is, when the adapter frame 4 can slide in the horizontal plane relative to the axis vehicle 3, the adapter frame 4 can be allowed to translate in any direction in the horizontal plane (such as but not limited to the left and right direction, the front and back direction) relative to the axis vehicle 3 within the range of the second threshold. This is conducive to positioning the adapter frame 4 to the docking position with higher precision. The second threshold may be 50 mm, but is not limited thereto, and may also be other values ​​such as 20 mm, 40 mm, 60 mm, etc., as long as a sufficient sliding range can be provided to meet the high-precision positioning requirement.

[0058] Figure 5 FIG. 4 shows an exemplary structure of the first pressing device 5 on the launch platform 1. Figure 5 As shown, the first clamping device 5 includes a pressing tongue 18, a structure 19, and a screw elevator 20. The structure 19 is used to be fixed to the launch platform 1. The pressing tongue 18 and the screw elevator 20 are both arranged in the structure 19. By controlling the screw elevator 20, the pressing tongue 18 can be extended and retracted. When extended, the pressing tongue 18 can cooperate with the adapter wedge 10 for clamping. To achieve a good clamping effect, the mating surface between the pressing tongue 18 and the adapter wedge 10 can be set as an inclined surface.

[0059] Figure 6 The figure shows an exemplary configuration of a positioning pin 6 on a launch platform 1. The positioning pin 6 comprises a positioning pin rod 21, a guide sleeve 22, and a lifting cylinder 23. Both the guide sleeve 22 and the lifting cylinder 23 are embedded within the launch platform 1. The positioning pin rod 21 can be extended and retracted within the guide sleeve 22 under the control of the lifting cylinder 23.

[0060] Figure 7 The exemplary structure of the locking hook 7 on the launch platform 1 is shown. The locking hook 7 includes a locking hook body 24, a locking hook swivel seat 25, a screw 26, and a screw swivel seat 27. The locking hook swivel seat 25 and the screw swivel seat 27 are both fixed to the launch platform 1. The screw 26 can be extended and retracted relative to the screw swivel seat 27 by rotating in different directions. The locking hook body 24 is pivotally connected to the locking hook swivel seat 25. The end of the screw 26 is connected to one end of the locking hook body 24, so that the screw 26 can control the locking hook body 24 to pivot in different directions by extending and retracting.

[0061] The docking and locking system of this embodiment will be described below in conjunction with the positioning and docking operation of the erection vehicle 2 relative to the launch platform 1 .

[0062] [Navigation positioning operation] The navigation and positioning operation in this embodiment mainly corresponds to the travel of the axis vehicle 3. The entire navigation and positioning operation can be remotely controlled by the staff. During the entire navigation and positioning operation, the axis vehicle 3 and the adapter frame 4 remain locked to each other.

[0063] In this embodiment, the area where the navigation magnetic strip 9 is set is used as the predetermined area for starting navigation of the erection vehicle 2. Figure 1 As shown, when the erection vehicle 2 enters the predetermined area, the magnetic stripe detector 13 starts to detect the navigation signal generated by the navigation magnetic stripe 9, and the erection vehicle 2 can automatically navigate using the navigation signal.

[0064] When the erecting vehicle 2 is moving toward the docking position, if the navigation signals detected by the two sets of magnetic stripe detectors 13 are consistent, it indicates that the longitudinal axis of the axis vehicle 3 is aligned with the navigation magnetic stripe 9. If the navigation signals detected by the two sets of magnetic stripe detectors 13 are inconsistent, the navigation signals detected by the two sets of magnetic stripe detectors 13 can be made consistent by adjusting the direction of travel of the erecting vehicle 2.

[0065] To ensure sufficient area to adjust for deviations in travel direction, the length of the navigation magnetic strip 9 must be no less than 1.5 times the length of the entire vehicle 2. When the vehicle 2 first enters the predetermined area, it can travel at a faster speed, for example, approximately 0.5 m / s. When the rear end of the vehicle 2 is approximately 2 meters from the docking side, it can travel at a slower speed, for example, reduced to approximately 0.01 m / s.

[0066] In addition, during the travel, the laser detector 16 can emit a laser signal to the laser reflector 8 and detect the laser signal reflected by the laser reflector 8, thereby detecting the distance between the erection vehicle 2 and the launch platform 1. The laser detector 16 can detect the distance in real time during the entire navigation process, and can also detect the distance when the erection vehicle 2 is traveling at a slower speed.

[0067] In addition, if Figure 1 As shown, when a set of laser detectors 16 and laser reflectors 8 are respectively provided on the left and right sides of the vehicle longitudinal axis, it is also possible to detect whether the vehicle longitudinal axis of the erecting vehicle 2 is skewed by the laser signals on the left and right sides.

[0068] When the distance detected by the laser detector 16 reaches a predetermined threshold (i.e., a first threshold), the axis vehicle 3 can be controlled to stop, completing the navigation positioning operation. This first threshold can be set in various ways based on actual circumstances. For example, the first threshold can be set to ±10 mm from the point where the positioning pin hole 17 on the adapter 4 reaches directly above the positioning pin 6 on the launch platform 1. The first threshold can be, but is not limited to, ±10 mm and can also be other values ​​such as ±5 mm or ±20 mm, as long as it can provide appropriate positioning accuracy to facilitate smooth transition to the next stage of high-precision positioning operations.

[0069] [High-precision positioning operation] The high-precision positioning operation in this embodiment mainly corresponds to the sliding of the adapter frame 4 .

[0070] After the axis vehicle 3 stops moving, the locating pin hole 17 on the adapter frame 4 is located within a ±10 mm area just above the locating pin 6 on the launch platform 1. At this time, the locating pin rod 21 of the locating pin 6 is in a retracted position, and the pressing tongue 18 of the first clamping device 5 is also in a retracted position.

[0071] When starting the high-precision positioning operation, first, the axis car 3 and the adapter frame 4 are in a state of being unlocked from each other, and then the positioning pin rod 21 of the positioning pin 6 is extended and inserted into the positioning pin hole 17 on the adapter frame 4. The positioning pin rod 21 is a tapered pin, and the clearance between it and the positioning pin hole 17 is less than 1 mm.

[0072] If the adapter frame 4 is not in the exact docking position, during the process of the positioning pin rod 21 entering the positioning pin hole 17, the mutual force between the positioning pin rod 21 and the positioning pin hole 17 is utilized to make the adapter frame 4 slide in the horizontal plane relative to the axis vehicle 3, thereby reducing the deviation of the adapter frame 4 relative to the docking position in the previous stage of the navigation positioning operation.

[0073] When the positioning pin rod 21 and the positioning pin hole 17 are in place, it means that the adapter frame 4 is positioned with high precision relative to the docking position, and its positioning accuracy is within 1mm. At this time, the overall height of the axis vehicle 3 can be further lowered so that the supporting surface of the adapter frame 4 is firmly attached to the supporting surface of the launch platform 1. Figure 8 and Figure 9 As shown in part A, the high-precision positioning operation is completed and the entire docking locking system is in a locked state after positioning is completed.

[0074] Finally, the erection vehicle 2 is locked relative to the launching platform 1 by causing the first pressing device 5 to press the adapter wedge 10 and the locking hook 7 to engage with the locking hook pressing block 11 .

[0075] In the above embodiment, the navigation device of the present invention is described using a magnetic stripe navigation device as an example. However, the present invention is not limited thereto. The navigation device of the present invention can be implemented using other technologies, such as a magnetic stripe navigation device, a laser navigation device, an ultrasonic navigation device, a guide rail navigation device, a sliding ball navigation device, or a combination of any of these.

[0076] In the above embodiment, the positioning structure of the retractable positioning pin 6 and the positioning pin hole 17 is described. However, it is not limited to this, and the positioning structure can also be realized by using a drop shaft, a horizontal shaft, or the like.

[0077] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A docking and locking system comprising at least an erection vehicle and a launch platform for a rocket, wherein: The erecting vehicle at least comprises an axle vehicle as a chassis and an adapter frame arranged on the axle vehicle, an upper structure for carrying the rocket is arranged on the adapter frame, and the upper structure can pivot relative to the adapter frame so that the rocket can be converted between a horizontal state and a vertical state. The launch platform is provided with a locking device, and when the adapter frame is located at a predetermined docking position relative to the launch platform, the locking device locks the adapter frame on the launch platform. It is characterized in that the docking and locking system further comprises a navigation device, which guides the erection vehicle to move toward the docking position when the erection vehicle is in a predetermined area near the launch platform. When the erection vehicle moves to a distance relative to the launch platform within a predetermined first threshold, the docking locking system stops the axis vehicle and allows the adapter frame to slide in a horizontal plane relative to the axis vehicle.

2. The docking locking system according to claim 1, wherein: The navigation device at least includes a navigation magnetic stripe and a magnetic stripe detector, wherein: The navigation magnetic strip is set on the ground and is used to generate a navigation signal pointing to the docking position. The magnetic stripe detector is provided on the erecting vehicle and is used to detect the navigation signal generated by the navigation magnetic stripe, thereby guiding the erecting vehicle to move toward the docking position.

3. The docking locking system according to claim 2, wherein: The navigation magnetic strip is in a straight line shape, and the length of the navigation magnetic strip is not less than 1.5 times the length of the entire vehicle of the erecting vehicle. The magnetic stripe detector includes two groups of magnetic stripe detectors arranged on the axis vehicle, and the two groups of magnetic stripe detectors are arranged symmetrically with respect to the longitudinal axis of the axis vehicle.

4. The docking locking system according to claim 1 or 2, characterized in that: The navigation device also includes a laser reflector and a laser detector, wherein: The laser reflector is arranged on the launch platform, and is located on the side of the launch platform corresponding to the docking position. The laser detector is arranged on the axis vehicle, emits a laser signal toward the laser reflector, and detects the laser signal reflected by the laser reflector.

5. The docking locking system according to claim 4, wherein: The laser reflector includes two laser reflectors, and The laser detector includes two groups of laser detectors arranged at the rear of the axle vehicle and corresponding to the two laser reflectors respectively.

6. The docking locking system according to claim 1, wherein: One of the adapter frame and the launch platform is provided with a retractable positioning pin, and the other of the adapter frame and the launch platform is provided with a positioning pin hole. When the adapter is not in the docking position, the positioning pin is in a retracted position. When the adapter frame is located at the docking position, the positioning pin is in an extended position and inserted into the positioning pin hole.

7. The docking locking system according to claim 1, wherein: The locking device includes at least one locking hook and at least one first pressing device arranged on the launching platform, The adapter frame is provided with a locking hook pressure block corresponding to the locking hook and an adapter frame wedge block corresponding to the first pressing device. When the adapter frame is located at the docking position, the locking hooks are engaged with the corresponding locking hook pressing blocks and the first pressing device is pressed against the adapter frame wedge block.

8. The docking locking system according to claim 1, wherein: The axle vehicle is provided with a second pressing device and a retractable adapter frame positioning pin. The adapter frame is provided with a pressing position for the second pressing device to abut against and an adapter frame positioning hole for the adapter frame positioning pin to be inserted into. When the adapter frame positioning pin is extended to be inserted into the adapter frame positioning hole and the second pressing device is pressed at the pressing position, the axle vehicle and the adapter frame are locked to each other. When the adapter frame positioning pin is retracted and the second clamping device releases the clamping position, the axle vehicle and the adapter frame are not locked to each other. At least one lower sliding plate is provided on the top of the axle vehicle, and at least one upper sliding plate corresponding to the lower sliding plate is provided on the bottom of the adapter frame. When the axle vehicle and the adapter frame are not locked with each other, the upper sliding plate can slide in a horizontal plane relative to the lower sliding plate, so that the adapter frame can slide in a horizontal plane relative to the axle vehicle within a second threshold range.

9. The docking locking system according to claim 8, wherein: The upper sliding plate and the lower sliding plate are both made of tetrafluoroethylene plates.

10. The docking locking system according to claim 1, wherein: The navigation device includes at least any one of a magnetic stripe navigation device, a laser navigation device, an ultrasonic navigation device, a guide rail navigation device, and a sliding ball navigation device.

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