docking locking system

Abstract

This invention relates to a docking and locking system, comprising at least an erector and a launch pad suitable for a rocket. The erector includes at least an axle carriage serving as a chassis and a transfer frame mounted on the axle carriage, with a superstructure for supporting the rocket mounted on the transfer frame. A locking device is provided on the launch pad, which locks the transfer frame to the launch pad when the transfer frame is in a predetermined docking position relative to the launch pad. The docking and locking system also includes a navigation device that guides the erector towards the docking position when the erector is within a predetermined area near the launch pad. When the erector moves to a distance relative to the launch pad within a predetermined first threshold, the docking and locking system stops the axle carriage and allows the transfer frame to slide horizontally relative to the axle carriage. Using the docking and locking system of this invention, high-precision docking positioning of the rocket's erector and launch pad can be achieved.

Description

Technical Field

[0001] This invention relates to a docking and locking system, and more particularly to a docking and locking system for docking a rocket erector vehicle with a launch pad. Background Technology

[0002] In recent years, with the development of aerospace technology, especially the booming commercial spaceflight, the application of large-diameter and long-length rockets has increased significantly. Correspondingly, the concept of a "three-horizontal" launch and testing mode has emerged. The "three-horizontal" launch and testing mode refers to a launch and testing mode involving horizontal assembly, horizontal testing, and horizontal transportation. That is, all work before the rocket is erected on the launch tower is completed in a horizontal position. Compared to the earlier "three-vertical" mode, where the rocket is assembled, tested, and transported in a vertical position, the "three-horizontal" mode does not require the tall service tower of the "three-vertical" mode and simplifies the process of rocket assembly, testing, and transportation.

[0003] While the "three-horizontal" launch configuration offers many advantages, it also presents some challenges for the rocket. For example, after the rocket is horizontally transported to the launch pad, an erection operation is required to align it from a horizontal to a vertical position. Furthermore, upon terminating the launch, another operation is needed to reposition the rocket from a vertical to a horizontal position.

[0004] To ensure a smooth transition between horizontal and vertical positions for the rocket, the rocket erector needs to dock and position itself with the launch pad with high precision. However, uneven ground is unavoidable at launch sites. Furthermore, the increasing size and weight of rockets also complicates maintaining high docking and positioning accuracy during the erection process. Therefore, a technology capable of guaranteeing high rocket docking and positioning accuracy in a "three-level" (horizontal, horizontal, and vertical) configuration is desired. Summary of the Invention

[0005] The purpose of this 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 this invention, the docking and positioning of the rocket's erector vehicle and the launch pad can be achieved with high precision.

[0006] To achieve the above objectives, the present invention provides the following solution:

[0007] A docking locking system includes at least an erector and a launch pad suitable for a rocket. The erector includes at least an axle carriage as a chassis and a transfer frame mounted on the axle carriage. A superstructure for carrying the rocket is mounted on the transfer frame, and the superstructure is pivotable relative to the transfer frame, allowing the rocket to switch between a horizontal and a vertical position. A locking device is provided on the launch pad, which locks the transfer frame to the launch pad when the transfer frame is at a predetermined docking position relative to the launch pad. The docking locking system also includes a navigation device that guides the erector towards the docking position when the erector is within a predetermined area near the launch pad. When the erector moves to a distance relative to the launch pad within a predetermined first threshold, the docking locking system stops the axle carriage and allows the transfer frame to slide horizontally relative to the axle carriage.

[0008] Using this navigation device, the erector can be continuously guided as it moves toward the launch pad, constantly overcoming interference caused by factors such as operational errors, uneven ground, and rocket weight. This allows the erector to move with high precision along the predetermined direction and ultimately be accurately positioned at the predetermined docking location.

[0009] Preferably, the navigation device includes at least a navigation magnetic strip and a magnetic strip detector, wherein the navigation magnetic strip is disposed on the ground for generating a navigation signal pointing to the docking position, and the magnetic strip detector is disposed on the erecting vehicle for detecting the navigation signal generated by the navigation magnetic strip, thereby guiding the erecting vehicle to move towards the docking position.

[0010] The navigation magnetic strip is positioned on the ground, ensuring its fixed location and guaranteeing that the navigation signal generated by the strip always points to the correct docking position. A magnetic strip detector is installed on the erecting vehicle, continuously monitoring the navigation signal to provide feedback on whether the vehicle has deviated from the intended direction.

[0011] Preferably, the navigation magnetic strip is straight, and the length of the navigation magnetic strip is not less than 1.5 times the overall length of the erecting vehicle. The magnetic strip detector includes two sets of magnetic strip detectors installed on the axle vehicle, and the two sets of magnetic strip detectors are symmetrically arranged about the longitudinal axis of the axle vehicle.

[0012] When the navigation magnetic strip is straight, aligning the longitudinal axis of the axle vehicle with the magnetic strip ensures that the vehicle's direction of movement follows the magnetic strip. When two sets of magnetic strip detectors are symmetrically positioned about the longitudinal axis of the axle vehicle, the navigation signal values ​​detected by both sets of detectors are the same when the axle vehicle's longitudinal axis aligns with the magnetic strip; conversely, the values ​​will differ. By comparing the navigation signal values ​​detected by each set of detectors, it is easy to determine whether the axle vehicle's longitudinal axis deviates from the magnetic strip, allowing for timely adjustments to the vehicle's direction of movement. This facilitates high-precision navigation, particularly for high-precision automatic navigation of the axle vehicle.

[0013] Preferably, the navigation device further includes a laser reflector and a laser detector, wherein the laser reflector is disposed on the launch platform and located on the side of the launch platform corresponding to the docking position, and the laser detector is disposed on the axle vehicle, emitting a laser signal toward the laser reflector and detecting the laser signal reflected by the laser reflector.

[0014] The laser detector can detect the distance between the axle vehicle and the side of the launch station in real time and accurately by detecting the laser signal reflected by the laser reflector. Its detection accuracy can reach the millimeter level, which is conducive to realizing high-precision automatic navigation of the axle vehicle.

[0015] Preferably, the laser reflector includes two laser reflectors, and the laser detector includes two sets of laser detectors disposed at the rear of the axle vehicle, each corresponding to one of the two laser reflectors.

[0016] By using two sets of laser detectors to detect laser signals, the distance information on both sides of the axle vehicle can be detected separately, facilitating further determination of whether the longitudinal axis of the axle vehicle has been misaligned relative to the predetermined direction of movement. Due to the precision of the laser detectors, misalignments at the millimeter level can be detected promptly, which is particularly beneficial for achieving high-precision automatic navigation of the axle vehicle.

[0017] Preferably, one of the adapter frame and the launch pad is provided with a retractable positioning pin, and the other of the adapter frame and the launch pad is provided with a positioning pin hole. When the adapter frame is not in the docking position, the positioning pin is in the retracted position, and when the adapter frame is in the docking position, the positioning pin is in the extended position and inserted into the positioning pin hole.

[0018] The retractable locating pin helps ensure high-precision positioning of the adapter at the docking position. Before the adapter is accurately positioned, the locating pin is in the retracted position, not interfering with the adapter's movement. Once the locating pin is in the extended position and inserted into the locating pin hole, it ensures the adapter is positioned precisely at the docking point.

[0019] Preferably, the locking device includes at least one locking hook and at least one first pressing device disposed on the launch platform. The adapter is provided with a locking hook pressing block corresponding to the locking hook and an adapter wedge block corresponding to the first pressing device. When the adapter is in the docking position, the locking hook engages with the corresponding locking hook pressing block and the first pressing device presses against the adapter wedge block.

[0020] By engaging the locking hook and the locking hook block, and by pressing the adapter wedge with the first clamping device, the adapter can be securely locked onto the launch pad, preventing unwanted shaking of the adapter during the subsequent rocket erection process.

[0021] Preferably, the axle carriage is provided with a second clamping device and a retractable adapter frame positioning pin. The adapter frame is provided with a clamping position for the second clamping device to abut against and an adapter frame positioning hole for the adapter frame positioning pin to insert into. When the adapter frame positioning pin extends and inserts into the adapter frame positioning hole and the second clamping device is clamped at the clamping position, the axle carriage and the adapter frame are locked together. When the adapter frame positioning pin retracts and the second clamping device releases the clamping at the clamping position, the axle carriage and the adapter frame are not locked together. At least one lower sliding plate is provided on the top of the axle carriage, 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 carriage and the adapter frame are not locked together, the upper sliding plate can slide relative to the lower sliding plate in a horizontal plane, so that the adapter frame can slide relative to the axle carriage in a horizontal plane within a second threshold range.

[0022] During the movement of the erecting carriage toward the docking position, the second clamping device and the adapter positioning pin, mounted on the axle carriage, can lock the axle carriage and the adapter frame together, preventing undesirable displacement of the adapter frame. After the erecting carriage moves to the docking position, the position of the axle carriage can be fixed first. Then, by allowing the adapter frame to slide relative to the axle carriage in the horizontal plane, the position of the adapter frame can be further finely adjusted, so that the adapter frame is finally positioned with high precision in the desired docking position.

[0023] Preferably, both the upper sliding plate and the lower sliding plate are made of polytetrafluoroethylene (PTFE).

[0024] PTFE sheets possess advantages such as high strength, corrosion resistance, resistance to high and low temperatures, and a low coefficient of friction. When supporting large-sized and heavy rockets, sliding plates made of PTFE sheets can easily slide against each other in all seasons while meeting load requirements, facilitating high-precision positioning of the adapter frame.

[0025] Preferably, the navigation device includes at least one of a magnetic stripe navigation device, a laser navigation device, an ultrasonic navigation device, a guide rail navigation device, and a sliding ball bearing navigation device.

[0026] Navigation devices can be implemented in various ways, either by using a single method or by using multiple methods in combination, thus providing convenience for adapting to different site conditions and working conditions.

[0027] This invention has at least the following technical effects:

[0028] According to at least one embodiment of the present invention, the docking locking system can achieve high-precision docking positioning of the rocket's erector and the launch pad. Even when applied to large-diameter, long-length launch vehicles, the docking locking system of this application can ensure high docking positioning accuracy.

[0029] Furthermore, according to at least one embodiment of the present invention, the docking locking system does not require on-site personnel operation, but can quickly and accurately complete high-precision docking positioning under remote control. This remote control operation mode saves manpower, improves docking efficiency, and shortens the rocket launch preparation time. At the same time, the system is easy to unlock, enabling the rapid removal of the erecting vehicle. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a perspective view of an exemplary embodiment of the docking locking system according to the present invention.

[0032] Figure 2 for Figure 1 Rear view of the axle vehicle.

[0033] Figure 3 for Figure 1 A 3D view of the axle car in the image.

[0034] Figure 4 for Figure 1 A top view of the axle car in the middle.

[0035] Figure 5 This is a schematic side view of the clamping device on the launch pad.

[0036] Figure 6 A schematic side view of the locating pins mounted on the launch pad.

[0037] Figure 7 A schematic side view of a locking hook mounted on a launch pad.

[0038] Figure 8 for Figure 1 A schematic side view of the docking and locking system in the locked state after positioning is completed.

[0039] Figure 9 Shown in magnified form Figure 8 Part A and its surrounding structures.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. Launching platform; 2. Erection vehicle; 3. Axle vehicle; 4. Transfer frame; 5. First clamping device; 6. Positioning pin; 7. Locking hook; 8. Laser reflector; 9. Navigation magnetic strip; 10. Transfer frame wedge; 11. Locking hook pressure block; 12. Sliding plate; 13. Magnetic strip detector; 14. Transfer frame positioning pin; 15. Second clamping device; 16. Laser detector; 17. Positioning pin hole; 18. Pressure tongue; 19. Structure; 20. Screw jack; 21. Positioning pin rod; 22. Guide sleeve; 23. Lifting cylinder; 24. Locking hook body; 25. Locking hook swivel seat; 26. Lead screw; 27. Lead screw swivel seat. Detailed Implementation

[0042] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to 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 to exemplify the principles of the present invention, and are not configured to limit the present invention. In addition, the structural components in the drawings are not necessarily drawn to scale. For example, the dimensions of some structural components or regions in the drawings may be enlarged for other structural components or regions to aid in the understanding of the embodiments of the present invention.

[0043] The directional terms used in the following description refer to the directions shown in the figures and are not intended to 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 stated, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0044] Furthermore, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure or component that includes a list of elements includes not only those elements but also other structural elements that are not expressly listed or inherent to the structure or component. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or apparatus that includes the element.

[0045] Spatial relation terms such as "below," "under," "under," "low," "above," "on," and "high" are used for descriptive convenience to explain the positioning of one element relative to a second element, indicating that these terms are intended to cover different orientations of the device, in addition to those different from those shown in the figure. Furthermore, phrases such as "one element on / below another element" can indicate that two elements are in direct contact, or that there are other elements between the two elements. In addition, terms such as "first" and "second" are also used to describe individual elements, areas, parts, etc., without specifically indicating order or sequence, and should not be considered restrictive. Similar terms are used throughout the description to represent similar elements.

[0046] In the following description of the present invention, the terms "rocket," "launch vehicle," "spacecraft," "space launch vehicle," or "missile" may be used in certain scenarios for ease of description only, and their connotations are not limited to the specific terms used. Generally, the launch vehicle of the present invention includes space launch vehicles and rockets used to launch satellites, spacecraft, or other probes, as well as weapons such as missiles and rockets, and similar products capable of delivering payloads into the air. Those skilled in the art, when interpreting the above specific terms, should not limit the launch vehicle to only one of space launch vehicles, rockets, or missiles based on the specific terms used in the description, thereby narrowing the scope of protection of the present invention.

[0047] It will be apparent to those skilled in the art that the present invention can be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention.

[0048] 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 convenience of describing the implementation of the present invention. It is just an exemplary general concept and is not specifically limited to a particular person.

[0049] This invention provides a docking and locking system for achieving docking and locking between the rocket erector and the launch pad. Figure 1 An exemplary embodiment of the docking locking system of the present invention is shown.

[0050] like Figure 1 As shown, the docking and locking system includes a launch platform 1 and an erecting vehicle 2. One side of the launch platform 1 is provided with a docking position for docking with the erecting vehicle 2. For ease of explanation, this side will be referred to as the "docking side" below. Figure 1 In the process, the side of launch platform 1 facing the erecting vehicle 2 is the docking side, and the rear of the erecting vehicle 2 faces the docking side.

[0051] A linear navigation magnetic strip 9 is installed on the ground in front of the docking side of launch pad 1. The end of the navigation magnetic strip 9 closest to launch pad 1 is located at the center of the docking position, while the end furthest from launch pad 1 is perpendicular to the docking side. For example, the length of the navigation magnetic strip 9 is not less than 1.5 times the total length of the erecting vehicle 2. During the movement of the erecting vehicle 2 towards launch pad 1, aligning the longitudinal axis of the erecting vehicle 2 with the navigation magnetic strip 9 guides the erecting vehicle 2 to the correct docking position.

[0052] On the docking side of the launch pad 1, with the navigation magnetic strip 9 as the center, there are two locking hooks 7, two laser reflectors 8, two retractable positioning pins 6 and four sets of first clamping devices 5 symmetrically arranged on the left and right sides.

[0053] The erecting vehicle 2 includes an axle vehicle 3 serving as the chassis and a transfer frame 4 mounted on the axle vehicle 3. An upper structure for supporting the rocket is mounted on the transfer frame 4. This upper structure can pivot relative to the transfer frame 4, allowing the rocket to switch between a horizontal and a vertical position.

[0054] At the rear of the axle vehicle 3, there are two locking hook pressure blocks 11 corresponding to the two locking hooks 7, two sets 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 wedges 10 corresponding to the four sets of first pressing devices 5.

[0055] Please note that the number of each of the locking hook 7, laser reflector 8, positioning pin 6, first pressing device 5, locking hook pressing block 11, laser detector 16, positioning pin hole 17, and adapter wedge block 10 is not limited to the above-described cases. The number of each of these components can be arbitrarily set while ensuring that the purpose of the present invention is achieved.

[0056] like Figure 3 As shown, two sets of magnetic strip detectors 13 are also installed at the rear of the axle vehicle 3, symmetrically about the longitudinal axis of the axle vehicle 3. The two sets of magnetic strip detectors 13 detect the navigation signal generated by the navigation magnetic strip 9.

[0057] The axle carriage 3 is also equipped with a transition frame positioning pin 14 and a second clamping device 15. The transition frame positioning pin 14 is telescopic and is used to cooperate with the transition frame positioning hole (not shown) on the transition frame 4 to achieve positioning of the transition frame 4 relative to the axle carriage 3. The second clamping device 15 can clamp and release the clamping position provided on the transition frame 4 from the side. The number of transition frame positioning pins 14 and the number of second clamping devices 15 are not limited to one. For example, in this embodiment, the number of transition frame positioning pins 14 is one, and the number of second clamping devices 15 is fourteen sets.

[0058] like Figure 4 As shown, multiple sliding plates 12 are provided on the top of the axle car 3, and correspondingly multiple sliding plates 12 are provided on the bottom of the adapter frame 4. The sliding plates 12 provided on the top of the axle car 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, there are 36 lower sliding plates and 36 upper sliding plates, resulting in a total of 36 pairs of sliding plates 12 on the entire vehicle. The axle car 3 carries the adapter frame 4 through these sliding plates 12. All sliding plates 12 can be made of PTFE sheet.

[0059] Please note that the number of sliding plates 12 is not limited to 36 pairs; it can be one pair or other numbers, as long as the purpose of the present invention can be achieved.

[0060] With the adapter positioning pin 14 extended and inserted into the adapter positioning hole, and the second clamping device 15 clamping the clamping position on the adapter 4, the axle carriage 3 and the adapter 4 are locked together. When the adapter positioning pin 14 retracts and the second clamping device 15 releases the clamping position, the sliding plate 12 located at the top of the axle carriage 3 can slide on the sliding plate 12 located at the bottom of the adapter 4, allowing the adapter 4 to slide relative to the axle carriage 3 in a horizontal plane. The permissible distance for this sliding (i.e., the second threshold) can be designed, for example, to be approximately 50 mm. That is, when the adapter 4 can slide relative to the axle carriage 3 in a horizontal plane, it is permissible for the adapter 4 to translate relative to the axle carriage 3 in any direction within the horizontal plane (e.g., but not limited to left-right and front-back directions) within the second threshold range. This facilitates positioning the adapter 4 to the docking position with higher precision. The second threshold can be 50mm, but it is not limited to this. It can also be other values ​​such as 20mm, 40mm, 60mm, etc., as long as it can provide a sufficient sliding range to meet the requirements of high-precision positioning.

[0061] Figure 5 An exemplary configuration of the first clamping device 5 on the launch pad 1 is shown. Figure 5 As shown, the first clamping device 5 includes a clamping tongue 18, a structure 19, and a screw lift 20. The structure 19 is used to fix it to the launch platform 1. Both the clamping tongue 18 and the screw lift 20 are housed in the structure 19. By controlling the screw lift 20, the clamping tongue 18 can be extended and retracted. In the extended state, the clamping tongue 18 can engage with the adapter wedge 10 for clamping. To achieve a good clamping effect, the mating surfaces of the clamping tongue 18 and the adapter wedge 10 can be set as bevels.

[0062] Figure 6 An exemplary configuration of the positioning pin 6 on the launch pad 1 is shown. The positioning pin 6 includes 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 pad 1. The positioning pin rod 21 can extend and retract within the guide sleeve 22 under the control of the lifting cylinder 23.

[0063] Figure 7 An exemplary configuration of the locking hook 7 on the launch pad 1 is shown. The locking hook 7 includes a locking hook body 24, a locking hook swivel seat 25, a lead screw 26, and a lead screw swivel seat 27. Both the locking hook swivel seat 25 and the lead screw swivel seat 27 are fixed to the launch pad 1. The lead screw 26 can extend and retract relative to the lead screw swivel seat 27 by rotating in different directions. The locking hook body 24 is pivotally connected to the locking hook swivel seat 25. One end of the lead screw 26 is connected to one end of the locking hook body 24, enabling the lead screw 26 to control the pivoting of the locking hook body 24 in different directions through extension and retraction.

[0064] The docking locking system of this embodiment will be explained below in conjunction with the positioning and docking operation of the vertical vehicle 2 relative to the launch pad 1.

[0065] [Navigation and Positioning Operations]

[0066] In this embodiment, the navigation and positioning operation mainly corresponds to the movement of the axle vehicle 3. The entire navigation and positioning operation can be remotely controlled by personnel. Throughout the entire navigation and positioning operation, the axle vehicle 3 and the adapter frame 4 remain locked to each other.

[0067] In this embodiment, the area where the navigation magnetic strip 9 is provided is designated as the predetermined area for initiating navigation of the erecting vehicle 2. For example... Figure 1 As shown, when the erecting vehicle 2 enters the predetermined area, the magnetic strip detector 13 begins to detect the navigation signal generated by the navigation magnetic strip 9, and the erecting vehicle 2 can automatically navigate using the navigation signal.

[0068] During the movement of the erecting vehicle 2 toward the docking position, if the navigation signals detected by the two sets of magnetic strip detectors 13 are consistent, it indicates that the longitudinal axis of the axle vehicle 3 is aligned with the navigation magnetic strip 9. If the navigation signals detected by the two sets of magnetic strip detectors 13 are inconsistent, the navigation signals detected by the two sets of magnetic strip detectors 13 can be made consistent by adjusting the direction of travel of the erecting vehicle 2.

[0069] To ensure sufficient area for adjusting for deviations in the direction of travel, the length of the navigation magnetic strip 9 needs to be no less than 1.5 times the overall length of the erecting vehicle 2. When the erecting vehicle 2 first enters the designated area, it can travel at a relatively high speed, for example, approximately 0.5 meters per second. When the rear end of the erecting vehicle 2 is approximately 2 meters from the docking side, it can travel at a slower speed, for example, reducing the speed to approximately 0.01 meters per second.

[0070] Additionally, during the journey, the laser detector 16 can emit a laser signal towards the laser reflector 8 and detect the laser signal reflected by the laser reflector 8, thereby detecting the distance between the erecting vehicle 2 and the launching platform 1. The laser detector 16 can detect the distance in real time throughout the entire navigation process, and it can also detect the distance when the erecting vehicle 2 is moving at a slower speed.

[0071] In addition, such as Figure 1 With a set of laser detectors 16 and laser reflectors 8 set on the left and right sides of the vehicle's longitudinal axis, the longitudinal axis of the erecting vehicle 2 can be detected to be tilted by the laser signals from the left and right sides.

[0072] When the distance detected by the laser detector 16 reaches a predetermined threshold (i.e., the first threshold), the axle vehicle 3 can be controlled to stop moving, completing the navigation and positioning operation. This first threshold can be set in various ways depending on the actual situation. For example, the first threshold can be set to ±10mm above the positioning pin 6 on the transmitter platform 1 when the positioning pin hole 17 on the adapter 4 is directly above it. The first threshold can be ±10mm, but is not limited to this; it can also be other values ​​such as ±5mm or ±20mm, as long as it provides suitable positioning accuracy to smoothly proceed to the next stage of high-precision positioning operation.

[0073] [High-precision positioning operation]

[0074] The high-precision positioning operation in this embodiment mainly corresponds to the sliding of the adapter 4.

[0075] After the axle vehicle 3 stops moving, the positioning pin hole 17 on the adapter 4 is located within ±10mm of the positioning pin 6 on the launch pad 1. At this time, the positioning pin rod 21 of the positioning pin 6 is in the retracted position, and the pressure tongue 18 of the first clamping device 5 is also in the retracted position.

[0076] When starting the high-precision positioning operation, first, the axle carriage 3 and the adapter 4 are in a state where they are not locked to each other. Then, the positioning pin 21 of the positioning pin 6 extends and is inserted into the positioning pin hole 17 on the adapter 4. The positioning pin 21 is a tapered pin, and the clearance between it and the positioning pin hole 17 is less than 1mm.

[0077] If the adapter 4 is not in the correct docking position, during the process of the positioning pin 21 entering the positioning pin hole 17, the interaction force between the positioning pin 21 and the positioning pin hole 17 will cause the adapter 4 to slide in the horizontal plane relative to the axle vehicle 3, thereby reducing the deviation of the adapter 4 from the docking position in the previous navigation and positioning operation.

[0078] Once the positioning pin 21 and the positioning pin hole 17 are properly engaged, it signifies that the adapter frame 4 has achieved high-precision positioning relative to the docking position, with a positioning accuracy within 1mm. At this point, the overall height of the axle carriage 3 can be further reduced, ensuring that the bearing surface of the adapter frame 4 is in close contact with the bearing surface of the launch pad 1. Thus, as... Figure 8 and Figure 9 As shown in part A, the high-precision positioning operation has been completed, and the entire docking and locking system is in the locked state after positioning is completed.

[0079] Finally, by pressing the first clamping device 5 against the adapter wedge 10, and by engaging the locking hook 7 with the locking hook pressure block 11, the erecting vehicle 2 is locked relative to the launch pad 1.

[0080] In the above embodiments, a magnetic stripe navigation device was used as an example to illustrate the navigation device of the present invention. However, it is not limited thereto. The navigation device of the present invention can be implemented using other technologies, such as 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, or any combination thereof.

[0081] 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; the positioning structure can also be achieved by means such as a drop shaft passing through a transverse shaft.

[0082] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A docking locking system, comprising at least an erecting vehicle and a launching platform suitable for a rocket, wherein, the erecting vehicle comprises at least an axis vehicle as a chassis and a transfer frame arranged on the axis vehicle, an upper structure for carrying the rocket is arranged on the transfer frame, the upper structure is capable of pivoting relative to the transfer frame so as to convert the rocket between a horizontal state and a vertical state, the launching platform is provided with a locking device, when the transfer frame is located at a predetermined docking position relative to the launching platform, the locking device locks the transfer frame on the launching platform, characterized in that, the locking device comprises at least a first pressing device arranged on the launching platform, the docking locking system further comprises a navigation device, when the erecting vehicle is in a predetermined area near the launching platform, the navigation device guides the erecting vehicle to move towards the docking position, wherein, when the erecting vehicle moves to a distance within a predetermined first threshold value relative to the launching platform, the docking locking system stops the movement of the axis vehicle, and allows the transfer frame to slide in a horizontal plane relative to the axis vehicle, the axis vehicle is provided with a second pressing device and an extendable transfer frame positioning pin, the transfer frame is provided with a pressing position for abutting the second pressing device and a transfer frame positioning hole for inserting the transfer frame positioning pin, in the case that the transfer frame positioning pin is extended to insert into the transfer frame positioning hole and the second pressing device is pressed on the pressing position, the axis vehicle and the transfer frame are locked with each other, in the case that the transfer frame positioning pin is retracted and the second pressing device releases the pressing on the pressing position, the axis vehicle and the transfer frame are not locked with each other, at least one lower side sliding plate is arranged on the top of the axis vehicle, at least one upper side sliding plate corresponding to the lower side sliding plate is arranged on the bottom of the transfer frame, in the case that the axis vehicle and the transfer frame are not locked with each other, the upper side sliding plate is capable of sliding in a horizontal plane relative to the lower side sliding plate, so that the transfer frame is capable of sliding in a horizontal plane relative to the axis vehicle within a second threshold value.

2. The docking locking system according to claim 1, wherein, the navigation device comprises at least a navigation magnetic strip and a magnetic strip detector, wherein, the navigation magnetic strip is arranged on the ground for generating a navigation signal pointing to the docking position, the magnetic strip detector is arranged on the erecting vehicle for detecting the navigation signal generated by the navigation magnetic strip, thereby guiding the erecting vehicle to move towards 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 whole vehicle length of the erecting vehicle, the magnetic strip detector comprises two groups of magnetic strip detectors arranged on the axis vehicle, the two groups of magnetic strip detectors are symmetrically arranged about the longitudinal axis of the axis vehicle.

4. The docking locking system according to claim 2, wherein, ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The navigation device further comprises a laser reflector and a laser detector, wherein, the laser reflector is arranged on the launching platform at a side corresponding to the docking position, the laser detector is arranged on the axis vehicle, emits a laser signal towards 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 comprises two laser reflectors, and the laser detector comprises two groups of laser detectors arranged at the tail of the axis vehicle respectively corresponding to the two laser reflectors.

6. The docking locking system according to claim 1, wherein, one of the adapter frame and the launching platform is provided with a telescopic positioning pin, and the other 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, when the adapter frame is in 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 comprises at least one locking hook arranged on the launching platform, the adapter frame is provided with a locking hook pressing block corresponding to the locking hook and an adapter frame wedge corresponding to the first pressing device, when the adapter frame is in the docking position, the locking hook and the corresponding locking hook pressing block are engaged together and the first pressing device is pressed on the adapter frame wedge.

8. The docking lock system of claim 1, wherein, The navigation device comprises at least any one of a magnetic strip 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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