Launch vehicle locking and transfer device

Abstract

This application provides a locking and transfer device for a launch vehicle, including a moving component and a locking component. The moving component includes a first transfer section and at least two second transfer sections, each of which is detachably connected to the first transfer section. The locking component is disposed on the moving component. In a first state, the first transfer section carries a vertical launch vehicle stage. Along a direction perpendicular to the first transfer section, each of the second transfer sections is distributed on both sides of the first transfer section to surround the launch vehicle stage. The locking component includes at least two locking sections, corresponding to the at least two second transfer sections, configured to connect with the launch vehicle stage to fix the vertical launch vehicle stage to the first transfer section. The aim is to enable the locking and transfer device to conveniently and stably transfer a vertical launch vehicle stage.

Description

Technical Field

[0001] This application relates to the field of water-based recovery technology for launch vehicles, and more specifically, to a locking and transfer device for launch vehicles. Background Technology

[0002] To reduce the cost of rocket launches, the launch vehicle stages can be recovered and reused. After the launch vehicle successfully lands on the landing site, the recovered launch vehicle stages need to be transported to a designated facility for inspection and maintenance using a transfer and transport system.

[0003] Since the recovered launch vehicle stage is a slender cylindrical structure, it is necessary to prevent the launch vehicle stage from shaking and tipping over when transferring it in a vertical position. This is especially important when transferring the launch vehicle stage at sea, where the stability of the transfer device during the transfer of the launch vehicle stage must be ensured.

[0004] Currently, after a launch vehicle lands vertically, large hoisting equipment is needed to lift the rocket stages onto a transfer device. This increases transfer costs and affects transfer efficiency. Furthermore, existing transfer devices cannot securely hold the rocket stages in place, thus hindering stable transfer of the rocket stages. Summary of the Invention

[0005] This application addresses the shortcomings of existing methods by proposing a locking and transfer device for launch vehicles, thereby solving the technical problem of the inability to conveniently and stably transfer vertical launch vehicle stages.

[0006] In a first aspect, embodiments of this application provide a locking and transfer device for a launch vehicle, used for transferring a launch vehicle substage, comprising:

[0007] The mobile component includes a first transfer part and at least two second transfer parts, wherein the at least two second transfer parts are detachably connected to the first transfer part;

[0008] A locking component is provided on the movable component;

[0009] In the first state, the first transfer part is used to carry the vertical launch vehicle stage, and each of the second transfer parts is distributed on both sides of the first transfer part along a direction perpendicular to the extension of the first transfer part to surround the launch vehicle stage; the locking assembly includes at least two locking parts, respectively disposed on at least two of the second transfer parts, and is configured to connect with the launch vehicle stage to fix the vertical launch vehicle stage on the first transfer part.

[0010] Optionally, in the second state, the first transfer section and at least two second transfer sections are arranged along the extension direction of the first transfer section, and the first transfer section and the second transfer section are detachably connected; the locking assembly includes a plurality of supports, which are correspondingly disposed on the first transfer section and at least two second transfer sections to jointly support the horizontal launch vehicle substage.

[0011] Optionally, the first transfer unit includes a first support platform, and the second transfer unit includes a second support platform;

[0012] The first support platform includes a bearing portion for supporting the launch vehicle substage, and the edge of the bearing portion is provided with at least two guide blocks in the extending direction of the first transfer portion, and the portions of two adjacent guide blocks that are close to each other have a first inclined surface;

[0013] Both ends of one side edge of the second support platform are provided with outwardly protruding alignment blocks. The side edge of the second support platform with the alignment blocks is the first edge. Along the direction of the first edge, the part of the alignment block away from the middle of the first edge has a second inclined surface, which is used to cooperate with the first inclined surface to guide the guide block and the alignment block to abut and align to form a V-shaped block structure.

[0014] Optionally, the first transfer unit further includes a support base and a first drive mechanism. The support base is disposed on the first support platform and is used to connect to the tail end of the launch vehicle substage. The support base is provided with at least two laser vision sensors that are radially opposite to each other. The laser vision sensors are electrically connected to the first drive mechanism.

[0015] Optionally, the second support platform has outwardly protruding docking plates on both sides, and the docking plates are detachably connected to the bearing part by bolts.

[0016] Optionally, the first drive mechanism includes a first set of moving wheels, and the first transfer part further includes a lifting mechanism, the lifting mechanism comprising:

[0017] The lifting component is hinged at one end to the first support platform;

[0018] The connector is hinged at one end to the first movable wheel assembly and at the other end to the other end of the lifting member;

[0019] A first telescopic mechanism is connected between the lifting member and the connecting member.

[0020] Optionally, the locking part includes:

[0021] The base is connected to the second support platform;

[0022] The second telescopic mechanism is hinged to one end of the base, and the projection of the second telescopic mechanism and the base coincides in the same horizontal plane.

[0023] The second drive mechanism is located at the other end of the base and connected to the second telescopic mechanism, for rotating the second telescopic mechanism in a vertical plane so that the second telescopic mechanism can be connected to the launch vehicle stage.

[0024] Optionally, the second telescopic mechanism includes:

[0025] The first hydraulic cylinder has a telescopic end that is detachably connected to the launch vehicle substage.

[0026] The connecting rod is hinged at one end to the base and connected at the other end to the fixed end of the first hydraulic cylinder.

[0027] Optionally, the second drive mechanism includes a second hydraulic cylinder, the fixed end of which is hinged to the base, and the telescopic end of which is hinged to the connecting rod.

[0028] Optionally, a locking head is connected to the telescopic end of the first hydraulic cylinder;

[0029] The locking part also includes a plurality of mounting seats provided on the launch vehicle substage. The plurality of mounting seats are arranged circumferentially at intervals along the tail end of the launch vehicle substage. Each mounting seat is provided with a fixed shaft, and the locking head is provided with a slot that can engage with the fixed shaft.

[0030] The beneficial technical effects of the technical solution provided in this application include: the second transfer part of this application is detachably connected to the first transfer part, the first transfer part can smoothly pass between two adjacent legs at the tail of the launch vehicle substage and move to directly below the vertical launch vehicle substage to support the vertical launch vehicle substage; each second transfer part can smoothly pass between two adjacent legs at the tail of the launch vehicle substage and move to both sides of the first transfer part, which can prevent multiple legs at the tail of the vertical launch vehicle substage from interfering with the movement of the entire moving assembly, and facilitates improving the efficiency of supporting, fixing and transferring the launch vehicle substage.

[0031] Furthermore, each second transfer unit can connect with the first transfer unit in a first state to surround the vertical launch vehicle stage. That is, each locking unit can together surround the tail end of the vertical launch vehicle stage, and once connected, it can firmly secure the vertical launch vehicle stage. In this way, the moving assembly, in conjunction with the locking assembly, can more conveniently and stably transfer the vertical launch vehicle stage to the target location, improving transfer efficiency.

[0032] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0033] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0034] Figure 1 A schematic diagram of the structure of the vertical launch vehicle stage and the transfer device in the first state when the vertical launch vehicle stage is fixed by the locking part, as provided in the embodiments of this application;

[0035] Figure 2 A schematic diagram of the structure of the vertical launch vehicle stage and the transfer device in the first state when the vertical launch vehicle stage is not fixed by the locking part, as provided in the embodiments of this application;

[0036] Figure 3 for Figure 2 Enlarged schematic diagram of the structure in circle A;

[0037] Figure 4 A schematic diagram of the structure of the vertical launch vehicle substage and the first transfer unit when the vertical launch vehicle substage is not fixed by the locking part, as provided in the embodiments of this application;

[0038] Figure 5 A schematic diagram of the structure of the locking and transfer device in the horizontal launch vehicle stage and the second state provided in the embodiments of this application;

[0039] Figure 6 A schematic diagram of the locking and transfer device of the launch vehicle in the first state provided in the embodiments of this application;

[0040] Figure 7 A top view of the locking and transfer device of the launch vehicle in the first state provided in the embodiments of this application;

[0041] Figure 8 for Figure 7 Enlarged schematic diagram of the structure in the middle B circle;

[0042] Figure 9 An enlarged schematic diagram of the connection between the support base and the tail end of the launch vehicle stage provided in the embodiments of this application;

[0043] Figure 10 A schematic diagram of the locking part provided in an embodiment of this application;

[0044] Figure 11 for Figure 10 A schematic diagram of the connection between the middle clamp and the fixed shaft.

[0045] Explanation of reference numerals in the attached figures

[0046] 100 - Launch vehicle stage; 110 - Mounting base; 111 - Fixed shaft;

[0047] 200 - Mobile components;

[0048] 210-First transfer unit; 211-First support platform; 2111-Bearing unit; 2112-Guide block; 212-First drive mechanism; 2121-First moving wheel set; 213-Lifting mechanism; 2131-Lifting component; 2132-Connecting component; 2133-First telescopic mechanism; 214-Support base;

[0049] 220 - Second transfer section; 221 - Second support platform; 2211 - Alignment block; 2212 - Docking plate;

[0050] 300 - Locking component;

[0051] 310 - Locking part; 311 - Second telescopic mechanism; 3111 - First hydraulic cylinder; 3112 - Connecting rod; 3113 - Clamp head; 312 - Second drive mechanism; 313 - Base;

[0052] 320-Seat. Detailed Implementation

[0053] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0054] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in this application's specification means the presence of described, integers, steps, operations, elements, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by this art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0056] In related technologies, to reduce rocket launch costs, rocket stages can be recovered and reused. After a successful landing at the recovery site, the recovered rocket stages need to be transported to a designated facility for inspection and maintenance using a transfer device. Since the recovered rocket stages are slender cylindrical structures, it is crucial to prevent them from swaying and tipping over during the transfer, especially when transferring them at sea, ensuring the stability of the transfer device. Currently, after a rocket lands vertically, large hoisting equipment is needed to lift the rocket stages onto the transfer device, increasing transfer costs and affecting efficiency. Furthermore, existing transfer devices cannot securely hold the rocket stages, hindering stable transfer. Therefore, existing transfer devices cannot conveniently and stably transport vertically positioned rocket stages to their target location.

[0057] To solve the above technical problems, refer to Figures 1-11 This application provides a locking and transfer device for a launch vehicle, including a moving component 200 and a locking component 300.

[0058] The mobile component 200 includes a first transfer part 210 and at least two second transfer parts 220, wherein the at least two second transfer parts 220 are detachably connected to the first transfer part 210.

[0059] Locking component 300 is located on moving component 200;

[0060] In the first state, the first transfer section 210 is used to carry the vertical launch vehicle stage 100. Along the direction perpendicular to the first transfer section 210, each of the second transfer sections 220 is distributed on both sides of the first transfer section 210 to surround the launch vehicle stage 100. The locking assembly 300 includes at least two locking parts 310, which are respectively disposed on at least two of the second transfer sections 220 and are configured to connect with the launch vehicle stage 100 to fix the vertical launch vehicle stage 100 on the first transfer section 210.

[0061] The launch vehicle stage 100 will land on the recovery pad in a vertical attitude. In the first state, that is, the transfer device of this application can directly transfer the vertical launch vehicle stage 100. In this way, there is no need for large hoisting equipment to perform additional flipping and erection operations on the launch vehicle stage 100, which improves the safety of the recovery operation of the launch vehicle stage 100, reduces the vibration and impact that may be caused by attitude adjustment, and reduces component wear.

[0062] The second transfer part 220 of this application is detachably connected to the first transfer part 210. The first transfer part 210 can smoothly pass between two adjacent legs at the tail of the launch vehicle stage 100 and move to directly below the vertical launch vehicle stage 100 to support the vertical launch vehicle stage 100. Each second transfer part 220 can smoothly pass between two adjacent legs at the tail of the launch vehicle stage 100 and move to both sides of the first transfer part 210. This can prevent multiple legs at the tail of the vertical launch vehicle stage 100 from interfering with the movement of the entire moving assembly 200, and facilitates improved efficiency in supporting, fixing, and transferring the launch vehicle stage 100.

[0063] Furthermore, each of the second transfer units 220 can be connected to the first transfer unit 210 in a first state to surround the vertical launch vehicle stage 100, that is, each locking unit 310 can together surround the tail end of the vertical launch vehicle stage 100. When each locking unit 310 is connected to the launch vehicle stage 100, it can firmly fix the vertical launch vehicle stage 100. In this way, the moving component 200 can cooperate with the locking component 300 to more conveniently and stably transfer the vertical launch vehicle stage 100 to the target location, thereby improving the transfer efficiency.

[0064] Optionally, such as Figure 5 As shown, in the locking and transfer device of this application embodiment, in the second state, the first transfer part 210 and at least two second transfer parts 220 are arranged along the extending direction of the first transfer part 210, and the first transfer part 210 and the second transfer parts 220 are detachably connected. The locking assembly 300 includes a plurality of supports 320, which are correspondingly disposed on the first transfer part 210 and at least two second transfer parts 220 to jointly support the horizontal launch vehicle stage 100.

[0065] Depending on the length of the launch vehicle stage 100, two, three, or four second transfer sections 220 can be selected to connect with the first transfer section 210. Two second transfer sections 220 can be connected to both ends of the first transfer section 210 in the extension direction. Of course, adjacent second transfer sections 220 can also be detachably connected. After two adjacent second transfer sections 220 are connected to each other, they can be connected to one end of the first transfer section 210 in the extension direction. That is, after at least two second transfer sections 220 and the first transfer section 210 are connected, they can be arranged collinearly. When the support 320 is installed on the first transfer section 210 and the second transfer section 220, it can carry and transfer the horizontal launch vehicle stage 100.

[0066] It should be noted that the first transfer unit 210 and at least two second transfer units 220 can switch between two different states, namely, a first state and a second state, thereby adapting to more transfer needs. In the first state, the first transfer unit 210 and at least two second transfer units 220 can be connected together as one unit from their independent state and cooperate with at least two locking units 310 to carry and transfer the vertical launch vehicle stage 100; in the second state, the first transfer unit 210 and at least two second transfer units 220 can be arranged collinearly and connected together as one unit from their independent state to cooperate with multiple support units 320 to carry and transfer the horizontal launch vehicle stage 100.

[0067] The research and development concept of this application includes preventing the vertical launch vehicle stage 100 from tilting in a certain direction during the transfer process. To achieve this, at least two second transfer sections 220 and the two sides of the first transfer section 210 need to be accurately aligned and connected, ensuring that the included angles between the ends of adjacent first transfer sections 210 and second transfer sections 220 are equal. This application provides the following possible implementation method for the locking transfer device of the launch vehicle:

[0068] Optionally, such as Figures 6 to 7 As shown, the first transfer section 210 includes a first support platform 211, and the second transfer section 220 includes a second support platform 221. The first support platform 211 includes a bearing section 2111 for supporting the launch vehicle stage 100. The edge of the bearing section 2111 is provided with at least two guide blocks 2112 extending in the direction of the first transfer section. The portions of two adjacent guide blocks 2112 that are close to each other have a first inclined surface. Both ends of one side edge of the second support platform 221 are provided with outwardly protruding alignment blocks 2211. The side edge of the second support platform with the alignment blocks is a first edge. Along the direction of the first edge, the portion of the alignment block 2211 away from the middle of the first edge has a second inclined surface, which cooperates with the first inclined surface to guide the guide blocks 2112 and the alignment blocks 2211 to abut and align to form a V-shaped block structure. When at least two second transfer units 220 move toward the sides of the first transfer unit 210 respectively, the alignment block 2211 on the second support platform 221 will gradually approach the guide block 2112 on the first support platform 211. When the second inclined surface abuts against the first inclined surface, the first inclined surface will guide the alignment block 2211 and the second support platform 221, so that the sides of the second support platform 221 and the first support platform 211 are accurately aligned and connected, so that the included angle between the ends of each adjacent first support platform 211 and the second support platform 221 is equal. In this way, the included angle and spacing between each locking part 310 around the launch vehicle stage 100 are equal, so that the locking part 310 provides a more balanced support and locking effect on the outer peripheral wall of the launch vehicle stage 100, thereby preventing the vertical launch vehicle stage 100 from tilting in a certain direction and enabling more stable transfer of the launch vehicle stage 100.

[0069] Optionally, such as Figure 6 As shown, the first transfer unit 210 also includes a support base 214 and a first drive mechanism 212. The support base 214 is mounted on the first support platform 211 and is used to connect to the tail end of the launch vehicle stage 100. The support base 214 is provided with at least two laser vision sensors that are radially opposite each other, and the laser vision sensors are electrically connected to the first drive mechanism 212. The first drive mechanism 212 can be connected to the first support platform 211 to move the first support platform 211.

[0070] The cross-section of the support 214 can be circular to match the shape of the tail section of the launch vehicle stage 100. The tail end of the launch vehicle stage 100 can be connected to the top of the support 214 so that the support 214 contacts at least two second support platforms 221, so that the at least two second support platforms 221 stably clamp the support 214 and prevent the launch vehicle stage 100 from being damaged when the second support platforms 221 clamp the launch vehicle stage 100.

[0071] By setting a laser vision sensor in the radial direction of the support base 214, it can be ensured that after the support base 214 is accurately aligned with the tail end of the launch vehicle stage 100, the first drive mechanism 212 will be controlled to automatically stop the first support platform 211 from moving. This enables the support base 214 and the tail end of the launch vehicle stage 100 to be aligned more quickly and accurately, improving the accuracy and efficiency of the alignment.

[0072] Optionally, the tail end of the launch vehicle stage 100 is provided with multiple supports, which are arranged at intervals along the circumference of the launch vehicle stage 100. Each support is detachably connected to the support base 214 by bolts. This facilitates quick assembly and disassembly between the support base 214 and the tail end of the launch vehicle stage 100.

[0073] The bearing part 2111 can be located in the middle of the first support platform 211, and the outer peripheral wall of the support seat 214 can contact at least two second support platforms 221. Since the guide block 2112 and the alignment block 2211 can form a V-shaped block structure after abutting and aligning, at least two second support platforms 221 can stably clamp the support seat 214, thereby enabling the launch vehicle substage 100 to be stably located in the center position between each locking part 310. In this way, the robustness and stability of the vertical launch vehicle substage 100 can be further improved.

[0074] Optionally, the first transfer unit 210 includes a first support platform 211, a support base 214, and a first drive mechanism 212. The first support platform 211 includes a bearing part 2111 and mounting parts located on opposite sides of the bearing part 2111. The bearing part 2111 is provided with a support base 214, and both mounting parts are provided with locking parts 310. The plane where the top surfaces of the two mounting parts are located is above the plane where the top surface of the bearing part 2111 is located. The first drive mechanism 212 is connected to the two mounting parts.

[0075] Thus, by also installing the locking part 310 on the mounting part, the locking effect on the vertical launch vehicle stage can be further improved; the plane where the top surface of the bearing part 2111 is located is below the plane where the top surface of the mounting part is located, which can limit the support seat 214 in the extension direction of the first transfer part 210, thereby improving the stability of the vertical launch vehicle stage 100 during transfer.

[0076] Optionally, such as Figure 8 As shown, the second support platform 221 has outwardly protruding docking plates 2212 on both sides, and the docking plates 2212 are detachably connected to the bearing part 2111 by bolts. This improves the splicing efficiency between the second support platform 221 and the first support platform 211.

[0077] Optionally, the cross-section of the mating plate 2212 may be L-shaped and integrally formed.

[0078] The bolt end can simultaneously abut against the portion of the mating plate 2212 that contacts the bearing portion 2111 and the portion that connects to the second support platform 221. In this way, the bolt end and the L-shaped mating plate 2212 can form a triangular structure, thereby improving the connection stability and firmness between the second support platform 221 and the first support platform 211.

[0079] Optionally, such as Figure 3As shown, the first drive mechanism 212 includes a first moving wheel set 2121, and the first transfer section 210 also includes a lifting mechanism 213. The lifting mechanism 213 includes a lifting member 2131, a connecting member 2132, and a first telescopic mechanism 2133. One end of the lifting member 2131 is hinged to the first support platform 211. One end of the connecting member 2132 is hinged to the first moving wheel set 2121, and the other end is hinged to the other end of the lifting member 2131. The first telescopic mechanism 2133 is connected between the lifting member 2131 and the connecting member 2132. The first drive mechanism 212 also includes a drive member, which is drivenly connected to the first moving wheel set 2121 to drive the first moving wheel set to move on the recovery platform. Among them, the two adjacent lifting mechanisms 213 and the first support platform 211 and the adjacent first moving wheel group 2121 can form a parallelogram structure. In this way, when the first telescopic mechanism 2133 drives the lifting member 2131 and the connecting member 2132 to rotate in the vertical plane, the first support platform 211 can smoothly raise and lower the vertical launch vehicle stage 100 and the locking part 310 provided on the first support platform 211.

[0080] Optionally, the second transfer unit 220 further includes a drive assembly and a lifting mechanism. The drive assembly is connected to the second support platform 221 to move the support platform. The drive assembly includes a second set of moving wheels. The lifting mechanism includes a pusher, a movable member, and a linear push mechanism. One end of the pusher is hinged to the second support platform 221. One end of the movable member is hinged to the second set of moving wheels, and the other end is hinged to the other end of the pusher. The linear push mechanism is connected between the pusher and the movable member.

[0081] The two adjacent lifting mechanisms and the second support platform 221, as well as the adjacent second moving wheel group, can also form a parallelogram structure. In this way, when the linear push mechanism drives the pusher and the moving parts to rotate in the vertical plane, the second support platform 221 can smoothly lift and lower each locking part 310, thereby enabling each locking part 310 on the first support platform and the second support platform 221 to rise and fall synchronously and smoothly with the launch vehicle stage 100.

[0082] It should be noted that both the first moving wheel assembly 2121 and the second moving wheel assembly are omnidirectional moving wheel assemblies, capable of moving in all directions. This allows both the first transfer unit 210 and the second transfer unit 220 to move in any direction, facilitating the convenient and rapid transfer of the launch vehicle stage 100 to the target location and improving transfer efficiency.

[0083] Optionally, such as Figure 10As shown, the locking part 310 includes a base 313, a second telescopic mechanism 311, and a second drive mechanism 312. The base 313 is connected to the second support platform 221. The second telescopic mechanism 311 is hinged to one end of the base 313, and the projections of the second telescopic mechanism 311 and the base 313 in the same horizontal plane coincide. The second drive mechanism 312 is located at the other end of the base 313 and connected to the second telescopic mechanism 311, and is used to rotate the second telescopic mechanism 311 in the vertical plane so that the second telescopic mechanism 311 can be connected to the launch vehicle stage 100. When the locking part 310 needs to be connected to the launch vehicle stage 100, the second drive mechanism 312 will drive the second telescopic mechanism 311 to rotate upward along the vertical plane, so that the end of the second telescopic mechanism 311 away from the base 313 is raised to be connected to the launch vehicle stage 100. When all the second telescopic mechanisms 311 around the launch vehicle are connected to the outer peripheral wall of the launch vehicle stage 100, the launch vehicle stage 100 can be fixed. Since the projections of the second telescopic mechanism 311 and the base 313 coincide on the same horizontal plane, when the second telescopic mechanism 311 is connected to the launch vehicle stage 100, the second telescopic mechanism 311, the base 313 and the second drive mechanism 312 can form a triangular structure, which can further improve the stability of the locking part 310 in supporting the launch vehicle stage 100.

[0084] Optionally, such as Figure 10 As shown, the second telescopic mechanism 311 includes a first hydraulic cylinder 3111 and a connecting rod 3112. The telescopic end of the first hydraulic cylinder 3111 is detachably connected to the launch vehicle stage 100. One end of the connecting rod 3112 is hinged to the base 313, and the other end is connected to the fixed end of the first hydraulic cylinder 3111. When the first hydraulic cylinder 3111 is raised to near the launch vehicle stage 100 under the action of the second drive mechanism 312, the telescopic end of the first hydraulic cylinder 3111 extends and connects to the launch vehicle stage 100. The connecting rod 3112 can support the first hydraulic cylinder 3111 and shorten the telescopic stroke of the first hydraulic cylinder 3111, so that the telescopic end of the first hydraulic cylinder 3111 can be quickly connected to the launch vehicle stage 100.

[0085] Optionally, such as Figure 10 As shown, the second drive mechanism 312 includes a second hydraulic cylinder. The fixed end of the second hydraulic cylinder is hinged to the base 313, and the telescopic end of the second hydraulic cylinder is hinged to the connecting rod 3112. When the telescopic end of the second hydraulic cylinder gradually extends, it pushes the connecting rod 3112 to rotate upward in the vertical plane, thereby causing the second hydraulic cylinder to rotate upward and connect to the launch vehicle stage 100.

[0086] Optionally, such as Figure 10 and Figure 11As shown, the telescopic end of the first hydraulic cylinder 3111 is connected to a locking head 3113. The locking part 310 also includes a plurality of mounting seats 110 disposed on the launch vehicle stage 100. The plurality of mounting seats 110 are arranged circumferentially at intervals along the tail end of the launch vehicle stage 100. The mounting seat 110 is provided with a fixed shaft 111, and the locking head 3113 is provided with a slot that can engage with the fixed shaft 111. By engaging the locking head 3113 with the fixed shaft 111, even if the fixed shaft 111 is engaged in the slot, the connection rate between the telescopic end of the first hydraulic cylinder 3111 and the launch vehicle stage 100 can be further improved, thereby improving the locking efficiency of the locking part 310 on the launch vehicle stage 100.

[0087] The beneficial technical effects of the technical solution provided in this application include: eliminating the need for large hoisting equipment to perform additional flipping and erection operations on the launch vehicle stage 100, improving the safety of the recovery operation of the launch vehicle stage 100, reducing vibration and impact that may be caused by attitude adjustment, and reducing component wear; the moving component 200 can work with the locking component 300 to more conveniently and stably transport the vertical launch vehicle stage 100 to the target location, improving transport efficiency.

[0088] The first transfer unit 210 and at least two second transfer units 220 can switch between two different states, namely, a first state and a second state, thereby adapting to more transfer needs.

[0089] The included angles and spacing between the locking parts 310 surrounding the launch vehicle stage 100 are equal, making the support and locking effect of the locking parts 310 on the outer peripheral wall of the launch vehicle stage 100 more balanced. This can prevent the vertical launch vehicle stage 100 from tilting in a certain direction and can transport the launch vehicle stage 100 more stably. The V-shaped block structure formed after the guide block 2112 and the alignment block 2211 abut and align can further improve the firmness and stability of transporting the vertical launch vehicle stage 100.

[0090] The radial mounting of a laser vision sensor on the support 214 can improve the accuracy and efficiency of the alignment between the support 214 and the tail end of the launch vehicle stage 100.

[0091] The two adjacent lifting mechanisms 213, the first support platform 211, and the adjacent first moving wheel set can form a parallelogram structure, which enables the first support platform 211 to smoothly raise and lower the vertical launch vehicle stage 100. The second telescopic mechanism 311, the base 313, and the second drive mechanism 312 can form a triangular structure, which can further improve the stability of the locking part 310 in supporting the launch vehicle stage 100.

[0092] In the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directions or positional relationships based on the exemplary directions or positional relationships shown in the accompanying drawings. They are used to facilitate the description or simplification of the embodiments of this application and are not intended to indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0093] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0094] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0095] The above description is only a partial implementation of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A locking and transfer device for a launch vehicle, characterized in that, Used for transferring launch vehicle sub-stages, including: The mobile component includes a first transfer part and at least two second transfer parts, wherein the at least two second transfer parts are detachably connected to the first transfer part; The first transfer section includes a first support platform, a support base, and a first drive mechanism; the first support platform includes a bearing section for supporting the launch vehicle substage, and the edge of the bearing section is provided with at least two guide blocks in the extending direction of the first transfer section, and the portions of two adjacent guide blocks that are close to each other have a first inclined surface; the support base is disposed on the first support platform and is used to connect to the tail end of the launch vehicle substage, and the support base is provided with at least two laser vision sensors that are radially opposite to it, and the laser vision sensors are electrically connected to the first drive mechanism; The second transfer unit includes a second support platform. Both ends of one side edge of the second support platform are provided with outwardly protruding alignment blocks. The side edge of the second support platform with the alignment blocks is a first edge. Along the direction extending from the first edge, the portion of the alignment block away from the middle of the first edge has a second inclined surface, which cooperates with the first inclined surface to guide the guide block and the alignment block to abut and align to form a V-shaped block structure. A locking component is provided on the movable component; In the first state, the first transfer section is used to carry the vertical launch vehicle sub-stage. Along a direction perpendicular to the extension of the first transfer section, each of the second transfer sections is distributed on both sides of the first transfer section to surround the launch vehicle sub-stage. The locking assembly includes at least two locking parts, which are respectively disposed on at least two of the second transfer sections and are configured to connect with the launch vehicle sub-stage to fix the vertical launch vehicle sub-stage on the first transfer section. In the second state, the first transfer section and at least two second transfer sections are arranged along the extension direction of the first transfer section, and the first transfer section and the second transfer section are detachably connected; the locking assembly includes a plurality of supports, which are correspondingly disposed on the first transfer section and at least two second transfer sections to jointly support the horizontal launch vehicle substage.

2. The locking and transferring device according to claim 1, characterized in that, The second support platform has outwardly protruding docking plates on both sides, and the docking plates are detachably connected to the bearing part by bolts.

3. The locking and transferring device according to claim 1, characterized in that, The first drive mechanism includes a first set of moving wheels, and the first transfer part further includes a lifting mechanism, the lifting mechanism comprising: The lifting component is hinged at one end to the first support platform; The connector is hinged at one end to the first movable wheel assembly and at the other end to the other end of the lifting member; A first telescopic mechanism is connected between the lifting member and the connecting member.

4. The locking and transferring device according to claim 1, characterized in that, The locking part includes: The base is connected to the second support platform; The second telescopic mechanism is hinged to one end of the base, and the projection of the second telescopic mechanism and the base coincides in the same horizontal plane. The second drive mechanism is located at the other end of the base and connected to the second telescopic mechanism, for rotating the second telescopic mechanism in a vertical plane so that the second telescopic mechanism can be connected to the launch vehicle stage.

5. The locking and transferring device according to claim 4, characterized in that, The second telescopic mechanism includes: The first hydraulic cylinder has a telescopic end that is detachably connected to the launch vehicle substage. The connecting rod is hinged at one end to the base and connected at the other end to the fixed end of the first hydraulic cylinder.

6. The locking and transferring device according to claim 5, characterized in that, The second drive mechanism includes a second hydraulic cylinder, the fixed end of which is hinged to the base, and the telescopic end of which is hinged to the connecting rod.

7. The locking and transferring device according to claim 5, characterized in that, The telescopic end of the first hydraulic cylinder is connected to a locking head; The locking part also includes a plurality of mounting seats provided on the launch vehicle substage. The plurality of mounting seats are arranged circumferentially at intervals along the tail end of the launch vehicle substage. Each mounting seat is provided with a fixed shaft, and the locking head is provided with a slot that can engage with the fixed shaft.

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