Constraining and releasing system for carrier rocket and control method

Abstract

The invention provides a containment release system for a carrier rocket and a control method, and relates to the field of carrier rockets. The restraining and releasing system for the carrier rocket comprises a plurality of supporting and releasing devices which are arranged on a fixed launching pad and located on the periphery of the carrier rocket, and each supporting and releasing device is connected with a rocket foot of the carrier rocket; the hydraulic system is communicated with the support release device; the control system is electrically connected with the weight sensor and the angle sensor of the supporting and releasing device and the hydraulic system; in the using state, the control system controls the hydraulic system to drive the supporting and releasing device to complete three mechanism preset actions of restraining, slow releasing and quick returning on the rocket foot of the carrier rocket according to a control instruction, real-time parameters of the weight sensor and real-time parameters of the angle sensor. According to the scheme, integrated design of the restraining and releasing mechanism and the rocket supporting mechanism is achieved, and the restraining and releasing system has the advantages of being simple in structure and convenient to control.

Description

Technical Field

[0001] This invention relates to the field of launch vehicles, and in particular to a restraint and release system and control method for launch vehicles. Background Technology

[0002] Currently, launch methods for carrier rockets are divided into traditional unsecured launch and existing secured launch. Unsecured launch involves the carrier rocket having no connection to the launch pad during ignition and liftoff; the launch pad only needs to provide support. While this launch method eliminates the constraints of liftoff, it poses safety risks because the rocket is in an unstable state during liftoff. If the multi-engine ignition fails, or the thrust becomes unstable or malfunctions, not only will the launch mission fail, but the rocket may also tip over onto the launch pad, causing a serious launch accident. Secured launch, on the other hand, fully exposes these safety hazards before the rocket leaves the launch pad, allowing for timely rescue of both the rocket and the launch site. Secured launch technology utilizes specialized securing mechanisms... The release mechanism and support mechanism work in conjunction with the rocket fault diagnosis system. The support mechanism supports the rocket before liftoff and acts as a windproof device. The restraint release mechanism releases the rocket accurately and promptly after ignition, provided the fault diagnosis system confirms that all rocket systems are functioning normally. If any system, especially the rocket propulsion system, malfunctions, the mechanism firmly restrains the rocket to prevent it from leaving the launch pad and avoid disaster. However, the current restraint release launch process requires a complex restraint release system for control. The restraint release mechanism and the rocket support mechanism are both independent systems that require separate control. They need to work closely together to achieve restraint release launch, resulting in a complex overall control system structure that is difficult to control. Summary of the Invention

[0003] This invention provides a restraint and release system and control method for launch vehicles, which solves the problems of complex structure and inconvenient control of existing rocket restraint and release systems.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: This invention provides a traction release system for a launch vehicle, comprising: Multiple support and release devices are set on a fixed launch platform and located around the launch vehicle, each of which is connected to one of the launch vehicle's arrow feet; A hydraulic system connected to the support release device; A control system electrically connected to the weight sensor and angle sensor of the support release device and the hydraulic system; In operation, the control system, based on control commands, real-time parameters from the weight sensor, and real-time parameters from the angle sensor, controls the hydraulic system to drive the support release device to perform three predetermined actions on the launch vehicle's limbs: restraint, slow release, and rapid return.

[0005] Optionally, the support release device includes: Box structure; A support plate is provided at one end of the box structure, and a weight sensor is provided at the bottom of the support plate. The clamping arm is rotatably connected to the box structure via a clamping arm support. One end of the clamping arm is located directly above the support plate, and the other end is located inside the box structure. An angle sensor is provided on the clamping arm. The connecting rod rotary seat is located inside the housing structure and below the other end of the clamping arm; An elbow mechanism is mounted on the rotating seat of the connecting rod and rotatably connected to the rotating seat of the connecting rod, with one end of the elbow mechanism rotatably connected to the clamping arm; A drive assembly is disposed within the housing structure and located on one side of the connecting rod swivel seat. The drive end of the drive assembly is rotatably connected to the other end of the toggle mechanism, and the drive assembly is connected to the hydraulic system.

[0006] Optionally, the driving component includes: A hydraulic cylinder rotary support is installed inside the housing structure and fixedly connected to the housing structure. The hydraulic cylinder is installed inside the housing structure. The driving end of the hydraulic cylinder is rotatably connected to the other end of the toggle mechanism, and the other end is fixedly connected to the cylinder slewing support.

[0007] Optionally, the toggle mechanism includes: Putter and triangle arm; The triangular arm is mounted on the rotating seat of the connecting rod and is rotatably connected to the rotating seat of the connecting rod. One end of the triangular arm is rotatably connected to the push rod, and the other end is rotatably connected to the drive end of the drive assembly. One end of the push rod is rotatably connected to the triangular arm, and the other end is rotatably connected to the clamping arm.

[0008] Optionally, the push rod includes: The shaft and the first and second ball heads located at both ends of the shaft; The rod body has threaded holes at both ends, and the ends of the first ball head and the second ball head are both provided with threaded rods. The ends of the first ball head and the second ball head are threadedly connected to the threaded holes at both ends of the rod body through the threaded rods. The first ball head is rotatably connected to the clamping arm, and the second ball head is rotatably connected to the triangular arm.

[0009] Optionally, the triangular arm includes: A long lever arm and a short lever arm fixedly connected to the long lever arm; The long lever arm is rotatably connected to the push rod, and the short lever arm is rotatably connected to the drive end of the drive assembly. A first bushing is provided between the long lever arm and the short lever arm, and the first bushing is rotatably connected to the connecting rod swivel seat.

[0010] The present invention also provides a control method for a restraint-release system, applied to the restraint-release system described above, the method comprising: Acquire real-time control commands, real-time weight parameters from the weight sensor, and real-time angle parameters from the angle sensor; According to the real-time control command, real-time weight parameters, and real-time angle parameters, the hydraulic system is controlled to drive the support release device to perform at least one of the three predetermined actions of restraint, slow release, and rapid return of the launch vehicle's arrow feet.

[0011] Optionally, controlling the hydraulic system to drive the support release device to perform a restraining action on the launch vehicle's arrow feet according to the control command, real-time weight parameters, and real-time angle parameters includes: Obtain the restraint command from the real-time control command; According to the restraint command, the hydraulic system drives the drive component of the support release device to apply a thrust to the toggle mechanism, causing one end of the clamping arm to rise and the other end to press down, suppressing the arrow foot until the real-time weight parameter is equal to the first preset value and the real-time angle parameter is equal to the second preset value.

[0012] Optionally, according to the control command and real-time weight parameters, the hydraulic system is controlled to drive the support release device to perform a slow release action on the launch vehicle's arrow feet, including: Retrieve the release command from the real-time control command; According to the release command, the hydraulic system drives the drive component of the support release device to apply a first pulling force to the toggle mechanism, maintaining the real-time weight parameter to a second preset parameter value. Based on the rocket's altitude, the hydraulic system drives the support release device's drive assembly to apply a second pulling force to the toggle mechanism, gradually reducing the real-time weight parameter from the second preset parameter to the third preset parameter.

[0013] Optionally, controlling the hydraulic system to drive the support release device to complete a quick return motion of the launch vehicle's arrow feet according to the control command includes: Retrieve the emergency return instruction from the real-time control instructions; According to the emergency return command, the hydraulic system drives the drive assembly of the support release device to apply a third pulling force to the toggle mechanism, causing one end of the clamping arm to press down and the other end to rise and move away from the arrow foot until the horizontal distance between the clamping arm and the arrow foot of the launch vehicle reaches a third preset value.

[0014] The above-described solution of the present invention has at least the following beneficial effects: The restraint and release system for a launch vehicle according to the present invention includes: multiple support and release devices mounted on a fixed launch pad and located around the launch vehicle, each support and release device being connected to a launch vehicle's arrow foot; a hydraulic system connected to the support and release devices; and a control system electrically connected to the weight sensors and angle sensors of the support and release devices and the hydraulic system. In operation, the control system, based on control commands, real-time parameters from the weight sensors, and real-time parameters from the angle sensors, controls the hydraulic system to drive the support and release devices to perform three predetermined actions on the launch vehicle's arrow foot: restraint, slow release, and rapid return. This achieves an integrated design of the restraint and release mechanism and the rocket support mechanism, giving the restraint and release system the advantages of simple structure and easy control. Attached Figure Description

[0015] Figure 1 This is a perspective view of the restraint and release system for a launch vehicle according to the present invention; Figure 2 This is a perspective view of the support and release device of the restraint and release system for a launch vehicle according to the present invention; Figure 3 This is a vertical sectional view of the support release device for the restraint release system of a launch vehicle according to the present invention; Figure 4 This is a schematic diagram of the internal structure of the support release device for the restraint release system of a launch vehicle according to the present invention. Figure 5 This is a simplified structural diagram of the support release device during the docking and adjustment process of the support release device of the restraint release system for launch vehicles according to the present invention; Figure 6 This is a schematic diagram of the force distribution principle of the toggle mechanism of the restraint and release system for launch vehicles according to the present invention; Figure 7 This is a simplified force diagram of the support release device for the restraint release system of a launch vehicle according to the present invention; Figure 8 This is a perspective view of the box structure of the support and release device for the restraint and release system of a launch vehicle according to the present invention; Figure 9 This is a perspective view of the clamping arm of the restraint and release system for a launch vehicle according to the present invention; Figure 10 This is a perspective view of the adaptive pressure head of the restraint and release system for a launch vehicle according to the present invention; Figure 11 This is a perspective view of the semi-circular head pressure block of the restraint and release system for a launch vehicle according to the present invention; Figure 12 This is a perspective view of the guide block of the restraint and release system for a launch vehicle according to the present invention; Figure 13 This is a perspective view of the push rod of the restraint and release system for a launch vehicle according to the present invention; Figure 14 This is a perspective view of the triangular arm of the restraint and release system for a launch vehicle according to the present invention; Figure 15 This is a simplified structural diagram of the support and release device during the restraint process in the control method for the restraint and release system of the present invention; Figure 16 This is a simplified structural diagram of the support release device during the slow-release process of the control method for the restraint release system of the present invention; Figure 17 This is a simplified structural diagram of the support and release device during the rapid return process of the control method for the restraint and release system of the present invention. Explanation of reference numerals in the attached figures: 1. Fixed launch pad; 10. Support release device; 11. Hydraulic cylinder; 12. Cylinder slewing support; 2. Triangular arm; 20. Connecting rod slewing seat; 21. Long lever arm; 22. Short lever arm; 23. First bushing; 3. Push rod; 31. Rod body; 32. First ball head; 33. Second ball head; 4. Clamping arm; 41. Clamping arm support; 42. Angle sensor; 5. Support plate; 51. Threaded sleeve; 52. Weighing sensor; 53. Trapezoidal stud; 6. Arrow foot; 60. Launch vehicle; 7. Box structure; 71. Base plate; 72. First upright plate; 73. Second upright plate; 74. Upper box cover; 75. Cover plate; 76. Support plate mounting groove; 77. Support platform; 8. Adaptive pressure head; 81. First guide block; 82. Second guide block; 83. Semi-circular head pressure block; 831. Semi-circular protrusion. Detailed Implementation

[0016] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0017] like Figures 1 to 14As shown, an embodiment of the present invention proposes a restraint and release system for a launch vehicle, comprising: Multiple support and release devices 10 are set on the fixed launch platform 1 and located around the launch vehicle 60. Each support and release device 10 is connected to a launch vehicle foot 6. A hydraulic system connected to the support release device 10; A control system electrically connected to the weight sensor 52 and angle sensor 42 of the support release device 10 and the hydraulic system; In use, the control system controls the hydraulic system to drive the support release device 10 to perform the three predetermined actions of restraint, slow release and quick return on the rocket's arrow feet 6 according to the control command, the real-time parameters of the weight sensor 52 and the real-time parameters of the angle sensor 42.

[0018] The support release device includes: Box structure 7; A support plate 5 is provided at one end of the box structure 7, and a weight sensor 52 is provided at the bottom of the support plate 5. The clamping arm 4 is rotatably connected to the box structure 7 via the clamping arm support 41. One end of the clamping arm 4 is located directly above the support plate 5, and the other end is located inside the box structure 7. An angle sensor 41 is provided on the clamping arm 4. The connecting rod swivel seat 20 is disposed inside the housing structure 7 and located below the other end of the clamping arm 4; An elbow mechanism is provided on the connecting rod rotary seat 20 and rotatably connected to the connecting rod rotary seat 20, and one end of the elbow mechanism is rotatably connected to the clamping arm 4; The drive assembly is disposed within the housing structure 7 and located on one side of the connecting rod swivel seat 20. The drive end of the drive assembly is rotatably connected to the other end of the toggle mechanism, and the drive assembly is connected to the hydraulic system.

[0019] In this embodiment, in use, the rocket's fins are mounted on the support plate 5 and clamped by one end of the clamping arm 4. The drive assembly drives the clamping arm 4 to lift and lower via a toggle mechanism, thereby achieving the clamping and release of the rocket's fins. The clamping principle of the clamping arm 4 adopts a two-stage series force amplification method based on the angle-length effect. The lever effect changes the lever arm of the clamping arm 4, and the force amplification effect is achieved by changing the amplification angle of the toggle mechanism. The support and release device can not only support the rocket before and after fueling and fix and clamp the rocket's fins via the clamping arm 4, acting as a windproof lever, but also has a restraint release function. Its structure can withstand the thrust of the rocket during takeoff. During the takeoff thrust build-up process, the clamping arm 4 restrains the rocket. When needed, the clamping arm can release the restraining force and quickly detach from the rocket body to launch the rocket after the rocket ignition and takeoff conditions are met. Alternatively, in conventional launch mode, it can be opened in advance before launch and used only as a fixed support structure for the rocket body. At the same time, the support release device can also provide a buffer force during rocket takeoff to prevent impact caused by the rocket's violent vibration. The restraint and release system for the launch vehicle achieves an integrated design of the restraint and release mechanism and the rocket support mechanism through the design of the support release device. This allows the support release device to have both support and restraint release functions, expanding the application scenarios of the support release device. At the same time, it gives the restraint and release system the advantages of simple structure and easy control.

[0020] In an optional embodiment of the present invention, the driving component includes: The hydraulic cylinder rotary support 12 is installed inside the housing structure 7 and is fixedly connected to the housing structure 7. The hydraulic cylinder 11 is installed inside the housing structure 7. The driving end of the hydraulic cylinder 11 is rotatably connected to the other end of the toggle mechanism, and the other end is fixedly connected to the cylinder rotation support 12.

[0021] In this embodiment, all hydraulic cylinders 11 are connected to the hydraulic system. The hydraulic system is used to control the execution actions of all hydraulic cylinders 11. The design of using hydraulic cylinders 11 as driving devices can not only provide stable thrust, but also, when the actuator fails, the hydraulic cylinders 11 can be made to fail through measures such as pressure relief of the hydraulic system valve block. Thus, the clamping arm can be passively pushed open and released by the rocket takeoff thrust, as a redundancy of mechanism action.

[0022] In an optional embodiment of the present invention, the toggle mechanism includes: Push rod 3 and triangle arm 2; The triangular arm 2 is mounted on the connecting rod swivel seat 20 and is rotatably connected to the connecting rod swivel seat 20. One end of the triangular arm 2 is rotatably connected to the push rod 3, and the other end is rotatably connected to the drive end of the drive assembly. One end of the push rod 3 is rotatably connected to the triangular arm 2, and the other end is rotatably connected to the clamping arm 4.

[0023] In this embodiment, the toggle mechanism adopts a planar force-increasing rod system structure composed of push rod 3 and triangular arm 2, which allows for perpendicular conversion between the power output direction and the motion direction, and effectively amplifies the input power by a factor of two. In the design of this invention, the toggle mechanism principle can effectively reduce the complexity of the system, save the space used by the mechanism, and increase the working efficiency of the system. It also has the advantages of simple structure, large force gain, and high force transmission efficiency. As the pressure angle decreases, the force gain of the mechanism increases accordingly. The force structure diagram of the toggle mechanism is shown below. Figure 6 As shown; according to the force relationship, when the angle θ between push rod 3 and triangular arm 2 is 120°, the active force f is equal to the output force F, and the mechanical formula is: Based on the mechanical relationship between the active force f, the elbow amplification angle θ, and the output force F, the following amplification ratio table can be drawn up, as shown in Table 1, Elbow Structure Amplification Relationship Table: Table 1. Enlargement Relationship of Elbow Structure

[0024] As can be seen from Table 1 above, as the toggle mechanism gets closer and closer to the extension stop position, the amplification factor of the output force will also become larger and larger, approaching infinity; in a preferred embodiment, considering the influence of factors such as the force deformation of the rod and the control accuracy during the restraint process, the amplification angle α of the mechanism is finally determined to be 172°, and the F / f ratio is about 7.1.

[0025] In a preferred embodiment, an angle sensor 42 is provided on the clamping arm 4, which is used to detect the angle between the push rod 3 and the triangular arm 2 in real time during their movement.

[0026] In this embodiment, the specific usage process of the restraint and release system for the launch vehicle is as follows: docking adjustment process, such as... Figure 5As shown: When the rocket is hoisted with other ground support systems such as the erector and axle vehicle in the technical workshop, the restraint and release system needs to control the support release device to open the clamping arm 4 to the maximum angle in advance, and adjust the support plate 5 to the corresponding position to dock with the rocket foot 6. Specifically, the hydraulic cylinder 11 applies a pulling force to the triangular arm 2, driving the hinge point O2 (the connection between the push rod 3 and the triangular arm 2) to move to the left, so that the pressure foot of the end restraint arm 4 is raised, providing sufficient space for rocket installation. The lifting tool is used to hoist and install the rocket foot 6, and the support plate 5 is adjusted to a suitable height by the adjustment mechanism to complete the docking process between the rocket foot 6 and the support release device. Force-enhancing restraint process: After the rocket is hoisted and docked with the mobile launch pad, and the relative positions of the arrow foot 6 and the support release device are adjusted, the clamping arm 4 presses and locks the arrow foot 6 through the hydraulic cylinder 11 and the connecting rod, and provides a pressure of 50 tons on one side of the arrow foot 6. The conventional release process during uncontrolled release launch is the process that only provides support: Before the rocket launch, clamping arm 4 is opened to its maximum angle to put the rocket in a free and ready-to-launch state.

[0027] The restraint release process during restraint release launch: Once the rocket reaches the predetermined thrust, the onboard system determines that the launch conditions are met. The support release device receives a control signal, and the hydraulic system controls the restraining force of the restraining arm 4 on the rocket foot 6. The release force gradually decreases with the rocket's takeoff altitude, controlling the support release device to release the clamping arm 4 until it avoids the safe takeoff space, thus completing the entire restraint and release process. In other words, through the coordinated movement between the devices, the predetermined actions of the three mechanisms—restraint, release, and rapid return—are completed.

[0028] Among them, such as Figure 15 As shown, the restraining process is as follows: the hydraulic cylinder 11 applies a thrust to the hinge point O1 (the connection between the first bushing 23 and the connecting rod rotary seat 20), driving the hinge point O2 to move to the right, the hinge point O3 (the connection between the push rod 3 and the clamping arm 4) to rise, and the restraining arm 4 presses down to suppress the arrow foot 6. As the thrust of the hydraulic cylinder 11 increases and the length of the cylinder rod increases, the angle between the push rod 3 and the triangular arm 2 becomes smaller and smaller, forming an elbow mechanism to amplify the thrust of the hydraulic cylinder 11. The angle sensor 42 on the hinge point O4 (the connection between the clamping arm 4 and the clamping arm support 41) and the weighing sensor 52 on the support plate 5 can measure the angle between the push rod 3 and the triangular arm 2 (172°) and the pressure of the restraining arm 4 on the arrow foot 6 (50 tons), maintaining the restraining force until the rocket ignites and enters the slow release stage. like Figure 16As shown, the slow release process is as follows: after receiving the slow release signal, the hydraulic system pressure is adjusted so that the thrust of the hydraulic cylinder 11 is maintained at 20 tons. At this time, the pressure at the pressure head of the restraining arm 4 is less than the rocket takeoff thrust and gradually decreases as the arrow foot 6 rises, slowly unloading until the rocket's height above the platform reaches 90mm. like Figure 17 As shown, the quick return process is as follows: when the rocket launch normal signal is received, the hydraulic cylinder 11 quickly pulls the triangular arm 2 to move rapidly to the upper right, causing the hinge point O2 to swing downward. This causes the restraining arm 4 to swing upward through the push rod 3, thus realizing the quick return movement of the mechanism and ensuring that the horizontal distance between the pressure head of the restraining arm 4 and the rocket reaches 90mm.

[0029] In a preferred embodiment, the clamping arm 4 is formed by welding together 20mm thick steel plates. One end of the clamping arm 4 is provided with a second bushing, and the other end is provided with a first mounting groove and a first mounting hole for connecting one end of the push rod 3.

[0030] In a preferred embodiment, the clamping arm support 41 includes: A first support is provided on the housing structure 7, and a second support is provided opposite to the first support; both the first support and the second support are provided with a first connecting hole, and one end of the clamping arm 4 is provided between the first support and the second support, and is rotatably connected to the first support and the second support by a pin passing through the first connecting hole and the second bushing.

[0031] In an optional embodiment of the present invention, the push rod 3 includes: The shaft 31 and the first ball head 32 and the second ball head 33 disposed at both ends of the shaft 31; The rod body 31 has threaded holes at both ends, and the ends of the first ball head 32 and the second ball head 33 are both provided with threaded rods. The ends of the first ball head 32 and the second ball head 33 are threadedly connected to the threaded holes at both ends of the rod body 31 through the threaded rods. The first ball head 32 is rotatably connected to the clamping arm 4, and the second ball head 33 is rotatably connected to the triangular arm 2.

[0032] In this embodiment, the push rod 3 mainly transmits the pushing and pulling force of the hydraulic cylinder. It is mainly composed of a ball head and a rod body. The ball heads at both ends are hinged structures. The holes of the first ball head 32 and the second ball head 33 are equipped with radial joint bearings. The first ball head 32 and the second ball head 33 are rotatably connected to the clamping arm 4 and the triangular arm 2 through the radial joint bearings. The design of the radial joint bearings is suitable for alternating load changes and impact load conditions. The push rod ball head and the rod body are threaded, and the axial length can be adjusted. Thus, the amplification angle of the toggle mechanism can be changed according to the actual use.

[0033] In an optional embodiment of the present invention, the triangular arm 2 includes: A long lever arm 21 and a short lever arm 22 fixedly connected to the long lever arm 21; The long lever arm 21 is rotatably connected to the push rod 3, and the short lever arm 22 is rotatably connected to the drive end of the drive assembly. A first bushing 23 is provided between the long lever arm 21 and the short lever arm 22, and the first bushing 23 is rotatably connected to the connecting rod swivel seat 20.

[0034] In a preferred embodiment, the lengths of the long lever arm and the short lever arm of the triangular arm 2 are 401.5 mm and 200 mm, respectively, and the angle between the long lever arm 21 and the short lever arm 22 is 10 degrees.

[0035] In this embodiment, the triangular arm 2 is a steel plate welded structure with three hinge points: the two ends of the triangular arm 2 and the first bushing 23. The hinge point of the long arm is connected to the push rod 3, the hinge point in the middle is connected to the connecting rod rotary seat 20, and the hinge point of the short arm is connected to the cylinder rod of the hydraulic cylinder 11.

[0036] In a preferred embodiment, the end of the long lever arm 21 of the triangular arm 2 is provided with a second mounting groove and a second mounting hole for connecting the other end of the push rod 3; the end of the short lever arm 22 of the triangular arm 2 is provided with a third mounting groove and a third mounting hole for connecting the drive end of the drive assembly. In a preferred embodiment, the connecting rod swivel seat 20 includes: A third support is provided inside the housing structure 7, and a fourth support is provided opposite to the third support; both the third support and the fourth support are provided with a second connecting hole, and the first bushing 23 is provided between the third support and the fourth support, and is rotatably connected to the third support and the fourth support by a pin passing through the second connecting hole and the first bushing 23.

[0037] In an optional embodiment of the present invention, the housing structure 7 includes: Base plate 71; The first upright plate 72 and the second upright plate 73 are disposed on two opposite sides of the base plate 71; The upper box cover 74 and the cover plate 75 are provided on the first upright plate 72 and the second upright plate 73; The support platform 77 is provided on the base plate 71 and located between the first upright plate 72 and the second upright plate 73, and the clamping arm support 41 is provided on the support platform 77. The support plate 5 is fixedly installed in the support plate mounting groove 76 located on one side of the support platform 77 and on the base plate 71.

[0038] In this embodiment, a cavity is formed between the support platform 77, the base plate 71, the first upright plate 72, and the second upright plate 73. The drive assembly, the connecting rod swivel seat 20, and the toggle mechanism are all located in the cavity. The box structure 7 is a unidirectional load-bearing component. The weight load of the rocket is mainly transferred directly to the movable launch pad structure by the support plate 5. During the rocket takeoff restraint process, the restraint force is transferred to the box structure through the clamping arm 4 and the rod system.

[0039] In this embodiment, the front end of the bottom plate 71 of the box structure 7 only has the mounting plane and mounting hole of the support plate 5, namely the support plate mounting groove 76, which facilitates installation and maintenance. In order to facilitate the installation and maintenance of the internal rod mechanism of the box, the box upright plate has a square inspection hole corresponding to the pin installation position, and the upper surface of the rear of the box is provided with a cover plate 75. The two sides of the bottom plate 71 of the box are equipped with 20 symmetrically arranged Φ40 through holes for docking and installation with the mounting surface of the launch pad.

[0040] In an optional embodiment of the present invention, the restraint and release system for a launch vehicle further includes: An adaptive pressure head 8 is set at one end of the clamping arm 4; In use, the adaptive pressure head 8 is in contact with the end face of the arrow foot 6.

[0041] In an optional embodiment of the present invention, the adaptive pressure head 8 includes: A first guide block 81 and a second guide block 82 are fixedly connected to one end of the clamping arm 4; The semi-circular head pressure block 83 is rotatably connected to the first guide block 81 and the second guide block 82; When in use, the lower end face of the semi-circular head pressure block 83 is in contact with the end face of the arrow foot 6.

[0042] In an optional embodiment of the present invention, the first guide block 81 and the second guide block 82 are connected to each other at one end of the clamping arm 4, and the connecting ends of the first guide block 81 and the second guide block 82 are both provided with semi-circular slots. The upper surface of the semi-circular head pressing block 83 is provided with a semi-circular protrusion 831 corresponding to the semi-circular slot. The semi-circular head pressing block 83 is engaged in the semi-circular slot through the semi-circular protrusion 831 and is slidably connected with the semi-circular slot.

[0043] In this embodiment, the lower end face of the semi-circular head pressure block 83 is flat. In use, the end of the clamping arm 4 presses the rocket's arrow foot 6 onto the support plate 5 through the lower end face of the semi-circular head pressure block 83 of the adaptive pressure head 8. When the rocket takes off, during the upward lifting and pressure release process of the clamping arm 4, the semi-circular head pressure block 83 is rotatably connected to the first guide block 81 and the second guide block 82. This design ensures that when the clamping arm 4 is lifted upward, the top of the semi-circular head pressure block 83 rotates with the clamping arm 4, while the lower end face remains stationary. This ensures that during the rocket's ignition and lift-off process, the lower end face of the semi-circular head pressure block 83 is always in surface contact with the rocket's arrow foot 6, thus ensuring that the normal pressure on the pressure surface of the arrow foot 6 does not exceed the strength limit of the arrow foot material. This reduces the material design strength of the arrow foot 6 and improves the safety of the support release device during use.

[0044] In an optional embodiment of the present invention, the support disk 5 includes: The threaded sleeve 51, the weight sensor 52 disposed at the lower end of the threaded sleeve 51, and the trapezoidal stud 53 disposed at the upper end of the threaded sleeve 51; The weight sensor 52 is disposed in the mounting groove 76 of the support plate and is fixedly connected to the base plate 71 through a threaded sleeve 51. One end of the trapezoidal stud 53 is disposed inside the threaded sleeve 51 and is threadedly connected to the threaded sleeve 51, while the other end is disposed directly below one end of the clamping arm 4.

[0045] In this embodiment, the trapezoidal stud 53 has bolt holes on its end face for temporarily fixing the arrow foot 6; the weight sensor 52 is used to detect the gravity transmitted by the trapezoidal stud 53 in real time. In use, the arrow foot 6 is positioned between the trapezoidal stud 53 and the adaptive pressure head 8; the support plate 5 is installed at the front end of the box structure 7 to bear the weight of the rocket and restrain the load. The design adopts trapezoidal threads to ensure static load self-locking of the structure. According to the structural design and standards, the trapezoidal stud Tr200×18 is selected.

[0046] The following will illustrate the specific structural design of the support release device for the restraint release system of a launch vehicle described in this invention with specific examples: Firstly, the entire mechanism weighs approximately 2 tons. Based on the design requirements of the mobile launch pad support mechanism—specifically, that "before takeoff, a single support mechanism clamping arm provides 50t of pressure to the arrow foot"—this invention employs a series connection of a toggle-joint amplification mechanism and a lever mechanism to progressively amplify the input force of the hydraulic cylinder of the actuator. This mechanism is simple, reliable, and highly efficient in transmission, and it also reduces the system design requirements for the actuator. Specifically, the force on the support release device is as follows... Figure 7 As shown; The input force of the toggle mechanism is located at the end hinge point O5 of the extended section l5 of the triangular arm 2 (i.e., the short lever arm 22) (the connection between the short lever arm 22 and the drive end of the hydraulic cylinder 11), which will increase the thrust F of the hydraulic cylinder 11. o The equivalent output is sent to hinge point O2, and the equivalent force F is applied. t The input force of the toggle mechanism is transmitted to the hinge point O3 through push rod l3 (push rod 3). The amplified output force of the toggle mechanism is given by angle α, which is the amplification angle of the toggle mechanism. The length of the push rod arm is l3=l4=401.5mm. The clamping arm 4 is a planar lever structure with hinge point O4 as the fulcrum. The lengths of the front and rear lever arms l1 and l2 of the clamping arm 4 are 200mm and 500mm, respectively, with an amplification ratio of 2.5 times. According to the design specifications of the support and release device of the movable launch platform, the pressure head of a single clamping arm 4 provides 50t of pressure to the arrow foot 6. Therefore, the force on the rod system of the support and release device can be derived according to the technical requirements, and the thrust and motion state of the actuator, i.e., the hydraulic cylinder 11, can be calculated.

[0047] Force analysis of the 4-lever mechanism of the restraining arm: Based on the torque balance of the clamping arm, we can obtain: ,in, The pressure provided by the pressure head to the arrow foot 6 is 5 × 10 5 kN; To provide power for the clamping arm's torque; resistance arm Power arm The calculation yielded: ; Force analysis of the toggle mechanism: As can be seen from the force diagram, the output force of the toggle mechanism is...

[0048] in, Output force for the toggle mechanism; Let O2 be the amplification angle of the toggle mechanism. Based on the force amplification principle of the toggle mechanism, the equivalent input force at hinge point O2 can be derived. ; Force analysis of the hydraulic cylinder: In triangle arm 2, it can be deduced that the cylinder thrust is perpendicular to the rod. Component force , Right now: ; Based on the arrangement of the hydraulic cylinder hinge point and the support release device housing, it can be measured that when the clamping arm pressure head provides a preload of 50t to the arrow foot 6, the direction of the hydraulic cylinder thrust is perpendicular to the direction of the support release device housing. The included angle This can generate the thrust of the hydraulic cylinder. , ; As shown in Table 2, the input-output gain ratio of the support release device is as follows: Table 2. Comparison of Input and Output Forces of Support Release Device

[0049] The support mechanism box structure 7 of this invention serves as the mounting platform for all components of the overall release device. It is composed of steel plates of varying thicknesses; the main structural steel plates, such as the uprights and base plate, are 30mm thick, while the stiffening ribs and mounting surfaces are 20mm thick. All parts are welded together. The steel plate material is low-alloy high-strength structural steel Q355B. The box structure has the following external dimensions: 1820mm length × 590mm width × 676mm height, and a total weight of approximately 750kg. The clamping arm is one of the main components of the support mechanism, used to restrain the arrow foot 6. This structure is a lever with a lever arm ratio of 2.5, which saves effort. The clamping arm is mainly formed by welding 20mm thick steel plates, and a bushing is welded at the rotation point. This can ensure the structural rigidity and strength, and also reduce the structural weight and manufacturing difficulty. The length, width and height of the clamping arm structure are: 805mm×180mm×280mm. In order to ensure the structural safety factor of the clamping arm, 45CrNiMoV low alloy ultra-high strength steel is used as the material, with a yield strength of 1325MPa. The adaptive pressure head is a structure designed to ensure that the restraining arm can always maintain surface contact with the rocket foot 6 during the rocket's ignition and lift-off process, and to ensure that the normal pressure on the pressure surface of the rocket foot does not exceed the strength limit of the rocket foot material. When the adaptive pressure head is in a non-load-bearing state, the semi-circular head of the pressure head is in a free state and can rotate freely along the guide block. When the clamping arm pre-presses and restrains the rocket foot through the adaptive pressure head, the pressing surface of the adaptive pressure head can always maintain surface contact with the rocket foot 6 as the vertical height changes. The maximum pressure of the pressure head on the rocket foot is 47 MPa. The support plate is installed at the front end of the box structure and mainly consists of two parts: a threaded sleeve and a trapezoidal stud. It is used to bear the weight of the rocket and restrain the load. The design uses a trapezoidal thread to ensure the structure's static load self-locking. According to the structural design and conventional standards, the trapezoidal stud Tr200×18 is selected. Design calculation of the mean diameter of the trapezoidal stud: According to the design requirements, considering the load conditions of the support mechanism under extreme working conditions, the maximum axial force on the support plate is 200t. Based on the formula: ;in, For axial load, N, ; For trapezoidal threads, the thread coefficient is: ; For nut structural coefficients, integral nut ,Pick ; For allowable pressure, MPa, steel versus bronze ,Pick Then we have:

[0050] Based on structural design and conventional standards, a trapezoidal stud Tr200×18 is selected; the parameters of the Tr200×18 trapezoidal thread are shown in Table 3. Table 3, Parameters of Tr200×18 Trapezoidal Thread

[0051] Nut thickness: Number of rotations: ; Thread working height: ; Abrasion resistance calculation: The formula for verifying the wear resistance of spiral pairs is: ; It meets the usage requirements.

[0052] Self-locking verification: The formula for the self-locking condition of a screw pair is: ;in, The helix angle; It is the equivalent friction angle; For thread lead; The screw's mean diameter; The coefficient of friction for a helical pair is given by the ratio of steel to steel. ; For trapezoidal thread profile angle, standard trapezoidal thread ; ; ;because Therefore, the self-locking mechanism of the screw pair is reliable.

[0053] Stud strength verification calculation: ; ; The screw is made of 40Cr material with an allowable stress of 548.6MPa, which meets the usage requirements.

[0054] Thread strength verification calculation: In this screw pair, the nut material has a lower strength than the screw, therefore the strength of the nut thread must be verified. The shear strength condition is:

[0055] in, The width of the thread root. ; The allowable shear stress of the material, MPa, is for bronze. ; ; The bending strength condition is: ;in, The allowable bending stress of the material, MPa, is for bronze. ; ; As can be seen from the above calculations, the shear stress and bending stress of the thread are both within the allowable range of the material, thus meeting the usage requirements.

[0056] The push rod of the support release device described in this invention mainly transmits the pushing and pulling force of the hydraulic cylinder. It mainly consists of a ball head and a rod body. The ball heads at both ends are hinged structures, and radial spherical bearings are installed in the holes. It is suitable for alternating load changes and impact load conditions. The ball head and rod body of the push rod are threadedly connected, allowing for axial length adjustment, which can then change the amplification angle of the toggle mechanism according to actual usage. The theoretical length of the two hinge points of the push rod is 401.5mm. The triangular arm is a steel plate welded structure with three hinge points. The lengths of the long arm and the short arm of this component are 401.5mm and 200mm respectively, with an included angle of 10 degrees. The hinge point of the long arm is connected to the push rod, the middle hinge point is connected to the rotating base, and the hinge point of the short arm is connected to the hydraulic cylinder rod. The triangular arm is made of low-alloy high-strength structural steel Q355B, with a total weight of approximately 27kg.

[0057] The specific workflow of the restraint and release system for launch vehicles described in this invention during restraint and release launch is as follows: Before hoisting the rocket body, open the support release device clamping arm to ensure that the hoisting safety distance requirements are met and to make room for installation. After the rocket body is hoisted with the erecting arm and the mobile launch platform is vertically lifted, the adjusting studs of the 6 sets of support mechanisms are adjusted to make the support plate fit with the docking surface of the rocket foot, and the positioning and mounting holes of the rocket foot are properly aligned with the threaded holes of the support structure. After the rocket body is docked with the mobile launch platform, the six sets of M16 bolts on the support plate 5 for installing the rocket feet and support release device are used for fixation. The erecting arm completes the erection of the entire rocket, the movable launch platform is unlocked from the erecting arm, and the movable launch platform is fixed to the fixed launch platform; Remove the arrow foot positioning bolts, drive the hydraulic system to tighten the restraining arm, apply the initial restraining load to the arrow foot, and complete the pre-launch restraint and wind protection of the arrow body; After completing all equipment self-checks, the launch process begins. After rocket ignition, the rocket body is restrained, and the restraint loads at various restraint points are monitored and fed back. After all launch safety checks are completed on the rocket, the control system issues a release signal, initiating the release process. The slow-release force gradually decreases with takeoff altitude until it is completely released; After release, quickly spread out to create safe space for takeoff and complete the entire restraint release process.

[0058] The embodiments of the present invention also propose a control method for a restraint-release system, applied to the restraint-release system described in the above embodiments, the method comprising: Acquire real-time control commands, real-time weight parameters from the weight sensor, and real-time angle parameters from the angle sensor; According to the real-time control command, real-time weight parameters, and real-time angle parameters, the hydraulic system is controlled to drive the support release device to perform at least one of the three predetermined actions of restraint, slow release, and rapid return of the launch vehicle's arrow feet.

[0059] In an optional embodiment of the present invention, controlling the hydraulic system to drive the support release device to perform a restraining action on the launch vehicle's arrow feet according to the control command, real-time weight parameters, and real-time angle parameters includes: Obtain the restraint command from the real-time control command; According to the restraint command, the hydraulic system drives the drive component of the support release device to apply a thrust to the toggle mechanism, causing one end of the clamping arm 4 to rise and the other end to press down, suppressing the arrow foot 6 until the real-time weight parameter is equal to the first preset value and the real-time angle parameter is equal to the second preset value.

[0060] In this embodiment, the first preset value is 50 tons, and the second preset value is 172 degrees; for example... Figure 15 As shown, the restraining process is as follows: the hydraulic cylinder 11 applies a thrust to the connection between the first bushing 23 of hinge point O1 and the rotary seat 20 of the connecting rod, driving hinge point O2 to move to the right. The connection between the push rod 3 and the clamping arm 4 of hinge point O3 is raised, and the pressure head of the restraining arm 4 moves down to press down the arrow foot 6. As the thrust of the hydraulic cylinder 11 increases and the length of the cylinder rod increases, the angle between the push rod 3 and the triangular arm 2 becomes smaller and smaller, forming an elbow mechanism to amplify the thrust of the hydraulic cylinder 11. The angle sensor 42 on the connection between the clamping arm 4 and the clamping arm support 41 of hinge point O4 and the weighing sensor 52 on the support plate 5 can measure the angle between the push rod 3 and the triangular arm 2 as 172° and the pressure of the restraining arm 4 on the arrow foot 6 as 50 tons, maintaining the restraining force until the rocket ignites and enters the slow release stage.

[0061] In an optional embodiment of the present invention, controlling the hydraulic system to drive the support release device to perform a slow-release action on the launch vehicle's propeller feet according to the control command and real-time weight parameters includes: Retrieve the release command from the real-time control command; According to the restraint command, the hydraulic system drives the drive component of the support release device to apply a first pulling force to the toggle mechanism, maintaining the real-time weight parameter to the second preset parameter value. Based on the rocket's altitude, the hydraulic system drives the support release device's drive assembly to apply a second pulling force to the toggle mechanism, gradually reducing the real-time weight parameter from the second preset parameter to the third preset parameter.

[0062] In this embodiment, the second preset parameter is 20 tons, and the third preset parameter is the parameter corresponding to the rocket's height above the platform reaching 90mm; for example... Figure 16 As shown, the slow release process is as follows: after receiving the slow release signal, the hydraulic system pressure is adjusted so that the thrust of the hydraulic cylinder 11 is maintained at 20 tons. At this time, the pressure at the pressure head of the restraining arm 4 is less than the rocket takeoff thrust and gradually decreases as the rocket foot 6 rises, slowly unloading until the rocket's height above the platform reaches 90mm.

[0063] In an optional embodiment of the present invention, controlling the hydraulic system to drive the support release device to complete a quick return action on the launch vehicle's arrow feet according to the control command includes: Retrieve the emergency return instruction from the real-time control instructions; According to the emergency return command, the hydraulic system drives the drive assembly of the support release device to apply a third pulling force to the toggle mechanism, causing one end of the clamping arm 4 to press down and the other end to rise and move away from the arrow foot 6 until the horizontal distance between the clamping arm 4 and the arrow foot of the launch vehicle reaches a third preset value.

[0064] In this embodiment, the third preset value is 90mm. The horizontal distance between the clamping arm 4 and the launch vehicle's arrow foot can be measured by other ranging devices and transmitted to the control system; such as Figure 17 As shown, the quick return process is as follows: when the rocket launch normal signal is received, the hydraulic cylinder 11 quickly pulls the triangular arm 2 to move rapidly to the upper right, causing the hinge point O2 to swing downward. This causes the restraining arm 4 to swing upward through the push rod 3, thus realizing the quick return movement of the mechanism and ensuring that the horizontal distance between the pressure head of the restraining arm 4 and the rocket reaches 90mm.

[0065] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A restraint and release system for a launch vehicle, characterized in that, include: Multiple support release devices (10) are set on a fixed launch pad (1) and located around the launch vehicle (60), each of the support release devices (10) being connected to a launch vehicle foot (6). A hydraulic system connected to the support release device (10); A control system electrically connected to the weight sensor (52) and angle sensor (42) of the support release device (10) and the hydraulic system; In use, the control system controls the hydraulic system to drive the support release device (10) to perform the three predetermined actions of restraint, slow release and quick return on the rocket's foot (6) according to the control command, the real-time parameters of the weight sensor (52) and the real-time parameters of the angle sensor (42).

2. The restraint and release system for a launch vehicle according to claim 1, characterized in that, The support release device includes: Box structure (7); A support plate (5) is provided at one end of the box structure (7), and a weight sensor (52) is provided at the bottom of the support plate (5). The clamping arm (4) is rotatably connected to the box structure (7) via the clamping arm support (41). One end of the clamping arm (4) is located directly above the support plate (5), and the other end is located inside the box structure (7). An angle sensor (41) is provided on the clamping arm (4). The connecting rod swivel seat (20) is located inside the box structure (7) and below the other end of the clamping arm (4). An elbow mechanism is provided on the connecting rod swivel seat (20) and rotatably connected to the connecting rod swivel seat (20), one end of which is rotatably connected to the clamping arm (4); The drive assembly is located inside the housing structure (7) and on one side of the connecting rod swivel seat (20). The drive end of the drive assembly is rotatably connected to the other end of the toggle mechanism. The drive assembly is connected to the hydraulic system.

3. The restraint and release system for a launch vehicle according to claim 2, characterized in that, The driving component includes: The cylinder rotary support (12) is installed inside the box structure (7) and is fixedly connected to the box structure (7). The hydraulic cylinder (11) is installed inside the housing structure (7). The driving end of the hydraulic cylinder (11) is rotatably connected to the other end of the toggle mechanism, and the other end is fixedly connected to the cylinder slewing support (12).

4. The restraint and release system for a launch vehicle according to claim 2, characterized in that, The toggle mechanism includes: Push rod (3) and triangle arm (2); The triangular arm (2) is mounted on the connecting rod swivel seat (20) and is rotatably connected to the connecting rod swivel seat (20). One end of the triangular arm (2) is rotatably connected to the push rod (3), and the other end is rotatably connected to the drive end of the drive assembly. One end of the push rod (3) is rotatably connected to the triangular arm (2), and the other end is rotatably connected to the clamping arm (4).

5. The restraint and release system for a launch vehicle according to claim 4, characterized in that, The push rod (3) includes: The shaft (31) and the first ball head (32) and the second ball head (33) disposed at both ends of the shaft (31); The rod body (31) has threaded holes at both ends, and the ends of the first ball head (32) and the second ball head (33) are both provided with threaded rods. The ends of the first ball head (32) and the second ball head (33) are threadedly connected to the threaded holes at both ends of the rod body (31) through the threaded rods. The first ball head (32) is rotatably connected to the clamping arm (4), and the second ball head (33) is rotatably connected to the triangular arm (2).

6. The restraint and release system for a launch vehicle according to claim 4, characterized in that, The triangular arm (2) includes: Long lever arm (21) and short lever arm (22) fixedly connected to the long lever arm (21); The long lever arm (21) is rotatably connected to the push rod (3), and the short lever arm (22) is rotatably connected to the drive end of the drive assembly. A first bushing (23) is provided between the long lever arm (21) and the short lever arm (22), and the first bushing (23) is rotatably connected to the connecting rod swivel seat (20).

7. A control method for a restraint and release system, characterized in that, The method, applied to the restraint-release system as described in any one of claims 1 to 6, comprises: Acquire real-time control commands, real-time weight parameters from the weight sensor, and real-time angle parameters from the angle sensor; According to the real-time control command, real-time weight parameters, and real-time angle parameters, the hydraulic system is controlled to drive the support release device to perform at least one of the three predetermined actions of restraint, slow release, and rapid return of the launch vehicle's arrow feet.

8. The control method for a restraint and release system according to claim 7, characterized in that, Controlling the hydraulic system to drive the support release device to perform a restraining action on the launch vehicle's arrow feet according to the control commands, real-time weight parameters, and real-time angle parameters includes: Obtain the restraint command from the real-time control command; According to the restraint command, the hydraulic system drives the drive component of the support release device to apply a thrust to the toggle mechanism, causing one end of the clamping arm (4) to rise and the other end to press down, suppressing the arrow foot (6) until the real-time weight parameter is equal to the first preset value and the real-time angle parameter is equal to the second preset value.

9. The control method for a restraint and release system according to claim 7, characterized in that, According to the control commands and real-time weight parameters, the hydraulic system is controlled to drive the support release device to perform a slow release action on the launch vehicle's propeller feet, including: Retrieve the release command from the real-time control command; According to the release command, the hydraulic system drives the drive component of the support release device to apply a first pulling force to the toggle mechanism, maintaining the real-time weight parameter to a second preset parameter value. Based on the rocket's altitude, the hydraulic system drives the support release device's drive assembly to apply a second pulling force to the toggle mechanism, gradually reducing the real-time weight parameter from the second preset parameter to the third preset parameter.

10. The control method for a restraint and release system according to claim 7, characterized in that, Controlling the hydraulic system to drive the support release device to complete a quick return motion of the launch vehicle's arrow feet according to the control command includes: Retrieve the emergency return instruction from the real-time control instructions; According to the emergency return command, the hydraulic system drives the drive assembly of the support release device to apply a third pulling force to the toggle mechanism, causing one end of the clamping arm (4) to press down and the other end to rise and move away from the arrow foot (6) until the horizontal distance between the clamping arm (4) and the arrow foot of the launch vehicle reaches a third preset value.

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