Supporting device for carrier rocket

Abstract

The invention provides a supporting device for a carrier rocket, and relates to the field of carrier rockets. The supporting device for the carrier rocket comprises a box body structure; the supporting disc is used for supporting rocket feet of the carrier rocket and is arranged at one end of the box body structure; the clamping arm is rotationally connected with the box body structure through a clamping arm support, one end of the clamping arm is arranged right above the supporting disc, and the other end of the clamping arm is arranged in the box body structure; the connecting rod revolving seat is arranged in the box body structure and is positioned below the other end of the clamping arm; the toggle mechanism is arranged on the connecting rod rotating seat and is rotationally connected with the connecting rod rotating seat, and one end of the toggle mechanism is rotationally connected with the clamping arm; the driving assembly is arranged in the box body structure and located on one side of the connecting rod rotating seat, and the driving end of the driving assembly is rotationally connected with the other end of the toggle mechanism. According to the scheme, the supporting and restraining releasing functions of the rocket supporting mechanism are achieved, and meanwhile the rocket supporting mechanism has the advantages of being simple in structure and convenient to control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of support structure of carrier rocket, in particular to a support device for carrier rocket. BACKGROUND

[0002] The current launch mode of carrier rocket is divided into traditional non-restraint release launch and existing restraint release launch; and the existing rocket support mechanism can only be used to support the rocket before and after filling, and can fix and press the rocket leg through the clamping arm to play the role of windproof pull rod, that is, it can only be used for the non-restraint release launch of traditional rocket, and cannot play the restraint release role at the same time, and cannot be directly used for the existing restraint release launch mode. SUMMARY

[0003] The present application provides a support device for carrier rocket, which solves the problem that the existing rocket support mechanism has single function and can only be used for the traditional non-restraint release launch and cannot be used for the existing restraint release launch.

[0004] To solve the above technical problems, the technical scheme of the present application is as follows: The present application provides a support device for carrier rocket, which includes: A box structure; A support disc for supporting the rocket leg of the carrier rocket, which is arranged at one end of the box structure; A clamping arm rotatably connected to the box structure through a clamping arm support, one end of the clamping arm being arranged directly above the support disc and the other end being arranged in the box structure; A connecting rod rotary seat arranged in the box structure and below the other end of the clamping arm; An elbow mechanism arranged on the connecting rod rotary seat and rotatably connected to the connecting rod rotary seat, one end of the elbow mechanism being rotatably connected to the clamping arm; A driving assembly arranged in the box structure and on one side of the connecting rod rotary seat, a driving end of the driving assembly being rotatably connected to the other end of the elbow mechanism.

[0005] Optionally, the driving assembly includes: An oil cylinder rotary support arranged in the box structure and fixedly connected to the box structure; A hydraulic oil cylinder arranged in the box structure, a driving end of the hydraulic oil cylinder being rotatably connected to the other end of the elbow mechanism and the other end being fixedly connected to the oil cylinder rotary support.

[0006] Optionally, the elbow mechanism includes: A push rod and a triangular arm; The triangular arm is arranged on the connecting rod rotary seat and rotationally connected with the connecting rod rotary seat, one end of the triangular arm is rotationally connected with the push rod, and the other end is rotationally connected with the driving end of the driving assembly; one end of the push rod is rotationally connected with the triangular arm, and the other end is rotationally connected with the clamping arm.

[0007] Optionally, the push rod comprises: a rod body and first and second ball heads arranged at two ends of the rod body; wherein the two ends of the rod body are provided with threaded holes, the ends of the first and second ball heads are provided with threaded rods, and the ends of the first and second ball heads are threadedly connected with the threaded holes at the two ends of the rod body through the threaded rods; the first ball head is rotationally connected with the clamping arm, and the second ball head is rotationally connected with the triangular arm.

[0008] Optionally, the triangular arm comprises: a long force arm and a short force arm fixedly connected with the long force arm; wherein the long force arm is rotationally connected with the push rod, and the short force arm is rotationally connected with the driving end of the driving assembly; a first shaft sleeve is arranged between the long force arm and the short force arm, and the first shaft sleeve is rotationally connected with the connecting rod rotary seat.

[0009] Optionally, the box structure comprises: a bottom plate; first and second vertical plates arranged at two opposite sides of the bottom plate; an upper box cover and a cover plate arranged on the first and second vertical plates; a support table arranged on the bottom plate and located between the first and second vertical plates, and the clamping arm support is arranged on the support table; a support disc mounting groove arranged on one side of the support table and located on the bottom plate, and the support disc is fixedly arranged in the support disc mounting groove.

[0010] Optionally, the support disc comprises: a threaded sleeve, a weight sensor arranged at a lower end of the threaded sleeve, and a trapezoidal stud arranged at an upper end of the threaded sleeve; wherein the weight sensor is arranged in the support disc mounting groove and fixedly connected with the bottom plate through the threaded sleeve; one end of the trapezoidal stud is arranged in the threaded sleeve and threadedly connected with the threaded sleeve, and the other end is arranged directly below one end of the clamping arm.

[0011] Optionally, the support device for carrying a rocket further comprises: An adaptive pressure head arranged at one end of the clamping arm; In use, the adaptive pressure head is in contact with the end surface of the arrow foot.

[0012] Optionally, the adaptive pressure head comprises: A first guide block and a second guide block fixedly connected to one end of the clamping arm; A semicircular head pressure block rotatably connected to the first guide block and the second guide block; In use, the lower end surface of the semicircular head pressure block is in contact with the end surface of the arrow foot.

[0013] Optionally, the first guide block and the second guide block are arranged at one end of the clamping arm in opposite connection, and the connecting end of each of the first guide block and the second guide block is provided with a semicircular clamping groove; The upper end surface of the semicircular head pressure block is provided with a semicircular protrusion corresponding to the semicircular clamping groove, the semicircular head pressure block is clamped in the semicircular clamping groove through the semicircular protrusion, and is in sliding connection with the semicircular clamping groove.

[0014] The above-mentioned scheme of the present application at least includes the following beneficial effects: The support device for carrying a rocket comprises a box structure, a support disc for supporting an arrow foot of a rocket, which is arranged at one end of the box structure, a clamping arm rotatably connected to the box structure through a clamping arm support, one end of the clamping arm being arranged directly above the support disc and the other end being arranged in the box structure, a connecting rod rotary seat arranged in the box structure and below the other end of the clamping arm, an elbow mechanism arranged on the connecting rod rotary seat and rotatably connected to the connecting rod rotary seat, one end of the elbow mechanism being rotatably connected to the clamping arm, and a driving assembly arranged in the box structure and on one side of the connecting rod rotary seat, a driving end of the driving assembly being rotatably connected to the other end of the elbow mechanism. The support and restraint release functions of the rocket support mechanism are realized, the application scenarios of the support device are expanded, and the support device has the advantages of simple structure and easy control. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a perspective view of the support device for carrying a rocket of the present application; Figure 2 is a vertical sectional view of the support device for carrying a rocket of the present application; Figure 3 is a schematic view of the internal structure of the support device for carrying a rocket of the present application; Figure 4 is a perspective view of the support disc of the support device for carrying a rocket of the present application; Figure 5is a simple structure diagram of a support device for a launch vehicle in a docking adjustment process of the support device of the present application; Figure 6 is a simple structure diagram in a holding process of a support device for a launch vehicle of the present application; Figure 7 is a simple structure diagram in a slow release process of a support device for a launch vehicle of the present application; Figure 8 is a simple structure diagram in a quick return process of a support device for a launch vehicle of the present application; Figure 9 is a perspective view of a box structure of a support device for a launch vehicle of the present application; Figure 10 is a perspective view of a clamping arm of a support device for a launch vehicle of the present application; Figure 11 is a perspective view of a self-adapting pressure head of a support device for a launch vehicle of the present application; Figure 12 is a perspective view of a semicircular head pressure block of a support device for a launch vehicle of the present application; Figure 13 is a perspective view of a guide block of a support device for a launch vehicle of the present application; Figure 14 is a perspective view of a push rod of a support device for a launch vehicle of the present application; Figure 15 is a perspective view of a triangular arm of a support device for a launch vehicle of the present application; BRIEF DESCRIPTION OF THE DRAWINGS 11, hydraulic oil cylinder; 12, oil cylinder rotary support; 2, triangular arm; 20, connecting rod rotary seat; 21, long force arm; 22, short force arm; 23, first shaft sleeve; 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 disc; 51, threaded sleeve; 52, load cell; 53, trapezoidal stud; 6, rocket leg; 7, box structure; 71, bottom plate; 72, first vertical plate; 73, second vertical plate; 74, upper box cover; 75, cover plate; 76, support disc mounting groove; 77, support table; 8, self-adapting pressure head; 81, first guide block; 82, second guide block; 83, semicircular head pressure block; 831, semicircular protrusion. DETAILED DESCRIPTION

[0016] Exemplary embodiments of the present application will be described in greater detail below, with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is to be understood that the present application can be embodied in various forms without being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0017] As shown in Figures 1 to 15 , an embodiment of the present application proposes a support device for a launch vehicle, comprising: a box structure 7; a rocket foot support plate 5 for supporting the launch vehicle, arranged at one end of the box structure 7; a clamping arm 4 rotatably connected to the box structure 7 through a clamping arm support 41, one end of the clamping arm 4 being arranged directly above the support plate 5 and the other end being arranged inside the box structure 7; a connecting rod swivel base 20 arranged inside the box structure 7 and below the other end of the clamping arm 4; a toggle mechanism arranged on the connecting rod swivel base 20 and rotatably connected to the connecting rod swivel base 20, one end of the toggle mechanism being rotatably connected to the clamping arm 4; a drive assembly arranged inside the box structure 7 and on one side of the connecting rod swivel base 20, a driving end of the drive assembly being rotatably connected to the other end of the toggle mechanism.

[0018] In the use state of the embodiment, the rocket legs of the carrier rocket are arranged on the support disc 5 and clamped by one end of the clamping arm 4, the driving assembly drives the lifting and falling of the one end of the clamping arm 4 through the driving toggle mechanism, so that the carrier rocket legs are compressed and released; the clamping principle of the clamping arm 4 adopts a secondary series force amplification mode of angle length effect, the lever effect is used to change the size of the force arm of the clamping arm 4, and the amplification angle of the toggle mechanism is changed to achieve the force amplification effect of the mechanism; in actual application, the support device for the carrier rocket can be arranged around the carrier rocket simultaneously, each support device clamps one rocket leg of the carrier rocket through the clamping arm 4 and the support disc 5, and all the support devices are controlled to move simultaneously through the control system; the support device can not only be used for supporting the rocket before and after filling and fixing and compressing the rocket legs of the carrier rocket through the clamping arm 4 to play the role of a windproof pull rod, but also can have a restraining release function, the structure can withstand the thrust of the rocket during take-off, and the clamping arm 4 is used to restrain the rocket during the establishment of the take-off thrust, and the clamping arm can release the restraining force and quickly separate from the rocket body to release the rocket after meeting the rocket ignition and take-off conditions; or in the conventional launch mode, the clamping arm is opened in advance before shooting, and is only used as a rocket body fixing support structure; the support device for the carrier rocket realizes the support and restraining release functions of the rocket support mechanism, expands the application scene of the support device, and has the advantages of simple structure and easy control; meanwhile, the support device can also provide a slow release force during the rocket take-off process to prevent the impact caused by the violent vibration of the rocket.

[0019] In an optional embodiment of the present application, the driving assembly comprises: The oil cylinder rotary support 12 is arranged in the box structure 7 and fixedly connected with the box structure 7; The hydraulic oil cylinder 11 is arranged in the box structure 7, the driving end of the hydraulic oil cylinder 11 is rotationally connected with the other end of the toggle mechanism, and the other end is fixedly connected with the oil cylinder rotary support 12.

[0020] In the embodiment, the hydraulic oil cylinder 11 is connected with the hydraulic system, the hydraulic system is used to control the execution actions of all the hydraulic oil cylinders 11, the design of using the hydraulic oil cylinder 11 as a driving device can not only provide stable thrust, but also can make the hydraulic oil cylinder 11 fail through measures such as hydraulic system valve block pressure relief when the execution mechanism fails, so as to passively push the clamping arm away and release through the take-off thrust of the rocket, as a mechanism action redundancy.

[0021] In an optional embodiment of the present application, the toggle mechanism comprises: The push rod 3 and the triangular 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.

[0022] 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. 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. 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

[0023] 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.

[0024] 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.

[0025] In this embodiment, the specific usage process of the support device for the launch vehicle is as follows: docking and adjustment process, such as... Figure 5 As shown: When the rocket is hoisted with other ground support systems such as the erector and axle vehicle in the technical workshop, the support device needs 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 end restraint arm 4 press foot is raised to provide sufficient space for rocket installation. The lifting tool is used to hoist and install the rocket foot 6 and align it. The adjustment mechanism is used to adjust the support plate 5 to a suitable height to complete the docking process between the rocket foot 6 and the support device. Force-enhancing restraint process: After the rocket is hoisted and docked with the mobile launch pad and the relative position of the arrow foot 6 and the support device is 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.

[0026] The tether release process during tether release launch: Once the rocket reaches the predetermined thrust, the onboard system determines that the launch conditions are met. The support 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, and the support device releases the clamping arm 4 until it avoids the safe takeoff space, thus completing the entire restraint release process. In other words, through the coordinated movement between the devices, the predetermined actions of the restraint, release, and quick return mechanisms are completed. Among them, such as Figure 6 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 7 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 arrow foot 6 rises, slowly unloading until the rocket's height above the platform reaches 90mm. like Figure 8 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] In an optional embodiment of the present invention, the support device for the launch vehicle further includes: An adaptive pressure head 8 is set at one end of the clamping arm 4; When in use, the adaptive pressure head 8 is in contact with the end face of the arrow foot 6.

[0039] 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.

[0040] 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.

[0041] 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 allows the top of the semi-circular head pressure block 83 to rotate with the clamping arm 4 while the lower end face remains stationary. This ensures that the lower end face of the semi-circular head pressure block 83 is always in surface contact with the rocket's arrow foot 6 during the rocket's ignition and lift-off process. This satisfies the requirement that the normal pressure on the pressure surface of the arrow foot 6 does not exceed the strength limit of the arrow foot material, thereby reducing the material design strength of the arrow foot 6 and improving the safety of the support device during use.

[0042] In an optional embodiment of the present invention, the support disk 5 includes: Threaded sleeve 51, weight sensor 52 disposed at the lower end of threaded sleeve 51, and trapezoidal stud 53 disposed at the upper end of 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.

[0043] 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.

[0044] The following will illustrate the specific structural design of the support device for launch vehicles described in this invention with concrete examples: Firstly, the entire mechanism weighs approximately 2 tons. According to the design requirements of the mobile launch pad support mechanism, "before takeoff, the clamping arm of a single support mechanism provides 50t of pressure to the arrow foot," this invention adopts the principle of connecting the toggle amplification mechanism and the lever mechanism in series to amplify the input force of the hydraulic cylinder of the actuator step by step. The mechanism is simple and reliable, has high transmission efficiency, and reduces the system design requirements of the actuator. 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 movable launch platform support mechanism, the pressure head of a single clamping arm 4 provides 50t of pressure to the arrow foot 6. Therefore, the force on the support mechanism rod system 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.

[0045] The support mechanism box structure 7 of this invention serves as the mounting platform for all components of the support mechanism. 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. The push rod of the support device described in this invention 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, 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 3 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.

[0046] The specific workflow of the support device for launch vehicles described in this invention during restrained release launch is as follows: Before hoisting the rocket body, open the clamping arm of the support mechanism 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 of the rocket feet and support mechanism are used to fix it. 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.

[0047] 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 support device for a launch vehicle, characterized in that, include: Box structure (7); The support plate (5) supporting the arrow feet of the launch vehicle is located at one end of the box structure (7); 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). 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), with the drive end of the drive assembly rotatably connected to the other end of the toggle mechanism.

2. The support device for a launch vehicle according to claim 1, 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).

3. The support device for a launch vehicle according to claim 1, 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).

4. The support device for a launch vehicle according to claim 3, 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).

5. The support device for a launch vehicle according to claim 3, 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).

6. The support device for a launch vehicle according to claim 1, characterized in that, The box 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); A 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) on one side of the support platform (77) and on the base plate (71).

7. The support device for a launch vehicle according to claim 6, characterized in that, The support plate (5) includes: The threaded sleeve (51) and the weight sensor (52) disposed at the lower end of the threaded sleeve (51) and the trapezoidal stud (53) 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 located inside the threaded sleeve (51) and is threadedly connected to the threaded sleeve (51), while the other end is located directly below one end of the clamping arm (4).

8. The support device for a launch vehicle according to claim 1, characterized in that, Also includes: An adaptive pressure head (8) is set at one end of the clamping arm (4); When in use, the adaptive pressure head (8) is in contact with the end face of the arrow foot (6).

9. The support device for a launch vehicle according to claim 8, characterized in that, 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). A 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).

10. The support device for a launch vehicle according to claim 9, characterized in that, 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 to the semi-circular slot.

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