Erecting frame and launching platform locking mechanism and launching device

Abstract

The present application relates to the field of aerospace launch equipment, and particularly relates to a vertical rack and launching platform locking mechanism and launching equipment. The vertical rack and launching platform locking mechanism comprises a fixed seat, a fixed locking block, a movable locking block and a driving assembly. The fixed seat is arranged on the vertical rack. The fixed locking block is arranged at the end of the fixed seat away from the vertical rack. The movable locking block is rotationally connected with the fixed seat. The movable locking block is switched between a locking state and an unlocking state by the driving assembly. In the locking state, the movable locking block is close to the fixed locking block to clamp the locking shaft of the launching platform between the movable locking block and the fixed locking block, thereby locking the launching platform. In the unlocking state, the movable locking block is away from the fixed locking block to release the locking of the locking shaft, thereby unlocking the launching platform. Since the movable locking block is not subjected to the radial shear force during the process of moving away from the fixed locking block, the locking reliability of the locking mechanism is improved.

Description

Technical Field

[0001] This invention relates to the field of aerospace launch equipment, and in particular to a locking mechanism for the erector and launch pad, and a launch device. Background Technology

[0002] In mobile launch and ground support systems for large payloads such as missiles and launch vehicles, a working mode of horizontal transport, vertical erection, and fixed-point launch is typically adopted. With the increasing demands for rapid rocket response and unmanned operation, new-generation launch equipment is required to meet requirements such as high synchronization, high reliability, full automation, and rapid conversion.

[0003] The erector frame is used to raise the rocket body from a horizontal position to a vertical launch posture, while the launch pad is used for final positioning, support, and launch constraint. Both must be reliably connected and locked before erection to ensure structural rigidity, alignment accuracy, and operational safety during the erection process. Currently, the locking mechanisms of existing erector frames and launch pads mostly use pin mechanisms or latch mechanisms, which are inserted and removed using separately set locking cylinders and electric push rods. After erection, the pins or latches are often subjected to radial shear forces, making insertion and removal difficult, and placing a large load on the locking cylinders and electric push rods. Summary of the Invention

[0004] This invention provides a locking mechanism for the erector and launch pad, which solves the problem of difficulty in insertion and removal caused by radial shear force in existing locking mechanisms.

[0005] This invention provides a locking mechanism between an erecting frame and a launch pad, comprising: A fixed base is installed on the erecting frame; A locking block is provided at the end of the fixing base away from the erecting frame; The movable locking block is rotatably connected to the fixed base; A drive assembly, connected to the movable locking block and the fixed base, is used to drive the movable locking block to switch between a locked state and an unlocked state. In the locked state, the movable locking block moves closer to the fixed locking block to clamp the locking shaft of the launcher between the movable locking block and the fixed locking block. In the unlocked state, the movable locking block moves away from the fixed locking block to release the locking shaft.

[0006] According to the present invention, a locking mechanism for an erecting frame and a launch pad is provided, wherein the movable locking block is rotatably connected to the fixed base via a first pin, and the driving assembly includes: A linear drive mechanism is provided, wherein a first end of the linear drive mechanism is rotatably connected to the fixed base, and a second end of the linear drive mechanism is rotatably connected to the movable locking block. The linear drive mechanism is used to drive the movable locking block to reciprocate around the first pin shaft, so that the movable locking block switches between the locked state and the unlocked state.

[0007] According to the present invention, a locking mechanism for erecting frame and launch pad is provided, wherein the driving assembly further includes: The linkage mechanism includes a first link, a second link, and a second pin. The first end of the first link is rotatably connected to the fixed base. The second ends of the first link, the second link, and the linear drive mechanism are all rotatably connected to the second pin. The second end of the second link is rotatably connected to the movable locking block. In the locked state, the first link and the second link are on the same straight line, and both are at their dead ends. In the unlocked state, the angle between the first link and the second link is less than 180°.

[0008] According to the present invention, a locking mechanism for an erecting frame and a launch pad is provided, wherein the fixed base has a cavity inside, the driving assembly is located in the cavity, and the fixed base is provided with an opening at the end away from the erecting frame for the movable locking block to pass through.

[0009] According to the present invention, a locking mechanism for a lifting frame and a launch pad is provided, wherein the fixing locking block is provided with a strip-shaped hole, the strip-shaped hole extends along the length direction of the lifting frame, and the fixing locking block is connected to the fixing seat through a fastener in the strip-shaped hole.

[0010] According to the present invention, a locking mechanism for a lifting frame and a launch pad is provided, wherein a limiting groove is provided at the end of the fixing base away from the lifting frame, the limiting groove extends along the length direction of the lifting frame, and the fixing locking block is located in the limiting groove.

[0011] According to the present invention, a locking mechanism for an erecting frame and a launch pad is provided, wherein a fixing block is further provided at the end of the fixing base away from the erecting frame, and the locking mechanism further includes: An adjusting bolt is provided along the length of the erecting frame. The adjusting bolt is threadedly engaged with the fixed block, and one end of the adjusting bolt near the movable locking block abuts against the fixed locking block.

[0012] According to the present invention, a locking mechanism for an erecting frame and a launch pad is provided, wherein the movable locking block and the fixed locking block each have a clamping surface on one side facing each other, and at least one of the clamping surfaces of the movable locking block and the fixed locking block is provided with a recess, and in the locked state, the locking shaft is clamped in the recess.

[0013] According to the present invention, a locking mechanism for erecting frame and launch pad is provided, wherein both the movable locking block and the fixed base are provided with locking pin mounting holes, and in the locked state, the locking pin mounting holes of the movable locking block and the locking pin mounting holes of the fixed base are on the same straight line.

[0014] The present invention also provides a launching device, including a launching platform, an erecting frame, a base, an erecting cylinder, and a locking mechanism as described in any one of the above. The launching platform and the erecting frame are both disposed on the upper part of the base. The launching platform and the erecting frame are rotatably connected to one end of the base via a first rotating shaft. The launching platform is provided with the locking shaft. The locking mechanism is disposed on the erecting frame. The erecting cylinder is rotatably connected to both the base and the erecting frame. The erecting cylinder is used to drive the erecting cylinder to switch between a horizontal state and a vertical state. In the horizontal state, the erecting frame is in a horizontal state; in the vertical state, the erecting frame is in a vertical state. The locking mechanism abuts against the locking shaft to limit the movement of the erecting frame.

[0015] The erecting frame and launch pad locking mechanism provided by this invention drives a movable locking block to switch between a locked state and an unlocked state via a drive assembly. In the locked state, the movable locking block moves closer to the fixed locking block to clamp the launch pad's locking shaft between the movable and fixed locking blocks, thereby locking the launch pad. In the unlocked state, the movable locking block moves away from the fixed locking block to release the locking shaft, thereby unlocking the launch pad. Since the movable locking block is not subjected to radial shear force during the process of moving away from the fixed locking block, the locking reliability of the locking mechanism is improved. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is one of the structural schematic diagrams of the launching device provided by the present invention.

[0018] Figure 2This is the second schematic diagram of the structure of the launching device provided by the present invention.

[0019] Figure 3 This is one of the structural schematic diagrams of a locking mechanism provided in an embodiment of the present invention.

[0020] Figure 4 This is a second schematic diagram of the locking mechanism provided in one embodiment of the present invention.

[0021] Figure 5 This is a three-dimensional structural schematic diagram of a locking mechanism provided in one embodiment of the present invention.

[0022] Figure 6 This is one of the structural schematic diagrams of a locking mechanism provided in another embodiment of the present invention.

[0023] Figure 7 This is a second schematic diagram of the locking mechanism provided in another embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the hydraulic device provided by the present invention.

[0025] Figure label: 1. Launch pad; 2. Erection frame; 3. Rocket; 4. Base; 5. Erection cylinder; 6. Transport vehicle; 7. Hydraulic system; 11. Launch pad support legs; 12. Flow deflector; 13. Launch pad body; 14. Locking shaft; 21. Locking mechanism; 22. Support bracket; 23. Erection frame body; 24. Upper hinge point of the erection cylinder; 25. Clamping mechanism; 41. Vertical hydraulic cylinder for outriggers; 45. Hinge point for erecting frame; 46. Lower hinge point for erecting cylinder; 47. Traveling locking mechanism; 211. Fixed base; 212. Movable locking block; 213. Fixed locking block; 214. Linear drive mechanism; 215. Locking pin mounting hole; 216. Adjusting bolt; 217. First connecting rod; 218. Second connecting rod; 219. Fixed block; 710. High-flow proportional valve assembly; 711. Low-flow proportional valve assembly; 712. Cylinder-side valve assembly; 713. First oil circuit; 714. Second oil circuit; 715. Overflow line; 716. Overflow valve. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0029] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0031] like Figures 3 to 5 As shown, the locking mechanism 21 includes a fixed base 211, a fixed locking block 213, a movable locking block 212, and a drive assembly. The fixed base 211 is mounted on the erecting frame 2, the fixed locking block 213 is located at the end of the fixed base 211 away from the erecting frame 2, and the movable locking block 212 is rotatably connected to the fixed base 211. The drive assembly is connected to the movable locking block 212 and the fixed base 211, and is used to drive the movable locking block 212 to switch between a locked state and an unlocked state. In the locked state, the drive assembly drives the movable locking block 212 to rotate toward the fixed locking block 213, thereby clamping the locking shaft 14 of the launch pad 1 between the movable locking block 212 and the fixed locking block 213, completing the connection and locking between the erecting frame 2 and the launch pad 1. In the unlocked state, the drive assembly drives the movable locking block 212 to rotate in the opposite direction, moving it away from the fixed locking block 213, thereby releasing the clamping and locking of the locking shaft 14.

[0032] The erector and launch pad locking mechanism 21 provided by this invention, in the locked state, drives the movable locking block 212 to rotate around an axis, causing the movable locking block 212 to move closer to the fixed locking block 213. When rotated to a predetermined position, the movable locking block 212 and the fixed locking block 213 together clamp the locking shaft 14 of the launch pad 1 between them. Through this mechanical clamping method, a stable connection is formed between the erector 2 and the launch pad 1, thereby achieving the locking of the launch pad 1. In the unlocked state, the drive component drives the movable locking block 212 to rotate in the opposite direction to the locking state, causing the movable locking block 212 to move away from the fixed locking block 213, thereby releasing the clamping of the locking shaft 14 and separating the erector 2 from the launch pad 1. Since the unlocking action of the movable locking block 212 is a rotation around an axis, its movement trajectory is offset from the direction of the radial shear force acting on the locking shaft 14. This movement mode ensures that the movable locking block 212 is not subjected to radial shear force during the unlocking process. Compared to the locking pin structure that requires overcoming radial force for linear pulling, this effectively reduces the resistance that the drive component needs to overcome during unlocking, allowing the unlocking action to be completed smoothly even when the locking shaft 14 is under a certain radial load. This improves the smoothness of the mechanism's unlocking process and enhances the reliability of the mechanism's unlocking action.

[0033] In one embodiment of the present invention, when the erector 2 is in a vertical state and the locking mechanism 21 of the launch pad 1 is in a locked state, the movable locking block 212 is located below the locking shaft 14. During the unlocking process of the locking mechanism 21, since the movable locking block 212 is located below the locking shaft 14, the locking mechanism 21 can be easily unlocked, and the fixed locking block 213 will not interfere with the locking shaft 14.

[0034] In one embodiment of the present invention, such as Figures 3 to 5As shown, the movable locking block 212 is rotatably connected to the fixed base 211 via a first pin, allowing the movable locking block 212 to rotate around the first pin. The drive assembly includes a linear drive mechanism 214, with its first end rotatably connected to the fixed base 211 and its second end rotatably connected to the movable locking block 212. When the linear drive mechanism 214 extends or retracts, since both ends are rotatably connected, its linear displacement is converted into a pushing or pulling force on the movable locking block 212, thereby driving the movable locking block 212 to reciprocate around the first pin, switching the movable locking block 212 between a locked state and an unlocked state. During unlocking, the movable locking block 212 moves along an arc, causing it to rotate around the first pin and disengage from the locking shaft 14. Its direction of movement is offset from the radial shear force that may act on the locking shaft 14, avoiding the unlocking difficulties or jamming problems caused by shear force under load in traditional pin-type mechanisms. This reduces the driving force requirements of the drive components and improves the reliability of the unlocking action. The linear drive mechanism 214 is a hydraulic cylinder; however, it can also be a linear push rod or other linear drive mechanism 214.

[0035] In another embodiment of the invention, the drive assembly includes a worm gear coaxially arranged with or connected to the movable locking block 212 via a transmission component, and a worm meshing with the worm gear, the worm being driven by a drive motor. The drive motor, worm, and worm gear can be integrated and disposed within the cavity of the fixed base 211. During locking, the drive motor rotates forward, driving the worm, which in turn drives the worm gear to rotate, thereby driving the movable locking block 212 to rotate towards the fixed locking block 213 to clamp the locking shaft 14. During unlocking, the drive motor rotates in the reverse direction, driving the movable locking block 212 to rotate away from the fixed locking block 213 via the worm gear mechanism. The drive assembly employing the worm gear mechanism utilizes the self-locking characteristic of worm drive; that is, under appropriate transmission ratios, only the worm can actively drive the worm gear to rotate, while the worm gear cannot drive the worm in the reverse direction.

[0036] In one embodiment of the present invention, such as Figure 6 and Figure 7 As shown, the drive assembly also includes a linkage mechanism for transmitting the motion of the linear drive mechanism 214 to the movable locking block 212. This linkage mechanism includes a first link 217, a second link 218, and a second pin. The first end of the first link 217 is rotatably connected to the fixed base 211, and the second end of the second link 218 is rotatably connected to the movable locking block 212. The second ends of the first link 217, the first ends of the second link 218, and the second ends of the linear drive mechanism 214 are all rotatably connected at the second pin, forming a toggle-type structure.

[0037] When the linear drive mechanism 214 extends, it pushes the second pin, causing the first link 217 and the second link 218 to gradually straighten. The second link 218 then pushes the movable locking block 212 to rotate to the locked position. In the locked state, the first link 217 and the second link 218 are on the same straight line, reaching a dead point. At this dead point, the external force applied to unlock the movable locking block 212 will act through the hinge center of the first link 217 and the second link 218. After this force is decomposed at the second pin, its component force on the axis of the linear drive mechanism 214 approaches zero. The external load is mainly borne by the linkage mechanism in the form of compressive stress, rather than by the linear drive mechanism 214 continuously providing holding force. This structural design utilizes the self-locking effect of the toggle mechanism at the dead point, reducing the load on the linear drive mechanism 214 in the locked state, improving locking reliability, and helping to extend the service life of the linear drive mechanism 214. When unlocking, the linear drive mechanism 214 retracts backward, and the second pin can be pulled away from the dead position with a small force, so that the included angle between the first link 217 and the second link 218 is less than 180°, thereby driving the movable locking block 212 to rotate to the unlock position.

[0038] In one embodiment of the present invention, such as Figures 3 to 5 As shown, the fixed base 211 has an internal cavity, within which the drive assembly is located. By placing the drive assembly within the cavity of the fixed base 211, the fixed base 211 acts as a housing, providing shelter for the drive assembly and reducing direct contact between the drive assembly and external environmental factors such as dust and rain. This, to a certain extent, improves the operational stability of the drive assembly and may extend its service life. The end of the fixed base 211 furthest from the erector 2 also has an opening for the movable locking block 212 to pass through, providing a channel for its movement. When the drive assembly drives the movable locking block 212 to switch between a locked and unlocked state, a portion of the movable locking block 212 will extend or retract from the fixed base 211 through this opening. In this embodiment, the opening may be rectangular, its dimensions matching the cross-sectional dimensions of the corresponding portion of the movable locking block 212.

[0039] Preferably, for ease of maintenance, an access port can be provided on the side wall of the fixed base 211 at the position corresponding to the drive component, and a detachable cover plate can be provided. When maintenance or replacement of the internal drive component is required, the operator can directly open the cover plate to operate without removing the entire fixed base 211 from the erector 2, simplifying the maintenance process.

[0040] In one embodiment of the present invention, such as Figures 3 to 5 As shown, the fixing and locking block 213 is provided with a strip-shaped hole, which extends along the length direction of the erecting frame 2, that is, the strip-shaped hole extends along... Figure 2Extending left and right in the middle. The fixed locking block 213 is connected to the fixed base 211 through a fastener in the slot. This connection method makes the position of the fixed locking block 213 adjustable. Specifically, when adjustment is required, the fastener can be loosened first. At this time, the fixed locking block 213 can move on the fixed base 211 along the length of the slot. After moving to the predetermined position, the fastener is tightened again to fix the fixed locking block 213 in the new position. By adjusting the position of the fixed locking block 213, the distance between it and the movable locking block 212 in the locked state can be changed, so that the locking mechanism 21 can clamp locking shafts 14 of different sizes, or compensate for tolerances caused by manufacturing and installation, thereby improving the applicability of the mechanism and avoiding the need to replace the fixed locking block 213 and the movable locking block 212 due to changes in the adaptable object.

[0041] In one embodiment of the present invention, such as Figures 3 to 5 As shown, the end of the fixed base 211 away from the erector 2 is also provided with a limiting groove, which extends along the length of the erector 2, that is, the limiting groove extends along... Figure 2 Extending left and right in the middle, the fixed locking block 213 is located within the limiting groove. The two side walls of the limiting groove cooperate with the two sides of the fixed locking block 213 to limit the position of the fixed locking block 213 in the width direction of the erecting frame 2. When the fasteners used to fix the fixed locking block 213 are loosened to adjust its position, the fixed locking block 213 is guided by the limiting groove, and its movement is restricted to a straight line along the length direction of the erecting frame 2, thereby preventing it from tilting or rotating in the width direction, ensuring the stability and directional accuracy of the adjustment process, and ensuring the alignment relationship between the fixed locking block 213 and the movable locking block 212 after adjustment.

[0042] In one embodiment of the present invention, such as Figures 3 to 5 As shown, a fixing block 219 is also provided at the end of the fixed base 211 away from the erector 2, and the locking mechanism 21 also includes an adjusting bolt 216. This adjusting bolt 216 is arranged along the length of the erector 2, with one end connected to the fixing block 219 via a threaded engagement, and the other end abutting against the fixed locking block 213. When the adjusting bolt 216 is rotated, due to the threaded engagement, the adjusting bolt 216 will undergo a translational movement along its axial direction. Since one end abuts against the fixed locking block 213, the translational movement of the adjusting bolt 216 will push or allow the fixed locking block 213 to move accordingly along the length of the erector 2. This arrangement allows for precise adjustment of the initial position of the fixed locking block 213, thereby changing the final gap between the movable locking block 212 and the fixed locking block 213 in the locked state. This compensates for errors that may occur during manufacturing and assembly or wear after long-term use of components, ensuring that the locking mechanism 21 can apply appropriate clamping force to the locking shaft 14.

[0043] In one embodiment of the present invention, such as Figures 3 to 5 As shown, both the movable locking block 212 and the fixed locking block 213 have clamping surfaces on their opposite sides. At least one of the clamping surfaces of the movable locking block 212 and the fixed locking block 213 has a recess. In the locked state, when the drive assembly drives the movable locking block 212 to rotate toward the fixed locking block 213, the locking shaft 14 is clamped in the recess. The contour of this recess (e.g., V-shaped or arc-shaped) matches the shape of the locking shaft 14. During clamping, the recess guides and positions the locking shaft 14, allowing it to be stably constrained in a preset position. Simultaneously, the recess increases the contact area between the clamping surface and the locking shaft 14, changing the contact from line to surface, and restricts the relative movement of the locking shaft 14 along the clamping surface direction through the sidewall of the recess, thus improving the stability of the clamping connection.

[0044] In one embodiment of the present invention, such as Figures 3 to 5 As shown, both the movable locking block 212 and the fixed base 211 are provided with locking pin mounting holes 215. In the locked state, that is, when the movable locking block 212 rotates to the position of clamping the locking shaft 14, the locking pin mounting holes 215 on the movable locking block 212 and the locking pin mounting holes 215 on the fixed base 211 are on the same straight line. At this time, a locking pin can be inserted along this straight line and pass through the two aligned locking pin mounting holes 215. The insertion of the locking pin forms a rigid mechanical connection between the movable locking block 212 and the fixed base 211, preventing the movable locking block 212 from rotating relative to the fixed base 211 in the unlocking direction. Therefore, the load maintaining the locked state is borne by the locking pin, and the linear drive mechanism 214 no longer needs to continuously output force to maintain the lock. This separates the linear drive mechanism 214 from the long-term static load, which can avoid leakage that may occur in the hydraulic system due to long-term pressure holding, or reduce the energy consumption of the electric drive system, thereby extending the service life of the linear drive mechanism 214, and adding a mechanical lock improves the reliability of the lock.

[0045] The present invention also provides a launching device, which includes a launching platform 1, an erecting frame 2, a base 4, an erecting cylinder 5, and a locking mechanism 21 according to any of the above embodiments. The launching platform 1 and the erecting frame 2 are both disposed on the upper part of the base 4. The launching platform 1 and the erecting frame 2 are rotatably connected to one end of the base 4 through a first rotating shaft. The launching platform 1 is provided with a locking shaft 14. The locking mechanism 21 is disposed on the erecting frame 2. The erecting cylinder 5 is rotatably connected to the base 4 and the erecting frame 2 respectively. The erecting cylinder 5 is used to drive the erecting cylinder 5 to switch between a horizontal state and a vertical state. In the horizontal state, the erecting frame 2 is in a horizontal state; in the vertical state, the erecting frame 2 is in a vertical state. The locking mechanism 21 abuts against the locking shaft 14 to limit the erecting frame 2.

[0046] When the erector 2 rotates from a horizontal to a vertical position, the locking mechanism 21 moves along with the erector 2. The locking shaft 14 is mounted on the launch platform 1 and maintains a relatively fixed position with the launch platform 1. As the erector 2 gradually approaches the vertical position, the locking mechanism 21 moves toward the locking shaft 14. In the vertical position, the locking mechanism 21 and the locking shaft 14 form an abutting engagement, generating a contact force between them. This contact force prevents the erector 2 from continuing to rotate beyond the vertical position, thus limiting the maximum rotation angle range of the erector 2. This prevents the erector 2 from hitting the rocket body due to an excessively large erection angle, which could cause abnormal loads on the rocket body. That is, once the erector 2 rotates to abut against the locking shaft 14, the erector 2 cannot continue to move beyond the vertical position, thereby reducing the possibility of accidental contact between the erector 2 and the rocket body, and also reducing structural deformation or surface damage to the rocket body caused by additional impact forces.

[0047] like Figure 1 and Figure 8 As shown, the launching device also includes at least two telescopic outrigger devices and a hydraulic device 7. In this embodiment, four telescopic outrigger devices are provided, symmetrically arranged in pairs on both sides of the base 4. Two telescopic outrigger devices are symmetrically arranged on both sides of the front end of the base 4, and the remaining two telescopic outrigger devices are symmetrically arranged on both sides of the rear end of the base 4. Of course, the number of telescopic outrigger devices is not limited to this; it can also be two, six, or more. The telescopic outrigger device includes a telescopic outrigger and a vertical cylinder 41. The first end of the telescopic outrigger is connected to the base 4, and the second end of the telescopic outrigger is connected to the vertical cylinder 41. A left front leg vertical cylinder and a left rear leg vertical cylinder are respectively provided on the left side of the base 4, and a right front leg vertical cylinder and a right rear leg vertical cylinder are respectively provided on the rear side of the base 4.

[0048] The hydraulic device 7 includes a large-flow proportional valve group 710, two sets of small-flow proportional valve components, and two sets of cylinder-side valve components. Each set of small-flow proportional valve components includes two small-flow proportional valve groups 711, and each set of cylinder-side valve components includes two cylinder-side valve groups 712. The cylinder-side valve groups 712 correspond one-to-one with the outrigger vertical cylinders 41, and the small-flow proportional valve groups 711 also correspond one-to-one with the outrigger vertical cylinders 41. Of course, the number of cylinder-side valve components 712 and small-flow proportional valve groups 711 is not limited to this, and is determined according to the number of outrigger vertical cylinders 41. Each cylinder-side valve assembly 712 has two working ports, two first connection ports, and two second connection ports. The two working ports of the cylinder-side valve assembly 712 are respectively connected to the rodless chamber and the rod chamber of the corresponding outrigger vertical cylinder 41. The two first connection ports are respectively connected to the two working ports of the large flow proportional valve assembly 710, and the two second connection ports are respectively connected to the two working ports of the corresponding small flow proportional valve assembly 711. The hydraulic oil flow rate output from the working ports of the large flow proportional valve assembly 710 is greater than the hydraulic oil flow rate output from the working ports of the small flow proportional valve assembly 711.

[0049] It should be noted that both the large-flow proportional valve assembly 710 and the small-flow proportional valve assembly 711 consist of a directional valve, a pressure compensation valve, a shuttle valve, and two fixed throttle orifices. The only difference lies in the hydraulic oil flow rate output by the directional valve in the large-flow proportional valve assembly 710 and the small-flow proportional valve assembly 711. Since both the large-flow proportional valve assembly 710 and the small-flow proportional valve assembly 711 are commercially available valve assemblies, their specific structures will not be described in detail here.

[0050] The launching device provided by this invention, because the hydraulic oil flow rate output from the working port of the large-flow proportional valve group 710 is greater than the hydraulic oil flow rate output from the working port of the small-flow proportional valve group 711, delivers a large flow of hydraulic oil through the large-flow proportional valve group 710 to the rodless or rod-side valve group 712 of the outrigger vertical cylinder 41, driving the piston rod of the outrigger vertical cylinder 41 to extend or retract, thereby causing the telescopic outrigger to perform a large stroke and rapid extension / retraction action relative to the base 4, meeting the rapid large stroke movement requirements of the launching device during loading and unloading; the small-flow proportional valve group 711 delivers a large flow of hydraulic oil to the rodless or rod-side valve group 712 of the outrigger vertical cylinder 41, driving the piston rod of the outrigger vertical cylinder 41 to extend or retract, thereby driving the telescopic outrigger to perform a large stroke and rapid extension / retraction action relative to the base 4, meeting the rapid large stroke movement requirements of the launching device during loading and unloading; the small-flow proportional valve group 711 delivers a large flow of hydraulic oil to the outrigger vertical cylinder 41 to the rodless or rod-side valve group 41. Hydraulic oil is supplied to the rodless or rod chamber of the vertical outrigger cylinder 41 via the cylinder-side valve assembly 712, driving the piston rod of the vertical outrigger cylinder 41 to produce a small displacement, thereby causing the telescopic outrigger to perform a small stroke and precise extension / retraction relative to the base 4, achieving high-precision adjustment of the attitude of the launch equipment base 4; through the coordinated oil supply of the large-flow proportional valve assembly 710 and the small-flow proportional valve assembly 711 at different leveling stages, the vertical outrigger cylinder 41 simultaneously possesses the ability to quickly extend with a large stroke and the ability to level with high precision, resolving the contradiction between rapid extension / retraction and high-precision leveling in the existing launch equipment during the leveling process.

[0051] In one embodiment of the present invention, such as Figure 1 and Figure 8 As shown, the hydraulic device 7 also includes a first oil passage 713 and a second oil passage 714. One end of the first oil passage 713 is connected to a working port of the large flow proportional valve group 710, and the other end of the first oil passage 713 is connected to a first connection port of each cylinder side valve group 712. One end of the second oil passage 714 is connected to another working port of the large flow proportional valve group 710, and the other end of the second oil passage 714 is connected to another first connection port of each cylinder side valve group 712. When hydraulic oil flows alternately in the first oil circuit 713 and the second oil circuit 714, the directional transmission of hydraulic oil drives the valve cores in each cylinder-side valve group 712 connected to it to move, thereby controlling the hydraulic oil to enter the rodless or rod chamber of the outrigger vertical cylinder 41, pushing the piston rod of the outrigger vertical cylinder 41 to perform linear reciprocating extension and retraction relative to the cylinder barrel, ensuring the synchronization of the oil circuit response of multiple outrigger vertical cylinders 41 during the movement; by connecting the other end of the first oil circuit 713 to one first connection port of each cylinder-side valve group 712, and connecting the other end of the second oil circuit 714 to the other first connection port of each cylinder-side valve group 712, the hydraulic oil pressure output from the two working ports of the large flow proportional valve group 710 to each cylinder-side valve group 712 is the same. Under the constant pressure drive of hydraulic oil, the piston rod of each outrigger vertical cylinder 41 obtains the same linear driving force, ensuring the consistency of the extension or retraction action of each outrigger vertical cylinder 41.

[0052] In one embodiment of the present invention, such as Figure 1 and Figure 8 As shown, the hydraulic device 7 also includes an overflow assembly, which is connected to the oil tank and the first oil circuit 713. The overflow assembly is used to conduct when the pressure inside the rodless chamber of the outrigger vertical cylinder 41 reaches a predetermined pressure. Specifically, when the pressure inside the rodless chamber rises to the predetermined pressure and acts on the overflow assembly, it drives the valve core inside the overflow assembly to overcome the internal spring force and generate an opening displacement action, so that the overflow port of the overflow assembly opens, thereby guiding part of the hydraulic oil in the first oil circuit 713 through the overflow assembly and draining it into the oil tank. This realizes the dynamic limitation and real-time adjustment of the pressure inside the rodless chamber of the outrigger vertical cylinder 41, preventing the hydraulic pipeline from rupturing or related seals from being damaged due to continuous pressure increase, and ensuring the operational safety and structural stability of the entire hydraulic device 7 during the load-bearing operation.

[0053] In one embodiment of the present invention, such as Figure 1 and Figure 8As shown, the overflow assembly includes an overflow pipe 715 and an overflow valve 716. One end of the overflow pipe 715 is connected to the oil tank, and the other end of the overflow pipe 715 is connected to the first oil circuit 713. The overflow valve 716 is disposed in the overflow pipe 715 and is used to open when the pressure inside the rodless chamber of the outrigger vertical cylinder 41 reaches a predetermined pressure. By connecting the other end of the overflow pipe 715 to the first oil circuit 713 and setting the overflow valve 716 in the overflow pipe 715, the four outrigger vertical cylinders 41 can unload oil through a single overflow pipe 715. When the pressure in the rodless chamber of any one or more of the four outrigger vertical cylinders 41 reaches the predetermined pressure, the hydraulic oil can enter the same overflow pipe 715 through the main converging line, i.e., the first oil circuit 713, and be discharged into the oil tank via the overflow valve 716. This realizes a system layout in which multiple hydraulic actuators share a single overflow pressure relief channel, simplifies the overall hydraulic pipeline structure, reduces the system's pipeline layout space occupancy rate and the number of components, and improves the compactness of the hydraulic system.

[0054] In one embodiment of the present invention, the launching device further includes a control system. A tilt sensor is installed on the base 4. One or more tilt sensors can be installed, depending on actual needs. The tilt sensor, the large-flow proportional valve group, and the small-flow proportional valve group are all electrically connected to the control system. The tilt sensor detects the levelness of the base 4 and sends the detection result to the control system, realizing real-time dynamic monitoring and closed-loop data feedback of the spatial attitude and tilt state of the base 4. This prevents the equipment's center of gravity from shifting or the structure from unevenness due to uneven ground. The control system controls the hydraulic oil flow rate output from the working port of the small-flow proportional valve group based on the detection result. Specifically, the control system outputs corresponding electrical control commands to the small-flow proportional valve group based on the received levelness deviation signal. This overcomes the resistance of its internal return spring and drives the valve core of the small-flow proportional valve group to produce continuous sliding displacement, thereby changing the hydraulic oil flow area of ​​the working port and adjusting the flow rate of the hydraulic oil. This achieves continuous and precise adjustment and control of the driving speed of the leveling hydraulic actuator of the base 4, ensuring the leveling accuracy and stability of the base 4.

[0055] In one embodiment of the present invention, such as Figure 1 and Figure 2As shown, the erector 2 is located on the upper part of the base 4. The erector 2 is rotatably connected to one end of the base 4 via a first rotating shaft. This rotatable connection allows the erector 2 to rotate relative to the base 4, thereby switching between a horizontal and a vertical state, meeting the needs of the launch equipment for attitude conversion during transportation and launch preparation. Specifically, one end of the base 4 is provided with an erector hinge point 45. The erector 2 includes an erector body 23, a clamping mechanism 25, and a support bracket 22. The erector body 23 is rotatably connected to the erector hinge point 45 via the first rotating shaft. This structure allows the erector body 23 to rotate smoothly about the first rotating shaft relative to the base 4, reducing the risk of friction and jamming during movement. Both the clamping mechanism 25 and the support bracket 22 are installed on the erecting frame body 23. The clamping mechanism 25 is used to fix the rocket 3. Through the clamping action of the clamping mechanism 25, the relative displacement of the rocket 3 during erection or transportation can be limited, thereby improving the positioning stability of the rocket 3 on the erecting frame 2. The support bracket 22 is used to support the rocket 3. By bearing part of the weight of the rocket 3, the support bracket 22 distributes the concentrated load of the rocket 3 on the erecting frame body 23, thereby reducing the local stress concentration of the erecting frame body 23.

[0056] The erecting cylinder 5 is rotatably connected to the base 4 and the erecting frame 2. Specifically, the erecting frame 2 is provided with an upper hinge point 24 for the erecting cylinder, and the base 4 is provided with a lower hinge point 46 for the erecting cylinder. The cylinder body of the erecting cylinder 5 is rotatably connected to the lower hinge point 46, and the telescopic rod of the erecting cylinder 5 is rotatably connected to the upper hinge point 24. The erecting cylinder 5 is used to drive the erecting frame 2 to switch between a horizontal and a vertical state. In the horizontal state, the erecting frame 2 is in a horizontal position, at which time the rocket 3 can be transported or loaded in a horizontal attitude, reducing the center of gravity height during transportation. In the vertical state, the erecting frame 2 is in a vertical position, at which time the rocket 3 can be prepared for launch in a vertical attitude, meeting the attitude requirements of the rocket 3 before launch.

[0057] Preferably, the base 4 is provided with a marching locking mechanism 47. During horizontal transport, the erector body 23 is in a horizontal state. The marching locking mechanism 47 on the base 4 locks the erector body 23, thereby ensuring that the rocket 3 is reliably fixed. Before erection, the marching locking mechanism 47 on the base 4 releases the lock on the erector 2.

[0058] In one embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the launch platform 1 is located on the upper part of the base 4. The launch platform 1 is rotatably connected to one end of the base 4 via a first rotating shaft. The launch platform 1 is equipped with a locking shaft 14. Through the cooperation of the locking shaft 14 and the locking mechanism 21, the position of the launch platform 1 relative to the erecting frame 2 or the base 4 can be restricted, thereby improving the positioning stability of the launch platform 1 in the transportation state.

[0059] Specifically, launch pad 1 includes launch pad body 13, launch pad legs 11, and a flow deflector 12. Launch pad body 13 is rotatably connected to erector hinge point 45 via a first pivot. Flow deflector 12 is disposed on launch pad body 13 and is used to guide the high-temperature exhaust gases generated during rocket launch into a predetermined direction, thereby reducing the erosion and impact of the high-temperature exhaust gases on launch pad body 13 and surrounding equipment. Launch pad legs 11 are disposed on the outer periphery of launch pad body 13 and are used to contact the ground or support surface when launch pad 1 is in the working position. The launch load is transferred to the ground through launch pad legs 11, thereby reducing the impact load borne by base 4 at the moment of launch. Launch pad body 13 is provided with two locking shafts 14, which are symmetrically arranged. The symmetrically arranged locking shafts 14 cooperate with locking mechanism 21 to ensure that the force on both sides of launch pad body 13 is uniform in the locked state, thereby reducing the risk of deformation of launch pad body 13 or locking failure due to uneven loading.

[0060] The launching device provided by this invention can be self-loading and unloading, eliminating dependence on external cranes, simplifying the operation process, reducing the workload of personnel, and improving the rapid deployment capability and autonomous support level of the launching device.

[0061] In one embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the locking mechanism 21 is mounted on the erecting frame 2. This mounting allows the locking mechanism 21 to move together with the erecting frame 2, thus maintaining the relative position between the locking mechanism 21 and the launch pad 1 when the erecting frame 2 is in different orientations. The locking mechanism 21 is used to clamp the locking shaft 14 to lock the launch pad 1. The clamping action of the locking mechanism 21 on the locking shaft 14 reduces displacement of the launch pad 1 during transportation or erection.

[0062] In one embodiment of the present invention, such as Figure 1 and Figure 2As shown, the launching equipment also includes a transport vehicle 6, with a base 4 mounted on the transport vehicle 6. The base 4 and the transport vehicle 6 are detachably connected. Through this detachable connection, the base 4 can be selectively fixed to or separated from the transport vehicle 6. When the base 4 is connected to the transport vehicle 6, the transport vehicle 6 can carry the base 4 and its components, such as the erector frame 2 and the launch pad 1, for road or field transport, thereby transferring the entire launching equipment to the designated launch position. When the base 4 is separated from the transport vehicle 6, the base 4 is supported on the ground by a telescopic outrigger device. Through the detachable connection between the base 4 and the transport vehicle 6, combined with the self-loading and unloading function of the telescopic outrigger device, the launching equipment can complete loading and unloading operations with the transport vehicle 6 without an external crane, thus reducing the time the dedicated transport vehicle 6 is occupied during different operational phases.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A locking mechanism between an erecting frame and a launch pad, characterized in that, include: A fixed base (211) is installed on the erecting frame (2); A locking block (213) is provided at one end of the fixed base (211) away from the erecting frame (2); The movable locking block (212) is rotatably connected to the fixed base (211); A drive assembly is connected to the movable locking block (212) and the fixed base (211). The drive assembly is used to drive the movable locking block (212) to switch between a locked state and an unlocked state. In the locked state, the movable locking block (212) moves closer to the fixed locking block (213) to clamp the locking shaft (14) of the launcher (1) between the movable locking block (212) and the fixed locking block (213). In the unlocked state, the movable locking block (212) moves away from the fixed locking block (213) to release the locking shaft (14).

2. The erecting frame and launch pad locking mechanism according to claim 1, characterized in that, The movable locking block (212) is rotatably connected to the fixed base (211) via a first pin, and the drive assembly includes: A linear drive mechanism (214) is provided, with its first end rotatably connected to the fixed base (211) and its second end rotatably connected to the movable locking block (212). The linear drive mechanism (214) is used to drive the movable locking block (212) to reciprocate around the first pin shaft so that the movable locking block (212) switches between the locked state and the unlocked state.

3. The erecting frame and launch pad locking mechanism according to claim 2, characterized in that, The driving component also includes: The linkage mechanism includes a first link (217), a second link (218), and a second pin. The first end of the first link (217) is rotatably connected to the fixed base (211). The second end of the first link (217), the first end of the second link (218), and the second end of the linear drive mechanism (214) are all rotatably connected to the second pin. The second end of the second link (218) is rotatably connected to the movable locking block (212). In the locked state, the first link (217) and the second link (218) are on the same straight line, and both the first link (217) and the second link (218) are at the dead point position. In the unlocked state, the included angle between the first link (217) and the second link (218) is less than 180°.

4. The erecting frame and launch pad locking mechanism according to any one of claims 1 to 3, characterized in that, The fixed base (211) has a cavity inside, the drive assembly is located in the cavity, and the fixed base (211) is also provided with an opening at the end away from the erector (2) for the movable locking block (212) to pass through.

5. The erecting frame and launch pad locking mechanism according to any one of claims 1 to 3, characterized in that, The fixing locking block (213) is provided with a strip hole that extends along the length of the erecting frame (2). The fixing locking block (213) is connected to the fixing seat (211) through a fastener in the strip hole.

6. The erecting frame and launch pad locking mechanism according to claim 5, characterized in that, The fixed base (211) is provided with a limiting groove at one end away from the erecting frame (2). The limiting groove extends along the length direction of the erecting frame (2), and the fixing locking block (213) is located in the limiting groove.

7. The erecting frame and launch pad locking mechanism according to claim 6, characterized in that, The fixed base (211) is further provided with a fixing block (219) at the end away from the erecting frame (2), and the locking mechanism further includes: An adjusting bolt (216) is provided along the length of the erecting frame (2). The adjusting bolt (216) is threadedly engaged with the fixing block (219). One end of the adjusting bolt (216) near the movable locking block (212) abuts against the fixed locking block (213).

8. The erecting frame and launch pad locking mechanism according to any one of claims 1 to 3, characterized in that, The movable locking block (212) and the fixed locking block (213) each have a clamping surface on one side facing each other. At least one of the clamping surfaces of the movable locking block (212) and the fixed locking block (213) is provided with a recess. In the locked state, the locking shaft (14) is clamped in the recess.

9. The erecting frame and launch pad locking mechanism according to any one of claims 1 to 3, characterized in that, Both the movable locking block (212) and the fixed base (211) are provided with locking pin mounting holes. In the locked state, the locking pin mounting holes of the movable locking block (212) and the locking pin mounting holes of the fixed base (211) are on the same straight line.

10. A launching device, characterized in that, The device includes a launch platform (1), an erecting frame (2), a base (4), an erecting cylinder (5), and a locking mechanism as described in any one of claims 1 to 9. The launch platform (1) and the erecting frame (2) are both located on the upper part of the base (4). The launch platform (1) and the erecting frame (2) are rotatably connected to one end of the base (4) via a first rotating shaft. The launch platform (1) is provided with the locking shaft (14). The locking mechanism (21) is located on the erecting frame (2). The erecting cylinder (5) is rotatably connected to the base (4) and the erecting frame (2) respectively. The erecting cylinder (5) is used to drive the erecting cylinder (5) to switch between a horizontal state and a vertical state. In the horizontal state, the erecting frame (2) is in a horizontal state. In the vertical state, the erecting frame (2) is in a vertical state. The locking mechanism (21) abuts against the locking shaft (14) to limit the erecting frame (2).

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