Marine rocket launch restraint release mechanism

Abstract

This invention discloses a sea-launched rocket restraint and release mechanism, belonging to the field of aerospace technology. The mechanism includes a launch support structure connected to the launch ship deck, a motion compensation structure assembled inside it, and a rocket body vertically supported therein. The launch support structure includes a launch platform and a bottom balance plate. The platform is equipped with pulleys, a cable winch, and a support damping rod. The motion compensation structure includes a support platform, upper and lower clamping blocks, a mass balance ball, and a three-degree-of-freedom parallel mechanism. The upper clamping block forms a 4-SPS dual-state parallel mechanism via SPS push rods, while the lower clamping block is connected to the rocket via burst bolts and is rigidly and flexibly coupled to the mass balance ball via a balance ball connecting rod. This invention, through the coordinated motion compensation of the upper and lower parallel mechanisms and the inertial suppression of the mass balance ball, can maintain the rocket's vertical attitude under complex sea conditions, achieving safe and stable restraint and release, effectively improving the adaptability and reliability of sea-launched operations.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, specifically to a sea-based rocket launch restraint and release mechanism. Background Technology

[0002] Containment-release launch refers to a launch vehicle that remains fixed to the launch pad by a containment release device for several seconds after engine ignition. Once the fault detection system detects that the rocket is working normally and the engine thrust has reached the predetermined value, the containment release device releases the rocket for safe takeoff.

[0003] Engines are more likely to malfunction during unstable operating periods such as startup and shutdown. Releasing them after testing on the launch pad can prevent this type of failure. If one of multiple engines fails to ignite, it could cause a catastrophic accident. Releasing them after confirming that all engines are functioning normally can prevent this type of failure.

[0004] The use of restrained release launch technology can terminate the launch when a fault is detected after the rocket ignition. It is an important technical means to improve launch reliability and ensure launch site safety. If the rocket engine thrust is released directly after reaching the predetermined value, the impact of the sudden large thrust will cause a large vibration to the rocket and easily damage the onboard instruments. Therefore, a load reduction and slow release device is needed to slowly release the rocket in the very short time after it leaves the launch pad and ascends into the air.

[0005] Currently, conventional launch control technologies mainly employ pull-type and compression-type control. Compression-type control has excessively high reliability requirements and is not suitable for the complex and ever-changing marine environment. In contrast, pull-type control has a high fault tolerance rate and is suitable for the marine environment. However, traditional fixed bolts are not suitable for the marine environment. Explosive bolts are already a mature technology for use in terrestrial environments. In the marine environment, after rocket ignition, the retro-thrust directly affects the ship's attitude. If the rocket and launch ship remain fixed, the rocket's attitude deviation will cause launch failure. If the rocket forcibly adjusts its attitude, the fixed explosive bolts will fail, leading to control failure, or even rocket tilting and direct explosion. Furthermore, conventional sea-based rocket launches place the rocket on the launch ship's deck. If rocket control is to be achieved, the launch ship must provide the control force, which greatly affects the launch ship's position and attitude, making it difficult to implement.

[0006] To address this, a sea-based rocket launch restraint and release mechanism is proposed. Summary of the Invention

[0007] The purpose of this invention is to provide a marine rocket launch restraint release mechanism to solve the problem that the restraint release mechanism mentioned in the background art cannot adapt to marine launches and the uncontrollable risks in the event of pressure failure.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a marine rocket launch restraint and release mechanism, comprising:

[0009] The launch support structure is detachably connected to the launch ship deck;

[0010] The motion compensation structure is assembled inside the launch support structure;

[0011] The main body of the rocket is vertically supported inside the launch support structure by the positioning of the motion compensation structure;

[0012] The launch support structure includes a launch platform, a balance plate is rigidly connected to the bottom of the launch platform, multiple pulleys are rigidly connected to the upper surface of the launch platform base plate, and rope winches are detachably connected to the lower surface of the launch platform top plate in the same number and at the same angle as the pulleys. The ropes wound by the rope winches all pass around the corresponding pulleys and are bound to the motion compensation structure. Multiple support damping rods are arranged on the inner circumference of the pulleys, and the lower ends of the support damping rods are all connected to the upper surface of the balance plate in a multi-degree-of-freedom manner with ball joints.

[0013] The motion compensation structure includes a support platform. The upper surface of the support platform is connected to multiple sets of support columns and support hydraulic rods via a rotating joint. The support columns are movably supported on the lower surface of the clamping block. At least one ball joint is arranged at the middle position of the outer convex surface of the clamping block, and it is connected to a three-degree-of-freedom parallel mechanism through these ball joints. These three-degree-of-freedom parallel mechanisms are all bolted to the inner wall of the launch well. The clamping block is movably supported on the surface of the rocket body, and there are two clamping blocks, one above the other.

[0014] Each arc plate of the lower clamping block has an assembly block rigidly connected to its inner arc surface. The assembly block is detachably connected to a burst bolt, which allows for explosive detachment from the rocket body. The lower side of each arc plate of the lower clamping block is rigidly connected to a single balance ball connecting rod. The clamping blocks are rigidly connected to the balance ball connecting block via the balance ball connecting rod passing through the guide groove. The balance ball connecting block is suspended and bound to a mass balance ball with the same lugs on its surface via a traction rope assembly. The side of the mass balance ball is also threaded with lugs, which are bound to ropes guided by pulleys. A ball joint is located on the lower side of the mass balance ball and is connected to the upper end of the support damping rod via the ball joint.

[0015] Preferably, the surface of the balance plate facing the launch platform is integrally formed with an annular trapezoidal boss, and the bottom surface of the launch platform is correspondingly integrally formed with an annular trapezoidal groove, and the slope of the boss on the surface of the balance plate is slightly less than the slope of the groove on the bottom surface of the launch platform.

[0016] Preferably, the circumferential side of the balance plate is welded with a hanging lug, and the hanging lug is bound to the hanging lug welded to the circumferential side of the bottom surface of the launch platform by means of a traction cable. The center of the bottom plate of the launch platform has a downward-opening window, and a limit groove is configured in the window that is rigidly connected to the launch platform.

[0017] Preferably, the support platform is embedded and fixed inside the vertically penetrating launch well within the top plate of the launch platform, and the center of the launch platform has a downwardly penetrating guide channel.

[0018] Preferably, the supporting hydraulic rod is positioned on the side near the center, and the output end of the supporting hydraulic rod is supported on the lower surface of the supporting column in conjunction with a rotary joint.

[0019] Preferably, the clamping block is composed of multiple arc plates at equal angles, and the arc plates are elastically connected by connecting springs, and the support column is supported on the lower surface of the clamping block at the position corresponding to the connecting spring.

[0020] Preferably, the three-degree-of-freedom parallel mechanism is configured as a 3-UPS parallel mechanism with 3T motion, and the ball head of the 3-UPS parallel mechanism has six degrees of freedom. The functions of the ball head include modularity of the parallel mechanism, quick replacement, and structural hardening and load bearing. In practice, the push rod of the 3-UPS parallel mechanism retracts and extends, and the ball head descends and rises.

[0021] Preferably, the outer convex surface of the clamping block above is also equipped with a ball joint, and each ball joint is connected to a single SPS push rod. The other end of the SPS push rod is also connected to the inner wall of the launch well in multiple degrees of freedom with the help of the ball joint.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. This invention, through the setting of the upper clamping block and the -SPS parallel mechanism composed of its convex ball joint and SPS push rod, when the launch platform experiences significant swaying, the mass balance ball forming the mass tuning vibration reduction system with the rocket body will oscillate relative to the launch platform. The oscillation amplitude, together with the deformation amplitude of the supporting damping rod, is transmitted as a feedback signal to the corresponding SPS push rod in real time. The control system controls the output of the push rod's shortening and extension accordingly. The -SPS parallel mechanism switches to spatial parallel mode and works in coordination with the lower three-degree-of-freedom parallel mechanism to actively compensate for the launch platform's three-degree-of-freedom motion of roll, pitch, and heave relative to the rocket body. It also works with the DP system to assist in adjusting the overall attitude of the launch platform, maintaining the vertical attitude of the rocket body. This effectively reduces rocket deviation or rollover caused by ship swaying. At the same time, during the preparation stages such as loading and fueling, this mechanism can also be equivalent to a planar parallel mechanism, and adjust the rocket attitude with the rocket loading equipment through push rod extension and retraction, providing operating space for the operation. Thus, flexible control of the rocket attitude is achieved throughout the launch process, improving the adaptability and reliability of sea-based towed launches.

[0024] 2. This invention connects the lower clamping block to the mass balance ball via a balance ball connecting rod and a balance ball connecting block, using a rigid-flexible coupling. Combined with the restraint rope assembly, pulleys, rope winch, and support damping rod, this creates a mass-tuned vibration reduction system between the mass balance ball and the rocket body. The rope winch adjusts the suspension tension to achieve the system's equivalent stiffness, while the support damping rod provides damping and dissipates swaying energy. The inertial mass and reverse oscillation of the mass balance ball passively suppress the attitude disturbance of the rocket body. During launch, the swaying / deformation amplitude of the mass balance ball and the support damping rod is fed back in real-time to the corresponding motion compensation push rod. This controls the push rod output to compensate for the platform's multi-degree-of-freedom motion relative to the rocket. The DP system further adjusts the overall attitude of the launch platform. The passive tuning vibration reduction, active push rod compensation, and DP assistance work together to ensure the rocket body's attitude remains unchanged relative to the Earth's coordinate system, achieving safe and stable restraint and release under complex sea conditions. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a cross-sectional view of the overall structure of the present invention;

[0027] Figure 3 This is a schematic diagram showing the connection between the motion compensation system of the present invention and the rocket body;

[0028] Figure 4 This is a schematic diagram of the clamping block of the present invention;

[0029] Figure 5 This is a schematic diagram of the motion compensation structure of the present invention. Figure 1 ;

[0030] Figure 6 This is a schematic diagram of the motion compensation structure of the present invention. Figure 2 ;

[0031] Figure 7 This is a schematic diagram of the mass balance ball connection structure of the present invention;

[0032] Figure 8 This is a schematic diagram of the support platform, balance ball connecting block and their connection structure of the present invention;

[0033] Figure 9 This is a top view of the support platform of the present invention;

[0034] Figure 10 This is a schematic diagram of the motion compensation state of the present invention.

[0035] In the picture:

[0036] 1. Launch support structure;

[0037] 11. Launch platform; 111. Limiting groove; 112. Support damping rod; 113. Pulley; 114. Rope winch;

[0038] 12. Balance board; 121. Traction cable;

[0039] 2. Motion compensation structure;

[0040] 21. Support platform; 211. Support column; 212. Support hydraulic rod; 213. Guide channel;

[0041] 22. Balance ball connecting block; 221. Balance ball connecting rod;

[0042] 23. Mass balance ball; 231. Restraint rope assembly;

[0043] 24. Three-degree-of-freedom parallel mechanism;

[0044] 25. Clamping block; 251. Connecting spring; 252. Assembly block; 253. Bursting bolt;

[0045] 3. Rocket body. Detailed Implementation

[0046] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0047] Please see Figures 1 to 10 This invention provides a technical solution for a marine rocket launch restraint and release mechanism:

[0048] A sea-based rocket launch restraint and release mechanism includes:

[0049] Launch support structure 1 is detachably connected to the launch ship deck;

[0050] Motion compensation structure 2 is assembled inside launch support structure 1;

[0051] The main body of the rocket 3 is vertically supported inside the launch support structure 1 under the positioning of the motion compensation structure 2;

[0052] The launch support structure 1 includes a launch platform 11. The launch platform 11 has a longitudinal cross-section configured in a convex shape, and a balance plate 12 is rigidly connected to the bottom of the launch platform 11. An annular trapezoidal boss is integrally formed on the surface of the balance plate 12 facing the launch platform 11, and an annular trapezoidal groove is integrally formed on the bottom surface of the launch platform 11. The slope of the boss on the surface of the balance plate 12 is slightly less than the slope of the groove on the bottom surface of the launch platform 11. When the rocket is not launched, there is a gap between the launch platform 11 and the balance plate 12. Lugs are welded to the peripheral side of the balance plate 12, and the lugs are welded to the peripheral side of the bottom surface of the launch platform 11 via a traction cable 121. The launch platform 11 has a downward-opening window at the center of its base plate, and a limiting groove 111 is rigidly connected to the launch platform 11 inside the window. Multiple pulleys 113 are rigidly connected to the upper surface of the launch platform 11 base plate, and rope winches 114 are detachably connected to the lower surface of the launch platform 11 top plate in the same number and at the same angle as the pulleys 113. The ropes wound by the rope winches 114 all pass around the corresponding pulleys 113 and are bound to the motion compensation structure 2. Multiple support damping rods 112 are arranged around the periphery of the limiting groove 111, and the lower ends of the support damping rods 112 are all connected to the upper surface of the balance plate 12 in a multi-degree-of-freedom manner with ball joints.

[0053] The motion compensation structure 2 includes a support platform 21, which is embedded and fixed inside a vertically penetrating launch well within the top plate of the launch platform 11. The launch platform 11 has a downwardly penetrating guide channel 213 at its center. Multiple sets of rotating joints are rigidly connected to the periphery of the guide channel 213 on the upper surface of the support platform 21, with two rotating joints on each side. These rotating joints are connected to the support column 211 and the support hydraulic rod 212 on the same side. The support hydraulic rod 212 is positioned near the center, and its output end is supported on the lower surface of the support column 211 by the rotating joints. The support column 211 is movably supported on the lower surface of the clamping block 25, which is composed of multiple arc plates at equal angles. The clamping block 25 is elastically connected via a connecting spring 251, and the support column 211 supports the clamping block 25 at a position corresponding to the connecting spring 251 on its lower surface. At least one ball joint is positioned at the middle of the outer convex surface of the clamping block 25, and these ball joints are connected to the three-degree-of-freedom parallel mechanism 24 via multiple degrees of freedom. All three-degree-of-freedom parallel mechanisms 24 are bolted to the inner wall of the launch silo. The three-degree-of-freedom parallel mechanism 24 is configured as a 3-UPS parallel mechanism with 3T motion, and the ball head of the 3-UPS parallel mechanism has six degrees of freedom. The ball head's functions include modularity, quick replacement, and structural hardening for load bearing. During implementation, the push rod of the 3-UPS parallel mechanism retracts and extends, the ball head descends and rises, and the clamping block 25 moves. Supported on the surface of the rocket body 3, the clamping blocks 25 are configured in two positions, one above the other. The upper clamping block 25 is positioned inside the launch well of the launch platform 11 near the port. The convex surface of the upper clamping block 25 is also equipped with ball joints, each connected to a single SPS push rod via a ball joint. The other end of the SPS push rod is also connected to the inner wall of the launch well in a multi-degree-of-freedom manner via a ball joint, thus forming a 4-SPS parallel mechanism. When the six-degree-of-freedom swaying motion of the launch platform 11 is negligible, the 4-SPS parallel mechanism is equivalent to a planar parallel mechanism with 3 degrees of freedom (1R2T). For example, the two push rods on the left end can be shortened, and the two push rods on the right end can be extended, cooperating with the rocket loading equipment to control the controlled end of the rocket to move to the left. Furthermore, the movement can be adjusted by changing the push rods... The length of the rod is adjusted to change the rocket's attitude, thereby enabling the rocket to twist. This provides conditions for loading the rocket into the launch platform 11, fueling the rocket, and pre-launch preparations. When the rocket is in the initial stage of launch, the launch platform 11 experiences significant swaying, and the rocket needs to maintain a vertical state. Therefore, there is a three-degree-of-freedom relative motion between the launch platform 11 and the rocket, namely roll, pitch, and heave. The rocket cannot twist its launch attitude. At this time, the 4-SPS parallel mechanism is equivalent to a spatial parallel mechanism, and together with the three-degree-of-freedom parallel mechanism 24, it maintains the rocket's vertical attitude by changing the length of the push rods. For example, the two push rods on the left shorten and the two push rods on the right extend, allowing the rocket to rotate counterclockwise. The motion compensation mechanism of the three-degree-of-freedom parallel mechanism 24 is similar to that of the SPS push rod.

[0054] During operation, the rocket body 3 is loaded into the launch silo of the launch platform 11. Two sets of clamping blocks 25 surround and position the outer surface of the rocket body 3. The lower clamping block 25 is rigidly connected to the rocket body 3 via burst bolts 253 within the assembly block 252. The upper clamping block 25 is connected to the inner wall of the launch silo via a 4-SPS parallel mechanism. During the loading, fueling, and launch preparation phases, platform sway is negligible. The 4-SPS parallel mechanism is equivalent to a planar parallel mechanism and works in conjunction with the rocket loading equipment through the extension and retraction of push rods to adjust the rocket's attitude, achieving torsion and translation within the silo. Upon entering the initial launch phase, the platform is affected by sea conditions and swaying. PS switches to space mode and works in coordination with the three-degree-of-freedom parallel mechanism 24 via push rods to compensate for the platform's roll, pitch, and heave relative to the rocket, maintaining the rocket's vertical attitude. At the same time, the three-degree-of-freedom parallel mechanism 24, i.e., the 3-UPS parallel mechanism, connected to the lower clamping block 25, drives the ball head to rise and fall through the extension and retraction of push rods, providing synchronous compensation for the lower clamping block 25. Together with the upper mechanism, it ensures the stability of the entire attitude. The support hydraulic rod 212 is supported on the lower surface of the support column 211 via a rotary joint. The support column 211 is movably supported on the lower surface of the lower clamping block 25 at the corresponding connection spring 251, providing follow-up load for the lower clamping block 25.

[0055] In summary, through the arrangement of the upper clamping block 25 and the 4-SPS parallel mechanism composed of its convex ball joint and SPS push rod, when the launch platform 11 experiences significant shaking, the mass balance ball 23, which forms a mass-tuned vibration reduction system with the rocket body 3, oscillates relative to the launch platform 11. The amplitude of this oscillation, along with the deformation amplitude of the support damping rod 112, is transmitted in real-time as a feedback signal to the corresponding SPS push rod. The control system then controls the output of the push rod's shortening and extension, and the 4-SPS parallel mechanism switches to a spatial parallel mode, coordinating with the lower three-degree-of-freedom parallel mechanism 24. The dynamic compensation launch platform 11 has three degrees of freedom of motion relative to the rocket body 3, including roll, pitch, and heave. In conjunction with the DP system, the overall attitude of the launch platform 11 is adjusted to maintain the vertical attitude of the rocket body 3. This effectively reduces the rocket's deviation or rollover caused by ship swaying. At the same time, during the preparation stages such as loading and fueling, this mechanism can also be equivalent to a planar parallel mechanism. It can adjust the rocket's attitude through push rod extension and retraction with the rocket loading equipment, providing operating space for the operation. This enables flexible control of the rocket's attitude throughout the launch process and improves the adaptability and reliability of sea-based towed launches.

[0056] As one embodiment of the present invention, such as Figures 1 to 10As shown, each arc plate of the lower clamping block 25 has an inner arc surface rigidly connected to an assembly block 252 or a mechanical clamping and releasing mechanism. The assembly block 252 is detachably connected to a burst bolt 253, which allows for explosive detachment from the rocket body 3. The lower side of each arc plate of the lower clamping block 25 is rigidly connected to a single balance ball connecting rod 221. The clamping blocks 25 are rigidly and flexibly coupled to the balance ball connecting block 22 via the balance ball connecting rod 221 passing through the guide groove 213. The balance ball connecting block 22 is cap-shaped. Furthermore, the concave surface is uniformly threaded with lifting lugs, and the lifting lugs are used in conjunction with the restraining rope assembly 231 to suspend and bind the mass balance ball 23, which also has lifting lugs on its surface. The restraining rope assembly 231 replaces the rigid connection and adopts a multi-layer anchor point connection. It has high rigidity, strong load-bearing capacity, and flexible damping characteristics. The side of the mass balance ball 23 is also threaded with lifting lugs, and these lifting lugs are bound to the rope guided by the pulley 113. A ball joint is configured on the lower side of the mass balance ball 23 and is connected to the upper end of the support damping rod 112 through the ball joint.

[0057] During the initial launch phase, sea conditions caused significant swaying of the launch vessel. The mass balance ball 23, via the balance ball connecting rod 221, the balance ball connecting block 22, and the restraint rope assembly 231, is rigidly and flexibly coupled to the clamping block 25 below, forming a mass tuning vibration reduction system together with the rocket body 3. The mass balance ball 23 acts as the tuning mass block, the restraint rope assembly 231 provides equivalent stiffness, and the support damping rod 112 provides damping. Platform swaying triggers this system, causing the mass balance ball 23 to swing in the opposite direction relative to the rocket body 3, while the support damping rod 112 extends and retracts synchronously. The amplitude of this extension and retraction is collected in real time by sensors and fed back to the upper and lower motion compensation push rods. The control system then calculates the target extension and retraction amount and drives the system accordingly. When the upper 4-SPS parallel mechanism switches to spatial parallel mode, it compensates for the three degrees of freedom motion of the launch platform 11 relative to the rocket body 3 through the coordinated telescopic extension of the four rods. The lower three-degree-of-freedom parallel mechanism 24, namely the 3-UPS parallel mechanism, synchronously drives the ball head to rise and fall, compensating for the clamping block 25. The two work together to ensure the stability of the rocket body 3 throughout its entire trajectory. At the same time, the DP system uses the thruster to resist wind, waves and current interference to reduce platform sway. The mass tuning vibration reduction system passively suppresses vibration by relying on the reverse inertial force of the mass balance ball 23 and the energy dissipation of the support damping rod 112. The motion compensation push rod actively compensates based on feedback. The three work together internally and externally.

[0058] In summary, the lower clamping block 25 is rigidly and flexibly connected to the mass balance ball 23 via the balance ball connecting rod 221 and the balance ball connecting block 22. Combined with the restraint rope assembly 231, pulley 113, rope winch 114, and support damping rod 112, a mass-tuned vibration reduction system is formed between the mass balance ball 23 and the rocket body 3. The rope winch 114 adjusts the suspension tension to achieve the system's equivalent stiffness, and the support damping rod 112 provides damping and dissipates swaying energy. The inertial mass and reverse... The swaying passively suppresses the attitude disturbance of the rocket body 3. During the launch phase, the swaying / deformation amplitude of the mass balance ball 23 and the support damping rod 112 is fed back to the corresponding motion compensation push rod in real time. The push rod output is controlled to compensate for the multi-degree-of-freedom motion of the platform relative to the rocket. The DP system is used to adjust the overall attitude of the launch platform 11. The passive tuning vibration reduction, active push rod compensation and DP assistance work together to ensure that the position and attitude of the rocket body 3 relative to the geodetic coordinate system remain unchanged, thus achieving safe and stable restraint and release under complex sea conditions.

[0059] Working principle: During operation, the rocket body 3 is first loaded into the launch silo of the launch platform 11. Two sets of clamping blocks 25 surround and position the outer surface of the rocket body 3. The lower clamping block 25 is rigidly connected to the rocket body 3 via burst bolts 253 within the assembly block 252, while the upper clamping block 25 is connected to the inner wall of the launch silo via a 4-SPS parallel mechanism. During rocket loading, fueling, and pre-launch preparation, the six-degree-of-freedom sway of the launch platform 11 is negligible. The 4-SPS parallel mechanism is equivalent to a planar parallel mechanism and works in conjunction with the rocket loading equipment to extend and retract, adjusting the attitude of the rocket body 3, ensuring the rocket body 3 can move within the launch silo. The system completes torsional and translational movements, providing operational space for the positioning and fixing of the blasting bolts 253 and other preparatory work. When the rocket enters the initial launch phase, the launch vessel experiences significant swaying due to sea conditions. The mass balance ball 23, via the balance ball connecting rod 221, balance ball connecting block 22, and restraint rope assembly 231, is rigidly and flexibly coupled to the clamping block 25 below, forming a mass-tuned vibration reduction system together with the rocket body 3. The mass balance ball 23 is a tuned mass block, the restraint rope assembly 231 provides equivalent stiffness, and the support damping rod 112 provides damping. The platform swaying excites this mass-tuned vibration reduction system, causing the mass balance ball 23 to swing in the opposite direction relative to the rocket body 3. The support damping rod 112 synchronously expands and contracts, and the swing / deformation amplitude of both is collected in real time by sensors and transmitted as feedback signals to the corresponding motion compensation push rods, namely the SPS push rods of the upper 4-SPS parallel mechanism and the UPS push rods of the lower three-degree-of-freedom parallel mechanism 24, i.e., the 3-UPS parallel mechanism. The control system calculates the target expansion and contraction of each push rod in real time based on the feedback signals and drives the output. The 4-SPS parallel mechanism switches to the spatial parallel mechanism working mode. Through the coordinated action of shortening and extending of the four push rods, it compensates for the three-degree-of-freedom relative motion of the launch platform 11 relative to the rocket body 3 in terms of roll, pitch, and heave. The lower 3-UPS parallel mechanism drives the ball head to rise and fall through the contraction and extension of the push rod, synchronously compensating for the motion of the lower clamping block 25. This, in conjunction with the upper 4-SPS parallel mechanism, ensures the stability of the entire rocket body 3. During this process, the DP system synchronously assists in adjusting the overall attitude of the launch platform 11, using the thrusters to resist wind, waves, and current interference to reduce platform sway amplitude. The mass tuning vibration reduction system passively suppresses rocket vibration through the reverse inertial force of the mass balance ball 23 and the energy consumption of the support damping rod 112 (which can also assist in rocket maintenance, fuel loading, etc.). The motion compensation push rod actively compensates based on feedback signals. These three mechanisms work together internally and externally (to achieve...). Figure 10For example, taking the lower plane of the mass balance sphere 23 as the waterline, when the launch platform 11 rotates counterclockwise, the upper left push rod extends, the middle push rod extends, and the right push rod shortens. The lower parallel mechanism performs a similar action to the upper push rod, maintaining the attitude of its end sphere unchanged. The bottom left push rod and rope both shorten, while the right push rod and rope both extend. Furthermore, the rocket body 3, launch platform 11, and mass balance sphere 23 are all equipped with gyroscopes, and the platform is equipped with visual radar or lidar to detect changes in rocket attitude. The principle is that the gyroscopes collect the three-axis angular velocities and pitch, yaw, and roll angles of the rocket body 3, launch platform 11, and mass balance sphere 23 to obtain high-frequency attitude raw data, monitoring the oscillation state of the balance sphere itself. The visual radar or lidar measures the lateral offset, angular deflection, and relative height of the rocket body 3 relative to the platform in a non-contact manner to obtain absolute attitude data to correct gyroscope drift errors. The controller uses extended Kalman filtering or complementary filtering... The system performs multi-sensor data fusion to calculate the actual attitude deflection angle, deflection rate, and disturbance direction of the rocket body 3 and launch platform 11. It then calculates the required compensation reverse torque using a system dynamics model that considers the mass of the balance ball, rope length, and lever arm relationship. This torque is converted into the target tension value and rope length of the rope winch 114. The servo rope winch 114 receives control commands to drive the drum to wind up or release the wire rope, changing the suspension height of the mass balance ball 23 and the rope tension. The eccentric torque generated by the tension difference counteracts the attitude deflection. Tension sensors connected in series in the rope loop collect the actual suspension tension in real time and feed it back to the controller to form a tension inner loop. The winch output is corrected using PID or sliding mode control algorithms to eliminate the influence of nonlinear factors such as rope elastic deformation and friction. The gyroscopes used can be selected from AVIC CG-300 series fiber optic gyroscopes, Comau KM-08 fiber optic inertial navigation systems, Bosch BMI088 six-axis IMUs, or STMicroelectronics L3GD20H gyroscopes. MEMS gyroscope, visual radar or lidar can be selected from SICK LRS4000 2D lidar, Hesai JT128 3D lidar, RoboSense AC2, SeerSenseDS80i, etc. Servo rope winch 114 can be selected from KLD series servo constant tension winch, customized servo winch, turbine servo winch, Nanjing Tianguang TIZ-1 series pressure-side tension sensor, Chengchuang Tiansheng CTS814 pin-type tension sensor, etc., so as to reduce the disturbance load on the rocket body 3 and ensure that the position and attitude of the rocket body 3 and the mass balance ball 23 remain unchanged relative to the earth coordinate system.After the rocket body 3 is ignited, the support column 211, in conjunction with the support hydraulic rod 212, actively disengages from the lower clamping block 25. Simultaneously, the upper clamping block 25, in conjunction with the SPS push rod, releases its clamp on the rocket body 3. The engine thrust gradually increases, and the burst bolt 253 maintains a rigid connection between the rocket body 3 and the lower clamping block 25 to achieve controlled launch. Once the detection system confirms that all engines are working normally and the thrust has reached the predetermined value, the burst bolt 253 detonates and disconnects, releasing the rocket body 3, which then ascends vertically along the launch silo. The engine exhaust plume is discharged downwards through the guide channel 213. In normal conditions when the rocket is not launched, a gap is maintained between the launch platform 11 and the balance plate 12. The balance plate 12 is bound to the launch platform 11 via a traction cable 121. When the launch platform 11 is subjected to extreme loads or undergoes significant displacement, the annular trapezoidal boss on the surface of the balance plate 12 weds into the annular trapezoidal groove on the bottom surface of the launch platform 11. Since the slope of the boss is slightly less than that of the groove, the two form a progressive rigid contact to diffuse and transfer the load. At the same time, the limiting groove 111 provides a mechanical limit to the downward movement of the mass balance ball 23, preventing damage to the motion compensation mechanism due to overtravel.

[0060] It should be noted that the launch platform 11 is equipped with a DP system, which monitors the position deviation of the ship or offshore platform in real time and uses its own thrusters to resist environmental interference such as wind, waves and currents to maintain the preset position or course. Dynamic positioning is a positioning method for marine engineering vessels. First, the ship's position is determined by sonar, and then the ship's automatic control system issues commands to control the lateral thrusters installed at the bow and stern to fix the ship's position. The dynamic positioning system consists of a ship position display instrument, an electronic computer control mechanism and thrusters, etc. When working, the electronic computer can automatically issue control signals at any time according to the ship position value measured by the ship position instrument, changing the rotation direction, speed or blade pitch of the thrusters to adjust the ship's position. Some dynamic positioning systems can also issue signals in advance according to changes in wind force to counteract the influence of wind.

[0061] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sea-launched rocket launch restraint release mechanism, characterized by, include: The launch support structure (1) is detachably connected to the deck of the launch ship; The motion compensation structure (2) is assembled inside the launch support structure (1); The rocket body (3) is vertically supported inside the launch support structure (1) under the positioning of the motion compensation structure (2); The launch support structure (1) includes a launch platform (11), the bottom of the launch platform (11) is rigidly connected to a balance plate (12), the upper surface of the base plate of the launch platform (11) is rigidly connected to multiple pulleys (113), and the lower surface of the top plate of the launch platform (11) is detachably connected to the pulleys (113) in the same number and at the same angle as the pulleys (113). The ropes wound by the rope winches (114) all pass around the corresponding pulleys (113) and are bound to the motion compensation structure (2). Multiple support damping rods (112) are arranged on the inner circumference of the pulleys (113), and the lower ends of the support damping rods (112) are all connected to the upper surface of the balance plate (12) in multiple degrees of freedom with the help of ball joints. The motion compensation structure (2) includes a support platform (21). The upper surface of the support platform (21) is connected to multiple sets of support columns (211) and support hydraulic rods (212) with a rotating joint. The support columns (211) are movably supported on the lower surface of the clamping block (25). At least one ball joint is arranged in the middle position of the outer convex surface of the clamping block (25), and it is connected to the three-degree-of-freedom parallel mechanism (24) through these ball joints. These three-degree-of-freedom parallel mechanisms (24) are all bolted to the inner wall of the launch well. The clamping block (25) is movably supported on the surface of the rocket body (3), and the clamping block (25) is configured as two, one above the other. Each arc plate of the lower clamping block (25) is rigidly connected to an assembly block (252) on its inner arc surface, and the assembly block (252) is detachably connected to a burst bolt (253) inside, and is explosively disconnected from the rocket body (3) through the burst bolt (253). The lower side of each arc plate of the lower clamping block (25) is rigidly connected to a single balance ball connecting rod (221), and the clamping block (25) passes through the guide groove through the balance ball connecting rod (221). 213) is rigidly connected to the balance ball connecting block (22). The balance ball connecting block (22) is suspended and bound to the mass balance ball (23) with the same hanging lugs on its surface by means of the lugs and the restraining rope group (231). The side of the mass balance ball (23) is also threaded with the lugs, and these lugs are bound to the rope guided by the pulley (113). The lower side of the mass balance ball (23) is provided with a ball joint, and the ball joint is connected to the upper end of the support damping rod (112).

2. The sea-based rocket launch restraint and release mechanism according to claim 1, characterized in that: The balance plate (12) has an integrally formed annular trapezoidal boss on the surface facing the launch platform (11), and the bottom surface of the launch platform (11) has an integrally formed annular trapezoidal groove, and the slope of the boss on the surface of the balance plate (12) is slightly less than the slope of the groove on the bottom surface of the launch platform (11).

3. The sea-based rocket launch restraint and release mechanism according to claim 1, characterized in that: The balance plate (12) has a hanging lug welded to its periphery, and the hanging lug is bound to the hanging lug welded to the periphery of the bottom surface of the launch platform (11) by means of a traction cable (121). The center of the bottom plate of the launch platform (11) has a downward-opening window, and a limit groove (111) is rigidly connected to the launch platform (11) inside the window.

4. The sea-based rocket launch restraint and release mechanism according to claim 1, characterized in that: The support platform (21) is embedded and fixed inside the vertically penetrating launch well inside the top plate of the launch platform (11), and the center of the launch platform (11) has a downward penetrating guide groove (213).

5. The sea-based rocket launch restraint and release mechanism according to claim 1, characterized in that: The supporting hydraulic rod (212) is located on the side near the center, and the output end of the supporting hydraulic rod (212) is supported on the lower surface of the supporting column (211) in conjunction with the rotary joint.

6. The sea-based rocket launch restraint and release mechanism according to claim 1, characterized in that: The clamping block (25) is composed of multiple arc plates with equal angles, and the arc plates are elastically connected by connecting springs (251). The support column (211) is supported on the lower surface of the clamping block (25) at the position corresponding to the connecting spring (251).

7. The sea-based rocket launch restraint and release mechanism according to claim 1, characterized in that: The three-degree-of-freedom parallel mechanism (24) is configured as a 3-UPS parallel mechanism with 3T motion, and the ball head of the 3-UPS parallel mechanism has six degrees of freedom. The function of the ball head includes modularization of the parallel mechanism, quick replacement, and structural hardening bearing. In practice, the push rod of the 3-UPS parallel mechanism retracts and extends, and the ball head descends and rises.

8. The sea-based rocket launch restraint and release mechanism according to claim 1, characterized in that: The upper clamping block (25) also has a ball joint on its outer convex surface, and each ball joint is connected to a single SPS push rod. The other end of the SPS push rod is also connected to the inner wall of the launch well in multiple degrees of freedom with the ball joint.

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