A verticalization docking vehicle for rocket and booster docking

Abstract

The application provides a vertical lifting docking vehicle for docking a rocket and a booster, which comprises a flatbed truck, a vertical lifting mechanism, a lower clamp set, an upper clamp set and a transportation support; the vertical lifting mechanism is arranged in parallel on the flatbed truck, one end of the vertical lifting mechanism is rotationally connected with the flatbed truck, and the other end is separated from the flatbed truck; the lower clamp set, the upper clamp set and the transportation support are connected on the vertical lifting mechanism; the lower clamp set and the upper clamp set are arranged at intervals, clamp the two ends of the booster, and fix the booster on the vertical lifting mechanism, and the transportation support is supported on the bottom of the booster; the vertical lifting mechanism lifts the booster. The application realizes the vertical lifting and multi-degree-of-freedom position adjustment of the booster through the flatbed truck, the vertical lifting mechanism, the lower clamp set and the upper clamp set, improves the docking precision of the booster and the rocket, and improves the docking safety and the docking efficiency.

Description

Technical Field

[0001] This application relates to the field of rocket and booster docking device technology, and in particular to an erecting docking vehicle for docking rockets and boosters. Background Technology

[0002] Currently, domestically produced bundled rockets generally adopt the "three-vertical" model of "vertical assembly, vertical testing, and vertical transportation," relying on tower cranes or cranes in conjunction with manual operation to complete the docking of the boosters and the core stage.

[0003] The existing publication number CN116332018B discloses a method for vertically hoisting and binding a solid rocket booster, belonging to the field of rocket assembly technology. This method includes confirming the status of the first stage of the rocket core, vertically hoisting the booster, adjusting the booster's verticality, hoisting it close to the first stage of the rocket core, fine-tuning the booster's height, using a connecting tensioning mechanism to pull the ball head into the ball socket, installing the ball head cover, connecting the lower binding rod, supporting the booster support plate, and removing the hoisting device. The connecting tensioning mechanism of this invention can operate in confined spaces, effectively inserting the ball head on the rocket booster into the ball socket of the first stage of the rocket core, which can effectively shorten the assembly time between the rocket booster and the rocket core stage and improve assembly efficiency. However, this existing technology cannot achieve positional adjustment of multiple degrees of freedom of the booster, resulting in lower docking accuracy between the booster and the core stage rocket.

[0004] The existing docking method has the following drawbacks: 1. It relies on manual operation, and the adjustment accuracy is limited by the skills of the personnel, resulting in insufficient standardization; 2. It has high safety risks: the hoisting process is easily affected by wind, and human-machine collaboration errors may lead to equipment damage or personnel injury; 3. It is inefficient: it occupies the launch pad for a long time, and the docking process is complex, making it difficult to meet the needs of commercial launches.

[0005] Based on the above problems, there is an urgent need for an erection and docking vehicle for docking rockets and boosters, so as to improve the docking accuracy, efficiency and safety and reliability of docking between boosters and core stage rockets. Utility Model Content

[0006] The purpose of this application is to provide an erection and docking vehicle for docking rockets and boosters. Through a flatbed transport vehicle, an erection mechanism, a lower clamp assembly, and an upper clamp assembly, the booster can be quickly erected and its position adjusted with multiple degrees of freedom, thereby improving the accuracy of the docking between the booster and the rocket, and enhancing docking safety and efficiency.

[0007] To achieve the above objectives, this application provides an erection and docking vehicle for docking a rocket and its booster. The erection and docking vehicle includes: a flatbed transport vehicle, an erection mechanism, a lower clamp assembly, an upper clamp assembly, and a transport support. The erection mechanism is arranged parallel to the flatbed transport vehicle, with one end rotatably connected to the flatbed transport vehicle and the other end separate from it. The lower clamp assembly, the upper clamp assembly, and the transport support are connected to the erection mechanism. The lower clamp assembly and the upper clamp assembly are spaced apart, clamping both ends of the booster. The lower clamp assembly and the upper clamp assembly fix the booster to the erection mechanism, and the transport support supports the bottom of the booster. The erection mechanism erects the booster.

[0008] As described above, the erection and docking vehicle for docking rockets and boosters includes an erection mechanism comprising an erection frame and an erection cylinder; a lifting slewing shaft fulcrum and a lower fulcrum for the erection cylinder are provided on the flatbed transport vehicle; one end of the erection frame is rotatably connected to the lifting slewing shaft fulcrum; one end of the erection cylinder is connected to the erection frame, and the other end is connected to the lower fulcrum for the erection cylinder on the flatbed transport vehicle; when the erection cylinder is activated, it drives the erection frame to rotate around the lifting slewing shaft fulcrum, and the erection frame drives the booster from a horizontal state to a vertical state.

[0009] As described above, the erection and docking vehicle for docking a rocket and its booster includes a lower clamp assembly comprising a base, a longitudinal hydraulic cylinder, a vertical hydraulic cylinder, a lower clamp Y-axis adjusting hydraulic cylinder, a lower clamp structural component, and a sliding mechanism. The Y-axis is defined as the length direction perpendicular to the erecting frame. The base is slidably connected to the erecting frame along the Y-axis direction via the sliding mechanism. The lower clamp Y-axis adjusting hydraulic cylinder is fixedly connected to the erecting frame via a mounting plate. The telescopic rod of the lower clamp Y-axis adjusting hydraulic cylinder is connected to the base, causing the base to move along the length direction perpendicular to the erecting frame. The lower clamp structural component is fixedly connected to the base. One end of the longitudinal hydraulic cylinder is connected to the lower clamp structural component, and the other end is connected to the vertical hydraulic cylinder. One end of the vertical hydraulic cylinder is connected to the lower clamp structural component, and the other end is connected to the lower lifting point of the booster.

[0010] As described above, the erection and docking vehicle for docking rockets and boosters is defined as follows: the horizontal direction is defined as the X-axis, and the direction perpendicular to the ground is defined as the Z-axis; after the booster is erected, the extension and retraction of the vertical cylinder, in conjunction with the extension and retraction of the erection cylinder, completes the translational adjustment of the booster along the X-axis; the extension and retraction of the longitudinal cylinder completes the translational adjustment of the booster along the Z-axis.

[0011] As described above, the erection and docking vehicle for docking rockets and boosters includes a first longitudinal cylinder and a second longitudinal cylinder, which are spaced apart. When the lower clamp assembly is connected to the booster, the first longitudinal cylinder and the second longitudinal cylinder are located on opposite sides of the booster. The telescopic rod of either the first longitudinal cylinder or the second longitudinal cylinder extends while the telescopic rod of the other retracts, thereby driving the booster to complete X-axis rotation.

[0012] As described above, the erection and docking vehicle for docking rocket and booster includes a vertical cylinder comprising a first vertical cylinder and a second vertical cylinder; the first vertical cylinder and the second vertical cylinder are spaced apart and connected to the first longitudinal cylinder and the second longitudinal cylinder, respectively; the extension rod of either the first vertical cylinder or the second vertical cylinder extends, while the extension rod of the other cylinder retracts, thereby driving the booster to complete Z-axis rotation.

[0013] As described above, the erection and docking vehicle for docking rockets and boosters includes an upper clamp assembly comprising: a base plate, a clamping device, and an upper clamp Y-axis adjusting cylinder; the clamping device is fixedly connected to the base plate; the base plate is slidably connected to the erecting frame along a length direction perpendicular to the erecting frame; the upper clamp Y-axis adjusting cylinder is fixedly connected to the erecting frame via a mounting plate, and the upper clamp Y-axis adjusting cylinder is arranged along a length direction perpendicular to the erecting frame; the telescopic rod of the upper clamp Y-axis adjusting cylinder is connected to the base plate, driving the base plate to move along a length direction perpendicular to the erecting frame.

[0014] The erection and docking vehicle for docking rockets and boosters as described above includes a transport support comprising an upper clamp transport support, a middle transport support, and a lower clamp transport support; the upper clamp transport support, the middle transport support, and the lower clamp transport support are spaced apart.

[0015] As described above, in the erection and docking vehicle for docking rockets and boosters, the sliding mechanism of the lower clamp assembly is a first Y-axis slider; the first Y-axis slider is connected to the bottom of the base of the lower clamp assembly; the erection frame is provided with a slide rail, which is arranged along the length direction perpendicular to the erection frame; the first Y-axis slider is slidably connected within the slide rail.

[0016] As described above, in the erection and docking vehicle for docking rockets and boosters, the bottom of the base plate of the upper clamp assembly is provided with a sliding groove; the sliding groove is provided along the length direction perpendicular to the erection frame; a second Y-axis sliding member is provided on the side of the erection frame connected to the upper clamp assembly; the second Y-axis sliding member is slidably connected in the sliding groove.

[0017] The beneficial effects achieved by this application are as follows:

[0018] (1) This application integrates a flatbed transport vehicle, an erection mechanism, an upper clamp assembly and a lower clamp assembly to achieve rapid erection of the booster and precise adjustment of its multi-degree-of-freedom position, replacing traditional manual hoisting, improving docking safety and increasing docking efficiency between the booster and the core stage rocket. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application 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 only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0020] Figure 1 This is a schematic diagram of an erection and docking vehicle used for docking rockets and boosters, according to an embodiment of this application. Figure 1 .

[0021] Figure 2 This is a schematic diagram of an erection and docking vehicle used for docking rockets and boosters, according to an embodiment of this application. Figure 2 .

[0022] Figure 3 This is a front view of an erection docking vehicle used for docking a rocket and a booster, according to an embodiment of this application.

[0023] Figure 4 This is a perspective view of a launch vehicle used for docking rockets and boosters after being erected, according to an embodiment of this application.

[0024] Figure 5 This is a front view of a docking vehicle for docking rockets and boosters after it has been erected, according to an embodiment of this application.

[0025] Figure 6 This is a top view of a docking vehicle for docking a rocket and a booster after it has been erected, according to an embodiment of this application.

[0026] Figure 7 This is a schematic diagram of an erection docking vehicle for docking a rocket and a booster, according to an embodiment of this application, without the booster placed on it.

[0027] Figure 8 This is a perspective view of a flatbed transport vehicle according to an embodiment of this application.

[0028] Figure 9 This is a front view of the erecting mechanism according to an embodiment of this application.

[0029] Figure 10This is a perspective view of the erecting mechanism according to an embodiment of this application.

[0030] Figure 11 This is a perspective view of the lower clamp assembly according to an embodiment of this application.

[0031] Figure 12 This is a top view of the lower clamp assembly according to an embodiment of this application.

[0032] Figure 13 This is a perspective view of the upper clamp assembly according to an embodiment of this application.

[0033] Figure 14 This is a schematic diagram of a transport support mounted on a lifting frame, according to an embodiment of this application.

[0034] Figure 15 This is a perspective view of the transport carrier according to an embodiment of this application.

[0035] Reference numerals: 1-Core stage rocket; 2-Booster; 3-Erection docking vehicle; 31-Flatbed transport vehicle; 32-Erection mechanism; 33-Lower clamp assembly; 34-Upper clamp assembly; 35-Transport support; 311-Transport vehicle head; 312-Transport flatbed; 313-Lower support point of erection cylinder; 314-Support point of erection slewing shaft; 321-Erection frame; 322-Erection cylinder; 323-Hinge support; 324-Slewing shaft connection hole; 325-Slide rail; 326-Second Y-axis sliding component; 331-Longitudinal cylinder; 332-Vertical cylinder; 333-Lower clamp Y-axis adjusting cylinder; 334-Lower clamp structural component ; 335-First mounting plate; 336-First Y-axis sliding component; 337-Base; 341-Base plate; 342-Bracket; 343-Clamping device; 344-Second mounting plate; 345-Upper clamp Y-axis adjusting cylinder; 346-Slide groove; 347-Base plate connecting block; 348-Clamping device drive cylinder; 349-Connecting rod; 350-Front jaw; 351-Upper clamp transport support; 352-Middle transport support; 353-Lower clamp transport support; 354-Jaw body; 361-Transport support mounting base; 362-Modible support; 363-Upper end face of transport support; 364-Locking device. Detailed Implementation

[0036] The technical solutions of the embodiments of this application 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 application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0037] like Figure 1 and 2As shown, this application provides an erection and docking vehicle 3 for docking a rocket and its boosters. The erection and docking vehicle 3 clamps and connects the boosters 2, transports the boosters 2 to the core stage rocket 1, erects the boosters 2, and adjusts their position to achieve docking between the boosters 2 and the core stage rocket 1. Preferably, four erection and docking vehicles 3 are provided, each of which docks one booster 2 to the side of the core stage rocket 1.

[0038] like Figure 3-7 As shown, the erection and docking vehicle 3 includes: a flatbed transport vehicle 31, an erection mechanism 32, a lower clamp assembly 33, an upper clamp assembly 34, and a transport support 35; the erection mechanism 32 is arranged parallel to the flatbed transport vehicle 31, with one end of the erection mechanism 32 rotatably connected to the flatbed transport vehicle 31 and the other end separated from the flatbed transport vehicle 31; the lower clamp assembly 33, the upper clamp assembly 34, and the transport support 35 are connected to the erection mechanism 32; the lower clamp assembly 33 and the upper clamp assembly 34 are spaced apart, clamping both ends of the booster 2, and fixing the booster 2 to the erection mechanism 32; the transport support 35 supports the bottom of the booster 2; the erection mechanism 32 erects the booster 2. When booster 2 docks with core stage rocket 1, it is first preliminarily positioned by marking lines and using flatbed transport vehicle 31 with a positioning accuracy of ±50mm. Then, erector 321 erects booster 2. After erection, booster 2 is adjusted in multiple degrees of freedom to complete the precise docking of booster 2 with core stage rocket 1.

[0039] In a preferred embodiment of this utility model, during transportation, the bottom of the booster 2 is connected to the lower clamp assembly 33 via a detachable lifting point. The top of the booster 2 is clamped and connected via the upper clamp assembly 34, and the middle of the booster 2 is supported by the transport support 35.

[0040] like Figure 8 As shown, the flatbed transport vehicle 31 includes: a transport vehicle head 311 and a transport flatbed 312; the transport vehicle head 311 is connected to the end of the transport flatbed 312; and the erecting frame 321 is disposed above the transport flatbed 312. The flatbed transport vehicle 31 uses a hydraulic axle vehicle, which has advantages such as high docking accuracy, small turning radius, and uniform load. The hydraulic axle vehicle has a load capacity of ≥150 tons.

[0041] like Figure 9-10As shown, the erecting mechanism 32 includes: an erecting frame 321 and an erecting cylinder 322; the flatbed transport vehicle 31 is provided with an erecting slewing shaft fulcrum 314 and a lower fulcrum 313 of the erecting cylinder 322; one end of the erecting frame 321 is rotatably connected to the erecting slewing shaft fulcrum 314; one end of the erecting cylinder 322 is connected to the erecting frame 321 through a hinge support 323, and the other end is connected to the lower fulcrum 313 of the erecting cylinder on the flatbed transport vehicle 31; the end of the erecting frame 321 has a slewing shaft connection hole 324, which is used to insert a slewing shaft, and at the same time, the slewing shaft is inserted into the erecting slewing shaft fulcrum 314, realizing the rotatable connection between the erecting frame 321 and the erecting slewing shaft fulcrum 314; when the erecting cylinder 322 is activated, it drives the erecting frame 321 to rotate around the erecting slewing shaft fulcrum 314, and the erecting frame 321 drives the booster 2 from a horizontal state to a vertical state. The initial positioning of the booster 2 and the core stage rocket 1 is completed by the flatbed transport vehicle 31. The erecting cylinder 322 extends and retracts to drive the erecting frame 321 and the booster 2 to rotate around the erecting slewing axis fulcrum 314, thereby completing the adjustment of the Y-axis rotation of the booster 2 (i.e., the direction perpendicular to the axis of the booster 2).

[0042] As a specific embodiment of this utility model, the erection mechanism 32 adopts a mature dual-cylinder synchronous erection system, using two three-stage cylinders (extending three-stage piston rods) as the erection power device to complete the erection of the booster 2 from a horizontal to a vertical state.

[0043] like Figure 11 , 12 As shown, the lower clamp assembly 33 includes a base 337, a longitudinal cylinder 331, a vertical cylinder 332, a lower clamp Y-axis adjusting cylinder 333, a lower clamp structural component 334, and a sliding mechanism. The Y-axis is defined as the length direction perpendicular to the erecting frame 321. The base 337 is slidably connected to the erecting frame 321 along the Y-axis direction through the sliding mechanism. The lower clamp Y-axis adjusting cylinder 333 is fixedly connected to the erecting frame 321 through a mounting plate. The telescopic rod of the lower clamp Y-axis adjusting cylinder 333 is connected to the base 337, driving the base 337 to move along the length direction perpendicular to the erecting frame 321. The lower clamp structural component 334 is fixedly connected to the base 337. One end of the longitudinal cylinder 331 is connected to the lower clamp structural component 334, and the other end is connected to the vertical cylinder 332. One end of the vertical cylinder 332 is connected to the lower clamp structural component 334, and the other end is connected to the lower lifting point of the booster 2.

[0044] Preferably, the longitudinal cylinder 331 is arranged horizontally, and the vertical cylinder 332 is arranged vertically. The side wall of the vertical cylinder 332 is provided with a rotating connecting block for connecting the longitudinal cylinder 331. One end of the longitudinal cylinder 331 is rotatably connected to the top of the lower clamp structure 334, and the other end is rotatably connected to the rotating connecting seat on the side wall of the vertical cylinder 332. The bottom of the vertical cylinder 332 is rotatably connected to the end of the lower clamp structure 334 away from the end connected to the longitudinal cylinder 331. The top of the vertical cylinder 332 is connected to the lower lifting point of the booster 2.

[0045] As a specific embodiment of this utility model, the horizontal direction is defined as the X-axis and the direction perpendicular to the ground is defined as the Z-axis; after the booster 2 is erected, the extension and retraction of the vertical cylinder 332, in conjunction with the extension and retraction of the erection cylinder 322, completes the translational adjustment of the booster 2 along the X-axis direction; the extension and retraction of the longitudinal cylinder 331 completes the translational adjustment of the booster 2 along the Z-axis direction.

[0046] As a specific embodiment of this utility model, the longitudinal cylinder 331 includes a first longitudinal cylinder and a second longitudinal cylinder, which are spaced apart. When the lower clamp assembly 33 is connected to the booster 2, the first longitudinal cylinder and the second longitudinal cylinder are located on both sides of the booster 2. The telescopic rod of any one of the first longitudinal cylinder and the second longitudinal cylinder extends, and the telescopic rod of the other retracts, thereby driving the booster 2 to complete the X-axis rotation.

[0047] As a specific embodiment of this utility model, the vertical cylinder 332 includes a first vertical cylinder and a second vertical cylinder; the first vertical cylinder and the second vertical cylinder are spaced apart and are respectively connected to the first longitudinal cylinder and the second longitudinal cylinder; the extension rod of any one of the first vertical cylinder and the second vertical cylinder extends, and the extension rod of the other cylinder retracts, thereby driving the booster 2 to complete the Z-axis rotation.

[0048] like Figure 9 and 11 As shown, the sliding mechanism of the lower clamp assembly 33 is a first Y-axis slider 336; the first Y-axis slider 336 is connected to the bottom of the base 337 of the lower clamp assembly 33; the erecting frame 321 is provided with a slide 325, which is arranged along the length direction perpendicular to the erecting frame 321; the first Y-axis slider 336 is slidably connected in the slide 325.

[0049] Preferably, the lower clamp Y-axis adjusting cylinder 333 includes two cylinders, which are fixed to the erecting frame 321 via the first mounting plate 335. When the lower clamp Y-axis adjusting cylinder 333 extends or retracts, it drives the lower clamp assembly 33 and the booster 2 as a whole to move along the length direction (Y-axis direction) perpendicular to the erecting frame 321. The lower clamp assembly 33 and the erecting frame 321 only have relative freedom in the Y-axis direction. The lower clamp assembly 33 is responsible for keeping the booster 2 fixed to the flatbed transport vehicle 31 during transportation, and for realizing the Z-axis translation, Z-axis rotation, Y-axis translation, and X-axis rotation of the booster 2. After the flatbed transport vehicle 31 erects the booster 2, the translation adjustment of the booster 2 in the X-axis direction can be completed by the extension and retraction of the vertical cylinder in conjunction with the extension and retraction of the erecting cylinder 322. The translation adjustment of the booster 2 in the Z-axis direction can be completed by the extension and retraction of the longitudinal cylinder. The translational adjustment of the booster 2 along the Y-axis can be completed by using the lower clamp Y-axis adjusting cylinder 333 in conjunction with the upper clamp Y-axis adjusting cylinder 345.

[0050] like Figure 13 As shown, the upper clamp assembly 34 includes: a base plate 341, a clamping device 343, and an upper clamp Y-axis adjusting cylinder 345; the clamping device 343 is fixedly connected to the base plate 341 via a bracket 342; the base plate 341 is slidably connected to the erecting frame 321 along the length direction perpendicular to the erecting frame 321; the upper clamp Y-axis adjusting cylinder 345 is fixedly connected to the erecting frame 321 via a mounting plate, and the upper clamp Y-axis adjusting cylinder 345 is arranged along the length direction perpendicular to the erecting frame 321; the telescopic rod of the upper clamp Y-axis adjusting cylinder 345 is connected to the base plate 341, driving the base plate 341 to move along the length direction perpendicular to the erecting frame 321.

[0051] like Figure 13 As shown, the clamping device 343 includes two front jaws 350, which are rotatably connected to the jaw body 354. Each front jaw 350 is connected to a clamping device drive cylinder 348 via a connecting rod 349. After the clamping device drive cylinder 348 extends or retracts, it pulls the front jaw 350 relative to the jaw body 354 to rotate and open (or close) via the connecting rod 349.

[0052] like Figure 13 As shown, a base plate connecting block 347 is fixedly connected to the end of the base plate 341; the upper clamp Y-axis adjusting cylinder 345 is fixedly connected to the erecting frame 321 through the second mounting plate 344, the telescopic rod of the upper clamp Y-axis adjusting cylinder 345 is connected to the base plate connecting block 347, and the telescopic rod of the upper clamp Y-axis adjusting cylinder 345 extends and retracts, causing the base plate connecting block 347 and the upper clamp assembly 34 to move as a whole along the length direction perpendicular to the erecting frame 321.

[0053] like Figure 13As shown, the bottom of the base plate 341 of the upper clamp assembly 34 is provided with a sliding groove 346; the sliding groove 346 is provided along the length direction perpendicular to the erecting frame 321; a second Y-axis sliding member 326 is provided on the side of the erecting frame 321 that is connected to the upper clamp assembly 34; the second Y-axis sliding member 326 is slidably connected in the sliding groove 346.

[0054] like Figure 14 As shown, the transport support 35 includes an upper clamp transport support 351, a middle transport support 352, and a lower clamp transport support 353; the upper clamp transport support 351, the middle transport support 352, and the lower clamp transport support 353 are spaced apart. During the transport and erection of the booster 2, the upper clamp transport support 351, the middle transport support 352, and the lower clamp transport support 353 provide stable support for the booster 2.

[0055] like Figure 14 As shown, the upper clamp transport support 351, the middle transport support 352, and the lower clamp transport support 353 have the same structure.

[0056] like Figure 15 As shown, the transport support 35 includes: a transport support mounting base 361, a transport support upper surface 363, a movable support 362, and a locking device 364; the movable support 362 is movably connected to the transport support mounting base 361; the transport support upper surface 363 is fixedly connected to the movable support 362; the locking device 364 is connected to the transport support mounting base 361, and the locking device 364 is used to lock the movable support 362 after it moves into place. The booster 2 is placed on the transport support upper surface 363, and the transport support upper surface 363 and the movable support 362 move together with the booster 2. After the transport support upper surface 363 is in close contact with the booster 2, the locking device 364 locks the transport support upper surface 363 and the movable support 362 onto the transport support mounting base 361.

[0057] like Figure 15 As shown, the transport support mounting base 361 includes a horizontal base plate and a fixed frame; the fixed frame is fixed to the horizontal base plate and has a rectangular vertical movement space; the movable support 362 is movably connected within the rectangular vertical movement space; the movable support 362 can move up and down or make minor adjustments to its position in all four directions within the rectangular vertical movement space. A locking device 364 is fixedly connected to the fixed frame, and the telescopic rod of the locking device 364 is perpendicular to the side wall of the movable support 362. After the telescopic rod of the locking device 364 extends, it presses against the side wall of the movable support 362 to lock the position of the movable support 362.

[0058] As a specific embodiment of this utility model, the upper end face 363 of the transport support can move up and down through the movable support 362. After the booster 2 is placed on the erecting frame 321, the upper end face 363 of the transport support moves up and down to ensure close contact with the booster 2. After confirming that the contact is in place, the transport support is locked to ensure that the transport support 35 and the booster 2 are in close contact during the transport process.

[0059] As a specific embodiment of this utility model, the locking device 364 can be an existing electric cylinder (MWB series or MWBW series electric cylinder), etc. The locking device 364 is controlled by a PLC to issue commands. The telescopic rod of the electric hydraulic cylinder or electric cylinder extends and presses against the side of the movable support 362, thereby locking the movable support 362. The specific structure of the locking device 364 will not be described in detail here.

[0060] As a specific embodiment of this utility model, the adjustment of the booster 2 includes the following methods:

[0061] The X-axis translation is achieved by the vertical cylinder 332 of the lower clamp assembly 33 cooperating with the erecting cylinder 322 to complete the horizontal adjustment of the booster in the 2X direction, with an adjustment range of ±100mm. That is, the two vertical cylinders 332 extend and retract synchronously, and the erecting cylinder 322 makes fine adjustments.

[0062] The X-axis rotation is achieved by two longitudinal hydraulic cylinders 331 configured in the lower clamp assembly 33, one extending outward and the other retracting, thus completing the Y-axis rotation, with an adjustment range of ±5°.

[0063] The Y-axis translation is achieved by the horizontal adjustment cylinders of the lower clamp assembly 33 and the upper clamp assembly 34, with an adjustment range of ±100mm. That is, the lower clamp Y-axis cylinder 333 and the upper clamp Y-axis cylinder 345 extend and retract synchronously.

[0064] The Y-axis rotates, and the stroke of the erecting cylinder 322 is finely adjusted. The rotation of the hinge point is completed by the erecting cylinder 322, with an adjustment range of -90° to +5°.

[0065] The Z-axis translation is achieved by adjusting the booster 2 in the Z direction through the longitudinal cylinder 331 of the lower clamp assembly 33, with an adjustment range of ±100mm. That is, the two longitudinal cylinders 331 extend and retract synchronously.

[0066] The Z-axis rotates through the two vertical hydraulic cylinders 332 configured in the lower clamp assembly 33, one extending outward and the other retracting to complete the Z-axis rotation, with an adjustment range of ±5°.

[0067] This invention enables multi-degree-of-freedom adjustment of the booster 2: through the coordinated operation of multiple hydraulic cylinders of the erection docking vehicle 3, the booster 2 can be translated (±100mm) along the X, Y, and Z axes and rotated (±5°) around the three axes, ensuring high-precision docking between the booster 2 and the core stage rocket 1 and reducing manual operation steps.

[0068] As a specific embodiment of this utility model, the operation process of this application includes:

[0069] Step 1: The booster 2 is horizontally fixed to the flatbed transport vehicle 31, and the flatbed transport vehicle 31 is initially positioned by marking lines (±50mm);

[0070] Step 2: The erecting cylinder 322 drives the erecting frame 321 and the booster 2 to complete the vertical erection;

[0071] Step 3: Initially unlock the upper clamp assembly 34, release the booster 2, and leave room for adjustment;

[0072] Step 4: The lower clamp assembly 33 and the upper clamp assembly 34 work together to adjust the multiple degrees of freedom of the booster 2, and complete the precise docking of the booster 2 with the core stage rocket 1.

[0073] Step 5: Open the upper clamp assembly 34;

[0074] Step 6: The lower clamp assembly 33 is disassembled and separated from the lower lifting point of the booster 2, the erecting frame 321 is unlocked from the booster 2, and the hydraulic cylinder of the lower clamp assembly 33 retracts.

[0075] Step 7: Erect the frame 321 and return it to its original position; the flatbed transport vehicle 31 then drives away.

[0076] As a specific embodiment of this utility model, the erecting cylinder 322, longitudinal cylinder 331, vertical cylinder 332, lower clamp Y-axis adjusting cylinder 333, upper clamp Y-axis adjusting cylinder 345, and clamping device driving cylinder 348 are all proportional servo cylinders (±0.1mm repeatability). They receive PLC commands and drive the coordinated movement of each cylinder. The PLC is an existing industrial PLC (Siemens S7-1500 series). This application uses an existing control method to drive the coordinated movement of each cylinder via the PLC, which will not be described in detail here. As a specific embodiment of this utility model, this application uses an existing laser ranging sensor to obtain the relative attitude between the booster and the core stage rocket. The laser ranging sensor feeds back the raw ranging data to the PLC in real time. The PLC completes coordinate transformation, attitude calculation, and PID closed-loop control. The PLC's completion of coordinate transformation, attitude calculation, and PID closed-loop control is an existing method, which will not be described in detail here. The laser rangefinder sensor model is SI CK DL100-22AA2112 (2D Li DAR). The laser rangefinder sensor is positioned as needed, below the upper clamp assembly 34 on the erector frame 321 and above the lower clamp assembly 33 on the erector frame 321. The model and placement of the laser rangefinder sensor are not limited here; their placement can be adjusted as needed. The laser rangefinder sensor uses an existing method for distance measurement, which will not be described in detail here.

[0077] The beneficial effects achieved by this application are as follows:

[0078] (1) This application integrates a flatbed transport vehicle, an erection mechanism, an upper clamp assembly and a lower clamp assembly to achieve rapid erection of the booster and precise adjustment of its multi-degree-of-freedom position, replacing traditional manual hoisting, improving docking safety and increasing docking efficiency between the booster and the core stage rocket.

[0079] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0080] In the description of this application, the word "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to implement and use the present invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the present invention can be implemented without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the present invention with unnecessary detail. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0081] The above description is merely an embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A vertical docking vehicle for docking rockets and boosters, characterized in that, The erection and docking vehicle includes: a flatbed transport vehicle, an erection mechanism, a lower clamp assembly, an upper clamp assembly, and a transport support; The erection mechanism is arranged parallel to the flatbed transport vehicle. One end of the erection mechanism is rotatably connected to the flatbed transport vehicle, and the other end is separated from the flatbed transport vehicle. The lower clamp assembly, the upper clamp assembly, and the transport support are connected to the erection mechanism; The lower clamp group and the upper clamp group are spaced apart. The lower clamp group and the upper clamp group clamp the two ends of the booster. The lower clamp group and the upper clamp group fix the booster to the erecting mechanism. The transport support is supported at the bottom of the booster. The erecting mechanism erects the booster.

2. The erection and docking vehicle for docking a rocket and its booster according to claim 1, characterized in that, The erection mechanism includes: an erection frame and an erection cylinder; The flatbed transport vehicle is equipped with a lifting and slewing shaft support point and a lifting cylinder lower support point; One end of the erecting frame is rotatably connected to the fulcrum of the erecting slewing shaft; One end of the erecting cylinder is connected to the erecting frame, and the other end is connected to the lower support point of the erecting cylinder on the flatbed transport vehicle; When the erecting cylinder is activated, it drives the erecting frame to rotate around the fulcrum of the erecting slewing shaft, and the erecting frame drives the booster from a horizontal state to a vertical state.

3. The erection and docking vehicle for docking a rocket and its booster according to claim 2, characterized in that, The lower clamp assembly includes a base, a longitudinal hydraulic cylinder, a vertical hydraulic cylinder, a lower clamp Y-axis adjusting hydraulic cylinder, a lower clamp structural component, and a sliding mechanism; Define the length direction perpendicular to the erecting frame as the Y-axis; The base is slidably connected to the erecting frame along the Y-axis direction via the sliding mechanism; The lower clamp Y-axis adjusting cylinder is fixedly connected to the erecting frame via a mounting plate; the telescopic rod of the lower clamp Y-axis adjusting cylinder is connected to the base, driving the base to move along a direction perpendicular to the length of the erecting frame; The lower clamp structure is fixedly connected to the base; One end of the longitudinal hydraulic cylinder is connected to the lower clamping structure, and the other end is connected to the vertical hydraulic cylinder; One end of the vertical hydraulic cylinder is connected to the lower clamp structure, and the other end is connected to the lower lifting point of the booster.

4. The erection and docking vehicle for docking a rocket and its booster according to claim 3, characterized in that, Define the horizontal direction as the X-axis and the direction perpendicular to the ground as the Z-axis; After the booster is erected, the extension and retraction of the vertical cylinder, in conjunction with the extension and retraction of the erection cylinder, completes the translational adjustment of the booster along the X-axis. The extension and retraction of the longitudinal hydraulic cylinder completes the translational adjustment of the booster along the Z-axis.

5. The erection and docking vehicle for docking a rocket and its booster according to claim 4, characterized in that, The longitudinal cylinder includes a first longitudinal cylinder and a second longitudinal cylinder. The first longitudinal hydraulic cylinder and the second longitudinal hydraulic cylinder are arranged at a distance from each other; When the lower clamp assembly is connected to the booster, the first longitudinal cylinder and the second longitudinal cylinder are located on both sides of the booster, respectively. The telescopic rod of either the first longitudinal cylinder or the second longitudinal cylinder extends, while the telescopic rod of the other cylinder retracts, thereby driving the booster to complete the X-axis rotation.

6. The erection and docking vehicle for docking a rocket and its booster according to claim 5, characterized in that, The vertical cylinder includes a first vertical cylinder and a second vertical cylinder; The first vertical cylinder and the second vertical cylinder are spaced apart, and the first vertical cylinder and the second vertical cylinder are respectively connected to the first longitudinal cylinder and the second longitudinal cylinder; The telescopic rod of either the first vertical cylinder or the second vertical cylinder extends, while the telescopic rod of the other cylinder retracts, driving the booster to complete the Z-axis rotation.

7. The erection and docking vehicle for docking a rocket and its booster according to claim 2, characterized in that, The upper clamp assembly includes: a base plate, a clamping device, and an upper clamp Y-axis adjusting cylinder; The clamping device is fixedly connected to the base plate; The base plate is slidably connected to the erecting frame along a direction perpendicular to the length of the erecting frame; The upper clamp Y-axis adjusting cylinder is fixedly connected to the erecting frame via a mounting plate, and the upper clamp Y-axis adjusting cylinder is arranged along the length direction perpendicular to the erecting frame; The telescopic rod of the upper clamp Y-axis adjusting cylinder is connected to the base plate, driving the base plate to move along the length direction perpendicular to the erecting frame.

8. The erection and docking vehicle for docking a rocket and its booster according to claim 1, characterized in that, The transport support includes: an upper clamp transport support, a middle transport support, and a lower clamp transport support; The upper clamp transport support, the middle transport support, and the lower clamp transport support are arranged at intervals.

9. The erection and docking vehicle for docking a rocket and its booster according to claim 3, characterized in that, The sliding mechanism of the lower clamp assembly is a first Y-axis sliding member; The first Y-axis slider is connected to the bottom of the base of the lower clamp assembly; The erecting frame is provided with a slide rail, which is arranged along the length direction perpendicular to the erecting frame; The first Y-axis slider is slidably connected within the slide rail.

10. The erection and docking vehicle for docking a rocket and its booster according to claim 7, characterized in that, The bottom of the base plate of the upper clamp assembly is provided with a sliding groove; The chute is provided along the length direction perpendicular to the erecting frame; A second Y-axis sliding member is provided on the side of the erecting frame that is connected to the upper clamp assembly; The second Y-axis slider is slidably connected within the groove.

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