Rocket transfer, butt joint and locking control system and method
阅读说明:本技术 一种火箭转运对接锁定控制系统和方法 (Rocket transfer, butt joint and locking control system and method ) 是由 张瑜 王丽 韩召洋 吴雪 韦银利 于 2020-06-15 设计创作,主要内容包括:本发明提供一种火箭转运对接锁定控制系统,包括:磁导航感测器,设置在转运起竖架上;导航磁条,设置在平台支架的中间位置;控制模块,被配置为根据磁导航感测器磁导航感测器监测磁导航感测器导航磁条的信息来控制行走装置运载磁导航感测器转运起竖架沿着磁导航感测器导航磁条方向前进,到达第一设定位置后控制磁导航感测器转运起竖架与磁导航感测器平台支架锁定对接。该火箭转运对接锁定控制系统完成全自动化控制锁定对接实现远程操作,提高对接效率并节省了人力。(The invention provides a rocket transfer butt joint locking control system, which comprises: the magnetic navigation sensor is arranged on the transfer erecting frame; the navigation magnetic strip is arranged in the middle of the platform bracket; the control module is configured to control the running gear to carry the magnetic navigation sensor to transport the vertical frame to advance along the direction of the magnetic navigation sensor navigation magnetic stripe according to the information of the magnetic navigation sensor navigation magnetic stripe monitored by the magnetic navigation sensor, and control the magnetic navigation sensor to transport the vertical frame to be in locking butt joint with the magnetic navigation sensor platform support after the first set position is reached. The rocket transfer, butt joint and locking control system can complete full-automatic control, locking and butt joint to realize remote operation, improve butt joint efficiency and save manpower.)
1. A rocket transfer docking lock control system, comprising:
the magnetic navigation sensor is arranged on the transfer erecting frame;
the navigation magnetic strip is arranged in the middle of the platform bracket;
the control module is configured to control a walking device to carry the transferring and erecting frame to advance along the direction of the navigation magnetic stripe according to the information of the navigation magnetic stripe monitored by the magnetic navigation sensor, and control the transferring and erecting frame to be in locking butt joint with the platform support after the walking device reaches a first set position.
2. A rocket transfer docking lock control system according to claim 1 wherein said magnetic navigation sensors comprise first and second magnetic navigation sensors disposed at respective first and second ends of said transfer riser in a direction of travel of said traveling device.
3. A rocket transloading docking lock control system according to claim 2, wherein said control module further comprises:
a correction bias unit configured to calculate a difference between the first and second magnetic navigation sensors, ensuring that the difference is within a first set value.
4. A rocket transfer docking lock control system according to claim 3 wherein said control module is further configured to adjust the direction of travel of said traveling gear in accordance with said difference when said difference exceeds a first set point.
5. A rocket transfer docking lock control system according to claim 1 further comprising:
and when the magnetic navigation sensor detects that the transfer vertical frame reaches a second set position along the guide rail to trigger the second sensor, the control module controls the first end of the transfer vertical frame to be slowly placed on the platform support and controls the walking device to continuously provide power.
6. A rocket transfer docking lock control system according to claim 5, further comprising:
and when the magnetic navigation sensor detects that the transfer vertical frame reaches a first set position along the guide rail to trigger the first sensor, the control module controls the traveling device to stop providing power.
7. A rocket transfer docking locking control method is characterized by comprising the following steps:
a magnetic navigation sensor is arranged on the transfer vertical frame, a navigation magnetic stripe is arranged in the middle of the platform bracket,
and controlling a walking device to carry the transferring and erecting frame to advance along the direction of the navigation magnetic stripe according to the information of a magnetic navigation sensor, and controlling the transferring and erecting frame to be in butt joint with the platform support after the information reaches a first set position.
8. A rocket transfer docking lock control method according to claim 7, further comprising:
arranging a first magnetic navigation sensor at a first end of the transfer erecting frame along the advancing direction of the walking device, and arranging a second magnetic navigation sensor at a second end of the transfer erecting frame along the advancing direction of the walking device;
calculating a difference between the first magnetic navigation sensor and the second magnetic navigation sensor, ensuring that the difference is within a first set value.
9. A rocket transfer docking lock control method according to claim 8, further comprising:
and when the received difference value exceeds a first set value, adjusting the advancing direction of the walking device according to the difference value.
10. A rocket transfer docking lock control method according to claim 7, further comprising:
when the magnetic navigation sensor detects that the transfer erecting frame reaches a second set position along the navigation magnetic stripe to trigger a second sensor, the first end of the transfer erecting frame is slowly placed on the platform support to control the walking device to continuously provide power.
11. A rocket transfer docking lock control method according to claim 10, further comprising:
and when the magnetic navigation sensor detects that the transfer erecting frame reaches a first set position along the navigation magnetic stripe to trigger the first sensor, controlling the walking device to stop providing power.
Technical Field
The invention relates to the field of rocket launching and transferring, in particular to a system and a method for controlling butt joint and locking of rocket transferring.
Background
With the rapid development of aerospace industry in China, a 'three-horizontal' launching mode, namely a launching mode of horizontal assembly, horizontal transfer, horizontal testing and vertical launching, gradually appears in the launching mode of a carrier rocket. Therefore, the rocket is reliably butted, locked and erected to a vertical state after being transferred to a launching station, is a very important link in the whole rocket launching process, and determines success or failure of a launching task in a certain sense.
Because the circumstances of launching field is different, there is certain deviation in the planarization on ground, and the going of transshipment axis line car has the straight line deviation in addition, leads to transporting to rise to erect the butt joint location of frame and platform support and have certain degree of difficulty, and transports the weight and the size of erecting the frame great, if guarantee accurate butt joint location and locking, need consume a large amount of manpowers and time and adjust, this is that whole transmission task flow can not allow.
And at present, no case of horizontal butt joint positioning of a medium-sized liquid rocket launching device exists in China, so that a butt joint locking control system and a butt joint locking control method are urgently needed to solve the problems of butt joint positioning and locking of a rocket transfer vertical frame and a platform support.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a rocket transfer butt joint locking control system and method.
The invention provides a rocket transfer butt joint locking control system, which comprises: the magnetic navigation sensor is arranged on the transfer erecting frame; the navigation magnetic strip is arranged in the middle of the platform bracket; the control module is configured to control a walking device to carry the transferring and erecting frame to advance along the direction of the navigation magnetic stripe according to the information of the navigation magnetic stripe monitored by the magnetic navigation sensor, and control the transferring and erecting frame to be in locking butt joint with the platform support after the walking device reaches a first set position.
According to one embodiment of the invention, the magnetic navigation sensor comprises a first magnetic navigation sensor and a second magnetic navigation sensor, the first magnetic navigation sensor and the second magnetic navigation sensor being respectively arranged at a first end and a second end of the transfer riser in the travelling direction of the running gear.
According to one embodiment of the invention, the control module further comprises: a correction bias unit configured to calculate a difference between the first and second magnetic navigation sensors, ensuring that the difference is within a first set value.
According to an embodiment of the present invention, the control module is further configured to adjust the advancing direction of the walking device according to the difference value when the received difference value exceeds a first set value.
According to an embodiment of the invention, the rocket transloading docking locking control system further comprises: and when the magnetic navigation sensor detects that the transfer vertical frame reaches a second set position along the guide rail to trigger the second sensor, the control module controls the first end of the transfer vertical frame to be slowly placed on the platform support and controls the walking device to continuously provide power.
According to an embodiment of the invention, the rocket transloading docking locking control system further comprises: and when the magnetic navigation sensor detects that the transfer vertical frame reaches a first set position along the guide rail to trigger the first sensor, the control module controls the traveling device to stop providing power.
In another aspect, the invention further includes a rocket transfer docking locking control method, including: set up magnetic navigation sensor and on transporting erecting the frame to set up the navigation magnetic stripe in the intermediate position of platform support, control running gear delivery according to the information of magnetic navigation sensor transport erecting the frame along navigation magnetic stripe direction gos forward, control after arriving first settlement position transport erecting the frame with the butt joint of platform support.
According to an embodiment of the present invention, the rocket transfer docking locking control method further comprises: arranging a first magnetic navigation sensor at a first end of the transfer erecting frame along the advancing direction of the walking device, and arranging a second magnetic navigation sensor at a second end of the transfer erecting frame along the advancing direction of the walking device; calculating a difference between the first magnetic navigation sensor and the second magnetic navigation sensor, ensuring that the difference is within a first set value.
According to an embodiment of the present invention, the rocket transfer docking locking control method further comprises: and when the received difference value exceeds a first set value, adjusting the advancing direction of the walking device according to the difference value.
According to an embodiment of the present invention, the rocket transfer docking locking control method further comprises: when the magnetic navigation sensor detects that the transfer erecting frame reaches a second set position along the navigation magnetic stripe to trigger a second sensor, the first end of the transfer erecting frame is slowly placed on the platform support to control the walking device to continuously provide power.
According to an embodiment of the present invention, the rocket transfer docking locking control method further comprises: and when the magnetic navigation sensor detects that the transfer erecting frame reaches a first set position along the navigation magnetic stripe to trigger the first sensor, controlling the walking device to stop providing power.
The rocket transfer, butt joint and locking control system provided by the invention provides the magnetic navigation sensor, the navigation magnetic stripe and the control module, and the control module controls the transfer vertical frame and the platform bracket to be locked and butted after the transfer vertical frame reaches the first set position, so that the remote operation is realized by completing the full-automatic control of locking and butting, the butt joint efficiency is improved, and the labor is saved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic view of a rocket transloading docking locking system according to one embodiment of the present invention;
FIG. 2 is a schematic view of a rocket transloading docking lock control system according to one embodiment of the present invention;
fig. 3 is a schematic diagram of a rocket transfer docking locking control method according to an embodiment of the present invention.
Description of reference numerals:
100-transfer erecting frame, 200-running gear, 300-concave guide rail, 400-platform support, 500-launching platform, 800-guide magnetic strip, 900-magnetic navigation sensor
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention, for the purposes of illustrating the principles of the invention. Additionally, the components in the drawings are not necessarily to scale. For example, the dimensions of some of the elements or regions in the figures may be exaggerated relative to other elements or regions to help improve understanding of embodiments of the present invention.
The directional terms used in the following description are used in the illustrated directions, and do not limit the specific configurations of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise specified, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
Furthermore, the terms "comprises," "comprising," "includes," "including," "has," "having" or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure or component comprising a list of elements does not include only those elements but may include other mechanical components not expressly listed or inherent to such structure or component. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional like elements in the article or device comprising the element.
Spatially relative terms such as "below," "… below," "lower," "above," "… above," "upper," and the like are used for convenience in describing the positioning of one element relative to a second element and are intended to encompass different orientations of the device in addition to different orientations than those illustrated in the figures. Further, for example, the phrase "one element is over/under another element" may mean that the two elements are in direct contact, or that there is another element between the two elements. Furthermore, terms such as "first", "second", and the like, are also used to describe various elements, regions, sections, etc. and should not be taken as limiting. Like terms refer to like elements throughout the description.
It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
FIG. 1 is a schematic view of a rocket transloading docking locking system according to one embodiment of the present invention; FIG. 2 is a schematic view of a rocket transloading docking lock control system according to one embodiment of the present invention; fig. 3 is a schematic diagram of a rocket transfer docking locking control method according to an embodiment of the present invention.
As shown in fig. 2, the present invention provides a rocket transfer docking locking control system, comprising: a
As shown in fig. 1, in the present embodiment, the
Specifically, a
It should be noted that it is the first example in China that the navigation
According to one embodiment of the invention, the
Specifically, the
According to one embodiment of the invention, the control module further comprises: a correction deviation unit configured to calculate a difference between the first magnetic navigation sensor and the second magnetic navigation sensor, ensuring that the difference is within a first set value.
In this embodiment, a correction deviation unit is provided for monitoring the difference between the first magnetic navigation sensor and the second magnetic navigation sensor, and if the position of the
According to an embodiment of the present invention, the control module is further configured to adjust the advancing direction of the
Further, the control module signals the servo driver of the traveling
According to an embodiment of the invention, the rocket transloading docking locking control system further comprises: and a second sensor, when the
In a specific implementation, the second sensor is disposed at a second setting position of the platform support, as a manner in this embodiment, the second setting position may be selected to be a position 4m away from the second end of the
According to an embodiment of the invention, the rocket transloading docking locking control system further comprises: when the
Specifically, a first sensor is disposed at a first setting position of the platform support, as a manner of this embodiment, the first setting position may be located at a first end of the
On the other hand, the invention also provides a rocket transfer docking locking control method, which comprises the following steps: the
Specifically, the rocket transfer docking locking control method comprises the following steps:
s101, arranging a
s102, controlling the traveling
and S103, controlling the
In this embodiment, the rocket transfer docking locking control method can control the traveling
According to an embodiment of the present invention, the rocket transfer docking locking control method further comprises: arranging a first magnetic navigation sensor at a first end of the transfer
In addition, the rocket transfer docking locking control method further comprises the following steps:
s1011: arranging a first magnetic navigation sensor at a first end of the transfer
s1021: and calculating the difference value between the first magnetic navigation sensor and the second magnetic navigation sensor, and ensuring that the difference value is within the first set value.
Specifically, in the present embodiment, if the position of the
According to an embodiment of the present invention, the rocket transfer docking locking control method further comprises: when the received difference exceeds the first set value, the advancing direction of the traveling
In addition, the rocket transfer docking locking control method further comprises the following steps:
s1022: when the received difference exceeds the first set value, the advancing direction of the traveling
Specifically, when the difference between the first magnetic navigation sensor and the second magnetic navigation sensor exceeds a first predetermined value, the forward direction adjustment of the traveling
According to an embodiment of the present invention, the rocket transfer docking locking control method further comprises: when the
In addition, the rocket transfer docking locking control method further comprises the following steps:
s201: after the
s202: the first end of the transfer
Specifically, the traveling
According to an embodiment of the present invention, the rocket transfer docking locking control method further comprises: when the
In addition, the rocket transfer docking locking control method further comprises the following steps:
s203: after the
s204: the
Specifically, as a manner of this embodiment, the first setting position may be located at a first end of the
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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