阅读说明：本技术 一种火箭运输车、运载火箭发射系统及方法 (Rocket transport vehicle, carrier rocket launching system and method ) 是由 吴穹 李秀珍 周成 李明兵 朱树峰 张小波 于 2021-08-24 设计创作，主要内容包括：本申请涉及运载火箭发射技术领域,特别涉及一种火箭运输车、运载火箭发射系统及方法,所述火箭运输车,其包括：用于承载火箭的承载平台；起竖装置,所述起竖装置用于使所述火箭转动至竖直状态；同时,当所述火箭转动至竖直状态时,所述火箭脱离所述火箭运输车的承载。本申请中,火箭发射时,火箭脱离火箭发射台的承载,而便于将火箭运输车远离待发射的火箭,火箭发射时产生的高温高速燃气不会对火箭运输车造成损伤,因而降低了发射成本。(The application relates to the technical field of launch of a carrier rocket, in particular to a rocket transporter, a launch system of the carrier rocket and a method thereof, wherein the rocket transporter comprises: a load-bearing platform for carrying the rocket; a erecting device for rotating the rocket to a vertical state; meanwhile, when the rocket rotates to the vertical state, the rocket is separated from the load of the rocket transporter. In the application, when the rocket is launched, the rocket is separated from the bearing of the rocket launching pad, so that the rocket carrier vehicle is convenient to be far away from the rocket to be launched, and high-temperature high-speed gas generated during rocket launching can not damage the rocket carrier vehicle, thereby reducing the launching cost.)

1. A rocket transport vehicle, comprising:

a carrying platform for carrying rockets (4);

a erecting device (102) for turning the rocket (4) to a vertical state; at the same time, the user can select the desired position,

when the rocket (4) rotates to the vertical state, the rocket (4) is separated from the load of the rocket transporter (1).

2. A launch vehicle system, comprising:

rocket transport vehicle (1) comprising:

a carrying platform for carrying rockets (4);

a erecting device (102) for turning the rocket (4) to a vertical state; meanwhile, when the rocket (4) rotates to a vertical state, the rocket (4) is separated from the load of the rocket transporter (1);

a launch pad (2) separable from the rocket transporter (1) for carrying the rocket (4) when the rocket (4) is rotated to an upright position.

3. A launch vehicle launch system according to claim 2, characterised in that the launch station (2) comprises a plurality of telescopic legs (201), the legs (201) being telescopic to adjust the height of the launch station (2) to interface the launch station (2) with the tail of the rocket (4).

4. A launch vehicle system according to claim 2, characterized in that it further comprises a positioning structure (3), said positioning structure (3) assisting the docking of said launch station (2) with said rocket carriage (1) so as to bring the axis of said launch station (2) into line with the axis of said rocket (4) in a vertical position.

5. A launch vehicle system according to claim 4, characterised in that said positioning structure (3) comprises:

at least two first vertical laser emitting pieces (301) connected to the emitting platform (2), wherein the first vertical laser emitting pieces (301) are used for forming first mark points on the ground;

at least two second vertical laser launching pieces (302) connected to the rocket transporter (1), wherein the second vertical laser launching pieces (302) are used for forming second mark points on the ground;

and moving the rocket transport vehicle (1) to enable the plurality of second mark points to be respectively superposed with the plurality of first mark points, so that the axis of the launching platform (2) is consistent with the axis of the rocket (4) in a vertical state.

6. A launch vehicle system according to claim 4, characterised in that it further comprises a lifting assembly (5) or a transfer trolley (6), said lifting assembly (5) or said transfer trolley (6) moving said launch pad (2) with respect to said rocket carriage (1).

7. A launch vehicle system according to claim 6, characterised in that said positioning structure (3) comprises:

at least two positioning slots (3041) provided on the rocket transport vehicle (1);

at least two positioning rods (303) connected to the launch pad (2);

the launching platform (2) moves relative to the rocket transporter (1) so that the positioning rods (303) respectively fall into the positioning grooves (3041) to enable the axis of the launching platform (2) to be consistent with the axis of the rocket (4) in a vertical state.

8. A launch vehicle system according to claim 5, characterised in that said positioning structure (3) comprises:

a plurality of measurement points (306) provided on the rocket transporter (1) and at the tail of the rocket (4);

the measuring unit (305) is arranged on the transfer trolley (6), and the measuring unit (305) controls the transfer trolley (6) to drive the launching platform (2) to move through measuring a plurality of measuring points (306), so that the axis of the launching platform (2) is consistent with the axis of the rocket (4) in a vertical state.

9. A method of rocket launching, comprising the steps of:

bringing a rocket transport vehicle (1) and a launch pad (2) close to each other, so that the launch pad (2) is located beside the rocket transport vehicle (1);

erecting the rocket (4) on the rocket transport vehicle (1) so that the rocket (4) is supported on the launching platform (2);

the rocket transport vehicle (1) drives away from the launching platform (2) and then launches the rocket (4).

10. A rocket launch method according to claim 9, characterized in that it comprises a positioning structure (3);

before the rocket (4) is erected on the rocket transporter (1), the method further comprises the following steps:

the launching platform (2) and the rocket transport vehicle (1) are butted through the positioning structure (3).

Technical Field

The application relates to the technical field of launch of carrier rockets, in particular to a rocket transport vehicle, a launch system of a carrier rocket and a launch method of the carrier rocket.

Background

Before launching, the large carrier rocket needs to be assembled and tested in a technical position, then is transported to a launching platform in a launching position, and is subjected to final testing, propellant filling (the content of the solid carrier rocket is not included) and launching. From the technical position to the transmission position, a long distance is generally arranged to ensure that the technical position is influenced by the occurrence of safety accidents in the transmission position. The carrier rocket is vertically assembled and vertically tested from a technical position to a launching position, and is vertically transported to a preset fixed launching platform of the launching position by a special vehicle (generally a special orbit platform), and the carrier rocket is horizontally assembled and horizontally tested at the technical position, is horizontally transported to the preset launching platform of the launching position by a flat car or an orbit rocket transporter, and then is erected, namely the launching mode is called as 'three-horizontal and one-vertical'. The former has the disadvantages of higher cost, more manpower and material resources needed to be invested to ensure infrastructure, and slow transfer speed caused by larger weight and higher height of the rocket in the transfer process.

The carrier rockets adopting a three-plane and one-vertical launching mode in the world mainly comprise a Chinese poplar M, a proton number and a Roo-Lao number. The poplar M is a solid carrier rocket, is launched underground by adopting a vehicle-mounted mode, has strong maneuverability, but needs to fixedly connect a supporting arm with a preset ground when the support is erected, then is launched underground, and has high site construction cost by adopting the mode; the 'proton number' is a liquid rocket, a railway flat car is adopted for transportation, a erecting mechanism and a launching platform of the liquid rocket are fixed in a launching site in advance, and the construction requirement on the launching site is high; the Luo Lao is a liquid rocket, a hydraulic flat car is adopted for transportation, a vertical mechanism and a launching platform of the liquid rocket are fixed on a launching site in advance, and the construction requirement on the launching site is high. The dependence of foreign carrier rocket launching on the site is high, the site construction cost is high, and site facilities are generally special facilities. Another disadvantage of the transmission mode with a preset position is that the transmission frequency is low, the number of transmission stations limits the load transmission capacity, and the large-scale transmission is not facilitated.

The missile launching mode can be used for reference, an integrated launching vehicle (comprising a transporting device, a erecting device and a launching platform) is adopted to launch the carrier rocket, the mode can be adopted by the existing small-sized fixed carrier rocket, and the launching vehicle and the launching platform are integrated, so that the launching vehicle and the launching platform stay in a launching position during launching; however, as the carrying capacity of the rocket is improved, the gas flow at the initial stage is improved when the rocket is launched, the high-temperature and high-speed gas can cause irreversible damage to the launcher, the launching cost is high, and the integrated launcher is not suitable any more.

Disclosure of Invention

The embodiment of the application provides a rocket transport vehicle, a carrier rocket launching system and a method, and aims to solve the technical problems that high-temperature and high-speed gas at the initial stage during rocket launching in the related technology easily causes irreversible damage to a launching vehicle and causes high launching cost.

In a first aspect, there is provided a rocket transport vehicle comprising:

a load-bearing platform for carrying the rocket;

a erecting device for rotating the rocket to a vertical state; at the same time, the user can select the desired position,

when the rocket rotates to the vertical state, the rocket is separated from the load of the rocket transporter.

The beneficial effect that technical scheme that this application provided brought includes:

the embodiment of the application provides a rocket transport vechicle, this rocket transport vechicle transports the rocket to launch position after, rises to erect the device and rotates the rocket to vertical, no longer supports the rocket by the rocket transport vechicle this moment to the rocket that waits to launch is kept away from to the rocket transport vechicle, therefore the high-temperature high-speed gas of initial stage can not cause the damage to the rocket transport vechicle when the rocket launches, has reduced the cost of launch.

In a second aspect, there is provided a launch vehicle launch system comprising:

a rocket-transporting vehicle, comprising:

a load-bearing platform for carrying the rocket;

a erecting device for rotating the rocket to a vertical state; meanwhile, when the rocket rotates to a vertical state, the rocket is separated from the load of the rocket transporter;

a launch pad separable from the rocket transport vehicle for carrying the rocket when the rocket is rotated to an upright position.

In some embodiments, the launch pad includes a plurality of telescoping legs that telescope to adjust the height of the launch pad to interface the launch pad with the tail of the rocket.

In some embodiments, the launch vehicle system further comprises a positioning structure that assists in interfacing the launch pad and the rocket transporter such that the axis of the launch pad coincides with the axis of the rocket in a vertical state.

In some embodiments, the positioning structure comprises:

the device comprises at least two first vertical laser emitting pieces, a first vertical laser emitting piece and a second vertical laser emitting piece, wherein the first vertical laser emitting pieces are connected to the emitting platform and used for forming a first mark point on the ground;

the at least two second vertical laser launching pieces are connected to the rocket transport vehicle and used for forming second mark points on the ground;

and moving the rocket transport vehicle to enable the plurality of second mark points to be respectively superposed with the plurality of first mark points, so that the axis of the launching platform is consistent with the axis of the rocket in a vertical state.

In some embodiments, the launch vehicle system further comprises a lifting assembly or a transfer trolley that moves the launch pad relative to the rocket transport vehicle.

In some embodiments, the positioning structure comprises:

at least two positioning grooves arranged on the rocket transport vehicle;

at least two positioning rods connected to the launching platform;

the launching platform moves relative to the rocket transporter so that the positioning rods respectively fall into the positioning grooves, and the axis of the launching platform is consistent with the axis of the rocket in a vertical state.

In some embodiments, the positioning structure comprises:

a plurality of measurement points provided on the rocket transporter and at the tail of the rocket;

the measuring unit is arranged on the transfer trolley and controls the transfer trolley to drive the launching platform to move through measuring the measuring points so that the axis of the launching platform is consistent with the axis of the rocket in a vertical state.

Another embodiment of the present application provides a launch vehicle launching system, which has the following beneficial effects: after the rocket is transported to the launching position by the rocket transport vehicle, the rocket is rotated to be vertical by the erecting device, the rocket is not supported by the rocket transport vehicle at the moment, but supported by the launching platform, and the rocket is launched on the launching platform, so that the rocket transport vehicle is far away from the rocket to be launched, and therefore, high-temperature high-speed fuel gas at the initial stage can not damage the rocket transport vehicle during rocket launching, and the launching cost is reduced.

In a third aspect, a launch vehicle launch method is provided, comprising the steps of:

bringing a rocket transport vehicle and a launch pad into proximity with each other, said launch pad being located alongside said rocket transport vehicle;

the rocket carrier is used for erecting the rocket, so that the rocket is supported on the launching platform;

and the rocket transport vehicle launches the rocket after driving away from the launching platform.

In some embodiments, it includes a positioning structure;

before the rocket is erected on the rocket transporter, the method further comprises the following steps:

the launching platform and the rocket transport vehicle are in butt joint through the positioning structure.

In another embodiment of the present application, the launch method of a launch vehicle adopts the launch system of a launch vehicle, which is a specific operation method of the launch system of a launch vehicle, so that the beneficial effects of the launch method of a launch vehicle are consistent with those of the launch system of a launch vehicle, and are not described herein again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of a rocket transport vehicle provided in an embodiment of the present application before docking with a launch pad;

FIG. 2 is a schematic view of a rocket transport vehicle provided in an embodiment of the present application after docking with a launch pad;

FIG. 3 is a schematic diagram of a launch pad provided in an embodiment of the present application after docking with a rocket;

FIG. 4 is a schematic illustration of a rocket provided in an embodiment of the present application as it is being launched;

fig. 5 is a schematic view of a rocket transport vehicle and a launching station provided in the embodiment of the present application before being docked by a first vertical laser launching element and a second vertical laser launching element;

fig. 6 is a schematic view of the rocket transport vehicle and the launching station provided in the embodiment of the present application after being butted by the first vertical laser launching element and the second vertical laser launching element;

FIG. 7 is a schematic view of a rocket transport vehicle and a launch pad provided in an embodiment of the present application, prior to docking by a positioning rod and a positioning slot;

FIG. 8 is a schematic view of a rocket transport vehicle and a launching pad provided in an embodiment of the present application after docking via a positioning rod and a positioning slot;

FIG. 9 is a top view of FIG. 7;

FIG. 10 is a top view of FIG. 8;

FIG. 11 is a schematic view of the transfer vehicle provided in the embodiments of the present application before the transfer vehicle drives the launch pad to dock with the rocket transport vehicle;

FIG. 12 is a schematic view of the transfer vehicle driving the launch pad to dock with the rocket transport vehicle according to an embodiment of the present disclosure;

FIG. 13 is a schematic view of the transfer vehicle driving the launch pad to dock with the rocket transport vehicle according to the exemplary embodiment of the present disclosure;

FIG. 14 is a top view of FIG. 11;

FIG. 15 is a top view of FIG. 12;

FIG. 16 is a top view of FIG. 13;

fig. 17 is a schematic view of a positioning block provided in an embodiment of the present application;

FIG. 18 is a schematic view of the positioning rod and the positioning groove provided in the present embodiment of the application in cooperation;

FIG. 19 is a schematic view of a rocket transport vehicle and a launch pad provided in an embodiment of the present application interfaced via a measurement unit and a measurement point;

FIG. 20 is a top plan view of the rocket transport vehicle of FIG. 19;

FIG. 21 is a bottom schematic view of the rocket in FIG. 19.

In the figure: 1. a rocket-transporting vehicle; 101. a chassis; 102. a erecting device; 103. a rotating shaft; 104. a rear beam; 2. a launch pad; 201. a support leg; 3. a positioning structure; 301. a first plumb laser transmitter; 302. a second plumb laser transmitter; 303. positioning a rod; 304. positioning blocks; 3041. positioning a groove; 305. a measuring unit; 306. measuring points; 4. a rocket; 5. hoisting the assembly; 6. a transfer trolley.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application provides a carrier rocket launching system, which can solve the technical problems that in the prior art, high-temperature and high-speed gas at the initial stage is easy to cause irreversible damage to a launching vehicle during rocket launching, and the launching cost is high.

A rocket transport vehicle, comprising:

a carrying platform for carrying the rocket 4;

a erecting device 102, the erecting device 102 being configured to rotate the rocket 4 to a vertical state; at the same time, the user can select the desired position,

when the rocket 4 rotates to the vertical state, the rocket 4 is separated from the load of the rocket transporter 1.

The rocket transport vehicle 1 comprises a chassis 101, a bearing platform, a erecting device 102, a rotating shaft 103 and a back beam 104. The bearing platform is arranged on the top surface of the chassis 101, and the bearing platform supports the carrier rocket 4 through the erecting device 102. Erecting device 102 is rotatably mounted on chassis 101 through rotating shaft 103, rocket 4 is loaded on erecting device 102, and rocket 4 can rotate to be vertical along with erecting device 102. In this embodiment, the rotation of the erecting device 102 is realized by an oil cylinder.

Referring to fig. 1 to 4, the rear beam 104 is fixed to the rear end surface of the chassis 101, the length direction of the rear beam 104 is the same as the length direction of the chassis 101, two rear beams 104 are provided, and the two rear beams 104 are spaced apart from each other. After the rocket 4 is rotated to the vertical state, the projection of the rocket 4 in the horizontal plane is positioned between the two rear beams 104. Whereby the rocket 4 is released from the support of the rocket-transporting carriage 1.

After the rocket 4 is separated from the support of the rocket transporter 1, the rocket 4 is supported by other platforms, so that the rocket 4 and the rocket transporter 1 are separated.

Set up like this, this rocket transport vechicle 1 transports rocket 4 to the launch site after, erects device 102 and rotates rocket 4 to vertical, no longer supports rocket 4 by rocket transport vechicle 1 this moment to rocket transport vechicle 1 keeps away from the rocket 4 that awaits launching, therefore the high-temperature high-speed gas of initial stage can not cause the damage to rocket transport vechicle 1 when rocket 4 launches, has reduced the cost of launch.

Another embodiment of the present application provides a launch vehicle system, comprising:

rocket-transporting vehicle 1, comprising:

a carrying platform for carrying the rocket 4;

a erecting device 102 for turning the rocket 4 to a vertical state; meanwhile, when the rocket 4 rotates to be in a vertical state, the rocket 4 is separated from the load of the rocket transporter 1;

a launch pad 2, separable from the rocket transporter 1, for carrying the rocket 4 when the rocket 4 is turned to an upright position.

Referring to fig. 1-4, the launch vehicle launching system comprises a rocket transporter 1 and a launching platform 2. The rocket 4 is loaded on the rocket transporter 1, and the rocket 4 is horizontally placed during transportation. The rocket transport vehicle 1 comprises a chassis 101, a carrying platform, a erecting device 102, a revolving shaft 103 and a rear beam 104. The bearing platform is arranged on the top surface of the chassis 101, and the bearing platform supports the carrier rocket 4 through the erecting device 102. Erecting device 102 is rotatably mounted on chassis 101 through rotating shaft 103, rocket 4 is loaded on erecting device 102, and rocket 4 can rotate to be vertical along with erecting device 102. In this embodiment, the rotation of the erecting device 102 is realized by an oil cylinder.

Referring to fig. 1 to 4, the rear beam 104 is fixed to the rear end surface of the chassis 101, the length direction of the rear beam 104 is the same as the length direction of the chassis 101, two rear beams 104 are provided, and the two rear beams 104 are spaced apart from each other. After the rocket 4 is rotated to the vertical state, the projection of the rocket 4 in the horizontal plane is positioned between the two rear beams 104. When the launching pad 2 is butted with the rocket transport vehicle 1, the launching pad 2 is butted with the back beams 104 of the rocket transport vehicle 1, and the launching pad 2 is positioned between the two back beams 104. The launch pad 2 can thus support the rocket 4 in a vertical position.

Optionally, the launch vehicle system further comprises a positioning structure 3, said positioning structure 3 assisting the docking of said launch pad (2) with said rocket carriage 1, so that the axis of said launch pad 2 coincides with the axis of said rocket 4 in a vertical position.

Referring to fig. 5 and 6, the positioning structure 3 assists the docking of the launching pad 2 with the back beam 104 of the rocket transporter 1, and the axis of the rocket 4 in a vertical state coincides with the axis of the launching pad 2 with the aid of the positioning structure 3, thereby facilitating the docking of the rocket 4 with the launching pad 2.

Set up like this, before rocket 4 launches, rocket transport vechicle 1 transports rocket 4 to the launch site, dock through location structure 3 between launch pad 2 and the rocket transport vechicle 1, rocket transport vechicle 1 makes rocket 4 rotate to vertical state again, launch pad 2 supports rocket 4 of vertical state this moment, and because location structure 3's setting, the axis of rocket 4 rotated to vertical state is unanimous with the axis of launch pad 2, therefore rocket 4 can dock with launch pad 2. When the rocket 4 is launched, the rocket transport vehicle 1 is separated from the launching platform 2, the rocket 4 is launched on the launching platform 2, and high-temperature and high-speed gas generated when the rocket 4 is launched cannot damage the rocket transport vehicle 1, so that the launching cost is reduced.

Optionally, the launch pad 2 comprises a plurality of retractable legs 201, the legs 201 being retractable to adjust the height of the launch pad 2 to dock the launch pad 2 with the tail of the rocket 4.

Referring to fig. 1-4, the launching platform 2 includes a plurality of telescopic legs 201, in this embodiment, the number of the legs 201 is preferably 4, and the telescopic structure of the legs 201 is realized by an oil cylinder. After the launching pad 2 is butted with the back beam 104 of the rocket transporter 1, the supporting legs 201 of the launching pad 2 extend, and the supporting legs 201 extend to the ground, so that the launching pad 2 can be supported autonomously, and the rocket 4 can be supported subsequently. The launching platform 2 is butted with the tail part of the rocket 4 along with the extension of the supporting legs 201, so that the subsequent rocket 4 is convenient to launch on the launching platform 2. After the launching strip is in butt joint with the rocket 4, the rocket transporter 1 is separated from the rocket 4, and the rocket transporter 1 is separated from the launching platform 2, so that the rocket transporter 1 is far away from the rocket 4 to be launched.

Optionally, the positioning structure 3 comprises:

at least two first vertical laser emitting pieces 301 connected to the emitting platform 2, wherein the first vertical laser emitting pieces 301 are used for forming a first mark point on the ground;

at least two second vertical laser emitting pieces 302, which are connected to the rocket transporter 1, wherein the second vertical laser emitting pieces 302 are used for forming second mark points on the ground;

and moving the rocket transporter 1 to enable the plurality of second mark points to be respectively superposed with the plurality of first mark points, so that the axis of the launching platform 2 is consistent with the axis of the rocket 4 in a vertical state.

Referring to fig. 5 and 6, the positioning structure 3 includes at least two first plumb laser transmitter 301 and at least two second plumb laser transmitter 302. In this embodiment, the number of the first vertical laser emitting devices 301 and the number of the second vertical laser emitting devices 302 are both two.

Referring to fig. 5 and 6, two first vertical laser emitting members 301 are respectively installed on two opposite side surfaces of the emitting table 2, and the first vertical laser emitting members 301 emit laser light vertically toward the ground to form two first mark points on the ground. The second vertical laser emitting pieces 302 are respectively installed on two rear beams 104 of the rocket transporter 1, and the second vertical laser emitting pieces 302 vertically emit laser towards the ground so as to form two second mark points on the ground. And when the two second mark points are respectively superposed with the two first mark points, the joint of the launching platform 2 and the rocket transporter 1 is displayed to be completed.

If the rocket 4 rotates to be in a vertical state, the axis of the rocket 4 is not consistent with the axis of the launching platform 2, and the axis of the launching platform 2 after the launching platform 2 is in butt joint with the rocket transporter 1 is consistent with the axis of the rocket 4 in the vertical state by adjusting the positions of the two second vertical laser launching pieces 302.

Optionally, the launch vehicle system further comprises a lifting assembly 5 or a transfer trolley 6, wherein the lifting assembly 5 or the transfer trolley 6 drives the launch pad 2 to move relative to the rocket transporter 1.

Reference is made to fig. 7 and 11, wherein, in other embodiments, the docking of the launch pad 2 with the rocket motor vehicle 1 may also be accomplished by moving the launch pad 2. The launch vehicle system thus also comprises a lifting assembly 5 or a transfer trolley 6. The launch pad 2 is moved by means of the hoist assembly 5 or the transfer trolley 6, whereby the launch pad 2 and the rocket motor vehicle 1 are docked.

Optionally, the positioning structure 3 comprises:

at least two positioning grooves 3041 provided on the rocket transporter 1;

at least two positioning rods 303 connected to the launching pad 2;

the launching platform 2 moves relative to the rocket transporter 1 so that the positioning rods 303 respectively fall into the positioning grooves 3041, and the axis of the launching platform 2 coincides with the axis of the rocket 4 in a vertical state.

Reference is made to fig. 7-10, wherein, in other embodiments, the launch station 2 is docked to the rocket transporter 1 by moving the launch station 2. The positioning structure 3 includes at least two positioning grooves 3041 and at least two positioning rods 303. Preferably, the number of the positioning grooves 3041 and the positioning rods 303 is two, and the two positioning rods 303 are arranged corresponding to the two positioning grooves 3041.

Reference is made to fig. 7, 9, 17 and 18; the two rear beams 104 are respectively provided with a positioning block 304, the positioning groove 3041 is arranged on the top surface of the positioning block 304, and the length direction of the positioning groove 3041 is consistent with the width direction of the rear beam 104. The positioning block 304 is fixed to the back beam 104 by bolts.

Referring to fig. 7 and 9, two positioning rods 303 are fixed to opposite side surfaces of the launch pad 2, respectively, and the positioning rods 303 are disposed perpendicular to the side surfaces of the launch pad 2. When the positioning rod 303 is engaged with the positioning groove 3041, the length direction of the positioning rod 303 is the same as the length direction of the positioning groove 3041, and the positioning rod 303 falls into the positioning groove 3041.

Refer to fig. 17 and 18; in order to facilitate the positioning rod 303 to fall into the positioning groove 3041, the edge of the positioning groove 3041 on the top surface of the positioning block 304 is in a slope transition, so that the opening area of the top end of the positioning groove 3041 is larger than the groove bottom area of the positioning groove 3041, thereby facilitating the positioning rod 303 to fall into the positioning groove 3041 under the action of its own gravity.

Referring to fig. 7-10, the lifting assembly 5 may include a crane that lifts the launching pad 2 and moves the launching pad 2 relative to the rocket transporter 1, and the positioning rods 303 on both sides of the launching pad 2 respectively fall into the positioning grooves 3041 of the two positioning blocks 304 to complete the docking of the launching pad 2 with the rocket transporter 1. Due to the matching of the positioning rod 303 and the positioning groove 3041, the position on the rocket transport vehicle 1 for the butt joint of the launching platform 2 is fixed, and after the launching platform 2 is in butt joint with the rocket transport vehicle 1, the axis of the rocket 4 which rotates to be in a vertical state is consistent with the axis of the launching platform 2, so that the launching platform 2 is in butt joint with the rocket 4 conveniently.

If the axis of the launching pad 2 is inconsistent with the axis of the rocket 4 in the vertical state after the launching pad 2 is in butt joint with the rocket transporter 1, the butt joint position of the launching pad 2 is changed by adjusting the position of the positioning block 304 relative to the back beam 104, so that the axis of the launching pad 2 in butt joint with the rocket transporter 1 is consistent with the axis in the vertical state.

Referring to fig. 11-16, in other embodiments, the launch pad 2 may also be moved using the transfer vehicle 6. The transfer trolley 6 is provided with a supporting rod for supporting the launching platform 2 and a locking device for locking the launching platform 2 on the transfer trolley 6. The transfer trolley 6 drives the launching platform 2 to move relative to the rocket transporter 1, and the positioning rods 303 on the two sides of the launching platform 2 respectively fall into the positioning grooves 3041 of the two positioning blocks 304, so that the launching platform 2 is butted with the rocket transporter 1. Due to the matching of the positioning rod 303 and the positioning groove 3041, the position on the rocket transport vehicle 1 for the butt joint of the launching platform 2 is fixed, and after the launching platform 2 is in butt joint with the rocket transport vehicle 1, the axis of the rocket 4 which rotates to be in a vertical state is consistent with the axis of the launching platform 2, so that the launching platform 2 is in butt joint with the rocket 4 conveniently.

Optionally, the positioning structure 3 comprises:

a plurality of measuring points 306 provided on the rocket transporter 1 and at the tail of the rocket 4;

the measuring unit 305 is arranged on the transfer trolley 6, and the measuring unit 305 controls the transfer trolley 6 to drive the launching platform 2 to move through the measurement of the plurality of measuring points 306, so that the axis of the launching platform 2 is consistent with the axis of the rocket 4 in a vertical state.

Reference is made to fig. 19-21, wherein, in other embodiments, the positioning structure 3 comprises a measuring unit 305 and a plurality of measuring points 306. The measuring unit 305 is fixed to the transfer trolley 6, while a plurality of measuring points 306 are provided at the tail of the rocket 4 and on the two rear beams 104. The measurement unit 305 may measure the positions of the plurality of measurement points 306 by visual imaging or laser ranging by the measurement unit 305. Therefore, the measuring unit 305 measures the position of the rear beam 104 and the tail of the rocket 4 to know the docking position of the launching pad 2, so as to automatically control the movement of the transfer trolley 6 and move the launching pad 2 to the docking position.

Another embodiment of the present application provides a launch vehicle launch method,

which comprises the following steps:

bringing a rocket transport vehicle 1 and a launching pad 2 close to each other, and positioning the launching pad 2 beside the rocket transport vehicle 1;

the rocket carrier 1 erects the rocket 4, so that the rocket 4 is supported on the launching platform 2;

the rocket transporter 1 drives away from the launching platform 2 to launch the rocket 4.

The launch method of the carrier rocket uses the rocket transport vehicle 1 and the launching platform 2 in the launch system of the carrier rocket, and comprises the following steps 101-103:

101. the rocket carrier 1 and the launching platform 2 are brought close to each other, and the launching platform 2 is positioned beside the rocket carrier 1.

The rocket transport vehicle 1 and the launching pad 2 are close to each other so that the launching pad 2 is located at the rear beam of the rocket transport vehicle 1.

102. The rocket carrier 1 erects the rocket 4, so that the rocket 4 is supported on the launching platform 2.

As shown in fig. 3, the rocket 4 rotates on the rocket transport vehicle 1 to a vertical state, and after the rocket 4 is in the vertical state, the launching platform 2 supports the rocket 4, and the rocket 4 in the vertical state is in a state ready for launching.

103. The rocket transporter 1 drives away from the launching platform 2 to launch the rocket 4.

As shown in fig. 3, legs 201 of launch pad 2 are extended so that launch pad 2 is self-supporting and the height of launch pad 2 is raised so that launch pad 2 is docked with rocket 4. The launching platform 2 which is butted with the rocket 4 is disconnected with the rocket transporter 1.

As shown in fig. 3 to 4, the rocket motor vehicle 1 moves by itself to be separated and apart from the launching pad 2, and the rocket 4 on the launching pad 2 is launched.

After the rocket transport vehicle 1 is far away from the launching platform 2, the rocket 4 on the launching platform 2 is launched. The high-temperature and high-speed fuel gas generated by the launching of the rocket 4 can not cause damage to the rocket transport vehicle 1, thereby reducing the launching cost.

Optionally, the rocket launching method further comprises a positioning structure 3 in the rocket launching system;

before the rocket 4 is erected on the rocket transporter 1, the method further comprises the following steps:

the launching platform 2 and the rocket transport vehicle 1 are butted through the positioning structure 3.

Specifically, the positioning structure for assisting the joint of the rocket transporter 1 and the launching platform 2 comprises the following modes.

Optionally, the positioning structure 3 includes a plurality of first vertical laser emitting members 301 disposed on the launching platform 2 and a plurality of second vertical laser emitting members 302 disposed on the rocket transport vehicle 1;

the joint of the rocket transport vehicle 1 and the launching platform 2 through the positioning structure 3 comprises: the rocket transporter 1 moves to make the second mark point formed on the ground by the second vertical laser emitting device 302 coincide with the first mark point formed on the ground by the first vertical laser emitting device 301.

Referring to fig. 5 and 6, the positioning structure 3 includes a plurality of first vertical laser emitting members 301 disposed on the launching platform 2 and a plurality of second vertical laser emitting members 302 disposed on the rocket transporter 1, and the launching platform 2 and the rocket transporter 1 are butted by a first butting method. The first docking method comprises the following steps 201-203:

201. the first plumb laser transmitter 301 forms a first mark point on the ground;

202. the second plumb laser transmitter 302 forms a second mark point on the ground;

203. the rocket transport vehicle 1 moves close to the launching platform 2 to drive the second mark points to move until the plurality of second mark points are respectively superposed with the plurality of first mark points.

By means of the arrangement, the joint of the launching platform 2 and the rocket transporter 1 is facilitated by matching the first measuring point 306 and the second marking point in a manner of moving the rocket transporter 1.

Optionally, the positioning structure 3 includes a positioning groove 3041 disposed on the rocket transporter 1 and a positioning rod 303 connected to the launching platform 2;

the joint of the rocket transport vehicle 1 and the launching platform 2 through the positioning structure 3 comprises: the launching platform 2 is moved to drive the positioning rod 303 to fall into the positioning groove 3041.

Referring to fig. 7-10 or 11-16, wherein the positioning structure 3 comprises a positioning groove 3041 disposed on the rocket transporter 1 and a positioning rod 303 connected to the launching platform 2, and the launching platform 2 and the rocket transporter 1 are docked by a second docking method, which comprises the following steps 301 and 302:

301. the hoisting assembly 5 or the transfer trolley 6 drives the launching platform 2 to move towards the back beam 104 of the rocket transport vehicle 1;

302. the positioning rods 303 on the launching pad 2 fall into the positioning grooves 3041 on the rear beam 104 of the rocket motor car 1.

With the arrangement, the launching pad 2 is moved to dock the launching pad 2 with the rocket transport vehicle 1, the docking position of the launching pad 2 is convenient to be determined quickly through the matching of the positioning rod 303 and the positioning groove 3041, and the docking position of the launching pad 2 is not prone to deviation after the positioning rod 303 falls into the positioning groove 3041.

Optionally, the launch method of the launch vehicle 4 further comprises a transfer vehicle 6, and the positioning structure 3 comprises a plurality of measuring points 306 arranged at the tail of the rocket transporter 1 and the rocket 4 and a measuring unit 305 arranged on the transfer vehicle 6;

the joint of the rocket transport vehicle 1 and the launching platform 2 through the positioning structure 3 comprises:

a first coordinate system is preset on the launching pad 2, a second coordinate system is preset on the rocket 4, a third coordinate system is preset on the rocket transporter 1, and a fourth coordinate system is preset on the measuring unit 305;

presetting the position and posture of the axis of the launching platform 2 as M_FRocket with 4 axis position of M_RThe position and posture of the rotating axis of the rocket 4 is M_O；

Calculating a conversion matrix T between the fourth coordinate system of the measuring unit 305 and the first coordinate system according to the design size or the measured size_D；

Calculating the lower position M of the axis pose of the launching platform 2 in the first coordinate system according to the design size or the measured size_F；

The tail of the rocket 4 is provided with N measuring points 306, and the coordinate of each measuring point 306 and the axial pose of the rocket 4 can be calibrated in advance: m_{R_cali}＝T_RiP_{1i_cali}，i＝1～N，T_RiFor the position and attitude transformation matrix of the measuring point 306 and the rocket 4 axis, M_{R_cali}Is the position of rocket axis 4 under the second coordinate system, P_{1i_cali}For each measurement point 306 coordinate in the second coordinate system, T is the coordinate of each measurement point 306 at the tail of the rocket 4 and the position of the rocket 4 are relatively fixed, T_RiKeeping the same;

the rocket transport vehicle 1 is provided with K measuring points 306, and the coordinate of each measuring point 306 and the position and posture of the rotation axis of the rocket 4 can be calibrated in advance: m_{O_cali}＝T_OiP_{2i_cali}，i＝1～K，T_OiFor the position and attitude transformation matrix of the measuring point 306 and the rocket 4 axis, M_{O_cali}Is the position and posture of the rotating axis of the rocket 4 under a third coordinate system, P_{2i_cali}For each measuring point 306 coordinate in the third coordinate system, T is the position of each measuring point 306 coordinate on the rocket transporter 1 relative to the rotating axis of the rocket 4_OiKeeping the same;

the measurement unit 305 measures the coordinates P of the rocket 4 tail measurement point 306_{1i_observe}And i is 1 to N, establishing a plurality of mapping relations: m_{R_D}＝T_RiP_{1i_observe}，M_{R_D}For the pose of the rocket 4 axis in the fourth coordinate system of the measuring unit 305, the least square method is used for solving M_{R_D}Further calculate M_R＝T_DM_{R_D}；

The measuring unit 305 measures the coordinates P of the measuring point 306 on the rocket transport vehicle 1_{2i_observe}And i is 1 to K, establishing a plurality of mapping relations: m_{O_D}＝T_OiP_{1i_observe}，M_{O_D}For the pose of the rocket 4 rotation axis in the fourth coordinate system of the measuring unit 305, the least square method is used for solving M_{O_D}Further calculate M_O＝T_DM_{O_D}；

And calculating the pose of the rocket 4 in a fourth coordinate system of the measuring unit 305 after the axis of the rocket 4 rotates by 90 degrees around the rotation axis of the rocket 4: m_{R_90}＝Rotate(M_R，M_O)；

After the launching pad 2 is butted in place with the rocket transport vehicle 1, theoretically M is_{R_90}Should be in contact with the target position M_FAnd establishing an automatic control system to adjust the position of the transfer trolley 6, and automatically driving the launching platform 2 to move to be in butt joint with the rocket transport vehicle 1.

Referring to fig. 19 to 21, the launch method of the launch vehicle 4 further requires a transfer vehicle 6 to be used for the launch device of the launch vehicle 4. The positioning structure 3 comprises a plurality of measuring points 306 arranged at the rear beam 104 of the rocket transporter 1 and the tail part of the rocket 4 and a measuring unit 305 arranged on the transfer trolley 6, and the launching platform 2 is butted with the rocket transporter 1 by a third butting method, wherein the third butting method comprises the following steps;

401. a first coordinate system is preset on the launching pad 2, a second coordinate system is preset on the rocket 4, a third coordinate system is preset on the back beam 104 of the rocket transporter 1, and a fourth coordinate system is preset on the measuring unit 305.

402. Presetting the position and posture of the axis of the launching platform 2 as M_FRocket with 4 axis position of M_RThe position and attitude of the rotation axis (i.e. the axis of the rotating shaft 103) of the rocket 4 is M_O。

403. Calculating a conversion matrix T between the fourth coordinate system of the measuring unit 305 and the first coordinate system according to the design size or the measured size_D。

404. Calculating the lower position M of the axis pose of the launching platform 2 in the first coordinate system according to the design size or the measured size_F。

405. The tail of the rocket 4 is provided with N measuring points 306, and the coordinate of each measuring point 306 and the axial pose of the rocket 4 can be calibrated in advance: m_{R_cali}＝T_RiP_{1i_cali}，i＝1～N，T_RiFor the position and attitude transformation matrix of the measuring point 306 and the rocket 4 axis, M_{R_cali}Is the position of rocket axis 4 under the second coordinate system, P_{1i_cali}For each measurement point 306 coordinate in the second coordinate system, T is the coordinate of each measurement point 306 at the tail of the rocket 4 and the position of the rocket 4 are relatively fixed, T_RiRemain unchanged.

406. The rear beam 104 of the rocket transporter 1 is provided with K measuring points 306, and the coordinate of each measuring point 306 is connected with the rotating shaft of the rocket 4The line pose can be calibrated in advance: m_{O_cali}＝T_OiP_{2i_cali}，i＝1～K，T_OiFor the position and attitude transformation matrix of the measuring point 306 and the rocket 4 axis, M_{O_cali}Is the position and posture of the rotating axis of the rocket 4 under a third coordinate system, P_{2i_cali}For each measuring point 306 coordinate in the third coordinate system, T is the position of each measuring point 306 coordinate on the rocket transporter 1 relative to the rotating axis of the rocket 4_OiRemain unchanged.

407. The measurement unit 305 measures the coordinates P of the rocket 4 tail measurement point 306_{1i_observe}And i is 1 to N, establishing a plurality of mapping relations: m_{R_D}＝T_RiP_{1i_observe}，M_{R_D}For the pose of the rocket 4 axis in the fourth coordinate system of the measuring unit 305, the least square method is used for solving M_{R_D}Further calculate M_R＝T_DM_{R_D}。

408. The measuring unit 305 measures the coordinates P of the measuring point 306 on the rear beam 104 of the rocket transporter 1_{2i_observe}And i is 1 to K, establishing a plurality of mapping relations: m_{O_D}＝T_OiP_{1i_observe}，M_{O_D}For the attitude of the axis of rotation of rocket 4 (i.e., the axis of rotation shaft 103) in the fourth coordinate system of measuring unit 305, M is solved using the least square method_{O_D}Further calculate M_O＝T_DM_{O_D}。

409. Calculating the pose of the rocket 4 in the fourth coordinate system of the measuring unit 305 after the axis of the rocket 4 rotates by 90 degrees around the rotation axis of the rocket 4 (namely the axis of the revolving shaft 103): m_{R_90}＝Rotate(M_R，M_O)。

410. After the launching pad 2 is butted in place with the rocket transport vehicle 1, theoretically M is_{R_90}Should be in contact with the target position M_FSimilarly, an automatic control system is established to adjust the position of the transfer trolley 6, and the launching platform 2 is automatically driven to move to be in butt joint with the back beam 104 of the rocket transporter 1.

The arrangement is that the measurement unit 305 measures a plurality of measurement points 306, so that the transfer trolley 6 is automatically controlled to drive the launching platform 2 to move, and the launching platform 2 is automatically butted with the rocket transport vehicle.

In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.