摘要：【中文】本发明公开了一种用于约束半挂车与牵引车连接线的随动机构，包括：转臂、束卡和限位组件，转臂为L型，其竖直段安装在半挂车车架上，限位组件用于对转臂限位，使其只具备绕自身竖直段轴向转动的自由度；所述束卡一端卡套在转臂的水平段，另一端用于约束连接线；该随动机构实现了将半挂车与牵引车之间连接线可转动的约束在一起，能够避免牵引车极限转弯时各连接线路互相干涉或与半挂车的车架结构干涉，结构简单，方便使用。 【EN】The invention discloses a follow-up mechanism for restraining a connecting line between a semitrailer and a tractor, which comprises: the device comprises a rotating arm, a binding clip and a limiting assembly, wherein the rotating arm is L-shaped, the vertical section of the rotating arm is arranged on a frame of the semitrailer, and the limiting assembly is used for limiting the rotating arm so that the rotating arm only has axial rotation freedom around the vertical section of the rotating arm; one end of the beam clamp is clamped and sleeved on the horizontal section of the rotating arm, and the other end of the beam clamp is used for restraining a connecting wire; this servo mechanism has realized with the rotatable restraint of connecting wire between semitrailer and the tractor together, and each interconnecting link interferes each other or interferes with the frame structure of semitrailer when can avoiding tractor limit to turn, simple structure facilitates the use.

摘要：【中文】本发明涉及一种遮障装置，具体涉及一种遮障装置的屋架。一种穹顶屋架，包括：七榀弧形架；七榀弧形架中的第一至第四榀通过直杆接头与弧形架基座铰接，七榀弧形架中的第五至第七榀通过弧形接头与弧形架基座铰接，使七榀弧形架中的第一至第七榀弧形架的旋转中心均位于弧形架基座上。本发明中的屋架七榀弧形架中的第五至第七榀通过弧形接头与弧形架基座铰接，保证了屋架结构能够顺利收拢展开的同时，避免了各弧形架间的相对横向位移引起的膜材撕扯与损伤，提高了整个遮障装置的使用寿命。同时，本发明还公开了一种基于该穹顶屋架的托盘式机械化遮障装置。 【EN】The invention relates to a barrier shielding device, in particular to a roof truss of the barrier shielding device. A dome roof truss comprising: seven arc frames; and the first to fourth arc-shaped frames of the seven arc-shaped frames are hinged with the arc-shaped frame base through straight rod joints, and the fifth to seventh arc-shaped frames of the seven arc-shaped frames are hinged with the arc-shaped frame base through arc-shaped joints, so that the rotating centers of the first to seventh arc-shaped frames of the seven arc-shaped frames are all positioned on the arc-shaped frame base. The fifth to seventh arc-shaped frames of the seven roof truss are hinged with the arc-shaped frame base through the arc-shaped joints, so that the roof truss structure can be smoothly folded and unfolded, membrane material tearing and damage caused by relative transverse displacement among the arc-shaped frames are avoided, and the service life of the whole barrier device is prolonged. Meanwhile, the invention also discloses a tray type mechanical barrier shielding device based on the dome roof truss.

摘要：【中文】本发明公开了一种助推器与芯级火箭捆绑对接水平对接调节系统及方法，属于运载火箭地面保障装备技术领域。该系统包括运输车、起竖臂、起吊调节装置、前支撑调节装置、后支撑调节装置和回转式发射台；回转式发射台下部与地面固接，上部可与芯级火箭的底部固接，可带动芯级火箭绕其轴线360°旋转；起吊调节装置安装在起竖臂上并同时连接助推器上的主吊点，实现助推器的位置姿态主动调整；同时，前、后支撑调节装置采集水平对接调节装置的位移信号，实现两处支撑位置的水平面内X、Y两个方向跟随移动，最终实现助推器的水平位置调整。本发明能够实现助推器捆绑点与芯级火箭捆绑点在水平面的X、Y两个方向的精确和快速对接。 【EN】The invention discloses a booster and core-level rocket binding butt joint horizontal butt joint adjusting system and method, and belongs to the technical field of ground support equipment of carrier rockets. The system comprises a transport vehicle, a lifting arm, a lifting adjusting device, a front support adjusting device, a rear support adjusting device and a rotary launching platform; the lower part of the rotary launching pad is fixedly connected with the ground, the upper part of the rotary launching pad can be fixedly connected with the bottom of the core-level rocket, and the rotary launching pad can drive the core-level rocket to rotate 360 degrees around the axis of the core-level rocket; the lifting adjusting device is arranged on the vertical arm and is simultaneously connected with a main lifting point on the booster, so that the position and the posture of the booster are actively adjusted; meanwhile, the front and rear supporting and adjusting devices collect displacement signals of the horizontal butt joint adjusting device, X, Y in the horizontal plane of two supporting positions move along, and finally the horizontal position of the booster is adjusted. The invention can realize the accurate and rapid butt joint of the binding point of the booster and the core-level rocket in the X, Y two directions of the horizontal plane.

摘要：【中文】本发明公开了一种助推器与芯级火箭捆绑对接系统与方法，属于运载火箭地面保障装备技术领域。该系统包括运输车、起竖臂、起吊调节装置、前支撑调节装置、后支撑调节装置和回转式发射台；回转式发射台下部与地面固接，上部可与芯级箭体的底部固接，可带动芯级箭体绕其轴线360°旋转；起吊调节装置安装在起竖臂上并同时连接助推器上的主吊点，实现助推器的位置姿态主动调整；同时，前、后支撑调节系统采集起吊调节装置的位移信号，实现两处支撑位置的跟随移动，最终实现助推器的位置姿态调整。本发明通过助推运输起竖车上的调节装置配合旋转发射台实现助推器与芯级箭体的可靠快速捆绑对接。 【EN】The invention discloses a booster and core-level rocket binding and butt-joint system and method, and belongs to the technical field of ground guarantee equipment of carrier rockets. The system comprises a transport vehicle, a lifting arm, a lifting adjusting device, a front support adjusting device, a rear support adjusting device and a rotary launching platform; the lower part of the rotary launching platform is fixedly connected with the ground, the upper part of the rotary launching platform can be fixedly connected with the bottom of the core-level arrow body, and the rotary launching platform can drive the core-level arrow body to rotate 360 degrees around the axis of the core-level arrow body; the lifting adjusting device is arranged on the vertical arm and is simultaneously connected with a main lifting point on the booster, so that the position and the posture of the booster are actively adjusted; meanwhile, the front support adjusting system and the rear support adjusting system acquire displacement signals of the lifting adjusting device, so that the following movement of two support positions is realized, and finally the position posture adjustment of the booster is realized. The invention realizes reliable and rapid binding and butt joint of the booster and the core-level arrow body by matching the adjusting device on the boosting transport vertical lift vehicle with the rotary launching platform.

摘要：【中文】本发明公开了一种火箭分级水平对接四自由度调整装置，属于运载火箭地面发射保障装备技术领域。该装置包括抱臂机构、抱臂驱动装置、支撑座、旋转调节装置、顶升装置和横纵向调节装置；顶升装置安装在支撑座和横纵向调节装置之间，横纵向调节装置在驱动装置的驱动下实现水平面内横向和纵向的移动，顶升装置实现沿竖直方向顶升和下降支撑座，两个抱臂机构对称安装在支撑座的两端，抱臂机构在抱臂驱动装置的驱动下将火箭抱紧或松开；旋转调节装置安装在支撑座上，火箭坐落在旋转调节装置上，旋转调节装置驱动火箭绕自身的轴向旋转。本发明能够缩短分级火箭在库房内的组装时间，提高火箭装配效率。 【EN】The invention discloses a rocket stage horizontal butt joint four-degree-of-freedom adjusting device, and belongs to the technical field of ground launch guarantee equipment of carrier rockets. The device comprises an arm-holding mechanism, an arm-holding driving device, a supporting seat, a rotary adjusting device, a jacking device and a transverse and longitudinal adjusting device; the jacking device is arranged between the supporting seat and the transverse and longitudinal adjusting device, the transverse and longitudinal adjusting device realizes transverse and longitudinal movement in a horizontal plane under the driving of the driving device, the jacking device realizes jacking and descending of the supporting seat along the vertical direction, the two arm-embracing mechanisms are symmetrically arranged at two ends of the supporting seat, and the arm-embracing mechanisms are used for embracing or loosening the rocket under the driving of the arm-embracing driving device; the rotation adjusting device is installed on the supporting seat, the rocket is located on the rotation adjusting device, and the rotation adjusting device drives the rocket to rotate around the axial direction of the rocket. The invention can shorten the assembly time of the stage rocket in the storehouse and improve the rocket assembly efficiency.

摘要：【中文】本发明公开了一种多级火箭运输起竖车，属于航天地面保障装备技术领域。该保障车包括运输车、支撑调节系统、起竖臂总成、主起竖油缸、支撑座和升降系统；起竖臂总成的一端铰接在运输车的尾部，起竖臂的另一端的底部设有辅助支撑臂；主起竖油缸布置在起竖臂总成内侧；支撑调节系统安装在起竖臂总成上，具有对多级箭体的支撑、锁紧和四自由度调节功能，实现多级箭体之间、箭体与支撑座之间的对接；支撑座连接在起竖臂总成的尾部，可实现起竖后箭体垂直度调整并提供支撑；升降系统安装在起竖臂上，可将作业人员送至火箭前、后捆绑点处实现火箭连接。本发明的起竖车能对火箭实现运输转移，到达发射区后整体起竖，快速完成发射前起竖工作。 【EN】The invention discloses a multistage rocket transport and vertical lift truck, and belongs to the technical field of aerospace ground support equipment. The support vehicle comprises a transport vehicle, a support adjusting system, a vertical arm lifting assembly, a main vertical oil lifting cylinder, a support seat and a lifting system; one end of the vertical arm assembly is hinged to the tail of the transport vehicle, and the bottom of the other end of the vertical arm is provided with an auxiliary supporting arm; the main vertical lifting oil cylinder is arranged on the inner side of the vertical lifting arm assembly; the supporting and adjusting system is arranged on the vertical arm assembly, has the functions of supporting and locking the multi-stage arrow bodies and adjusting four degrees of freedom, and realizes the butt joint between the multi-stage arrow bodies and between the arrow bodies and the supporting seat; the supporting seat is connected to the tail part of the erecting arm assembly, so that the verticality adjustment of the rocket body after erecting can be realized and the support is provided; the lifting system is arranged on the vertical arm and can convey the operating personnel to the binding points in front of and behind the rocket to realize rocket connection. The vertical lift truck can transport and transfer rockets, integrally erects after reaching a launching area, and quickly finishes erecting work before launching.

摘要：【中文】本发明公开了一种多级火箭水平分段组装方法，属于航天地面保障装备技术领域。该方法首先调整运输保障车的纵向轴线与芯级箭体轴线保持平行；其次将芯一级箭体水平吊装至运输保障车上的四自由度水平对接装置上，利用四自由度水平对接装置调整芯一级箭体的姿态至预定姿态并固定；然后将芯二级箭体水平吊装至另一组四自由度水平对接装置，并通过对接装置调整芯二级箭体姿态，使之与芯一级箭体精准对接后固定，完成芯一级箭体与芯二级箭体的组装；重复前述过程依次完成芯级各箭体间的对接组装，最后将芯级箭体固定在车体上进行运输。本发明简化了整个火箭发射准备作业流程的复杂度，缩短了发射准备时间。 【EN】The invention discloses a horizontal sectional assembly method for a multi-stage rocket, and belongs to the technical field of aerospace ground support equipment. Firstly, adjusting the longitudinal axis of a transportation guarantee vehicle to be parallel to the axis of a core-level arrow body; secondly, horizontally hoisting the core first-stage arrow body to a four-degree-of-freedom horizontal butt joint device on a transport guarantee vehicle, and adjusting the posture of the core first-stage arrow body to a preset posture by using the four-degree-of-freedom horizontal butt joint device and fixing; then horizontally hoisting the core second-level arrow body to another group of four-degree-of-freedom horizontal butt joint device, adjusting the posture of the core second-level arrow body through the butt joint device, enabling the core second-level arrow body to be accurately butted with and then fixed, and completing the assembly of the core first-level arrow body and the core second-level arrow body; and repeating the processes to sequentially complete the butt joint assembly among the core-grade arrow bodies, and finally fixing the core-grade arrow bodies on the vehicle body for transportation. The invention simplifies the complexity of the whole rocket launching preparation operation flow and shortens the launching preparation time.

摘要：【中文】本发明公开了一种火箭运输起竖车起竖臂自适应调节系统，属于运载火箭地面发射保障装备技术领域。该调节系统包括前支撑装置、起竖臂和后支撑装置，外围设备为火箭的箭体，箭体通过前支撑装置和后支撑装置将箭体支撑并固定在起竖臂上，前支撑装置上具有两个铰接点，后支撑装置上具有一个铰接点，上述铰接点的转动方向为垂直于箭体的轴线方向，起竖臂、箭体、前支撑装置和后支撑装置组成一个四连杆机构，起竖过程中，箭体随着受力状态的变化自动绕着铰接点转动。本发明能够使起竖臂具备自适应调节功能，可避免由于起竖臂下挠变形对火箭产生附加弯矩。 【EN】The invention discloses a self-adaptive adjusting system for a vertical arm of a rocket transport vertical lift vehicle, and belongs to the technical field of ground launch guarantee equipment of carrier rockets. This governing system includes preceding strutting arrangement, it erects arm and back strutting arrangement to play, the peripheral is the rocket body of rocket, the rocket body supports and fixes the rocket body on playing and erecting the arm through preceding strutting arrangement and back strutting arrangement, two pin joints have on the preceding strutting arrangement, a pin joint has on the back strutting arrangement, the rotation direction of above-mentioned pin joint is the axis direction of the perpendicular to rocket body, play and erect the arm, the rocket body, a four-bar mechanism is constituteed to preceding strutting arrangement and back strutting arrangement, play and erect the in-process, the rocket body rotates round the pin joint along with stress state's change is automatic. The invention can enable the vertical arm to have the self-adaptive adjusting function and can avoid the additional bending moment generated to the rocket due to the downwarping deformation of the vertical arm.

摘要：【中文】本发明公开了一种助推器与芯级火箭捆绑对接垂直方位调节系统，属于运载火箭地面保障装备技术领域。该系统包括运输车、起竖臂、起吊调节装置、前支撑调节装置、后支撑调节装置和回转式发射台；回转式发射台下部与地面固接，上部与芯级火箭的底部固接，可带动芯级火箭绕其轴线360°旋转；起吊调节装置安装在起竖臂上并同时连接助推器上的主吊点，实现助推器的垂直位置姿态主动调整；同时，前、后支撑调节装置采集起吊调节装置的位移信号，实现两处支撑位置的跟随移动，最终实现助推器的垂直位置姿态调整。本发明能够实现助推器与芯级火箭在垂直方向的位置调节和快速对接。 【EN】The invention discloses a booster and core-level rocket binding butt joint vertical direction adjusting system, and belongs to the technical field of ground support equipment of carrier rockets. The system comprises a transport vehicle, a lifting arm, a lifting adjusting device, a front support adjusting device, a rear support adjusting device and a rotary launching platform; the lower part of the rotary launching pad is fixedly connected with the ground, the upper part of the rotary launching pad is fixedly connected with the bottom of the core-level rocket, and the rotary launching pad can drive the core-level rocket to rotate 360 degrees around the axis of the core-level rocket; the lifting adjusting device is arranged on the vertical arm and is simultaneously connected with a main lifting point on the booster, so that the vertical position and the posture of the booster are actively adjusted; meanwhile, the front and rear supporting and adjusting devices collect displacement signals of the lifting and adjusting device, the following movement of two supporting positions is realized, and finally the vertical position posture adjustment of the booster is realized. The invention can realize the position adjustment and the rapid butt joint of the booster and the core-level rocket in the vertical direction.

摘要：【中文】本发明公开了一种火箭起竖车吊点自动对中控制方法，该方法实现的步骤是首先建立空间坐标系，标定吊点的初始位置；然后通过坐标系平面内激光测距仪发出射线照射助推火箭表面的方式计算出助推火箭被激光测距仪测量的水平平面的圆心坐标；最后调整吊点移动至圆心坐标位置。本发明的方法能够提供对中过程中吊点与助推火箭轴线实时相对位置偏差，实现吊点与助推火箭快速对中，不需在助推火箭本身安装任何装置且满足准确定位。 【EN】The invention discloses a method for controlling automatic centering of a lifting point of a rocket lifting car, which comprises the steps of firstly establishing a space coordinate system and calibrating the initial position of the lifting point; then calculating the circle center coordinate of the horizontal plane of the booster rocket measured by the laser range finder in a mode that the laser range finder emits rays to irradiate the surface of the booster rocket in the plane of the coordinate system; and finally, adjusting the lifting point to move to the coordinate position of the circle center. The method can provide the real-time relative position deviation between the lifting point and the axis of the booster rocket in the centering process, realize the quick centering of the lifting point and the booster rocket, do not need to install any device on the booster rocket, and meet the requirement of accurate positioning.