CN114261924B - Device for installing erection cylinder and rocket erection system - Google Patents
Device for installing erection cylinder and rocket erection system Download PDFInfo
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- CN114261924B CN114261924B CN202111399347.4A CN202111399347A CN114261924B CN 114261924 B CN114261924 B CN 114261924B CN 202111399347 A CN202111399347 A CN 202111399347A CN 114261924 B CN114261924 B CN 114261924B
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Abstract
The invention provides a device for installing a erection cylinder and a rocket erection system, wherein the device comprises: the chassis is fixed on the ground through a fixing piece, a lifting bracket is arranged on the chassis, and one end of the lifting bracket is hinged with the chassis 1 through a first hinge seat. The chassis is provided with a lifting oil cylinder, and two ends of the lifting oil cylinder are respectively connected with the chassis and the lifting bracket and used for lifting the lifting bracket. The other end of the lifting bracket is provided with a moving mechanism, the moving mechanism is movably connected with an oil cylinder bracket through a second hinge shaft seat, and the oil cylinder bracket is used for supporting and lifting the vertical oil cylinder. One end of the lifting oil cylinder is movably connected to a third hinge seat on the fixed ground, and the third hinge seat is positioned at one side of the lifting bracket connected with the first hinge seat. The device is easy to operate, can realize the transverse adjustment of the erection cylinder, and ensures the connection precision of the erection cylinder. In addition, the device adopts automatic control, thereby greatly saving labor and shortening the preparation time for emission.
Description
Technical Field
The invention relates to the technical field of rocket erection frames, in particular to a device for installing an erection cylinder and a rocket erection system.
Background
In recent years, with the development of aerospace technology, particularly the explosion of commercial aerospace in recent years, a certain large-scale bundled liquid carrier rocket in our company adopts a three-flat-one-vertical shooting mode, namely a horizontal assembly, horizontal transfer, horizontal test and vertical shooting mode. The binding type liquid rocket is the rocket which is the rocket with the largest domestic mass and the largest size and is launched in a three-flat-one-vertical mode, so that the vertical frame matched with the rocket is also the vertical equipment with the largest domestic mass. Based on the technology in China at present, a large-scale multistage hydraulic cylinder is required to be used as an execution element for erection, so that the erection frame with the rocket is in a state of being erected from horizontal to vertical. Because the lower hinge point of the lifting oil cylinder falls to the ground, the lower hinge point can be connected with the oil cylinder seat hinge shaft of the launching station in advance, and the upper hinge point is required to wait until the lifting frame carries the fire arrow to transfer to the launching station, and the connection is carried out after the butt joint with the rotating shaft of the launching station is completed. Because the weight of the lifting oil cylinder is large, the oil cylinder needs to be lifted by a crane. The lifting device is limited by the installation space of the lifting frame, so that a plurality of inconveniences exist in lifting, the lifting precision is poor, the lower hinge point of the oil cylinder is connected by a joint bearing, a certain amount of shaking exists, the lifting device is not suitable for precise shaft penetrating installation operation of the upper hinge point of the lifting oil cylinder, and the lifting oil cylinder is damaged to a certain extent.
Therefore, a device for installing the erection cylinder, which is simple to operate, can stably support the cylinder, can realize accurate positioning, ensures reliable connection of the erection cylinder, improves the installation efficiency and shortens the preparation time for launching, is needed by a person skilled in the art.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a device for installing a vertical oil cylinder. The device is easy to operate, the erection process is stable and reliable, the transverse adjustment of the erection cylinder can be realized, the connection precision of the erection cylinder is ensured, the automation control is greatly labor-saving, and the preparation time for emission is shortened.
The invention provides a device for installing an erection cylinder, which comprises: the chassis 1 is fixed on the ground through a fixing piece, the chassis 1 is provided with a lifting bracket 2, one end of the lifting bracket 2 is hinged with the chassis 1 through a first hinge seat 3, and the lifting bracket 2 is used for rotating around the first hinge seat 3; the chassis 1 is provided with a fifth hinge seat 20, the fifth hinge seat 20 is movably connected with the fixed end of a lifting oil cylinder 21, and the telescopic end of the lifting oil cylinder 21 is movably connected with the other end of the lifting bracket 2 for lifting the lifting bracket 2; the other end of the lifting bracket 2 is provided with a moving mechanism which is used for transverse and longitudinal displacement; the moving mechanism is movably connected with an oil cylinder bracket 5 through a second hinge seat 4, and the oil cylinder bracket 5 is rotatably arranged around the second hinge seat 4 at the middle position of the bottom and is used for supporting and lifting the vertical oil cylinder 6 and compensating the angle change of the vertical oil cylinder 6 in the vertical process; one end of the erection cylinder 6 is movably connected to a third hinge seat 7 on the fixed ground, and the other end is arranged on the cylinder bracket 5.
In an embodiment of the invention, the moving mechanism comprises a longitudinal guide rail 8, wherein the longitudinal guide rail 8 is arranged along the longitudinal direction of the lifting bracket 2, and a longitudinal moving bracket 9 is arranged on the longitudinal guide rail 8 and used for translating along the longitudinal guide rail 8; a transverse guide rail 10 is arranged on the longitudinal movement bracket 9, and the transverse guide rail 10 is perpendicular to the longitudinal guide rail 8; the transverse guide rail 10 is provided with a transverse moving bracket 11, and the transverse moving bracket 11 translates along the transverse guide rail 10.
Further, both ends of the longitudinal rail 8 and the lateral rail 10 are provided with stoppers 12 for restricting the moving positions of the longitudinal carriage 9 and the lateral carriage 11.
In the embodiment of the invention, the upper surface of the vertical movement bracket 9 is provided with a mounting seat 13, the mounting seat 13 is provided with a driving mechanism 14, and the driving mechanism 14 is used for moving the horizontal movement bracket 11.
In one embodiment, the driving mechanism 14 is a screw rod, and two ends of the screw rod are rotatably connected to the mounting seat 13; a screw nut is fixed at the bottom of the transverse moving bracket 11, the screw nut is positioned between the two mounting seats 13, and the screw is in threaded connection with the screw nut and is used for driving the transverse moving bracket 11 to translate along the transverse guide rail 10.
In one embodiment, the driving mechanism 14 is a hydraulic cylinder or an electric cylinder, the fixed end of the hydraulic cylinder or the electric cylinder is fixed on the mounting seat 13, and the telescopic end of the hydraulic cylinder or the electric cylinder is connected to the bottom of the traversing carriage 11 and is used for driving the traversing carriage 11 to translate along the transverse guide rail 10.
In the embodiment of the invention, the chassis 1 is further provided with a supporting block 15, and the supporting block 15 is used for supporting the lifting bracket 2.
In the embodiment of the invention, at least one clamp 16 is arranged on the cylinder bracket 5 for fixing the erection cylinder 6 on the cylinder bracket 5.
The invention provides a rocket erection system, which comprises: the device for installing the erection cylinder, the erection cylinder 6 and the erection frame 17, wherein one end of the erection cylinder 6 is connected with a third hinge seat 7 fixed on the ground, and the other end is lifted by the device for installing the erection cylinder and is connected with a fourth hinge seat 18 on the erection frame 17.
Further, pin shaft limiting plates 19 are arranged on the side walls of the third hinge shaft seat 7 and the fourth hinge shaft seat 18 and used for limiting pin shaft displacement.
According to the above embodiment, the device for installing the erection cylinder provided by the invention has the following advantages: compared with the prior art, the device for installing the erection cylinder is high in installation accuracy, simple to operate and high in installation efficiency. The transverse and longitudinal adjusting structure can realize transverse adjustment of the erection cylinder in the erection process, so that an upper connecting point of the erection cylinder is accurately connected to the erection frame, reliable connection of an upper hinge point pin shaft of the erection cylinder is ensured, and the installation efficiency is improved. In addition, the guide rail structure can realize self-adaptive linkage in the erection process, and the stability and reliability in the erection process are ensured. The device can stably support the lifting oil cylinder, the oil cylinder is used as a lifting power source, labor can be greatly saved through automatic control, the preparation time for rocket launching is shortened, and the launching efficiency is improved.
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 scope 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 structural view of a device for installing a erection cylinder according to the present invention.
Fig. 2 is a partial enlarged view at a in fig. 1.
Fig. 3 is a first usage state diagram of a device for installing an erection cylinder.
Fig. 4 is a second usage state diagram of a device for installing an erection cylinder.
Fig. 5 is a third use state diagram of a device for installing an erection cylinder.
Reference numerals illustrate:
1-chassis, 2-lifting bracket, 3-first hinge seat, 4-second hinge seat, 5-cylinder bracket,
The hydraulic lifting device comprises a 6-lifting oil cylinder, a 7-third hinge seat, an 8-longitudinal guide rail, a 9-longitudinal moving bracket, a 10-transverse guide rail, an 11-transverse moving bracket, a 12-limiting block, a 13-mounting seat, a 14-driving mechanism, a 15-supporting block, a 16-clamp, a 17-lifting frame, a 18-fourth hinge seat, a 19-limiting plate, a 20-fifth hinge seat and a 21-lifting oil cylinder.
Detailed Description
Various exemplary embodiments of the invention will now be described in detail, which should not be considered as limiting the invention, but rather as more detailed descriptions of certain aspects, features and embodiments of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the invention described herein without departing from the scope or spirit of the invention. Other embodiments will be apparent to those skilled in the art from consideration of the specification of the present invention. The specification and examples are exemplary only.
The invention provides a device for installing an erection cylinder. Fig. 1 shows a structural diagram of the device. In a specific embodiment of the invention, the device comprises: the chassis 1, the chassis 1 is fixed to the ground by means of fixing elements, preferably anchor bolts. The chassis 1 is provided with a lifting bracket 2, and one end of the lifting bracket 2 is hinged with the chassis 1 through a first hinge seat 3 and is used for enabling the lifting bracket 2 to rotate around the first hinge seat 3. As shown in fig. 1, the chassis 1 and the lifting bracket 2 are generally rectangular, and the long sides are all arranged in the same direction.
The chassis 1 is provided with a fifth hinge seat 20, and the fifth hinge seat 20 is movably connected with a fixed end of the lifting oil cylinder 21, namely the lifting oil cylinder 21 can rotate around the fifth hinge seat 20. In addition, the telescopic end of the lifting cylinder 21 is movably connected, i.e. hinged, with the other end of the lifting bracket 2 for lifting the lifting bracket 2.
The other end of the lifting carriage 2 is arranged on a displacement mechanism for lateral and longitudinal displacement. The moving mechanism is movably connected with the oil cylinder bracket 5 through a second hinge seat 4, and the second hinge seat 4 is arranged at the bottom of the oil cylinder bracket 5 and positioned at two sides of the middle position. The cylinder bracket 5 can rotate back and forth along the longitudinal direction of the lifting bracket 2 around the second hinge seat 4, and the cylinder bracket 5 is used for supporting and lifting the vertical cylinder 6 and compensating the angle change of the vertical lifting process of the vertical cylinder 6. In the process of lifting the erection cylinder 6, the cylinder bracket 5 can adaptively rotate, so that the situation that the cylinder bracket 5 is blocked with the erection cylinder 6 in the erection process is avoided. In addition, one surface of the cylinder bracket 5, which is in contact with the erection cylinder 6, is of an inner groove structure and is used for lifting and limiting the erection cylinder 6, so that the erection cylinder 6 is prevented from rolling on the cylinder bracket 5.
One end of the erection cylinder 6 is movably connected to a third hinge seat 7 on the fixed ground, and the other end is arranged on the cylinder bracket 5. The third hinge seat 7 is located on the side of the lifting bracket 2 that connects to the first hinge seat 3, i.e. on the centre line in the longitudinal direction of the lifting bracket 2.
In a specific embodiment of the invention, as shown in fig. 2, the displacement mechanism comprises a longitudinal rail 8, which longitudinal rail 8 is arranged in the longitudinal direction of the lifting bracket 2, i.e. along the long sides of the lifting bracket 2. The longitudinal guide rail 8 is provided with a longitudinal movement bracket 9, and the bottom of the longitudinal movement bracket 9 is connected with the longitudinal guide rail 8 in a sliding way through a sliding block and is used for translating the longitudinal movement bracket 9 along the longitudinal guide rail 8. Generally, at least two longitudinal rails 8 are provided on the lifting carriage 2, so that the longitudinal movement of the longitudinal movement carriage 9 is more stable.
The longitudinal bracket 9 is provided with a transverse guide rail 10, and the transverse guide rail 10 is perpendicular to the longitudinal guide rail 8. The transverse guide rail 10 is provided with a transverse moving bracket 11, and the bottom of the transverse moving bracket 11 is connected with the transverse guide rail 10 in a sliding way through a sliding block and is used for translating the transverse moving bracket 11 along the transverse guide rail 10. Generally, at least two transverse guide rails 10 are arranged on the longitudinal moving bracket 9, so that the transverse moving bracket 11 moves more stably. In addition, the second hinge seat (4) is arranged on the transverse moving bracket 11, the second hinge seat (4) is movably connected with the oil cylinder bracket (5), and the oil cylinder bracket (5) can rotate around the second hinge seat (4) by a certain angle.
In addition, both ends of the longitudinal guide rail 8 and the transverse guide rail 10 are provided with limiting blocks 12 for limiting the moving positions of the longitudinal moving bracket 9 and the transverse moving bracket 11, and preventing the longitudinal moving bracket 9 or the transverse moving bracket 11 from derailing in the process of translation.
In the specific embodiment of the invention, the upper surface of the longitudinal bracket 9 is provided with a mounting seat 13, the mounting seat 13 is provided with a driving mechanism 14, and the driving mechanism 14 is used for driving the transverse bracket 11 to move on the transverse guide rail 10, and the transverse position of the transverse bracket 11 is adjusted in the process of lifting the vertical oil cylinder 6.
In one embodiment, the driving mechanism 14 is a screw rod, two mounting seats 13 are arranged along the direction of the transverse guide rail 10, and two ends of the screw rod are rotatably connected to the mounting seats 13. The bottom of the traversing bracket 11 is provided with a connecting piece with a threaded hole, a screw rod passes through the threaded hole of the connecting piece to be in threaded connection with the connecting piece, and the traversing bracket 11 is driven to translate along the transverse guide rail 10 by rotating the screw rod. In addition, in order to make the screw driving process smooth, the screw is disposed in parallel with the lateral guide rail 10. The screw can realize a self-locking function, and the traversing bracket 11 can be fixed on the transverse line guide rail 10 when the screw is not rotated.
In another embodiment, the driving mechanism 14 is a hydraulic cylinder or an electric cylinder, and a mounting seat 13 is disposed along the traversing direction of the transverse guide rail 10. The fixed end of the hydraulic cylinder or the electric cylinder is fixed on the mounting seat 13, and the telescopic end of the hydraulic cylinder or the electric cylinder is connected to the bottom of the traversing bracket 11 and is used for driving the traversing bracket 11 to translate along the transverse guide rail 10. In addition, in order to stabilize the translation process of the traverse carriage 11, the extension direction of the telescopic end of the hydraulic cylinder or the electric cylinder is parallel to the traverse rail 10.
In the specific embodiment of the invention, the chassis 1 is further provided with a supporting block 15, and the supporting block 15 is used for supporting the lifting bracket 2. The lifting bracket 2 is kept in a horizontal position in the initial position.
In a specific embodiment of the present invention, in order to avoid separation of the erection cylinder 6 from the cylinder bracket 5 during lifting of the erection cylinder 6, at least one clip 16 is provided on the cylinder bracket 5 for fixing the erection cylinder 6 to the cylinder bracket 5.
In the specific embodiment of the invention, when the device for installing the erection cylinder lifts the erection cylinder 6 to the installation position, the other end of the erection cylinder 6 is connected to the fourth hinge base 18 on the erection frame 17.
In the specific embodiment of the invention, the side walls of the third hinge seat 7 and the fourth hinge seat 18 are provided with the pin shaft limiting plates 19 for limiting the pin shaft displacement, so that the pins on the third hinge seat 7 and the fourth hinge seat 18 are prevented from falling off in the using process of the erection cylinder 6.
Fig. 3 is a state diagram showing the initial position of the device for installing the erection cylinder. Firstly, the lifting oil cylinder 6 and the third hinge seat 7 are mounted in place in advance, then the chassis 1 is fixed on the ground of the launching station through foundation bolts, and the lower part of the lifting bracket 2 is supported through the supporting block 15, so that the lifting bracket 2 is in a horizontal state. The erection cylinder 6 is placed on the cylinder bracket 5, and the erection cylinder 6 and the cylinder bracket 5 are fixed together through the clamp 16, so that the erection cylinder 6 is supported by the cylinder bracket 5 and the third hinge seat 7. In addition, in the initial position, the highest point of the erection cylinder 6 is lower than the lower plane of the erection frame 17, so that the erection frame 17 is ensured not to interfere when docking the launching platform.
Fig. 4 is a state diagram showing the device for installing the erection cylinder lifting the erection cylinder to a fixed position. During lifting, the lifting oil cylinder 21 is controlled to extend to jack up the lifting bracket 2. During the lifting of the lifting carriage 2, the longitudinal movement carriage 9 slides upwards along the longitudinal guide rail 8 and simultaneously drives the traversing carriage 11 and the cylinder carriage 5 to move upwards together. Because the upper part of the erection cylinder 6 and the cylinder bracket 5 are fixedly restrained together through the clamp 16, the cylinder bracket 5 drives the erection cylinder 6 to lift around the third hinge seat 7, and the cylinder bracket 5 rotates around the second hinge seat 4 to compensate the angle change in the lifting process of the erection cylinder 6. When the hinge point at the upper end of the lifting oil cylinder 6 rises to the vicinity of the fourth hinge seat 18, the lifting bracket 2 can be stopped at any position by controlling the lifting oil cylinder 21.
In the lifting process of the lifting oil cylinder 6, as the hinge point at the lower end of the lifting oil cylinder 6 is connected by a joint bearing, and a certain gap exists between the lifting oil cylinder 6 and the third hinge seat 7, a certain movement deviation exists in the lifting process of the lifting bracket 2, so that the hinge point at the upper end of the lifting oil cylinder 6 is not positioned at the right center of the fourth hinge seat 18. At this time, the hand wheel at the tail end of the screw rod is rotated or the hydraulic cylinder or the electric cylinder is started to enable the transverse moving bracket 11 to move left and right, and meanwhile, the upper end hinge points of the oil cylinder bracket 5 and the erection oil cylinder 6 are driven to move left and right until the upper end hinge point of the erection oil cylinder 6 is positioned at the center of the fourth hinge shaft seat 18. And starting the lifting oil cylinder 21 again, enabling an earring of a hinge point at the upper end of the lifting oil cylinder 6 to be concentric with a pin shaft hole of the fourth hinge shaft seat 18, and inserting a pin shaft for fixing. Finally, a limiting plate 19 is installed, so that the pin shaft cannot fall off from the fourth hinge seat 18.
As shown in fig. 5, after the erection cylinder 6 is installed, the lifting cylinder 21 is retracted to drive the lifting bracket 2 to fall back to the initial position.
The foregoing is merely illustrative of the embodiments of this invention and any equivalent and equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this invention.
Claims (4)
1. An apparatus for installing a lift cylinder, the apparatus comprising: the chassis (1), the chassis (1) is fixed on the ground through a fixing piece, the chassis (1) is provided with a lifting bracket (2), one end of the lifting bracket (2) is hinged with the chassis (1) through a first hinge seat (3) and is used for enabling the lifting bracket (2) to rotate around the first hinge seat (3);
a fifth hinge seat (20) is arranged on the chassis (1), the fifth hinge seat (20) is movably connected with the fixed end of the lifting oil cylinder (21), and the telescopic end of the lifting oil cylinder (21) is movably connected with the other end of the lifting bracket (2) and is used for lifting the lifting bracket (2);
a moving mechanism is arranged at the other end of the lifting bracket (2) away from the chassis (1), and is used for transverse and longitudinal displacement;
the moving mechanism is movably connected with an oil cylinder bracket (5) through a second hinge seat (4), and the oil cylinder bracket (5) is rotatably arranged around the second hinge seat (4) at the middle position of the bottom and is used for supporting and lifting the vertical oil cylinder (6) and compensating the angle change of the vertical oil cylinder (6) in the vertical process;
one end of the erection cylinder (6) is movably connected to a third hinge seat (7) on the fixed ground, and the other end is arranged on the cylinder bracket (5);
the moving mechanism comprises a longitudinal guide rail (8), wherein the longitudinal guide rail (8) is arranged along the longitudinal direction of the lifting bracket (2), and a longitudinal moving bracket (9) is arranged on the longitudinal guide rail (8) and is used for translating along the longitudinal guide rail (8);
a transverse guide rail (10) is arranged on the longitudinal moving bracket (9), and the transverse guide rail (10) is perpendicular to the longitudinal guide rail (8);
a transverse moving bracket (11) is arranged on the transverse guide rail (10), and the transverse moving bracket (11) translates along the transverse guide rail (10);
during the lifting of the lifting carriage (2), the longitudinally moving carriage (9) slides upwards along the longitudinal guide rail (8);
limiting blocks (12) are arranged at two ends of the longitudinal guide rail (8) and the transverse guide rail (10) and used for limiting the moving positions of the longitudinal moving bracket (9) and the transverse moving bracket (11);
the upper surface of the longitudinal moving bracket (9) is provided with a mounting seat (13), the mounting seat (13) is provided with a driving mechanism (14), and the driving mechanism (14) is used for moving the transverse moving bracket (11);
the driving mechanism (14) is a screw rod, and two ends of the screw rod are rotatably connected to the mounting seat (13);
a screw rod nut is fixed at the bottom of the transverse moving bracket (11), the screw rod nut is positioned between the two mounting seats (13), and the screw rod is in threaded connection with the screw rod nut and is used for driving the transverse moving bracket (11) to translate along the transverse guide rail (10);
the chassis (1) is further provided with a supporting block (15), and the supporting block (15) is used for supporting the lifting bracket (2).
2. Device for mounting a lifting cylinder according to claim 1, characterized in that the cylinder carrier (5) is provided with at least one clamp (16) for fixing the lifting cylinder (6) to the cylinder carrier (5).
3. A rocket erection system, comprising: the device for mounting a erection cylinder, the erection cylinder (6) and the erection frame (17) according to any one of claims 1 to 2, wherein,
one end of the erection cylinder (6) is connected with a third hinge seat (7) fixed on the ground, and the other end of the erection cylinder is lifted by the device for installing the erection cylinder and is connected with a fourth hinge seat (18) on the erection frame (17).
4. A rocket erection system according to claim 3 wherein the third hinge base (7) and the fourth hinge base (18) are provided with pin limiting plates (19) on their side walls for limiting pin displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111399347.4A CN114261924B (en) | 2021-11-24 | 2021-11-24 | Device for installing erection cylinder and rocket erection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111399347.4A CN114261924B (en) | 2021-11-24 | 2021-11-24 | Device for installing erection cylinder and rocket erection system |
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| Publication Number | Publication Date |
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| CN114261924A CN114261924A (en) | 2022-04-01 |
| CN114261924B true CN114261924B (en) | 2023-06-09 |
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| CN202111399347.4A Active CN114261924B (en) | 2021-11-24 | 2021-11-24 | Device for installing erection cylinder and rocket erection system |
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| CN114674176B (en) * | 2022-04-06 | 2022-12-27 | 东方空间技术(山东)有限公司 | Erecting frame |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2176610C1 (en) * | 2000-12-28 | 2001-12-10 | Федеральное государственное унитарное предприятие "Конструкторское бюро специального машиностроения" | Device for loading transportation-and-launching container into shipboard launcher |
| CN103090749B (en) * | 2011-11-01 | 2016-01-13 | 北京航天发射技术研究所 | For launching tube with play perpendicular hydraulic cylinder and disconnect or the coupling arrangement that connects and method |
| CN202547505U (en) * | 2011-11-01 | 2012-11-21 | 北京航天发射技术研究所 | Loading alignment equipment with bidirectional adjustments |
| CN205138343U (en) * | 2015-11-27 | 2016-04-06 | 贵州航天天马机电科技有限公司 | Play to erect hydraulic control system that diversion is stabilized to frame |
| CN105332351B (en) * | 2015-12-01 | 2017-11-14 | 蒋佳 | A kind of multifunctional vehicle mounted folding arm platform of highway barrier construction |
| CN105910494A (en) * | 2016-06-29 | 2016-08-31 | 贵州航天天马机电科技有限公司 | Stable erection and rapid back-falling electrical control system of rocket erection device |
| CN108946603B (en) * | 2018-08-24 | 2020-06-19 | 北京航天发射技术研究所 | Large-scale erecting oil cylinder rapid erecting conversion device |
| CN111301714B (en) * | 2020-03-05 | 2021-05-07 | 北京中科宇航技术有限公司 | Rocket erecting system |
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