A multi-pulse auto-charging solid rocket engine

Abstract

The application discloses a kind of multi-pulse automatic filling solid rocket engine, belong to solid rocket propulsion field.The application includes storage device, filling device and combustion device.Storage device includes first electric push rod, storage box, propellant grain, propellant grain feeder, propellant grain feeder rod, protrusion and propellant grain baffle.Storage device independently stores propellant.Cooperate with storage device through filling device, propellant in storage device is pushed into combustion device.The application solves the problem of multiple ignition start of solid rocket engine by ignition after filling, and increases the range by optimizing engine energy management.The application separates the combustion chamber and the storage box, can provide more than five times pulse thrust without increasing the size of the combustion chamber, realize the lightweight of propellant grain filling device, reduce the negative mass of the engine.The application provides pulse thrust multiple times, so that the missile can also provide thrust at the end of flight, improve the range, secrecy and penetration capability of the missile.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of multi-pulse automatic filling solid rocket engine, belong to solid rocket propulsion field. BACKGROUND

[0002] Solid rocket engine structure is simple, it is convenient to store, high safety, but solid rocket engine can not stop once starting.For the solid rocket engine of missile, often in the first half engine provides acceleration for missile, and only rely on inertia glide in the second half.

[0003] Current multi-pulse solid rocket engine often adds partition in combustion chamber, divides two sections and three sections, realizes multiple ignition.But this structure increases the structure size of combustion chamber, increases the negative mass of engine, and can not realize more ignition times.The existing filling multi-pulse engine (summer) combustion chamber size is too large, filling structure is complex, and reliability is not high.And, filling propellant needs to open combustion chamber repeatedly, and the existing device has not realized the dynamic seal of combustion chamber opening and the pre-tightening force required by seal. SUMMARY

[0004] In order to solve the problems that conventional solid rocket engine has short range, strong penetration ability and can not be started multiple times, the purpose of the present application is to provide a kind of multi-pulse automatic filling solid rocket engine, which solves the problem of multiple ignition of solid rocket engine by filling and then igniting, and increases the range by optimizing engine energy management.The combustion chamber and the propellant storage tank are separated in the present application, which can provide more than five pulse thrust without increasing the size of the combustion chamber, realize the lightweight of propellant filling device, and reduce the negative mass of the engine.The present application provides pulse thrust multiple times, so that the engine can also provide thrust at the end of flight, improve the range, stealth and penetration ability of missile.

[0005] The purpose of the present application is realized by the following technical scheme.

[0006] The present application discloses a kind of multi-pulse automatic filling solid rocket engine, including propellant storage device, filling device and combustion device.Propellant storage device independently stores propellant without expanding the volume of combustion chamber.By filling device and propellant storage device cooperate, propellant in propellant storage device is pushed into combustion device;By filling and then igniting, the problem of multiple ignition of solid rocket engine is solved, and the range is increased by optimizing engine energy management.Propellant is filled multiple times to achieve the purpose of multi-pulse, penetration and long range.

[0007] The storage device comprises a first electric push rod, a storage box, a cartridge, a delivery box, a delivery rod, a protrusion and a cartridge blocking plate. The cartridge is placed in the storage box; the cartridge is pushed into the delivery box by the first electric push rod, and the delivery box is connected with the delivery rod. The cartridge blocking plate is connected with the storage box; when the delivery box is in the initial position, the cartridge blocking plate is pressed to enable the cartridge to be sent from the storage box to the delivery box; when the delivery box is in the delivery process, the cartridge blocking plate rebounds to block the cartridge to prevent the cartridge from falling from the storage box, thereby achieving the storage of the cartridge.

[0008] The filling device comprises a motor screw rod, a linear motor, a track plate, a first connecting rod, a drawer, a second electric push rod, a locking block, a track plate connecting rod, a cartridge collecting rod, a second connecting rod, a third connecting rod and a groove. The track plate is provided with a track groove on an arc plate, the protrusion of the storage device moves along the track groove to achieve the purpose of delivery and recovery; a ratchet wheel is arranged on the track groove to enable the protrusion to move along the predetermined track groove. The drawer is composed of an upper cover and a multi-stage step structure, is in contact with the combustion device and realizes mechanical sealing; the cartridge collecting rod is fixedly installed at the center of the bottom of the drawer. The first connecting rod, the second electric push rod, the second connecting rod and the third connecting rod are fixed on the drawer; the second electric push rod drives the second connecting rod to move, and the first connecting rod and the third connecting rod are driven to move; the first connecting rod and the third connecting rod are respectively fixedly connected with the two locking blocks, and when the drawer is in contact with the combustion device, the locking blocks are rotated and clamped into the groove to realize locking. The motor screw rod moves in the linear motor; the motor screw rod is fixed on the drawer to pull the drawer as a whole. The drawer and the track plate connecting rod are used to fixedly connect the drawer and the track plate.

[0009] The combustion device comprises a combustion chamber and a nozzle; the nozzle is located at the bottom of the combustion chamber.

[0010] The track groove of the track plate is composed of a first track, a second track, a third track and a fourth track; the protrusion sequentially passes through the first track, the second track, the third track and the fourth track.

[0011] The track plate further comprises a first ratchet wheel and a second ratchet wheel. The first ratchet wheel is located at the junction of the first track and the fourth track, and the second ratchet wheel is located between the first track and the second track.

[0012] The rubber ring groove is located above the combustion chamber and plays a sealing role.

[0013] Four symmetrical grooves are formed on the cartridge collecting rod to facilitate the flow of gas.

[0014] A foam plate is attached to the bottom of the cartridge to prevent friction and explosion between the cartridges and to prevent danger.

[0015] The working method of the multi-pulse automatic loading solid rocket engine disclosed by the application is as follows: first, the second electric push rod is started to drive the second connecting rod to move, the second connecting rod drives the first connecting rod and the third connecting rod to move, and the locking block is opened to release the engine sealing pre-tightening force. The locking block is separated from the engine shell through the groove during the automatic loading process. Then the linear motor is started to drive the drawer and the trajectory plate fixedly connected thereto to realize the opening linear motion. The protrusion on the medicine feeding rod is always located in the track on the trajectory plate. When the linear motor is started, the protrusion moves along the first track first, at this time, the medicine feeding box is stationary, when the protrusion moves to the end of the first track and passes through the second ratchet, the linear motor is reversed, and the protrusion moves along the second track under the action of the second ratchet, at this time, the medicine feeding box rotates to the bottom of the medicine collecting rod. Then the protrusion moves along the third track, at this time, the medicine feeding box moves linearly to insert the propellant grain into the medicine collecting rod. Then the protrusion continues to move along the fourth track, at this time, the medicine box rotates to the original position, and the propellant grain remains in the medicine collecting rod. Then the protrusion passes through the first ratchet and continues to move along the first track to return to the initial position. Thus, one automatic loading is completed. The propellant grain loading device is lightened by separating the combustion chamber and the medicine storage box, and the negative mass of the engine is reduced

[0016] The four gas vent grooves opened on the medicine collecting rod ensure the gas flow during the combustion of the propellant grain.

[0017] When one loading is completed, the engine sealing structure is provided with a sealing pre-tightening force in the following manner: the second electric push rod is started in reverse to drive the second connecting rod to move, the second connecting rod drives the first connecting rod and the third connecting rod to move, and the locking block is closed to provide the engine sealing pre-tightening force.

[0018] When the medicine feeding box is below the medicine storage box, the medicine blocking plate is pressed to enable the propellant grain to be successfully fed into the medicine feeding box under the pushing of the first electric push rod. When the medicine feeding box is in the medicine feeding state, the medicine blocking plate is deformed to recover and block the propellant grain, so that the propellant grain cannot fall from the medicine storage box.

[0019] The problem of multiple ignition start of the solid rocket engine is solved by ignition after loading, the range is increased by optimizing the engine energy management, and the range, stealth and penetration ability of the missile are improved by providing multiple pulse thrust.

[0020] Advantages:

[0021] 1. The multi-pulse automatic loading solid rocket engine disclosed by the application independently stores the propellant without expanding the volume of the combustion chamber. The propellant in the medicine storage device is pushed into the combustion device by the cooperation of the loading device and the medicine storage device, and the propellant is loaded multiple times to achieve the purposes of multiple pulses, penetration and long range.

[0022] 2. The multi-pulse automatic loading solid rocket engine disclosed in the application, the propellant storage device cooperates with the automatic loading solid propellant through the propellant storage box, the propellant sending box and the propellant blocking plate, so that the grain can be stored in the propellant storage box and can be separated from the propellant storage box at a preset time and enter the propellant sending box. The combustion chamber and the propellant storage box are separated, so that more than five times of pulse thrust can be provided without increasing the size of the combustion chamber, the grain loading device is lightened, and the negative mass of the engine is reduced.

[0023] 3. The multi-pulse automatic loading solid rocket engine disclosed in the application, the combustion device adopts an openable combustion chamber structure, realizes controllable thrust of the engine, and can be ignited multiple times, solves the problem of multiple ignition and start of the solid rocket engine by ignition after loading, and increases the range by optimizing the energy management of the engine.

[0024] 4. The multi-pulse automatic loading solid rocket engine disclosed in the application, the sealing and locking mechanism has simple transmission structure, moderate pre-tightening force, low machining precision requirement and low production cost, and can be applied to small-thrust solid rocket engines.

[0025] 5. The multi-pulse automatic loading solid rocket engine disclosed in the application, the propellant sending box is driven by the propellant sending rod to make circular motion to realize grain loading. The grain mainly bears shear stress in this process and does not bear tensile and compressive stress. Therefore, this loading mechanism is suitable for grains with strong shear stress resistance and weak tensile and compressive stress resistance. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a schematic view of the multi-pulse automatic loading solid rocket engine disclosed in the application;

[0027] Figure 2 It is a schematic view of the engine loading process;

[0028] Figure 3 It is a schematic view of the locking mechanism;

[0029] Figure 4 It is a schematic view of the propellant sending box;

[0030] Figure 5 It is a schematic view of the engine shell;

[0031] Figure 6 It is a schematic view of the trajectory plate;

[0032] Figure 7 It is a schematic view of the engine propellant blocking plate;

[0033] Figure 8 It is an enlarged view of the trajectory plate.

[0034] Wherein, 1-first electric push rod, 2-medicine storage box, 3-propellant grain, 4-propellant grain feeding box, 5-motor screw rod, 6-burner, 7-nozzle, 8-linear motor, 9-propellant grain feeding rod, 10-trajectory plate, 11-first connecting rod, 12-drawer, 13-second electric push rod, 14-locking block, 15-drawer and trajectory plate connecting rod, 16-propellant grain collecting rod, 17-second connecting rod, 18-third connecting rod, 19-propellant grain blocking plate, 20-bump, 21-groove, 22-first trajectory, 23-second trajectory, 24-third trajectory, 25-fourth trajectory, 26-first ratchet, 27-second ratchet, 28-rubber ring groove. DETAILED DESCRIPTION

[0035] In order to better illustrate the purpose and advantages of the present application, the content of the application is further illustrated below in combination with the drawings and examples.

[0036] As shown in the drawings, the embodiment discloses a multi-pulse automatic loading solid rocket engine, which comprises a propellant storage device, a loading device and a combustion device. Figure 1

[0037] The propellant storage device comprises a first electric push rod 1, a propellant storage box 2, a propellant grain 3, a propellant grain feeding box 4, a propellant grain feeding rod 9, a bump 20 and a propellant grain blocking plate 19; the propellant grain 3 is placed in the propellant storage box 2; the propellant grain 3 is pushed into the propellant grain feeding box 4 by the first electric push rod 1, and the propellant grain feeding box 4 is connected with the propellant grain feeding rod 9.

[0038] As shown in the drawings, the propellant grain blocking plate 19 is connected with the propellant storage box 2; when the propellant grain feeding box 1 is at the initial position, the propellant grain blocking plate 19 is pressed, so that the propellant grain can be fed from the propellant storage box 2 to the propellant grain feeding box 4; when the propellant grain feeding box 4 is in the process of feeding, the propellant grain blocking plate 19 rebounds and blocks the propellant grain 3, so that the propellant grain 3 does not fall from the propellant storage box 2, thereby achieving the storage of the propellant grain. Figure 7

[0039] The loading device comprises a motor screw rod 5, a linear motor 8, a trajectory plate 10, a first connecting rod 11, a drawer 12 and a second electric push rod 13, a locking block 14, a drawer and trajectory plate connecting rod 15, a propellant grain collecting rod 16, a second connecting rod 17, a third connecting rod 18 and a groove 21.

[0040] The trajectory plate 10 is a trajectory groove formed on an arc-shaped plate, the bump 20 of the propellant storage device moves along the trajectory groove to achieve the purpose of feeding and recovering; the ratchet is arranged on the trajectory groove, so that the bump 20 can move along the predetermined trajectory groove.

[0041] The drawer 12 is composed of an upper cover and a multi-stage step structure, and is in contact with the combustion device to achieve mechanical sealing; the propellant grain collecting rod 16 is fixedly installed at the center position of the bottom of the drawer 12.

[0042] As shown in the drawings, the propellant grain blocking plate 19 is connected with the propellant storage box 2; when the propellant grain feeding box 1 is at the initial position, the propellant grain blocking plate 19 is pressed, so that the propellant grain can be fed from the propellant storage box 2 to the propellant grain feeding box 4; when the propellant grain feeding box 4 is in the process of feeding, the propellant grain blocking plate 19 rebounds and blocks the propellant grain 3, so that the propellant grain 3 does not fall from the propellant storage box 2, thereby achieving the storage of the propellant grain. Figure 3 ​​As shown, the first connecting rod 11, the second electric push rod 13, the second connecting rod 17 and the third connecting rod 18 are fixed on the drawer 12; the second electric push rod 13 drives the second connecting rod 17 to move, and then drives the first connecting rod 11 and the third connecting rod 18 to move; the first connecting rod 11 and the third connecting rod 18 are fixedly connected with the two locking blocks 14; when the drawer 12 contacts with the combustion device, the locking blocks 14 are rotated and clamped into the grooves 21, so that the locking is realized.

[0043] The motor screw rod 5 moves in the linear motor 8; the motor screw rod 5 is fixed on the drawer 12, and pulls the drawer 12 as a whole.

[0044] The drawer and trajectory plate connecting rod 15 is used for fixedly connecting the drawer 12 and the drawer and trajectory plate connecting rod 15.

[0045] As shown in the drawings, Figure 5 As shown, the combustion device comprises a combustion chamber 6 and a nozzle 7; the nozzle 7 is located at the bottom of the combustion chamber 6.

[0046] As shown in the drawings, Figure 6 As shown, the trajectory groove of the trajectory plate 10 is composed of a first trajectory 22, a second trajectory 23, a third trajectory 24 and a fourth trajectory 25; the convex block 20 passes through the first trajectory 22, the second trajectory 23, the third trajectory 24 and the fourth trajectory 25 in sequence.

[0047] Further comprising a first ratchet wheel 26 and a second ratchet wheel 27; the first ratchet wheel 26 is located at the junction of the first trajectory 22 and the fourth trajectory 25, and the second ratchet wheel 27 is located between the first trajectory 22 and the second trajectory 23.

[0048] The rubber ring groove 27 is located above the combustion chamber 6, and plays a sealing role.

[0049] Four symmetrical grooves are opened on the medicine collecting rod 16, so as to facilitate the flow of gas.

[0050] The bottom of the medicine column 3 is adhered with a foam plate, so as to prevent friction between the medicine columns, explosion and danger.

[0051] As shown in the drawings, Figure 2As shown, the working method of the multi-pulse automatic loading solid rocket engine disclosed in the embodiment is as follows: first, the second electric push rod 13 is started to drive the second connecting rod 17 to move, the second connecting rod 17 drives the first connecting rod 11 and the third connecting rod 18 to move, the locking block 14 is opened, and the engine sealing pre-tightening force is released. The groove 21 is used to make the locking block 14 smoothly separate from the engine shell during the automatic loading process. Then the linear motor 8 is started to drive the drawer 12 and the track plate 10 fixedly connected thereto to realize the opening linear motion. The protrusion 20 on the feeding rod 9 is always located in the track on the track plate 10. When the linear motor 8 is started, the protrusion 20 first moves along the first track 22, at this time the feeding box 4 is stationary, when the protrusion 20 moves to the end of the first track 22 and passes through the second ratchet 27, the linear motor 8 is reversed, the protrusion 20 moves along the second track 23 under the action of the second ratchet 27, at this time the feeding box 4 rotates to the bottom of the medicine collecting rod 16. Then the protrusion 20 moves along the third track 24, at this time the feeding box 4 moves linearly to insert the propellant grain 3 into the medicine collecting rod 16. Then the protrusion 20 continues to move along the fourth track 25, at this time the feeding box 4 rotates to the original position, and the propellant grain 3 remains in the medicine collecting rod 16. Then the protrusion 20 passes through the first ratchet 26 and continues to move along the first track 22 to the initial position. In this way, one automatic loading is completed. In order to ensure the gas flow during the combustion of the propellant grain, four gas vent grooves are formed on the medicine collecting rod 16.

[0052] When one loading is completed, a pre-tightening force needs to be provided to the engine sealing structure, the second electric push rod 13 is started in the reverse direction to drive the second connecting rod 17 to move, the second connecting rod 17 drives the first connecting rod 11 and the third connecting rod 18 to move, the locking block 14 is closed, and the engine sealing pre-tightening force is provided.

[0053] When the feeding box 4 is below the medicine storage box 2, the medicine blocking plate 19 is pressed to make the propellant grain successfully fed into the feeding box 4 under the pushing of the first electric push rod 1. When the feeding box 4 is in the feeding state, the medicine blocking plate 19 is deformed to recover and block the propellant grain, so that the propellant grain cannot fall from the medicine storage box.

[0054] The medicine storage device independently stores the propellant without expanding the volume of the combustion chamber. The propellant in the medicine storage device is pushed into the combustion device by the cooperation of the loading device and the medicine storage device, and the propellant is loaded multiple times to achieve the purpose of multi-pulse, penetration and long range.

[0055] The medicine storage device cooperates with the medicine storage box 2, the feeding box 4 and the medicine blocking plate 19 to automatically load the solid propellant, which can ensure that the propellant grain 3 can be stored in the medicine storage box and can ensure that the propellant grain 3 can be separated into the feeding box 4 at the preset time. The combustion chamber and the medicine storage box 2 are separated, which can provide more than five pulses of thrust without increasing the size of the combustion chamber, realize the light weight of the propellant grain 3 loading device, and reduce the negative mass of the engine.

[0056] The combustion device adopts a cover-openable combustion chamber structure to realize controllable thrust of the engine, and can be ignited multiple times, thereby solving the multiple ignition starting problem of the solid rocket engine through ignition after loading, and increasing the range through optimization of engine energy management.

[0057] The sealing and locking mechanism has simple transmission structure, moderate pre-tightening force, low machining precision requirement and low production cost, and can be applied to small-thrust solid rocket engines.

[0058] The medicine sending box 4 is driven by the medicine sending rod 9 to make circumferential movement to realize the loading of the medicine column 3. The medicine column 3 mainly bears shearing stress in this process, and does not bear tensile and compressive stress. Therefore, this kind of loading mechanism is suitable for medicine columns which have strong shearing stress resistance and weak tensile and compressive stress resistance.

[0059] The above specific description further details the purpose, technical scheme and beneficial effects of the application. It should be understood that the above description is only a specific embodiment of the application and is not used to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A multi-pulse automatic loading solid rocket motor, characterized in that: It includes a propellant storage device, a loading device, and a combustion device; the propellant storage device independently stores propellant without increasing the volume of the combustion chamber; the loading device works in conjunction with the propellant storage device to push the propellant from the storage device into the combustion device, facilitating multiple propellant loadings; The medicine storage device includes a first electric push rod (1), a medicine storage box (2), a medicine column (3), a medicine delivery box (4), a medicine delivery rod (9), a protrusion (20), and a medicine baffle (19); the medicine column (3) is placed in the medicine storage box (2); the medicine column (3) is pushed into the medicine delivery box (4) by the first electric push rod (1), and the medicine delivery box (4) is connected to the medicine delivery rod (9); The baffle plate (19) is connected to the medicine storage box (2). When the medicine storage box (2) is in the initial position, the baffle plate (19) is pressed down so that the medicine column can be sent into the medicine delivery box (4) from the medicine storage box (2). When the medicine delivery box (4) is in the process of delivering medicine, the baffle plate (19) rebounds and blocks the medicine column (3) so that the medicine column (3) does not fall out of the medicine storage box (2), thus realizing the storage of the medicine column. The filling device includes a motor lead screw (5), a linear motor (8), a track plate (10), a first connecting rod (11), a drawer (12), a second electric push rod (13), a locking block (14), a drawer-track plate connecting rod (15), a medicine collection rod (16), a second connecting rod (17), a third connecting rod (18), and a groove (21). The track plate (10) has a track groove on the arc plate, and the protrusion (20) of the medicine storage device moves along the track groove to achieve the purpose of medicine delivery and retrieval; a ratchet is provided on the track groove so that the protrusion (20) can move along the predetermined track groove; The drawer (12) consists of a top cover and a multi-step structure, which is in contact with the combustion device and achieves a mechanical seal; the medicine collection rod (16) is fixedly installed at the center of the bottom of the drawer (12); The first connecting rod (11), the second electric push rod (13), the second connecting rod (17), and the third connecting rod (18) are fixed on the drawer (12); the second electric push rod (13) pushes the second connecting rod (17), which in turn drives the first connecting rod (11) and the third connecting rod (18) to move; the first connecting rod (11) and the third connecting rod (18) are fixedly connected to two locking blocks (14) respectively. When the drawer (12) contacts the combustion device, the locking block (14) rotates and is locked into the groove (21); The motor lead screw (5) moves in the linear motor (8); the motor lead screw (5) is fixed on the drawer (12) and pulls the drawer (12) up as a whole; The drawer-track plate connecting rod (15) is used to fix the drawer (12) and the track plate (10) together; The combustion device includes a combustion chamber (6) and a nozzle (7); the nozzle (7) is located at the bottom of the combustion chamber (6).

2. The multi-pulse automatic loading solid rocket motor as described in claim 1, characterized in that: The track groove of the track plate (10) is composed of a first track (22), a second track (23), a third track (24) and a fourth track (25); the protrusion (20) passes through the first track (22), the second track (23), the third track (24) and the fourth track (25) in sequence. The drawer track plate (10) also includes a first ratchet (26) and a second ratchet (27); the first ratchet (26) is located at the junction of the first track (22) and the fourth track (25), and the second ratchet (27) is located between the first track (22) and the second track (23).

3. The multi-pulse automatic loading solid rocket motor as described in claim 2, characterized in that: The rubber ring groove (28) is located above the combustion chamber (6) and serves as a seal.

4. The multi-pulse automatic loading solid rocket motor as described in claim 3, characterized in that: The receiving rod (16) has four symmetrical grooves to facilitate the flow of gas.

5. A multi-pulse automatic loading solid rocket motor as described in claim 4, characterized in that: Foam board is attached to the bottom of the medicine column (3) to prevent friction and explosion between medicine columns, which could cause danger.

6. A multi-pulse automatic loading solid rocket motor as described in claim 1, 2, 3, 4 or 5, characterized in that: First, the second electric push rod (13) is started, driving the second connecting rod (17) to move. The second connecting rod (17) drives the first connecting rod (11) and the third connecting rod (18) to move, opening the locking block (14) and releasing the engine seal preload. The groove (21) is used to make the locking block (14) leave the engine housing along with the drawer (12) during the automatic filling process. Then, the linear motor (8) is started, driving the drawer (12) and the track plate (10) fixed thereto to achieve the opening of the cover in a linear motion. The protrusion (20) on the medicine delivery rod (9) is always located in the track on the track plate (10). When the linear motor (8) is started, the protrusion (20) first moves along the first track (22). At this time, the medicine delivery box (4) is not moving. When the protrusion (20) moves along the first track (22), the medicine delivery box (4) is not moving. After moving to the end of the first trajectory (22), the linear motor (8) reverses after passing the second ratchet (27), and the protrusion (20) moves along the second trajectory (23) under the action of the second ratchet (27). At this time, the medicine delivery box (4) rotates to the bottom of the medicine receiving rod (16); then the protrusion (20) moves along the third trajectory (24), and the medicine delivery box (4) moves in a straight line to insert the medicine column (3) into the medicine receiving rod (16); then the protrusion (20) continues to move along the fourth trajectory (25), and the medicine delivery box (4) returns to its original position, while the medicine column (3) remains in the medicine receiving rod (16); then the protrusion (20) passes the first ratchet (26) and continues to return to the initial position along the first trajectory (22); thus completing one automatic loading cycle. Four gas venting slots are provided on the receiving rod (16) to ensure the flow of gas during the combustion of the propellant column; After one loading is completed, a preload force needs to be provided to the engine sealing structure. The second electric push rod (13) is started in reverse to drive the second connecting rod (17) to move. The second connecting rod (17) drives the first connecting rod (11) and the third connecting rod (18) to move, close the locking block (14), and provide the engine sealing preload force. When the medicine delivery box (4) is below the medicine storage box (2), it presses down the medicine baffle (19), so that the medicine column is successfully delivered into the medicine delivery box (4) under the push of the first electric push rod (1); when the medicine delivery box (4) is in the medicine delivery state, the medicine baffle (19) deforms and recovers, blocking the medicine column so that the medicine column will not fall out of the medicine storage box.

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