Large solid rocket nozzle and combustion chamber docking device and method

Abstract

The invention provides a large solid rocket nozzle and combustion chamber docking device and method. The rotational axis of each adjustment mechanism adjusting three rotational degrees of freedom in the device passes through the center of the nozzle flange face, and the ball center of the ball head and ball hinge seat in the parallel mechanism also coincides with the center of the nozzle flange face, so the six degrees of freedom are completely decoupled, and the error is decoupled, so the control is simple, efficient and accurate. At the same time, the center of the flange face and the center of gravity of the nozzle approximately coincide, so the device can complete the adjustment of the pose with low torque, high safety and reliability. The device uses a box structure, realizes space reuse, reduces the overall volume of the device, and improves the stiffness. The adjustment of each degree of freedom can be achieved by electric and manual methods, which is convenient for users to adjust according to the specific situation on site. In summary, the device can complete the six degrees of freedom pose adjustment of the nozzle and the docking with the combustion chamber with high precision, high efficiency, high safety and high reliability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of large solid rocket engine, and particularly relates to a large solid rocket nozzle and combustion chamber docking device and method. BACKGROUND

[0002] The assembly of a large solid rocket engine requires high-precision, high-efficiency, high-safety and high-reliability docking of the nozzle and the combustion chamber. The main process of the assembly is the docking of the nozzle and the combustion chamber, that is, the spatial six-degree-of-freedom pose adjustment of the nozzle and the connection of the nozzle flange and the combustion chamber flange.

[0003] The assembly of the prior art large solid rocket engine is mainly completed by manual docking based on a lifting rope or a simple mechanism support. The nozzle is lifted by a lifting rope or placed on a simple docking mechanism, the spatial six-dimensional pose of the nozzle relative to the combustion chamber is manually adjusted, the trial assembly is repeatedly performed by manual operation based on the taper alignment and the cylindrical alignment, and the docking of the nozzle and the combustion chamber is completed by manual operation. The traditional manual six-degree-of-freedom docking mechanism is simple, has low rigidity, low six-axis motion precision and low X / Y / Z three-axis perpendicularity. The pitch rotation center of the manual six-degree-of-freedom docking mechanism is significantly lower than the center of the nozzle flange, resulting in six-degree-of-freedom motion coupling. Manual operation can only be performed on one axis at a time, so that multiple axes need to be repeatedly operated to complete the adjustment of one degree of freedom, and the efficiency and precision are low.

[0004] Another prior art is an electric docking technology based on a six-degree-of-freedom adjustment parallel or serial mechanism. The parallel mechanism has large rigidity, strong bearing capacity, high precision, small inertia of the end piece and complex structure, and has a small motion range. When any one of the six branches fails, the whole mechanism cannot work. When the motor of an electric cylinder is disabled and the brake is not timely, the support force of the branch is 0, which is equivalent to the branch being broken, and the whole mechanism will collapse.

[0005] There is a horizontal assembly equipment for component hole shaft assembly in the prior art, which is used for completing the assembly of an aero-engine. The device has compact structure, hierarchical control, high operation precision, six-degree-of-freedom pose adjustment and high assembly efficiency. The six-degree-of-freedom precise pose adjustment mechanism is designed to complete the six-degree-of-freedom pose adjustment through six folding type electric cylinders between the fixed platform and the movable platform. The six-degree-of-freedom parallel mechanism has large rigidity, strong bearing capacity and high precision. However, the adjustment of any one degree of freedom needs the simultaneous motion of six electric cylinders. When any one branch fails, the whole mechanism cannot work, and even a collapse accident may occur.

[0006] The series mechanism has simple structure, low cost, simple control, large motion space, but poor precision and carrying capacity. In the prior art, there is also a flexible shaft hole automatic assembly device applied to large precision equipment. The shaft support positioning device designed by the device is a series mechanism, which can adjust five degrees of freedom of X / Y / Z / alpha / beta through three sets of ball screw transmission systems and two support hydraulic cylinders, can meet the shaft hole assembly of multiple models of equipment, has compact and relatively simple structure, but due to the error accumulation of series, the precision of hydraulic transmission is low and sensitive to temperature change, so it is difficult to guarantee the accurate butt joint of the hole shaft, and can only be used for shaft hole assembly with lower precision requirement. The mechanism has 5 degrees of freedom of motion coupling and error coupling, so the control is more complex and the precision is difficult to guarantee; for the butt joint of the nozzle and the combustion chamber, the bolt matching through hole of the nozzle flange and the combustion chamber flange also needs to be aligned, so the adjustment of the roll angle gamma around the nozzle center axis is also needed. SUMMARY

[0007] The purpose of the present application is to provide a large solid rocket nozzle and combustion chamber butt joint device and method to solve the problems in the prior art.

[0008] The technical scheme adopted to achieve the purpose of the present application is as follows: a large solid rocket nozzle and combustion chamber butt joint device, comprising a parallel mechanism, a plane adjustment mechanism, a Z mechanism and an attitude adjustment mechanism arranged in a space rectangular coordinate system O-XYZ. The X axis of the space rectangular coordinate system O-XYZ is parallel to the longitudinal direction of assembly, the Y axis is parallel to the transverse direction of assembly, and the Z axis is parallel to the vertical direction.

[0009] The parallel mechanism comprises a parallel mechanism bottom plate, a first screw transmission system and a first linear guide rail slider. The upper surface of the parallel mechanism bottom plate is provided with two guide rails extending along the X axis direction. The first linear guide rail slider is slidably connected on the two guide rails. The first screw transmission system is arranged beside the guide rails.

[0010] The plane adjusting mechanism is arranged above the parallel mechanism. The plane adjusting mechanism comprises a plane adjusting mechanism base plate, four sets of cross-shaped guide rails, a rotary bearing and three sets of second screw drive systems. The plane adjusting mechanism base plate is provided with a hole through which the Z mechanism passes. The plane adjusting mechanism base plate is placed on the first linear guide rail slider. The lower surface of the plane adjusting mechanism base plate is fixedly connected with the slider. The side wall of the plane adjusting mechanism base plate is fixedly connected with the screw nut seat of the first screw drive system. The first linear guide rail slider serves as a guide, and the first screw drive system drives the plane adjusting mechanism to move parallel to the X direction. The four sets of cross-shaped guide rails are arranged in a rectangular shape on the upper surface of the plane adjusting mechanism base plate. The cross-shaped guide rail comprises a lower layer guide rail, a lower layer slider, a screw nut connecting piece, an upper layer guide rail, an upper layer slider, a rotary bearing mounting block and a rotary bearing. The lower layer guide rail is fixedly connected with the plane adjusting mechanism base plate, and the lower layer slider is connected with the screw nut connecting piece. The upper layer guide rail is fixedly connected above the screw nut connecting piece. The outer ring of the rotary bearing is fixedly connected with the upper layer slider through the rotary bearing mounting block. The second screw drive system drives the screw nut connecting piece to move, thereby driving the lower layer slider to move, realizing the movement in the X and Y directions and the adjustment of the yaw angle β, and the plane adjusting mechanism yaw angle β rotation axis passes through the center of the nozzle flange.

[0011] The Z mechanism comprises a Z-direction lifting outer cylinder, a Z-direction lifting inner cylinder and two first elevators. The Z-direction lifting outer cylinder and the Z-direction lifting inner cylinder are both rectangular cylinders with open upper ends. The lower end of the Z-direction lifting outer cylinder passes through the hole of the plane adjusting mechanism base plate. The outer wall of the Z-direction lifting outer cylinder is provided with a connecting plate. The connecting plate is placed on the rotary bearing. The connecting plate is fixedly connected with the inner ring of the rotary bearing. The Z-direction lifting outer cylinder and the Z-direction lifting inner cylinder are nested. There is a gap between the Z-direction lifting outer cylinder and the Z-direction lifting inner cylinder. The inner wall of the Z-direction lifting outer cylinder is provided with a second linear guide rail slider. The first elevator is arranged between the bottom of the Z-direction lifting outer cylinder and the lower surface of the Z-direction lifting inner cylinder. The second linear guide rail slider serves as a guide, and the first elevator drives the Z-direction lifting inner cylinder to move in the Z direction.

[0012] The attitude adjusting mechanism comprises an α pitching mechanism, a β yawing mechanism and a γ rolling mechanism.

[0013] The alpha pitching mechanism is arranged in the inner cavity of the Z-direction lifting inner cylinder. The alpha pitching mechanism comprises a pitching-yawing platform, a first arc-shaped guide rail slider assembly, a second lifting machine, a connecting rod, a reverser, a ball table and a ball hinge seat. The second lifting machine is connected with the pitching-yawing platform through the connecting rod and the hinge. The arc-shaped guide rail of the first arc-shaped guide rail slider assembly is fixedly connected to the pitching-yawing platform, and the slider is fixedly connected to the inner wall of the Z-direction lifting inner cylinder. The rotation axis of the arc-shaped guide rail passes through the center of the nozzle flange face. The first arc-shaped guide rail slider assembly is used as a guide to convert the linear motion of the second lifting machine into arc-shaped motion, so as to realize the adjustment of the alpha pitching attitude of the nozzle.

[0014] The beta yawing mechanism comprises a third linear guide rail slider assembly, a rolling platform, a third screw transmission system, a second arc-shaped guide rail slider assembly and a connecting rod. The rolling platform is arranged above the pitching-yawing platform. The Z-direction lifting inner cylinder is connected with the rolling platform through the ball table and the ball hinge seat, and the ball centers of the ball table and the ball hinge seat are coincided with the center of the nozzle flange face. Four tension springs are arranged around the ball table, and the two ends of the tension springs are connected with the Z-direction lifting inner cylinder and the rolling platform respectively. The guide rails of the third linear guide rail slider assembly and the second arc-shaped guide rail slider assembly are arranged on the upper surface of the pitching-yawing platform. The rotation axis of the guide rail of the second arc-shaped guide rail slider assembly passes through the center of the nozzle flange face. One end of the connecting rod is fixedly connected with the slider of the third linear guide rail slider assembly, and the other end is fixedly connected with the rolling platform. The slider of the second arc-shaped guide rail slider assembly is fixedly connected with the lower surface of the rolling platform. The third screw transmission system drives the slider of the third linear guide rail slider assembly to move. The beta yawing mechanism realizes the adjustment of the yawing beta angle of the nozzle.

[0015] The gamma rolling mechanism comprises a nozzle front support seat and a nozzle rear support seat. The nozzle front support seat and the nozzle rear support seat are arranged on the upper surface of the rolling platform. The nozzle front support seat realizes the rolling of the nozzle, and the nozzle rear support seat is used for auxiliary support. The nozzle front support seat comprises a nozzle front support tool, a turbine worm transmission system, a third arc-shaped guide rail slider assembly and a nozzle front support base. The nozzle front support tool is installed on the turbine of the turbine worm transmission system. The worm of the turbine worm transmission system is installed on the nozzle front support base. The guide rail of the third arc-shaped guide rail slider assembly is installed on the side of the turbine. The slider of the third arc-shaped guide rail slider assembly is installed on the nozzle front support base, so that the rotation center of the turbine and the center axis of the nozzle are coincided. The gamma rolling mechanism uses the turbine worm transmission system as the drive and the third arc-shaped guide rail slider assembly as the guide to realize the adjustment of the rolling freedom degree of the nozzle.

[0016] The rotation axes of the alpha pitching mechanism, the beta yawing mechanism and the gamma rolling mechanism are coincided with the center of the nozzle flange face. When working, the alpha pitching mechanism, the beta yawing mechanism and the gamma rolling mechanism realize the three-degree-of-freedom attitude adjustment of the nozzle, so that the nozzle assembly path and the docking path are parallel.

[0017] Further, the reducer of the first screw drive system is a double-input shaft reducer. The reducer of the first elevator is a double-output reducer. The first elevator selects a double-output shaft reducer.

[0018] Further, the roll platform comprises a roll platform upper layer and a roll platform lower layer. A six-dimensional force sensor is arranged between the two layers to monitor the docking process of the nozzle in real time.

[0019] Further, the nozzle rear support seat comprises a nozzle rear support base, rollers, a nozzle rear support tool and a fixing belt. The fixing belt fixes the nozzle and the nozzle rear support tool, and the two rollers are installed on the nozzle rear support base. The nozzle rear support tool is supported on the rollers. When the nozzle is adjusted in roll, the nozzle rear support tool moves with the nozzle on the rollers.

[0020] The application also discloses a docking method of the large solid rocket nozzle and combustion chamber docking device.

[0021] 1) According to the size and model of the nozzle, corresponding nozzle front support tool and nozzle rear support tool are selected, and the nozzle is fixed with the nozzle front support tool and the nozzle rear support tool.

[0022] 2) The nozzle is lifted above the device by a hoisting device such as an electric hoist, the nozzle front support tool is fixed with the nozzle front support seat turbine of the gamma roll mechanism, and the nozzle rear support tool is supported on the rollers of the nozzle rear support seat of the gamma roll mechanism.

[0023] 3) An absolute coordinate system and a relative coordinate system of the nozzle and the combustion chamber are established by an external measurement system, and the relationship between the absolute coordinate system and the relative coordinate system is obtained, so as to obtain the absolute six-dimensional position and posture of the axis of the nozzle and the combustion chamber. According to the position and posture algorithm of the external measurement system, the target six-degree-of-freedom adjustment amount of the axis of the nozzle relative to the axis of the combustion chamber is obtained.

[0024] 4) The alpha pitch angle of the nozzle is adjusted by the alpha pitch mechanism in the posture adjustment mechanism of the device, the beta yaw angle of the nozzle is adjusted by the beta yaw mechanism, the gamma roll angle of the nozzle is adjusted by the gamma roll mechanism, and the real-time adjustment of the position of the nozzle in the Y direction and the Z direction is realized through the plane adjustment mechanism and the Z mechanism.

[0025] 5) After the five-degree-of-freedom adjustment of the nozzle alpha / beta / gamma / Y / Z is completed, the axis position and posture detection of the nozzle and the combustion chamber is completed through the external measurement system. If there is still deviation between the current position and posture of the nozzle and the target posture, the step is repeated or the adjustment is performed through the manual adjustment rod arranged on the device until the position and posture meet the docking requirements.

[0026] 6) The large-stroke feeding of the nozzle in the X direction is realized by running the parallel mechanism of the device, and the precise docking is completed according to the docking path.

[0027] 7) After the docking is completed, the nozzle is disassembled and separated from the nozzle front support fixture and the nozzle rear support fixture. The nozzle docking process with the combustion chamber is now complete.

[0028] The technical effects of this invention are beyond doubt:

[0029] A. It combines the advantages of both series and parallel mechanisms, achieving a large stroke with a relatively simple structure and low control difficulty, while ensuring good structural rigidity, strong load-bearing capacity, and high precision.

[0030] B. The rotation axes of each adjustment mechanism for the three rotational degrees of freedom all pass through the center of the nozzle flange surface, and the centers of the ball joints and ball hinges in the parallel mechanism also coincide with the center of the nozzle flange surface. Therefore, the six degrees of freedom are completely decoupled, and the errors are also decoupled, resulting in simple control, high efficiency, and high precision. Simultaneously, the center of the flange surface is approximately coincident with the center of gravity of the nozzle, allowing the device to adjust its position and posture with low torque, ensuring high safety and reliability.

[0031] C. It achieves space reuse, reduces the overall volume of the device, and improves rigidity. Each degree of freedom can be adjusted both electrically and manually, allowing users to easily adjust it according to specific site conditions;

[0032] D. It can complete the six-degree-of-freedom position adjustment of the nozzle space and docking with the combustion chamber with high precision, high efficiency, high safety and high reliability. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the device;

[0034] Figure 2 This is a schematic diagram of a parallel mechanism structure;

[0035] Figure 3 Schematic diagram of the planar adjustment mechanism Figure I ;

[0036] Figure 4 Schematic diagram of the planar adjustment mechanism Figure II ;

[0037] Figure 5 This is a schematic diagram of a cross-shaped guide rail structure.

[0038] Figure 6 This is a schematic diagram of the Z-mechanism structure;

[0039] Figure 7 This is a schematic diagram of the α pitch mechanism.

[0040] Figure 8 This is a schematic diagram of the β yaw mechanism.

[0041] Figure 9 Figure is a schematic diagram of the ball platform ball hinge seat structure;

[0042] Figure 10 Figure is a schematic diagram of the γ roll mechanism structure;

[0043] Figure 11 Figure is a schematic diagram of the nozzle rear support seat structure.

[0044] In the figure: parallel mechanism 1, parallel mechanism bottom plate 110, linear guide rail slider 120, servo motor 130, double input shaft reducer 140, screw nut seat 150, ball screw 160, plane adjustment mechanism 2, plane adjustment mechanism bottom plate 210, ball screw pair 220, speed reducer 230, servo motor 240, cross guide rail 250, lower layer guide rail 251, lower layer slider 252, screw nut connecting piece 253, upper layer guide rail 254, upper layer slider 255, rotary bearing mounting block 256, rotary bearing 257, Z mechanism structure 3, servo motor 310, double output reducer 320, elevator 330, Z direction lifting outer cylinder 340, Z direction lifting inner cylinder 350, linear guide rail slider 360, α pitching mechanism 4, commutator 410, pitching and yawing platform 420, double output shaft reducer 430, elevator 440, arc guide rail slider assembly 450, servo motor 460, connecting rod 470, ball platform 480, tension spring 481, ball hinge seat 490, γ roll mechanism 5, servo motor 510, double output shaft reducer 520, driving bevel gear 530, nozzle front support tooling 540, worm and driven bevel gear 550, arc guide rail slider assembly 560, turbine 570, nozzle front support base 580, nozzle rear support seat 590, nozzle rear support base 591, roller 592, nozzle rear support tooling 593, belt 594, β yawing mechanism 6, double input shaft reducer 610, linear guide rail slider 620, connecting rod 630, arc guide rail slider assembly 640, roll platform 650, roll platform lower layer 651, roll platform upper layer 652, servo motor 660, ball screw 670, 7 nozzle. DETAILED DESCRIPTION

[0045] The application will be further described in conjunction with the examples below, but should not be understood as limiting the above-mentioned subject matter of the application to the following examples. Various substitutions and modifications can be made according to ordinary technical knowledge and conventional means in the art without departing from the technical idea of the application, and all should be included in the protection scope of the application.

[0046] Example 1:

[0047] The embodiment provides a six-degree-of-freedom device suitable for docking of large solid rocket nozzles and combustion chambers, which has the advantages of high-precision, high-load and large-stroke docking. The device comprises a parallel mechanism 1, a plane adjustment mechanism 2, a Z mechanism 3 and an attitude adjustment mechanism arranged in a space rectangular coordinate system O-XYZ. The X axis of the space rectangular coordinate system O-XYZ is parallel to the longitudinal direction of assembly, the Y axis is parallel to the transverse direction of assembly, and the Z axis is parallel to the vertical direction.

[0048] The parallel mechanism 1 comprises a parallel mechanism base plate 110, a first screw drive system and a first linear guide rail slider 120. The upper surface of the parallel mechanism base plate 110 is provided with two guide rails extending along the X axis direction. The first linear guide rail slider 120 is slidably connected to the two guide rails. The first screw drive system is arranged beside the guide rails.

[0049] The plane adjustment mechanism 2 is arranged above the parallel mechanism 1. The plane adjustment mechanism 2 comprises a plane adjustment mechanism base plate 210, four sets of cross guide rails 250, a rotary bearing 257 and three sets of second screw drive systems. The plane adjustment mechanism base plate 210 is provided with a hole through which the Z mechanism 3 passes. The plane adjustment mechanism base plate 210 is placed on the first linear guide rail slider 120. The lower surface of the plane adjustment mechanism base plate 210 is fixedly connected with the slider 120. The side wall of the plane adjustment mechanism base plate 210 is fixedly connected with the screw nut seat of the first screw drive system. The first linear guide rail slider 120 serves as a guide, and the first screw drive system drives the plane adjustment mechanism 2 to move parallel to the X direction. The four sets of cross guide rails 250 are arranged in a rectangular shape on the upper surface of the plane adjustment mechanism base plate 210. The cross guide rail 250 comprises a lower layer guide rail 251, a lower layer slider 252, a screw nut connecting piece 253, an upper layer guide rail 254, an upper layer slider 255, a rotary bearing mounting block 256 and a rotary bearing 257. The lower layer guide rail 251 is fixedly connected with the plane adjustment mechanism base plate 210, and the lower layer slider 252 is connected with the screw nut connecting piece 253. The upper layer guide rail 254 is fixedly connected above the screw nut connecting piece 253. The outer ring of the rotary bearing 257 is fixedly connected with the upper layer slider 255 through the rotary bearing mounting block 256. The second screw drive system drives the screw nut connecting piece 253 to move, thereby driving the lower layer slider 252 to move, realizing the movement in the X and Y directions and the adjustment of the yaw angle β, and the plane adjustment mechanism yaw angle β rotation axis passes through the center of the nozzle flange.

[0050] The Z mechanism 3 comprises a Z-direction lifting outer cylinder 340, a Z-direction lifting inner cylinder 350, and two first lifters 330. The Z-direction lifting outer cylinder 340 and the Z-direction lifting inner cylinder 350 are both open at the upper end and are rectangular cylinder bodies. The lower end of the Z-direction lifting outer cylinder 340 passes through the hole of the plane adjustment mechanism bottom plate 210. A connecting plate is arranged on the outer wall of the Z-direction lifting outer cylinder 340. The connecting plate rests on the rotary bearing 257. The connecting plate is fixedly connected with the inner ring of the rotary bearing 257. The Z-direction lifting outer cylinder 340 and the Z-direction lifting inner cylinder 350 are nested. There is a gap between the Z-direction lifting outer cylinder 340 and the Z-direction lifting inner cylinder 350. A second linear guide rail slider 360 is arranged on the inner wall of the Z-direction lifting outer cylinder 340. The first lifter 330 is arranged between the cylinder bottom of the Z-direction lifting outer cylinder 340 and the lower surface of the Z-direction lifting inner cylinder 350. The second linear guide rail slider 360 serves as a guide, and the first lifter 330 drives the Z-direction lifting inner cylinder 350 to move in the Z direction.

[0051] The attitude adjustment mechanism comprises an α pitching mechanism 4, a β yawing mechanism 6, and a γ rolling mechanism 5.

[0052] The α pitching mechanism 4 is arranged in the inner cavity of the Z-direction lifting inner cylinder 350. The α pitching mechanism 4 comprises a pitching and yawing platform 420, a first arc-shaped guide rail slider assembly 450 and a second lifter 440, a connecting rod 470, a commutator 410, a ball table 480, and a ball hinge base 490. The second lifter 440 is connected with the pitching and yawing platform 420 through the connecting rod 470 and a hinge. The arc-shaped guide rail of the first arc-shaped guide rail slider assembly 450 is fixedly connected to the pitching and yawing platform 420, and the slider is fixedly connected to the inner wall of the Z-direction lifting inner cylinder 350. The rotation axis of the arc-shaped guide rail passes through the center of the nozzle flange face, so that the rotation axis of the pitching motion is linearly through the center of the nozzle flange face. The first arc-shaped guide rail slider assembly 450 serves as a guide to convert the linear motion of the second lifter 440 into arc-shaped motion, thereby realizing the nozzle α pitching attitude adjustment.

[0053] The third linear guide rail slider assembly 620, the roll platform 650, the third screw transmission system, the second arc-shaped guide rail slider assembly 640 and the connecting rod 630. The roll platform 650 is arranged above the pitch-yaw platform 420. The Z-direction lifting inner cylinder 350 and the roll platform 650 are connected through the ball table 480 and the ball hinge base 490, and the ball centers of the ball table 480 and the ball hinge base 490 are coincident with the center of the nozzle flange face. Four tension springs 481 are arranged around the ball table, and the two ends of the tension springs are connected with the Z-direction lifting inner cylinder 350 and the roll platform 650 respectively. The guide rails of the third linear guide rail slider assembly 620 and the second arc-shaped guide rail slider assembly 640 are arranged on the upper surface of the pitch-yaw platform 420. The rotation axis of the guide rail of the second arc-shaped guide rail slider assembly 640 passes through the center of the nozzle flange face. One end of the connecting rod 630 is fixedly connected with the slider of the third linear guide rail slider assembly 620, and the other end is fixedly connected with the roll platform 650. The slider of the second arc-shaped guide rail slider assembly 640 is fixedly connected with the lower surface of the roll platform 650. The third screw transmission system drives the slider of the third linear guide rail slider assembly 620 to move. The β-yaw mechanism 6 realizes the adjustment of the yaw angle β of the nozzle.

[0054] The γ-roll mechanism 5 includes a nozzle front support base and a nozzle rear support base 590. The nozzle front support base and the nozzle rear support base 590 are arranged on the upper surface of the roll platform 650. The nozzle front support base realizes the roll of the nozzle 7, and the nozzle rear support base 590 is used for auxiliary support to prevent the nozzle from tipping over. The nozzle front support base includes a nozzle front support tool 540, a turbine worm transmission system, a third arc-shaped guide rail slider assembly 560 and a nozzle front support base 580. The nozzle front support tool 540 is installed on the turbine of the turbine worm transmission system. The worm of the turbine worm transmission system is installed on the nozzle front support base 580. The turbine is installed with the guide rail of the third arc-shaped guide rail slider assembly 560 on the side. The slider of the third arc-shaped guide rail slider assembly 560 is installed on the nozzle front support base 580, so that the rotation center of the turbine and the center axis of the nozzle are coincident. The γ-roll mechanism 5 uses the turbine worm transmission system as the drive and the third arc-shaped guide rail slider assembly 560 as the guide to realize the adjustment of the roll freedom degree of the nozzle.

[0055] The rotation axes of the α-pitch mechanism 4, the β-yaw mechanism 6 and the γ-roll mechanism 5 intersect at the center of the nozzle flange face. In operation, the α-pitch mechanism 4, the β-yaw mechanism 6 and the γ-roll mechanism 5 realize the three-degree-of-freedom attitude adjustment of the nozzle 7, so that the nozzle assembly path and the docking path are parallel.

[0056] The embodiment can realize the device for the six-degree-of-freedom pose adjustment of the nozzle with high precision, high efficiency, high safety and high reliability.

[0057] Embodiment 2:

[0058] The embodiment mainly has the same structure as embodiment 1, wherein, in order to meet the manual and electric driving modes, the reducer of the first screw rod transmission system is selected as a double-input shaft reducer. In the design, considering the uniformity and synchronism of the Z-direction lifting force, the reducer of the first elevator 330 adopts a double-output reducer, which can realize synchronous branch transmission, so that the left and right elevators run synchronously to complete the Z-direction lifting movement. The second elevator 440α tilting mechanism selects a double-output shaft reducer 430, one end of which is connected with the elevator input, and the other end of the output shaft is connected with a reversing device for manual adjustment.

[0059] Embodiment 3:

[0060] The embodiment mainly has the same structure as embodiment 1, wherein the roll platform 650 includes a roll platform upper layer 652 and a roll platform lower layer 651. A six-dimensional force sensor can be arranged between the two layers to monitor the docking process of the nozzle in real time.

[0061] Embodiment 4:

[0062] The embodiment mainly has the same structure as embodiment 1, wherein the nozzle rear support seat 590 includes a nozzle rear support base 591, rollers 592, a nozzle rear support tool 593 and a fixed belt 594. The fixed belt 594 fixes the nozzle and the nozzle rear support tool 593, and the two rollers 592 are installed on the nozzle rear support base 591. The nozzle rear support tool 593 is supported on the rollers 592. When the nozzle 7 is adjusted for rolling, the nozzle rear support tool 593 moves with the nozzle on the rollers 592.

[0063] Embodiment 5:

[0064] Referring to Figures 1-11 , the embodiment provides a six-degree-of-freedom device suitable for docking of large solid rocket nozzles and combustion chambers, which has the advantages of high-precision, high-load and large-stroke docking. It includes a parallel mechanism 1, a plane adjustment mechanism 2, a Z mechanism 3 and an attitude adjustment mechanism arranged in a spatial rectangular coordinate system O-XYZ. The X axis of the spatial rectangular coordinate system O-XYZ is parallel to the longitudinal direction of assembly, the Y axis is parallel to the transverse direction of assembly, and the Z axis is parallel to the vertical direction.

[0065] The parallel mechanism 1 includes a parallel mechanism bottom plate 110, a first screw rod transmission system and a first linear guide rail slider 120. The upper surface of the parallel mechanism bottom plate 110 is provided with two guide rails extending along the X axis direction. The first linear guide rail slider 120 is slidably connected on the two guide rails. The first screw rod transmission system is arranged beside the guide rails. The parallel mechanism can realize large-stroke movement of the nozzle in the X direction, and after the remaining five degrees of freedom are adjusted, it can complete precise docking according to the docking path.

[0066] The plane adjusting mechanism 2 is arranged above the parallel mechanism 1. The plane adjusting mechanism 2 comprises a plane adjusting mechanism base plate 210, four sets of cross-shaped guide rails 250, a rotary bearing 257 and three sets of second screw transmission systems. The plane adjusting mechanism base plate 210 is provided with a hole through which the Z mechanism 3 passes. The plane adjusting mechanism base plate 210 is placed on the first linear guide rail slider 120. The lower surface of the plane adjusting mechanism base plate 210 is fixedly connected with the slider 120. The side wall of the plane adjusting mechanism base plate 210 is fixedly connected with the screw nut seat of the first screw transmission system. The first linear guide rail slider 120 serves as a guide, and the first screw transmission system drives the plane adjusting mechanism 2 to move parallel to the X direction. Four sets of cross-shaped guide rails 250 are arranged in a rectangular shape on the upper surface of the plane adjusting mechanism base plate 210. The cross-shaped guide rail 250 comprises a lower layer guide rail 251, a lower layer slider 252, a screw nut connecting piece 253, an upper layer guide rail 254, an upper layer slider 255, a rotary bearing mounting block 256 and a rotary bearing 257. The lower layer guide rail 251 is fixedly connected with the plane adjusting mechanism base plate 210, and the lower layer slider 252 is connected with the screw nut connecting piece 253. The upper layer guide rail 254 is fixedly connected above the screw nut connecting piece 253. The outer ring of the rotary bearing 257 is fixedly connected with the upper layer slider 255 through the rotary bearing mounting block 256. The second screw transmission system drives the screw nut connecting piece 253 to move, thereby driving the lower layer slider 252 to move, realizing the movement in the X and Y directions and the adjustment of the yaw angle β, and the plane adjusting mechanism yaw angle β rotation axis passes through the center of the nozzle flange. The plane adjusting mechanism is designed based on mature 4-PPR technology (4-PPR is a general term, P represents a moving pair, R represents a rotating pair, and 4-PPR represents four groups of components with two moving pairs and one rotating pair, i.e. four sets of cross-shaped guide rails and rotary bearings), which can realize the movement adjustment of the nozzle support platform in the X and Y directions in the horizontal plane and the adjustment of the yaw angle β around the Z axis.

[0067] The Z mechanism 3 comprises a Z-direction lifting outer cylinder 340, a Z-direction lifting inner cylinder 350, and two first lifters 330. The Z-direction lifting outer cylinder 340 and the Z-direction lifting inner cylinder 350 are both open at the upper end and are rectangular cylinder bodies. The lower end of the Z-direction lifting outer cylinder 340 passes through the hole of the plane adjustment mechanism bottom plate 210. A connecting plate is arranged on the outer wall of the Z-direction lifting outer cylinder 340. The connecting plate rests on the rotary bearing 257. The connecting plate is fixedly connected with the inner ring of the rotary bearing 257. The Z-direction lifting outer cylinder 340 and the Z-direction lifting inner cylinder 350 are nested. There is a gap between the Z-direction lifting outer cylinder 340 and the Z-direction lifting inner cylinder 350. A second linear guide rail slider 360 is arranged on the inner wall of the Z-direction lifting outer cylinder 340. The first lifter 330 is arranged between the cylinder bottom of the Z-direction lifting outer cylinder 340 and the lower surface of the Z-direction lifting inner cylinder 350. The second linear guide rail slider 360 serves as a guide, and the first lifter 330 drives the Z-direction lifting inner cylinder 350 to move in the Z direction.

[0068] The attitude adjustment mechanism comprises an α pitching mechanism 4, a β yawing mechanism 6, and a γ rolling mechanism 5.

[0069] The α pitching mechanism 4 is arranged in the inner cavity of the Z-direction lifting inner cylinder 350. The α pitching mechanism 4 comprises a pitching and yawing platform 420, a first arc-shaped guide rail slider assembly 450 and a second lifter 440, a connecting rod 470, a commutator 410, a ball table 480, and a ball hinge base 490. The second lifter 440 is connected with the pitching and yawing platform 420 through the connecting rod 470 and a hinge. The arc-shaped guide rail of the first arc-shaped guide rail slider assembly 450 is fixedly connected to the pitching and yawing platform 420, and the slider is fixedly connected to the inner wall of the Z-direction lifting inner cylinder 350. The rotation axis of the arc-shaped guide rail passes through the center of the nozzle flange face, so that the rotation axis of the pitching motion is linearly through the center of the nozzle flange face. The first arc-shaped guide rail slider assembly 450 serves as a guide to convert the linear motion of the second lifter 440 into arc-shaped motion, thereby realizing the nozzle α pitching attitude adjustment.

[0070] The third linear guide rail slider assembly 620, the roll platform 650, the third screw drive system, the second arc-shaped guide rail slider assembly 640 and the connecting rod 630. The roll platform 650 is arranged above the pitch-yaw platform 420. The Z-direction lifting inner cylinder 350 and the roll platform 650 are connected through the ball table 480 and the ball hinge base 490, and the ball centers of the ball table 480 and the ball hinge base 490 coincide with the center of the nozzle flange face. Four tension springs 481 are arranged around the ball table, and the two ends of the tension springs 481 are connected with the Z-direction lifting inner cylinder 350 and the roll platform 650 respectively. The guide rails of the third linear guide rail slider assembly 620 and the second arc-shaped guide rail slider assembly 640 are arranged on the upper surface of the pitch-yaw platform 420. The rotation axis of the guide rail of the second arc-shaped guide rail slider assembly 640 passes through the center of the nozzle flange face. One end of the connecting rod 630 is fixedly connected with the slider of the third linear guide rail slider assembly 620, and the other end is fixedly connected with the roll platform 650. The slider of the second arc-shaped guide rail slider assembly 640 is fixedly connected with the lower surface of the roll platform 650. The third screw drive system drives the slider of the third linear guide rail slider assembly 620 to move. The β-yaw mechanism 6 realizes the adjustment of the yaw angle of the nozzle.

[0071] The γ roll mechanism 5 includes a nozzle front support base and a nozzle rear support base 590. The nozzle front support base and the nozzle rear support base 590 are arranged on the upper surface of the roll platform 650. The nozzle front support base realizes the roll of the nozzle 7, and the nozzle rear support base 590 is used for auxiliary support to prevent the nozzle from tipping over. The nozzle front support base includes a nozzle front support tool 540, a turbine worm drive system, a third arc-shaped guide rail slider assembly 560 and a nozzle front support base 580. The nozzle front support tool 540 is installed on the turbine of the turbine worm drive system. The worm of the turbine worm drive system is installed on the nozzle front support base 580. The turbine side is installed with the guide rail of the third arc-shaped guide rail slider assembly 560. The slider of the third arc-shaped guide rail slider assembly 560 is installed on the nozzle front support base 580, so that the rotation center of the turbine and the center axis of the nozzle coincide. The γ roll mechanism 5 uses the turbine worm drive system as the drive and the third arc-shaped guide rail slider assembly 560 as the guide to realize the adjustment of the roll freedom degree of the nozzle. The γ roll mechanism 5 can adapt to different specifications of nozzles, mainly by replacing the support tools of the front and rear support bases and moving the position of the nozzle rear support base, ensuring that the axis height of the nozzle is always unchanged, so that the rotation axis of the roll movement passes through the center of the nozzle flange face in a straight line. Therefore, the intersection of the three rotation center axes of the pitch movement, the yaw movement and the roll movement, the ball center of the ball head ball hinge base and the center of the nozzle flange coincide at the same point, ensuring the full decoupling of the degrees of freedom of the docking mechanism, and the error is not coupled.

[0072] The rotation axes of the alpha pitch mechanism 4, the beta yaw mechanism 6 and the gamma roll mechanism 5 intersect at the center of the nozzle flange face. During operation, the alpha pitch mechanism 4, the beta yaw mechanism 6 and the gamma roll mechanism 5 realize three-degree-of-freedom attitude adjustment of the nozzle 7, so that the nozzle assembly path and the docking path are parallel.

[0073] Embodiment 6

[0074] The embodiment provides a docking method of the docking device for the large solid rocket nozzle and the combustion chamber according to any one of the embodiments 1-5, and the method comprises the following steps:

[0075] 1) According to the size and model of the nozzle, corresponding nozzle front support tooling and nozzle rear support tooling are selected, and the nozzle is fixed with the nozzle front support tooling and the nozzle rear support tooling.

[0076] 2) The nozzle is lifted above the device by a hoisting device such as an electric hoist, the nozzle front support tooling is fixed with the nozzle front support seat turbine of the gamma roll mechanism, and the nozzle rear support tooling is supported on the nozzle rear support seat roller of the gamma roll mechanism.

[0077] 3) An absolute coordinate system and a relative coordinate system of the nozzle and the combustion chamber are established by an external measurement system, and the relationship between the absolute coordinate system and the relative coordinate system is obtained, so that the axis absolute six-dimensional pose of the nozzle and the combustion chamber is obtained. According to the pose algorithm of the external measurement system, the target six-degree-of-freedom adjustment amount of the nozzle axis relative to the combustion chamber axis is obtained.

[0078] 4) The alpha pitch angle of the nozzle is adjusted by the alpha pitch mechanism 4 in the attitude adjustment mechanism of the device, the beta yaw angle of the nozzle is adjusted by the beta yaw mechanism 6, the gamma roll angle of the nozzle is adjusted by the gamma roll mechanism 5, and the real-time adjustment of the Y direction and Z direction positions of the nozzle is realized through the plane adjustment mechanism 2 and the Z mechanism 3.

[0079] 5) After the five-degree-of-freedom adjustment of the nozzle alpha / beta / gamma / Y / Z is completed, the axis pose detection of the nozzle and the combustion chamber is completed through the external measurement system, if there is still deviation between the current pose of the nozzle and the target attitude, the step 4 is repeated or the adjustment is performed through the manual adjustment rod arranged on the device until the pose meets the docking requirements.

[0080] 6) The large-stroke feeding of the nozzle in the X direction is realized by running the parallel mechanism of the device, and the precise docking is completed according to the docking path.

[0081] 7) After the docking is completed, the nozzle is disassembled and separated from the nozzle front support tooling and the nozzle rear support tooling, and the docking process of the nozzle and the combustion chamber is completed.

Claims

1. A large solid rocket nozzle to combustor interface apparatus, characterized by: The parallel mechanism, the plane adjusting mechanism, the Z mechanism and the attitude adjusting mechanism are arranged in a space rectangular coordinate system O-XYZ; the X axis of the space rectangular coordinate system O-XYZ is parallel to the longitudinal direction of the assembly, the Y axis is parallel to the transverse direction of the assembly, and the Z axis is parallel to the vertical direction; The parallel mechanism comprises a parallel mechanism bottom plate, a first screw transmission system and a first linear guide rail slider; the upper surface of the parallel mechanism bottom plate is provided with two guide rails extending along the X axis direction; the first linear guide rail slider is slidably connected to the guide rails; and the first screw transmission system is arranged beside the guide rails; The plane adjusting mechanism is arranged above the parallel mechanism; the plane adjusting mechanism comprises a plane adjusting mechanism bottom plate, four sets of cross guide rails, a rotary bearing and three sets of second screw transmission systems; the plane adjusting mechanism bottom plate is provided with a hole through which the Z mechanism passes; the plane adjusting mechanism bottom plate is placed on the first linear guide rail slider; the lower surface of the plane adjusting mechanism bottom plate is fixedly connected with the slider; the side wall of the plane adjusting mechanism bottom plate is fixedly connected with the screw nut seat of the first screw transmission system; the first linear guide rail slider serves as a guide, and the first screw transmission system drives the plane adjusting mechanism to move parallel to the X direction; the four sets of cross guide rails are arranged in a rectangular shape on the upper surface of the plane adjusting mechanism bottom plate; the cross guide rail comprises a lower layer guide rail, a lower layer slider, a screw nut connecting piece, an upper layer guide rail, an upper layer slider, a rotary bearing mounting block and a rotary bearing; the lower layer guide rail is fixedly connected with the plane adjusting mechanism bottom plate, and the lower layer slider is connected with the screw nut connecting piece; the upper layer guide rail is fixedly connected above the screw nut connecting piece; the outer ring of the rotary bearing is fixedly connected with the upper layer slider through the rotary bearing mounting block; the second screw transmission system drives the screw nut connecting piece to move, thereby driving the lower layer slider to move, so as to realize the movement in the X and Y directions and the adjustment of the yaw angle β, and the yaw angle β rotation axis of the plane adjusting mechanism passes through the center of the nozzle flange face; The Z mechanism comprises a Z-direction lifting outer cylinder, a Z-direction lifting inner cylinder and two first elevators; The attitude adjusting mechanism comprises an alpha pitch mechanism, a beta yaw mechanism and a gamma roll mechanism; the alpha pitch mechanism is arranged in the inner cavity of the Z-direction lifting inner cylinder; the alpha pitch mechanism realizes the adjustment of the alpha pitch attitude of the nozzle; the beta yaw mechanism is arranged above the alpha pitch mechanism; the Z-direction lifting inner cylinder is connected with the beta yaw mechanism through the alpha pitch mechanism; the beta yaw mechanism realizes the adjustment of the beta angle of the nozzle; the gamma roll mechanism is arranged on the upper surface of the beta yaw mechanism; the gamma roll mechanism realizes the adjustment of the roll degree of freedom of the nozzle; the rotation axes of the alpha pitch mechanism, the beta yaw mechanism and the gamma roll mechanism intersect at the center of the nozzle flange face; during operation, the alpha pitch mechanism, the beta yaw mechanism and the gamma roll mechanism realize the three-degree-of-freedom attitude adjustment of the nozzle, so that the assembly path and the docking path of the nozzle are parallel.

2. The large solid rocket engine nozzle to combustor interface apparatus of claim 1, wherein: The Z-direction lifting outer cylinder and the Z-direction lifting inner cylinder are both open rectangular cylinders at the upper end; the lower end of the Z-direction lifting outer cylinder passes through the hole of the bottom plate of the plane adjusting mechanism; a connecting plate is arranged on the outer wall of the Z-direction lifting outer cylinder; the connecting plate is placed on the rotary bearing; the connecting plate is fixedly connected with the inner ring of the rotary bearing; the Z-direction lifting outer cylinder and the Z-direction lifting inner cylinder are nested; there is a gap between the Z-direction lifting outer cylinder and the Z-direction lifting inner cylinder; a second linear guide rail slider is arranged on the inner wall of the Z-direction lifting outer cylinder; the first elevator is arranged between the bottom of the Z-direction lifting outer cylinder and the lower surface of the Z-direction lifting inner cylinder; the second linear guide rail slider is used as a guide, and the first elevator drives the Z-direction lifting inner cylinder to move along the Z direction.

3. The large solid rocket engine nozzle to combustor interface apparatus of claim 2, wherein: The alpha pitching mechanism comprises a pitching and yawing platform, a first arc-shaped guide rail slider assembly, a second elevator, a connecting rod, a commutator, a ball table and a ball hinge seat; the second elevator is connected with the pitching and yawing platform through the connecting rod and the hinge; the arc-shaped guide rail of the first arc-shaped guide rail slider assembly is fixedly connected to the pitching and yawing platform, and the slider is fixedly connected to the inner wall of the Z-direction lifting inner cylinder; the rotation axis of the arc-shaped guide rail passes through the center of the nozzle flange face; the first arc-shaped guide rail slider assembly is used as a guide to convert the linear motion of the second elevator into arc-shaped motion, so as to realize the adjustment of the alpha pitching posture of the nozzle; The beta yawing mechanism comprises a third linear guide rail slider assembly, a roll platform, a third screw transmission system, a second arc-shaped guide rail slider assembly and a connecting rod; the roll platform is arranged above the pitching and yawing platform; the Z-direction lifting inner cylinder is connected with the roll platform through the ball table and the ball hinge seat, and the ball centers of the ball table and the ball hinge seat are coincident with the center of the nozzle flange face; four tension springs are arranged around the ball table, and the two ends of the tension springs are respectively connected with the Z-direction lifting inner cylinder and the roll platform; the guide rails of the third linear guide rail slider assembly and the second arc-shaped guide rail slider assembly are arranged on the upper surface of the pitching and yawing platform; the rotation axis of the guide rail of the second arc-shaped guide rail slider assembly passes through the center of the nozzle flange face; one end of the connecting rod is fixedly connected with the slider of the third linear guide rail slider assembly, and the other end is fixedly connected with the roll platform; the slider of the second arc-shaped guide rail slider assembly is fixedly connected with the lower surface of the roll platform; the third screw transmission system drives the slider of the third linear guide rail slider assembly to move; The gamma roll mechanism comprises a nozzle front support seat and a nozzle rear support seat; the nozzle front support seat and the nozzle rear support seat are arranged on the upper surface of the roll platform; the nozzle front support seat realizes the roll of the nozzle, and the nozzle rear support seat is used for auxiliary support; the nozzle front support seat comprises a nozzle front support tool, a turbine worm transmission system, a third arc-shaped guide rail slider assembly and a nozzle front support base; the nozzle front support tool is installed on the turbine of the turbine worm transmission system; the worm of the turbine worm transmission system is installed on the nozzle front support base; the guide rail of the third arc-shaped guide rail slider assembly is installed on the side of the turbine; the slider of the third arc-shaped guide rail slider assembly is installed on the nozzle front support base, so that the rotation center of the turbine and the central axis of the nozzle are coincident; the gamma roll mechanism uses the turbine worm transmission system as the drive, and uses the third arc-shaped guide rail slider assembly as the guide, so as to realize the adjustment of the roll freedom degree of the nozzle.

4. The large solid rocket motor nozzle to combustor interface apparatus of claim 3, wherein: The reducer of the first screw rod transmission system is a double-input shaft reducer, and the reducer of the first elevator is a double-output reducer.

5. The large solid rocket motor nozzle to combustor interface apparatus of claim 3, wherein: The roll platform comprises a roll platform upper layer and a roll platform lower layer, and a six-dimensional force sensor is arranged between the two layers to monitor the docking process of the nozzle in real time.

6. The large solid rocket motor nozzle to combustor interface apparatus of claim 3, wherein: Therefore, the nozzle rear support base comprises a nozzle rear support base, rollers, a nozzle rear support tool and a fixing belt; the fixing belt fixes the nozzle and the nozzle rear support tool, the two rollers are installed on the nozzle rear support base, and the nozzle rear support tool is supported on the rollers; when the nozzle is adjusted in roll, the nozzle rear support tool moves on the rollers with the nozzle.

7. The method of docking a large solid rocket engine nozzle to a combustion chamber docking device of claim 3, wherein, The method comprises the following steps: 1) selecting corresponding nozzle front support tools and nozzle rear support tools according to the size and model of the nozzle, and fixing the nozzle with the nozzle front support tools and the nozzle rear support tools; 2) lifting the nozzle above the device by using hoisting equipment such as an electric hoist, fixing the nozzle front support tools with the nozzle front support bases of the γ roll mechanism, and supporting the nozzle rear support tools on the rollers of the nozzle rear support bases of the γ roll mechanism; 3) establishing an absolute coordinate system and a relative coordinate system of the nozzle and the combustion chamber by using an external measurement system, and obtaining the absolute six-dimensional position and posture of the axis of the nozzle and the combustion chamber; obtaining the target six-degree-of-freedom adjustment amount of the axis of the nozzle relative to the axis of the combustion chamber according to the position and posture algorithm of the external measurement system; 4) adjusting the α pitch angle of the nozzle by using the α pitch mechanism 4 in the posture adjustment mechanism of the device, adjusting the β yaw angle of the nozzle by using the β yaw mechanism 6, adjusting the γ roll angle of the nozzle by using the γ roll mechanism 5, and then adjusting the position of the nozzle in the Y direction and the Z direction in real time by using the plane adjustment mechanism and the Z mechanism; 5) after the five-degree-of-freedom adjustment of the nozzle α / β / γ / Y / Z is completed, the axis position and posture of the nozzle and the combustion chamber are detected by using the external measurement system, and if there is still deviation between the current position and posture of the nozzle and the target posture, the step is repeated or the nozzle is adjusted by using the manual adjustment rod arranged on the device until the position and posture meet the docking requirements; 6) feeding the nozzle in the X direction by using the parallel mechanism of the device to complete precise docking according to the docking path; 7) after the docking is completed, the nozzle, the nozzle front support tools and the nozzle rear support tools are disassembled and separated, and the nozzle docking process with the combustion chamber is completed.

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