Ground-to-ground automatic docking apparatus

Abstract

The application discloses a ground-ground automatic docking equipment, which comprises a supply fixing plate, a torsion adjusting plate, a front-back adjusting plate, a lateral adjusting plate, a supply rotating plate and an acceptance end fixing plate arranged along the Z-axis direction, a driving cylinder connected between the supply fixing plate and the torsion adjusting plate, elastic pads connected between the torsion adjusting plate and the front-back adjusting plate, first and second sliding assemblies arranged between the front-back adjusting plate and the lateral adjusting plate, the lateral adjusting plate being capable of sliding along the Y-axis and the X-axis directions through the first and second sliding assemblies respectively, a third sliding assembly arranged between the lateral adjusting plate and the supply rotating plate, the supply rotating plate being capable of performing circular motion through the third sliding assembly, and positioning pins and positioning holes arranged on the supply rotating plate and the acceptance end fixing plate respectively. The ground-ground automatic docking equipment can automatically dock various gas, electric and liquid pipelines between a movable launching platform and a ground system.

Description

Technical Field

[0001] This invention relates to the field of automatic docking, and in particular to an automatic ground-to-ground docking device. Background Technology

[0002] In the aerospace field, the connections between mobile launch platforms and the launch site's technical and launch areas mainly include gas supply pipelines, electrical cables, air conditioning pipelines, and water spray pipelines. Currently, the pipeline and wiring connections of mobile launch platforms are mostly operated manually, resulting in a large workload and long operation time. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic ground docking device that can automatically eliminate positional deviations in six degrees of freedom between connecting pipelines. Therefore, it can automatically dock various gas, electrical and liquid pipelines between the mobile launch platform and the ground system. It also features simple control, easy operation, safe and reliable use, and strong compatibility.

[0004] The present invention discloses an automatic docking device comprising a supply fixing plate, a torsion adjusting plate, a front and rear adjusting plate, a lateral adjusting plate, a supply rotating plate, and a receiving end fixing plate arranged sequentially at intervals along the Z-axis. An actuating cylinder arranged along the Z-axis connects the supply fixing plate and the torsion adjusting plate. Multiple elastic pads connect the torsion adjusting plate and the front and rear adjusting plate, with the lines connecting the multiple elastic pads forming a polygon. The axis of the actuating cylinder lies within the polygon. A first sliding assembly and a second sliding assembly are provided between the front and rear adjusting plate and the lateral adjusting plate. The lateral adjusting plate can be adjusted relative to the front and rear adjusting plate via the first sliding assembly. The adjustment plate slides along the Y-axis. The lateral adjustment plate can slide relative to the front and rear adjustment plates along the X-axis via a second sliding assembly. A third sliding assembly is provided between the lateral adjustment plate and the supply rotating plate. The supply rotating plate can perform circumferential motion relative to the lateral adjustment plate via the third sliding assembly. The center of the circumferential motion is located on the axis of the actuating cylinder. A positioning pin is fixedly provided on the side of the supply rotating plate away from the lateral adjustment plate. A positioning hole corresponding to the positioning pin is provided on the receiving end fixing plate. The supply rotating plate is used to fix the supply end pipeline interface, and the receiving end fixing plate is used to fix the receiving end pipeline interface.

[0005] The present invention discloses an automatic docking device, wherein the first sliding component includes a first slide rail and a first slider. The first slide rail is fixedly mounted on a lateral adjustment plate along the Y-axis direction, and the first slider is slidably connected to the first slide rail. The second sliding component includes a second slide rail and a second slider. The second slide rail is fixedly mounted on a front and rear adjustment plate along the X-axis direction, and the second slider is slidably connected to the second slide rail. The first slider and the second slider are fixedly connected.

[0006] The present invention relates to an automatic docking device, wherein the third sliding component includes a third slide rail and a third slider. The third slide rail is fixedly mounted on a supply rotating plate, and the third slider is fixedly mounted on a lateral adjustment plate. The third slider is slidably connected to the third slide rail. The third slide rail is an arc-shaped slide rail, and the center of the third slide rail is located on the axis of the actuating cylinder.

[0007] The present invention relates to an automatic docking device, wherein a first elastic reset member and a second elastic reset member are provided between the front and rear adjustment plates and the side adjustment plates. The first elastic reset member is fixedly connected between the front and rear adjustment plates and the side adjustment plates along the Y-axis direction, and the second elastic reset member is fixedly connected between the front and rear adjustment plates and the side adjustment plates along the X-axis direction.

[0008] The present invention relates to an automatic docking device, wherein a third elastic reset member is provided between the lateral adjustment plate and the supply rotating plate, the third elastic reset member being fixedly connected between the lateral adjustment plate and the supply rotating plate along the circumferential direction, the center of the circumferential direction being located on the axis of the actuating cylinder.

[0009] The present invention relates to an automatic docking device, wherein the cylinder body of the actuating cylinder is fixedly mounted on a supply fixing plate, the piston rod of the actuating cylinder is fixedly mounted on a torsion adjustment plate, a guide post passing through the supply fixing plate is fixedly mounted on the torsion adjustment plate, a guide sleeve is fixedly mounted on the supply fixing plate, and the guide post is inserted into the guide sleeve.

[0010] The present invention relates to an automatic docking device, wherein the receiving end fixing plate is provided with a first mounting hole for fixing and installing the receiving end pipeline interface, the supply rotating plate is provided with a second mounting hole for fixing and installing the supply end pipeline interface, and the supply fixing plate, the torsion adjustment plate, the front and rear adjustment plate and the side adjustment plate are all provided with through holes corresponding to the second mounting hole, the through holes being used for the supply end pipeline to pass through.

[0011] The present invention relates to an automatic docking device, wherein the supply fixing plate, the torsion adjustment plate, the front and rear adjustment plate, the lateral adjustment plate, and the supply rotating plate are all rectangular plates. The length direction and width direction of the supply fixing plate, the torsion adjustment plate, the front and rear adjustment plate, the lateral adjustment plate, and the supply rotating plate are respectively the Y-axis direction and the X-axis direction. The centers of the supply fixing plate, the torsion adjustment plate, the front and rear adjustment plate, the lateral adjustment plate, and the supply rotating plate are arranged coaxially. The cylinder body of the actuating cylinder is fixedly located at the center position of the supply fixing plate, and the piston rod of the actuating cylinder is fixedly located at the center position of the torsion adjustment plate.

[0012] The present invention discloses an automatic docking device, wherein four elastic pads are connected between the torsion adjustment plate and the front and rear adjustment plates. The four elastic pads are respectively connected between the four corners of the torsion adjustment plate and the front and rear adjustment plates. The line connecting the four elastic pads forms a rectangle. The long side of the rectangle is arranged along the Y-axis direction, the wide side of the rectangle is arranged along the X-axis direction, and the axis of the actuating cylinder is located at the center of the rectangle.

[0013] The present invention relates to an automatic docking device, wherein there are two first slide rails, each with two first sliders slidably connected to it; there are two second slide rails, each with two second sliders slidably connected to it; four first sliders and four second sliders are arranged in a one-to-one correspondence; the first sliders and their corresponding second sliders are fixedly connected by support blocks; and there are two third slide rails, each fixedly mounted at both ends of the length direction of the supply rotating plate; each third slide rail has two third sliders slidably connected to it.

[0014] The automatic docking device of this invention differs from existing technologies in that, during use, both the supply fixing plate and the receiving end fixing plate are fixedly installed. Activating the actuating cylinder extends the piston rod, causing the entire assembly of the torsion adjustment plate, front and rear adjustment plate, lateral adjustment plate, and supply rotating plate to move towards the receiving end fixing plate until the positioning pin is inserted into the positioning hole. At this point, the supply end pipeline interface and the receiving end pipeline interface are directly opposite each other. Before the positioning pin is inserted into the positioning hole, the positioning pin and the positioning hole are not directly opposite each other; that is, there is a positional deviation between them (this positional deviation is also the positional deviation between the supply end pipeline interface and the receiving end pipeline interface). Therefore, during the insertion of the positioning pin into the positioning hole, the positioning pin will move along the X-axis, move along the Y-axis, rotate around the X-axis, rotate around the Y-axis, and rotate around the Z-axis to eliminate the positional deviation with the positioning hole, thus achieving direct alignment with the positioning hole. Because the lateral adjustment plate can slide relative to the front and rear adjustment plates along the X-axis via the second sliding assembly, the positioning pin and the supply rotating plate can slide along the X-axis relative to the front and rear adjustment plates, meaning the positioning pin can move along the X-axis via the second sliding assembly. Because the lateral adjustment plate can slide relative to the front and rear adjustment plates along the Y-axis via the first sliding assembly, the positioning pin and the supply rotating plate can slide along the Y-axis relative to the front and rear adjustment plates, meaning the positioning pin can move along the Y-axis via the first sliding assembly. Because multiple elastic pads connect the torsion adjustment plate and the front and rear adjustment plates, the front and rear adjustment plates can rotate around the X-axis and Y-axis respectively. During this process, the elastic pads undergo corresponding elastic deformation to accommodate the rotation of the front and rear adjustment plates, and the positioning pin, the supply rotating plate, and the lateral adjustment plate can rotate around the X-axis and Y-axis respectively with the front and rear adjustment plates, meaning the positioning pin can rotate around the X-axis and Y-axis via the elastic pads. Because the supply rotating plate can move in a circular motion relative to the lateral adjustment plate via the third sliding component, the positioning pin can also move in a circular motion relative to the lateral adjustment plate, meaning the positioning pin can rotate around the Z-axis via the third sliding component. After the positioning pin and the positioning hole are aligned, the supply end pipe interface and the receiving end pipe interface are also aligned. The only positional deviation between the supply end pipe interface and the receiving end pipe interface is along the Z-axis. The piston rod of the actuating cylinder continues to extend until the supply end pipe interface and the receiving end pipe interface are in contact, thus completing the automatic docking. In summary, this invention can automatically eliminate positional deviations in six degrees of freedom between connecting pipes, thus enabling automatic docking of various gas, electrical, and hydraulic pipelines between the mobile launch platform and the ground system. It also features simple control, ease of operation, safe and reliable use, and strong compatibility.

[0015] The invention will now be further described with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the automatic docking equipment of the present invention; Figure 2 for Figure 1 A magnified view of a section at point A in the middle; Figure 3 for Figure 1 A magnified view of a section at point B in the middle; Figure 4 This is a diagram showing the relative positions of the torsion adjustment plate and the front and rear adjustment plates in this invention. Figure 5 This is a diagram showing the relative positions of the front and rear adjustment plates and the side adjustment plates in this invention. Figure 6 for Figure 5 A magnified view of a section at point C; Figure 7 for Figure 5 A magnified view of a section at point D; Figure 8 This is a schematic diagram of the structure of the rotating plate supplied in this invention; Figure 9 for Figure 8 A magnified view of a section at point E in the middle. Detailed Implementation

[0017] like Figure 1 As shown, and in combination Figure 2-9As shown, the automatic docking device of the present invention includes a supply fixing plate 2, a torsion adjustment plate 16, a front and rear adjustment plate 6, a lateral adjustment plate 7, a supply rotating plate 8, and a receiving end fixing plate 10 arranged sequentially at intervals along the Z-axis. An actuating cylinder 1 arranged along the Z-axis is connected between the supply fixing plate 2 and the torsion adjustment plate 16. Multiple elastic pads 5 are connected between the torsion adjustment plate 16 and the front and rear adjustment plate 6, and the lines connecting the multiple elastic pads 5 form a polygon. The axis of the actuating cylinder 1 is located within the polygon. A first sliding assembly and a second sliding assembly are provided between the front and rear adjustment plate 6 and the lateral adjustment plate 7. The lateral adjustment plate 7 can be adjusted relative to the front and rear adjustment plate 8 by the first sliding assembly. The rear adjustment plate 6 slides along the Y-axis, and the lateral adjustment plate 7 can slide relative to the rear and rear adjustment plates 6 along the X-axis via a second sliding assembly. A third sliding assembly is provided between the lateral adjustment plate 7 and the supply rotating plate 8. The supply rotating plate 8 can perform circumferential motion relative to the lateral adjustment plate 7 via the third sliding assembly. The center of the circumferential motion is located on the axis of the actuating cylinder 1. A positioning pin 12 is fixedly provided on the side of the supply rotating plate 8 away from the lateral adjustment plate 7. The receiving end fixing plate 10 is provided with a positioning hole 11 corresponding to the positioning pin 12. The supply rotating plate 8 is used to fix the supply end pipeline interface, and the receiving end fixing plate 10 is used to fix the receiving end pipeline interface.

[0018] In this embodiment, since the actuating cylinder 1 is arranged along the Z-axis direction, the axial direction of the actuating cylinder 1 can be regarded as the Z-axis direction. Multiple elastic pads 5 are provided, meaning at least three elastic pads 5 are provided. When there are three elastic pads 5, the line connecting the three elastic pads 5 forms a triangle, and the axis of the actuating cylinder 1 (i.e., the Z-axis) is located within the triangle. Thus, there is at least one elastic pad 5 on each opposite side of the X-axis. When the front and rear adjusting plates 6 rotate around the X-axis direction, the elastic pad 5 on one side of the X-axis is compressed by the front and rear adjusting plates 6, resulting in compressive elastic deformation, while the elastic pad 5 on the other side of the X-axis is stretched by the front and rear adjusting plates 6, resulting in elongation elastic deformation. Therefore, the rotation of the front and rear adjusting plates 6 around the X-axis direction can be achieved through the elastic deformation of the elastic pads 5. Similarly, there is at least one elastic pad 5 on each side of the Y-axis. When the front and rear adjustment plates 6 rotate around the Y-axis, the elastic pad 5 on one side of the Y-axis is compressed by the front and rear adjustment plates 6 and produces compressive elastic deformation, while the elastic pad 5 on the other side of the Y-axis is stretched by the front and rear adjustment plates 6 and produces elongation elastic deformation. It can be seen that the front and rear adjustment plates 6 can be rotated around the Y-axis by the elastic deformation of the elastic pad 5.

[0019] When the force that drives the front and rear adjustment plates 6 to rotate around the X-axis / Y-axis disappears, the elastic pad 5 returns to its original shape, and the front and rear adjustment plates 6 also return to their initial positions.

[0020] When the supply rotating plate 8 moves in a circular motion relative to the lateral adjustment plate 7, since the center of the circular motion is located on the axis of the actuating cylinder 1, as mentioned above, the axis of the actuating cylinder 1 is regarded as the Z-axis direction, so it can be considered that the supply rotating plate 8 is rotating around the Z-axis.

[0021] like Figure 1 As shown, and in combination Figure 2 , 3 As shown in Figures 5, 6, and 7, the automatic docking device of the present invention includes a first sliding component comprising a first slide rail 15 and a first slider 13. The first slide rail 15 is fixedly mounted on a lateral adjustment plate 7 along the Y-axis direction, and the first slider 13 is slidably connected to the first slide rail 15. The second sliding component comprises a second slide rail 26 and a second slider 27. The second slide rail 26 is fixedly mounted on a front and rear adjustment plate 6 along the X-axis direction, and the second slider 27 is slidably connected to the second slide rail 26. The first slider 13 and the second slider 27 are fixedly connected.

[0022] like Figure 1 , 3 As shown in Figure 8, the automatic docking device of the present invention includes a third sliding component comprising a third slide rail 24 and a third slider 23. The third slide rail 24 is fixedly mounted on the supply rotating plate 8, and the third slider 23 is fixedly mounted on the lateral adjustment plate 7. The third slider 23 is slidably connected to the third slide rail 24. The third slide rail 24 is an arc-shaped slide rail, and the center of the third slide rail 24 is located on the axis of the actuating cylinder 1.

[0023] like Figure 1 As shown, and in combination Figure 2 , 3 As shown in Figures 5, 6, and 7, the automatic docking device of the present invention includes a first elastic reset member and a second elastic reset member between the front and rear adjustment plate 6 and the side adjustment plate 7. The first elastic reset member is fixedly connected between the front and rear adjustment plate 6 and the side adjustment plate 7 along the Y-axis direction, and the second elastic reset member is fixedly connected between the front and rear adjustment plate 6 and the side adjustment plate 7 along the X-axis direction.

[0024] When the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the Y-axis via the first sliding assembly, the first elastic reset member is fixedly connected between the front and rear adjustment plates 6 and the lateral adjustment plate 7 along the Y-axis. Therefore, the first elastic reset member undergoes elastic deformation. When the force driving the lateral adjustment plate 7 to slide relative to the front and rear adjustment plates 6 disappears, the first elastic reset member returns to its original state. Thus, under the action of the first elastic reset member, the lateral adjustment plate 7 slides in the opposite direction relative to the front and rear adjustment plates 6 along the Y-axis until the lateral adjustment plate 7 returns to its initial position.

[0025] Similarly, when the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the X-axis direction via the second sliding assembly, since the second elastic reset member is fixedly connected between the front and rear adjustment plates 6 and the lateral adjustment plate 7 along the X-axis direction, the second elastic reset member undergoes elastic deformation. When the force driving the lateral adjustment plate 7 to slide relative to the front and rear adjustment plates 6 disappears, the second elastic reset member returns to its original state. Thus, under the action of the second elastic reset member, the lateral adjustment plate 7 slides in the opposite direction relative to the front and rear adjustment plates 6 along the X-axis direction until the lateral adjustment plate 7 returns to its initial position.

[0026] like Figure 1 As shown, and in combination Figure 3 , 8 As shown in Figure 9, in the automatic docking device of the present invention, a third elastic reset member is provided between the lateral adjustment plate 7 and the supply rotating plate 8. The third elastic reset member is fixedly connected between the lateral adjustment plate 7 and the supply rotating plate 8 in the circumferential direction, and the center of the circumferential direction is located on the axis of the actuating cylinder 1.

[0027] When the supply rotating plate 8 moves in a circular motion relative to the lateral adjusting plate 7, that is, when the supply rotating plate 8 rotates around the Z-axis, the third elastic reset member is fixedly connected between the lateral adjusting plate 7 and the supply rotating plate 8 in the circumferential direction, and the center of the circumferential direction is located on the axis of the actuating cylinder 1. Therefore, the third elastic reset member undergoes elastic deformation. When the force driving the supply rotating plate 8 to rotate around the Z-axis disappears, the third elastic reset member returns to its original state. Thus, under the action of the third elastic reset member, the supply rotating plate 8 rotates in the opposite direction around the Z-axis until the supply rotating plate 8 returns to its initial position.

[0028] like Figure 1 , 4 As shown, in the automatic docking device of the present invention, the cylinder body of the actuating cylinder 1 is fixedly mounted on the supply fixing plate 2, and the piston rod of the actuating cylinder 1 is fixedly mounted on the torsion adjusting plate 16. The actuating cylinder 1 can be a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder, as long as it can drive the torsion adjusting plate 16 to move closer to or away from the supply fixing plate 2.

[0029] The torsion adjustment plate 16 is fixedly provided with a guide post 3 passing through the supply fixing plate 2, and the supply fixing plate 2 is fixedly provided with a guide sleeve 4, with the guide post 3 inserted inside the guide sleeve 4. When the torsion adjustment plate 16 moves closer to or away from the supply fixing plate 2 under the action of the actuating cylinder 1, the guide post 3 slides back and forth along the guide sleeve 4. Therefore, the guide post 3 and the guide sleeve 4 guide the movement of the torsion adjustment plate 16 closer to or away from the supply fixing plate 2, making its movement more stable.

[0030] like Figure 1 As shown, and in combination Figure 4 ,8 As shown, in the automatic docking device of the present invention, the receiving end fixing plate 10 is provided with a first mounting hole 9, which is used to fix the receiving end pipeline interface. The supply rotating plate 8 is provided with a second mounting hole 28, which is used to fix the supply end pipeline interface. The supply fixing plate 2, the torsion adjustment plate 16, the front and rear adjustment plate 6 and the lateral adjustment plate 7 are all provided with through holes corresponding to the second mounting hole 28, which are used for the supply end pipeline to pass through.

[0031] When installing the supply end pipeline, let the supply end pipeline interface pass through the through holes on the supply fixing plate 2, the torsion adjustment plate 16, the front and rear adjustment plate 6 and the side adjustment plate 7 in sequence, and then fix it on the second mounting hole 28 of the supply rotating plate 8. The supply end pipeline near the supply end pipeline interface is located in the through hole.

[0032] like Figure 1 As shown, and in combination Figure 4 , 5 As shown in Figures 8 and 9, the automatic docking device of the present invention includes a supply fixing plate 2, a torsion adjustment plate 16, a front and rear adjustment plate 6, a lateral adjustment plate 7, and a supply rotating plate 8, all of which are rectangular plates. The length and width directions of the supply fixing plate 2, the torsion adjustment plate 16, the front and rear adjustment plate 6, the lateral adjustment plate 7, and the supply rotating plate 8 are respectively the Y-axis direction and the X-axis direction. The supply fixing plate 2, the torsion adjustment plate 16, the front and rear adjustment plate 6, the lateral adjustment plate 7, and the supply rotating plate 8 are arranged coaxially. The cylinder body of the actuating cylinder 1 is fixed at the center of the supply fixing plate 2, and the piston rod of the actuating cylinder 1 is fixed at the center of the torsion adjustment plate 16.

[0033] like Figure 1 , 4 As shown, in the automatic docking device of the present invention, four elastic pads 5 are fixedly connected between the torsion adjustment plate 16 and the front and rear adjustment plates 6. The four elastic pads 5 are respectively connected between the four corners of the torsion adjustment plate 16 and the front and rear adjustment plates 6. The line connecting the four elastic pads 5 forms a rectangle. The long side of the rectangle is arranged along the Y-axis direction, the wide side of the rectangle is arranged along the X-axis direction, and the axis of the actuating cylinder 1 is located at the center of the rectangle.

[0034] When the front and rear adjustment plates 6 rotate around the X-axis, there are two elastic pads 5 on opposite sides of the X-axis, that is, there are two elastic pads 5 at both ends of the length direction of the front and rear adjustment plates 6. Therefore, the two elastic pads 5 on one side of the X-axis are compressed by the front and rear adjustment plates 6 and produce compressive elastic deformation, while the two elastic pads 5 on the other side of the X-axis are stretched by the front and rear adjustment plates 6 and produce elongation elastic deformation.

[0035] When the front and rear adjustment plates 6 rotate around the Y-axis, there are two elastic pads 5 on opposite sides of the Y-axis, that is, there are two elastic pads 5 at both ends of the width direction of the front and rear adjustment plates 6. Therefore, the two elastic pads 5 on one side of the Y-axis are compressed by the front and rear adjustment plates 6 and produce compressive elastic deformation, while the two elastic pads 5 on the other side of the Y-axis are stretched by the front and rear adjustment plates 6 and produce elongation elastic deformation.

[0036] In this embodiment, the elastic pad 5 is a cylinder made of rubber material, with both ends of the cylinder fixedly connected to the torsion adjustment plate 16 and the front and rear adjustment plate 6, respectively. Of course, the elastic pad 5 can also be made of other elastic materials.

[0037] like Figure 1 As shown, and in combination Figure 2 , 3 As shown in Figures 5, 6, and 7, the automatic docking device of the present invention includes two first slide rails 15, each of which is slidably connected to two first sliders 13. There are also two second slide rails 26, each of which is slidably connected to two second sliders 27. The four first sliders 13 and the four second sliders 27 are arranged in a one-to-one correspondence. The first sliders 13 and the corresponding second sliders 27 are fixedly connected by support blocks 14.

[0038] When the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the Y-axis, the first slide rail 15 slides relative to the first slider 13. The reason is as follows: because the first slider 13 is fixedly connected to the second slider 27 through the support block 14, and the second slider 27 is slidably connected to the second slide rail 26, and the second slide rail 26 arranged along the X-axis is perpendicular to the first slide rail 15 arranged along the Y-axis, when the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the Y-axis, the position of the second slider 27 on the second slide rail 26 remains unchanged, so the support block 14 and the first slider 13 also remain unchanged, while the lateral adjustment plate 7 drives the first slide rail 15 to slide relative to the first slider 13.

[0039] When the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the X-axis, the second slider 27 slides relative to the second slide rail 26. The reason is as follows: because the second slider 27 is fixedly connected to the first slider 13 through the support block 14, and the first slider 13 is slidably connected to the first slide rail 15, and the first slide rail 15 arranged along the Y-axis is perpendicular to the second slide rail 26 arranged along the X-axis, when the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the X-axis, the position of the first slider 13 on the first slide rail 15 remains unchanged. Thus, the first slider 13 moves with the lateral adjustment plate 7 relative to the front and rear adjustment plates 6 along the X-axis. Since the second slider 27 is fixedly connected to the first slider 13 through the support block 14, the second slider 27 also moves with the lateral adjustment plate 7 relative to the front and rear adjustment plates 6 along the X-axis, causing the second slider 27 to slide relative to the second slide rail 26.

[0040] like Figure 8 As shown, there are two third slide rails 24, which are fixed at both ends of the length direction of the supply rotating plate 8. Each third slide rail 24 is slidably connected to two third sliders 23.

[0041] like Figure 1 As shown, and in combination Figure 2 , 3 As shown in Figures 5, 6, and 7, both the first and second elastic reset components employ reset springs. The reset spring used in the first elastic reset component is designated as the first reset spring 20, and the reset spring used in the second elastic reset component is designated as the second reset spring 19.

[0042] Two first return springs 20 are fixedly connected between one end of the front and rear adjusting plate 6 and the side adjusting plate 7 along their length, and two first return springs 20 are also fixedly connected between the other end of the front and rear adjusting plate 6 and the side adjusting plate 7 along their length. Two second return springs 19 are fixedly connected between one end of the front and rear adjusting plate 6 and the side adjusting plate 7 along their width, and two second return springs 19 are also fixedly connected between the other end of the front and rear adjusting plate 6 and the side adjusting plate 7 along their width. The specific connection method of the return springs is as follows: a first column 21 is fixedly provided on the front and rear adjusting plate 6, and a second column 22 is fixedly provided on the side adjusting plate 7. The two ends of the first return springs 20 are fixedly connected to the first column 21 and the second column 22, respectively; a third column 17 is fixedly provided on the front and rear adjusting plate 6, and a fourth column 18 is fixedly provided on the side adjusting plate 7. The two ends of the second return springs 19 are fixedly connected to the third column 17 and the fourth column 18, respectively.

[0043] When the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the Y-axis, the first return spring 20 at one end of the front and rear adjustment plates 6 and the lateral adjustment plate 7 along their length is compressed, resulting in compressive elastic deformation, while the first return spring 20 at the other end is stretched, resulting in elongation elastic deformation. When the force driving the lateral adjustment plate 7 to slide relative to the front and rear adjustment plates 6 along the Y-axis disappears, the first return spring 20 returns to its original shape, and thus the lateral adjustment plate 7 also returns to its initial position. It should be noted that when the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the Y-axis, the second return spring 19 undergoes slight tilting elongation elastic deformation, but its effect on restoring the lateral adjustment plate 7 to its initial position is minimal.

[0044] Similarly, when the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the X-axis, the second return spring 19 at one end of the width direction of both the front and rear adjustment plates 6 and the lateral adjustment plate 7 is compressed, resulting in compressive elastic deformation, while the second return spring 19 at the other end is stretched, resulting in elongation elastic deformation. When the force driving the lateral adjustment plate 7 to slide relative to the front and rear adjustment plates 6 along the X-axis disappears, the second return spring 19 returns to its original state, and thus the lateral adjustment plate 7 also returns to its initial position. It should be noted that when the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the X-axis, the first return spring 20 undergoes slight tilting elongation elastic deformation, but its effect on restoring the lateral adjustment plate 7 to its initial position is minimal.

[0045] like Figure 8 , 9 As shown, the third elastic reset component adopts a reset spring, which is referred to as the third reset spring 25. There are four third reset springs 25, which are arranged sequentially at the four corners of the side adjustment plate 7 / supply rotating plate 8. The specific arrangement of the third reset springs 25 is as follows: a fifth column 30 is fixedly provided on the side adjustment plate 7, and a sixth column 29 is fixedly provided on the supply rotating plate 8. The two ends of the third reset spring 25 are respectively fixedly connected to the fifth column 30 and the sixth column 29.

[0046] When the supply rotating plate 8 moves in a circular motion relative to the lateral adjusting plate 7, that is, when the supply rotating plate 8 rotates around the Z-axis, one of the two third return springs 25 at one end of the length direction of the supply rotating plate 8 / lateral adjusting plate 7 is compressed, producing compressive elastic deformation, while the other third return spring 25 is stretched, producing elongation elastic deformation. Simultaneously, at the other end of the length direction of the supply rotating plate 8 / lateral adjusting plate 7, one of the two third return springs 25 is compressed, producing compressive elastic deformation, while the other third return spring 25 is stretched, producing elongation elastic deformation. When the force driving the supply rotating plate 8 to rotate around the Z-axis disappears, the third return springs 25 return to their original state, and the supply rotating plate 8 also returns to its initial position.

[0047] like Figure 1 , 4 As shown, there are four guide columns 3, which are fixedly installed at the four corners of the torsion adjustment plate 16. Correspondingly, there are also four guide sleeves 4, which are fixedly installed at the four corners of the supply fixing plate 2. The four guide sleeves 4 and the four guide columns 3 are arranged in a one-to-one correspondence, and the guide columns 3 are inserted into the corresponding guide sleeves 4.

[0048] In use, the automatic docking equipment of this invention has both a supply fixing plate 2 and a receiving end fixing plate 10 fixedly installed. Activating the actuating cylinder 1 extends its piston rod, causing the entire assembly of the torsion adjusting plate 16, the front-rear adjusting plate 6, the lateral adjusting plate 7, and the supply rotating plate 8 to move towards the receiving end fixing plate 10 (i.e., along the Z-axis) until the positioning pin 12 is inserted into the positioning hole 11. In this embodiment, there are two positioning pins 12 and two positioning holes 11. When the two positioning pins 12 are respectively inserted into the two positioning holes 11, the supply end pipeline interface and the receiving end pipeline interface are directly opposite each other. Before the positioning pin 12 is inserted into the positioning hole 11, the positioning pin 12 and the positioning hole 11 are not directly opposite each other, that is, there is a positional deviation between them (this positional deviation is also the positional deviation between the supply end pipeline interface and the receiving end pipeline interface). Therefore, during the process of the positioning pin 12 being inserted into the positioning hole 11, the positioning pin 12 will move along the X-axis, move along the Y-axis, rotate around the X-axis, rotate around the Y-axis, and rotate around the Z-axis to eliminate the positional deviation between it and the positioning hole 11, and thus achieve direct alignment with the positioning hole 11. Since the lateral adjustment plate 7 can slide relative to the front and rear adjustment plates 6 along the X-axis direction via the second sliding assembly, the positioning pin 12 and the supply rotating plate 8 can slide along the X-axis direction with the lateral adjustment plate 7 relative to the front and rear adjustment plates 6 (since the supply rotating plate 8 can only make circular motion relative to the lateral adjustment plate 7 via the third sliding assembly, when the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the X-axis direction, the supply rotating plate 8 and the positioning pin 12 can slide together with the lateral adjustment plate 7), that is, the positioning pin 12 can complete the movement along the X-axis direction via the second sliding assembly. Since the lateral adjustment plate 7 can slide relative to the front and rear adjustment plates 6 along the Y-axis via the first sliding assembly, the positioning pin 12 and the supply rotating plate 8 can slide along the Y-axis with the lateral adjustment plate 7 relative to the front and rear adjustment plates 6 (since the supply rotating plate 8 can only move in a circle relative to the lateral adjustment plate 7 via the third sliding assembly, when the lateral adjustment plate 7 slides relative to the front and rear adjustment plates 6 along the Y-axis, the supply rotating plate 8 and the positioning pin 12 can slide together with the lateral adjustment plate 7). That is, the positioning pin 12 can complete the movement along the Y-axis via the first sliding assembly. Since multiple elastic pads 5 are connected between the torsion adjustment plate 16 and the front and rear adjustment plates 6, the front and rear adjustment plates 6 can rotate around the X-axis and Y-axis respectively. During this process, the elastic pads 5 undergo corresponding elastic deformation to adapt to the aforementioned rotation of the front and rear adjustment plates 6, and the positioning pin 12, the supply rotating plate 8, and the lateral adjustment plate 7 can rotate around the X-axis and Y-axis respectively with the front and rear adjustment plates 6. That is, the positioning pin 12 can complete the rotation around the X-axis and Y-axis via the elastic pads 5.Since the supply rotating plate 8 can move in a circular motion relative to the lateral adjustment plate 7 via the third sliding component, the positioning pin 12 can also move in a circular motion relative to the lateral adjustment plate 7 along with the supply rotating plate 8. That is, the positioning pin 12 can rotate around the Z-axis via the third sliding component. After the positioning pin 12 and the positioning hole 11 are aligned, the supply end pipe interface and the receiving end pipe interface are also aligned. The only positional deviation between the supply end pipe interface and the receiving end pipe interface is along the Z-axis. The piston rod of the actuating cylinder 1 continues to extend until the supply end pipe interface and the receiving end pipe interface are in contact, thus eliminating the positional deviation of the two pipe interfaces in the Z-axis direction, thereby completing the automatic docking. In summary, this invention can automatically eliminate positional deviations in six degrees of freedom between connecting pipes, thus enabling automatic docking of various gas, electrical, and hydraulic pipelines between the mobile launch platform and the ground system. It also features simple control, ease of operation, safe and reliable use, and strong compatibility.

[0049] After completing the docking task, the actuator cylinder 1 is activated, causing the piston rod of the actuator cylinder 1 to retract. This causes the entire assembly of the torsion adjustment plate 16, the front and rear adjustment plates 6, the lateral adjustment plate 7, and the supply rotating plate 8 to move away from the receiving end fixed plate 10 until the positioning pin 12 leaves the positioning hole 11. Simultaneously, the supply end pipeline interface and the receiving end pipeline interface separate. Since the positioning pin 12 leaves the positioning hole 11, meaning the positioning hole 11 no longer applies force to the positioning pin 12, the forces driving the front and rear adjustment plates 6 to rotate around the X-axis / Y-axis, the forces driving the lateral adjustment plate 7 to slide relative to the front and rear adjustment plates 6 along the X-axis / Y-axis, and the forces driving... When the force causing the supply rotating plate 8 to rotate around the Z-axis disappears, the elastic pad 5, the first reset spring 20, the second reset spring 19, and the third reset spring 25, which were in a state of elastic deformation, all return to their original state. This causes the front and rear adjusting plates 6, the lateral adjusting plates 7, and the supply rotating plate 8 to return to their initial positions. That is, the length and width directions of the supply fixing plate 2, the torsion adjusting plate 16, the front and rear adjusting plates 6, the lateral adjusting plates 7, and the supply rotating plate 8 are respectively the Y-axis and the X-axis directions. The centers of the supply fixing plate 2, the torsion adjusting plate 16, the front and rear adjusting plates 6, the lateral adjusting plates 7, and the supply rotating plate 8 are arranged coaxially.

[0050] This invention simplifies the operation of personnel, reduces separation and docking time, improves the efficiency of the launch process, and can automatically dock various types and sizes of pipelines and lines, with high compatibility. It can reduce the operation of on-site personnel and simplify the workflow.

[0051] Based on the principle of superposition of motion, the present invention can realize active movement along the Z-axis (achieved by the action of the actuator 1) and passive movement along the other five degrees of freedom (that is, when the positioning pin 12 is inserted into the positioning hole 11, the positioning pin 12 is forced to move along the X-axis, move along the Y-axis, rotate around the X-axis, rotate around the Y-axis, and rotate around the Z-axis), and finally realize the docking of the pipeline.

[0052] The beneficial effects of this invention compared to the prior art are as follows: (1) The equipment can free up human resources and reduce the operational complexity of the entire system; (2) The equipment has a simple and reliable structure, requires few drive inputs, and has a high degree of freedom in output; (3) The equipment adopts a modular design, and different specifications and sizes of pipelines can be connected by replacing different receiving end fixing plates 10.

[0053] like Figure 1 As shown, when the present invention is in use, the supply end of the automatic docking device moves towards the receiving end under the drive of the actuating cylinder 1, that is, it moves autonomously along the negative Z-axis direction until the positioning pin 12 is inserted into the positioning hole 11. During this process, the positioning pin 12 can adaptively move along the X-axis direction, move along the Y-axis direction, rotate around the X-axis direction, rotate around the Y-axis direction, and rotate around the Z-axis direction. That is, the positioning pin 12 undergoes passive movement in the above five directions to eliminate positional deviations in these five directions. When the positioning pin 12 is inserted into the positioning hole 11, that is, when the two are facing each other, there is only a positional deviation along the Z-axis direction between the supply end and the receiving end. Then the piston rod of the actuating cylinder 1 continues to extend until the supply end pipeline interface and the receiving end pipeline interface are fitted together, thereby completing the precise automatic docking.

[0054] It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A ground-to-ground automated docking apparatus, characterized by: The device includes a supply fixing plate, a torsion adjusting plate, a front and rear adjusting plate, a lateral adjusting plate, a supply rotating plate, and a receiving end fixing plate arranged sequentially at intervals along the Z-axis. An actuating cylinder arranged along the Z-axis connects the supply fixing plate and the torsion adjusting plate. Multiple elastic pads connect the torsion adjusting plate and the front and rear adjusting plate, forming a polygon with lines connecting the multiple elastic pads. The axis of the actuating cylinder lies within this polygon. A first sliding assembly and a second sliding assembly are provided between the front and rear adjusting plate and the lateral adjusting plate. The lateral adjusting plate can be moved relative to the front and rear adjusting plate along the Y-axis via the first sliding assembly. The lateral adjustment plate can slide relative to the front and rear adjustment plates along the X-axis via a second sliding assembly. A third sliding assembly is provided between the lateral adjustment plate and the supply rotating plate. The supply rotating plate can perform circular motion relative to the lateral adjustment plate via the third sliding assembly. The center of the circular motion is located on the axis of the actuating cylinder. A positioning pin is fixedly provided on the side of the supply rotating plate away from the lateral adjustment plate. The receiving end fixing plate has positioning holes corresponding to the positioning pin. The supply rotating plate is used to fix the supply end pipeline interface, and the receiving end fixing plate is used to fix the receiving end pipeline interface. The first sliding assembly includes a first slide rail and a first slider. The first slide rail is fixedly mounted on a lateral adjustment plate along the Y-axis, and the first slider is slidably connected to the first slide rail. The second sliding assembly includes a second slide rail and a second slider. The second slide rail is fixedly mounted on a front and rear adjustment plate along the X-axis, and the second slider is slidably connected to the second slide rail. The first slider and the second slider are fixedly connected. The third sliding assembly includes a third slide rail and a third slider. The third slide rail is fixedly mounted on the supply rotating plate, and the third slider is fixedly mounted on the lateral adjustment plate. The third slider is slidably connected to the third slide rail. The third slide rail is an arc-shaped slide rail, and the center of the third slide rail is located on the axis of the actuating cylinder. A first elastic reset member and a second elastic reset member are provided between the front and rear adjustment plates and the side adjustment plate. The first elastic reset member is fixedly connected between the front and rear adjustment plates and the side adjustment plate along the Y-axis direction, and the second elastic reset member is fixedly connected between the front and rear adjustment plates and the side adjustment plate along the X-axis direction.

2. The automatic ground-to-ground docking equipment according to claim 1, characterized in that: A third elastic reset member is provided between the lateral adjustment plate and the supply rotating plate. The third elastic reset member is fixedly connected between the lateral adjustment plate and the supply rotating plate in a circumferential direction, and the center of the circumferential direction is located on the axis of the actuating cylinder.

3. The automatic ground-to-ground docking equipment according to claim 2, characterized in that: The cylinder body of the actuating cylinder is fixedly mounted on the supply fixing plate, the piston rod of the actuating cylinder is fixedly mounted on the torsion adjustment plate, the torsion adjustment plate is fixedly mounted with a guide post passing through the supply fixing plate, the supply fixing plate is fixedly mounted with a guide sleeve, and the guide post is inserted into the guide sleeve.

4. The automatic ground-to-ground docking equipment according to claim 3, characterized in that: The receiving end fixing plate is provided with a first mounting hole for fixing the receiving end pipeline interface. The supply rotating plate is provided with a second mounting hole for fixing the supply end pipeline interface. The supply fixing plate, the torsion adjustment plate, the front and rear adjustment plate and the side adjustment plate are all provided with through holes corresponding to the second mounting hole. The through holes are used for the supply end pipeline to pass through.

5. The automatic ground-to-ground docking equipment according to claim 4, characterized in that: The supply fixing plate, torsion adjustment plate, front and rear adjustment plate, lateral adjustment plate, and supply rotating plate are all rectangular plates. The length and width directions of the supply fixing plate, torsion adjustment plate, front and rear adjustment plate, lateral adjustment plate, and supply rotating plate are respectively the Y-axis and X-axis directions. The centers of the supply fixing plate, torsion adjustment plate, front and rear adjustment plate, lateral adjustment plate, and supply rotating plate are arranged coaxially. The cylinder body of the actuating cylinder is fixed at the center of the supply fixing plate, and the piston rod of the actuating cylinder is fixed at the center of the torsion adjustment plate.

6. The automatic ground-to-ground docking equipment according to claim 5, characterized in that: Four elastic pads are connected between the torsion adjustment plate and the front and rear adjustment plates. The four elastic pads are respectively connected between the four corners of the torsion adjustment plate and the front and rear adjustment plates. The line connecting the four elastic pads forms a rectangle. The long side of the rectangle is arranged along the Y-axis, and the wide side of the rectangle is arranged along the X-axis. The axis of the actuating cylinder is located at the center of the rectangle.

7. The automatic ground-to-ground docking equipment according to claim 6, characterized in that: There are two first slide rails, each with two first sliders slidably connected to it. There are also two second slide rails, each with two second sliders slidably connected to it. The four first sliders and four second sliders are arranged in a one-to-one correspondence. The first sliders and their corresponding second sliders are fixedly connected by support blocks. There are also two third slide rails, each fixedly located at one end of the length of the supply rotating plate. Each third slide rail has two third sliders slidably connected to it.

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