Rocket sublevel rocket body recovery connector plugging device and use method thereof

Abstract

The invention discloses a rocket sublevel rocket body recovery connector plugging device and a use method thereof, the device comprises a walking chassis, an adjusting module and a plugging module, the walking chassis is connected with the adjusting module, the walking chassis is provided with a communication module, and the plugging module is connected with the adjusting module. According to the invention, the visual perception system comprising the camera is additionally arranged on the clamping fixer, so that the inserting device can identify the preset connecting and fixing mechanism of the rocket body, and the quick and automatic connection between the device and the rocket body is realized. And by arranging the horizontal adjusting module, soft and hard connection conversion of the insertion structure and the walking chassis is achieved, the horizontal follow-up relation of the insertion structure and the rocket body is ensured, and smooth insertion work is guaranteed. Through the arrangement of the plug-in module, the follow-up relationship between the plug-in structure and the rocket body in the vertical direction and the quick plug-in of the connector are realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of rocket recovery, and in particular relates to a rocket sub-stage body recovery connector plug-in device and a use method thereof. Background Art

[0002] The reusable launch vehicle can not only reduce the launch cost, but also increase the launch density and meet the high-density launch requirements. It is a technology that humans must develop for space exploration. The vertical return recovery method at sea has a high-precision and high-stability landing point, which reduces the safety threat to the people in the landing area, reduces the impact of the rocket's insufficient carrying capacity, and can save a lot of fuel. Since the sub-stage rocket body still has fuel, the subsequent recovery operation is dangerous. It is necessary to recover the fuel and the residual electricity of the rocket body as soon as the sub-stage rocket body lands on the ship. When the rocket body lands on the ship, the landing area will become a high-temperature environment, which is not suitable for manual operation. Therefore, in order to promote the development of the field of offshore rocket recovery, a connector plug-in device for recovering the sub-stage rocket body at sea is needed.

[0003] The patent document with announcement number CN106643342A discloses a connector suitable for ground and rocket air supply systems. Its purpose is to provide a redundant ball lock plug-in connector for reliable sealed air supply to the rocket, which can quickly detach the air supply load after the rocket takes off. The redundant ball lock plug-in connector of the present invention includes a connector body, a ball lock and an arrow socket. The connector body is provided with a first through hole for accommodating the ball lock. The connector body is fixedly provided with a balancing joint. The ball lock is also connected to a steel wire rope. The arrow socket includes a socket body. The socket body is fixedly provided with a plug. The plug can be inserted into the balancing joint to realize radial sealed air supply. However, this patent is used for fixed position plugging and unplugging before the rocket is launched, and is not suitable for rocket recovery. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a rocket sub-stage body recovery connector plug-in device and a use method thereof.

[0005] The present invention is achieved through the following technical solutions.

[0006] The present invention provides a rocket sub-stage body recovery connector plug-in device, which includes a running chassis, an adjustment module and a plug-in module. The running chassis is connected to the adjustment module. A communication module is arranged on the running chassis. The plug-in module is connected to the adjustment module.

[0007] Preferably, the adjustment module includes an X-axis adjustment box, a Y-axis adjustment box and a worm gear rotator, a slide rail A is arranged on the X-axis adjustment box, a slider A is arranged on the slide rail A, the slider A is connected to the X-axis adjustment box through a supporting structure A, the slider A is connected to the slide rail A, and the top of the Y-axis adjustment box is connected to the worm gear rotator.

[0008] Preferably, a slide rail B is provided on the Y-axis adjustment box, a slider B is provided on the slide rail B, the slider B is connected to the worm gear rotator through a supporting structure B, the slider B is connected to the slide rail B, and the X-axis adjustment box and the Y-axis adjustment box are vertically arranged in the horizontal direction.

[0009] Preferably, an electric cylinder is arranged in the X-direction adjustment box, and two electric cylinders are arranged on both sides of the X-direction adjustment box in opposite telescopic directions. One end of the electric cylinder is connected to a limit baffle, and the other end of the limit baffle is connected to a limit guide rod. The limit guide rod passes through the supporting structure A and is connected. Both ends of the limit guide rod are connected to the inner wall of the X-direction adjustment box. A slot A is arranged on the top of the X-direction adjustment box, and the supporting structure A extends into the X-direction adjustment box through the slot A. A limit block A is arranged on the supporting structure A.

[0010] Preferably, an electric cylinder is arranged in the Y-axis adjustment box, and two electric cylinders are arranged on both sides of the Y-axis adjustment box in opposite telescopic directions. One end of the electric cylinder is connected to a limit baffle, and the other end of the limit baffle is connected to a limit guide rod. The limit guide rod penetrates the supporting structure B and is connected. Both ends of the limit guide rod are connected to the inner wall of the Y-axis adjustment box. A slot B is arranged on the top of the Y-axis adjustment box, and the supporting structure B extends into the Y-axis adjustment box through the slot B. A limit block B is arranged on the supporting structure B.

[0011] Preferably, the plug-in module includes a connecting base plate, a flip electric cylinder, a flip lower plate, a flip upper plate, a multi-stage electric cylinder, a guide slide rod and a plug-in device, the connecting base plate is connected to the adjustment module, one end of the flip electric cylinder is hinged to the connecting base plate, the other end of the flip electric cylinder is hinged to one side of the multi-stage electric cylinder, one end of the flip lower plate is connected to the connecting base plate, the other end of the flip lower plate is hinged to one end of the flip upper plate, the other end of the flip upper plate is connected to the multi-stage electric cylinder, and the multi-stage electric cylinder is respectively connected to the guide slide rod and the plug-in device.

[0012] Preferably, the plug-in device includes a support plate, a vertical adjustment support plate, a fixing mechanism electric cylinder, a mounting bracket, a switch-controlled electric cylinder, a plug-in electric cylinder A and a plug-in electric cylinder B. The support plate is arranged on the multi-stage electric cylinder. The bottom of the vertical adjustment support plate is connected to the multi-stage electric cylinder. The top of the vertical adjustment support plate is connected to the fixing mechanism electric cylinder and the mounting bracket. The switch-controlled electric cylinder, the plug-in electric cylinder A and the plug-in electric cylinder B are arranged on the mounting bracket in sequence from top to bottom, and the guide slide rod is arranged on the support plate.

[0013] Preferably, a clamping fixture is provided at one end of the electric cylinder of the fixing mechanism, a camera A is provided on the clamping fixture, a camera B is provided on the top of the mounting bracket, a plug-in interface switch contactor is provided at the end of the switch-controlled electric cylinder, an electric clamp A is provided on the plug-in electric cylinder A, and an electric clamp B is provided on the plug-in electric cylinder B.

[0014] Preferably, the guide slide rod is slidably connected to the vertical adjustment support plate through a sleeve, and an elastic member and a stop block are arranged on the top of the guide slide rod, one end of the elastic member is connected to the guide slide rod, and the other end of the elastic member is connected to the stop block, and the cross-sectional area of ​​the stop block is larger than the cross-sectional area of ​​the guide slide rod and the sleeve.

[0015] A method for using a rocket sub-stage body recovery connector plug-in device comprises the following steps:

[0016] S1: When the rocket body lands in the set landing area, the rocket sub-stage body recovery connector plug-in device is turned on to complete self-inspection. After the self-inspection is correct, the remote-controlled walking chassis is driven to the predetermined working position with the plug-in module in a horizontal state. After reaching the predetermined working position, the walking chassis is converted to a vertical state under the action of the flip electric cylinder.

[0017] S2: After the walking chassis is erected, the clamping fixture corresponds to the lowest point of the preset fixing position on the arrow body, and the relative position of the arrow body and the device is identified through camera B. If the arrow body is at the lowest position, the preset fixing point of the arrow body is further identified through camera A, and the clamping fixture is controlled to complete the clamping and fixing, so that the upper part of the device and the arrow body are hard-connected. If the arrow body is not at the lowest position, the plug-in device is extended or contracted by the multi-stage electric cylinder to the corresponding position, and the preset fixing point of the arrow body is further identified through camera A, and the clamping fixture is controlled to complete the clamping and fixing.

[0018] S3: After the plug-in device forms a hard connection with the rocket body, the multi-stage electric cylinder shrinks to the initial position, the electric cylinders in the X-axis adjustment box and the Y-axis adjustment box under the adjustment module are respectively extended to the maximum stroke, and the adjustment module is unlocked. At this time, the plug-in module is softly connected to the walking chassis, and the plug-in module is hard connected to the rocket body. The geometric arrangement of the clamping fixture, the plug-in interface switch contactor, the electric clamp A and the electric clamp B set on the plug-in module is consistent with the geometric arrangement of the preset fixed position, switch and plug-in interface on the rocket body, ensuring that the plug-in work can be accurately completed after the hard connection is formed.

[0019] S4: The plug-in interface switch contactor extends under the action of the switch control electric cylinder, lightly touches the switch of the rocket body to open the protective cover of its connector plug-in interface, and then the plug-in electric cylinder A and the plug-in electric cylinder B extend, so that the electric clamp A and the electric clamp B that clamp the fuel pipe and the cable respectively complete the plug-in of the rocket body fuel pipe and the cable.

[0020] S5: After the plug-in is completed, the electric clamp A and the electric clamp B release the clamping of the fuel pipe and the cable, the clamping fixture releases the fixation on the arrow body, all the electric cylinders in the adjustment module shrink to the initial position, completing the horizontal self-locking, the multi-stage electric cylinder shrinks, and the plug-in device slides down along the guide slide bar under the action of gravity to return to the horizontal initial position, the flip electric cylinder shrinks, the plug-in module is restored to a horizontal lying state, and the remote control device drives away from the working area to complete the entire plug-in work.

[0021] The beneficial effects of the present invention are:

[0022] The present invention realizes that the plug-in device recognizes the preset connection and fixing mechanism of the arrow body by adding a visual perception system including a camera to the clamping fixture, and realizes the rapid and automatic connection between the device and the arrow body. Through the horizontal adjustment module, the soft and hard connection conversion between the plug-in structure and the walking chassis is realized, the horizontal follow-up relationship between the plug-in structure and the arrow body is ensured, and the plug-in work is smooth. Through the plug-in module, the vertical follow-up relationship between the plug-in structure and the arrow body and the rapid plug-in of the connector are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 is a front view structural schematic diagram of the plug-in module of the present invention when it is erected;

[0025] Figure 3 It is a schematic diagram of the structure of the plug-in module of the present invention when it is erected from the left side;

[0026] Figure 4 is a front view structural schematic diagram of the plug-in module of the present invention when it is inverted;

[0027] Figure 5 1 is a front view structural schematic diagram of the adjustment module of the present invention;

[0028] Figure 6 1 is a schematic diagram of the top view of the regulating module of the present invention;

[0029] Figure 7 It is a structural schematic diagram of the X-direction regulating box of the present invention;

[0030] Figure 8 It is a structural schematic diagram of the Y-direction regulating box of the present invention;

[0031] Fig. 9 is a front view structural schematic diagram of the plug-in module of the present invention;

[0032] Fig.10 It is a left-side structural schematic diagram of the plug-in module of the present invention;

[0033] In the figure: 1-walking chassis, 2-adjustment module, 3-plug-in module, 201-X-direction adjustment box, 202-support structure A, 203-slide rail A, 204-slider A, 205-Y-direction adjustment box, 206-slide rail B, 207-slider B, 208-support structure B, 209-worm gear rotator, 210-limit guide rod, 211-electric cylinder, 212-limit baffle, 213-slot A, 214-limit block A, 215-slot B, 216-limit block B, 301-connecting bottom plate, 302-flip electric cylinder, 303-flip down Plate, 304-flip upper plate, 305-multi-stage electric cylinder, 306-support plate, 307-vertical adjustment support plate, 3071-sleeve, 308-clamping fixture, 309-camera A, 310-fixing mechanism electric cylinder, 311-mounting bracket, 312-camera B, 313-guide slide bar, 314-block, 315-elastic part, 316-switch control electric cylinder, 317-plug-in electric cylinder A, 318-plug-in electric cylinder B, 319-plug-in interface switch contactor, 320-electric clamp A, 321-electric clamp B, 4-communication module. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0035] Example:

[0036] like Figures 1 to 10 As shown, a rocket sub-stage body recovery connector plug-in device includes a running chassis 1, an adjustment module 2 and a plug-in module 3, wherein the running chassis 1 is connected to the adjustment module 2, a communication module 4 is arranged on the running chassis 1, and the plug-in module 3 is connected to the adjustment module 2.

[0037] The walking chassis 1 is a rear-drive crawler type unmanned chassis, which can be prepared by existing technology. The walking chassis 1 has visual perception and remote control driving functions. The communication module 4 includes an antenna, which can be prepared by existing technology. The communication module 4 realizes communication and real-time information interaction between the device and the control room. The upper front end of the walking chassis 1 is provided with a horizontal adjustment module 2. The plug-in module 3 has the function of identifying the preset arrow body and fixing it with the device and automatically connecting and clamping it. After the plug-in module 3 is fixedly connected with the arrow body, it has the function of opening the arrow body socket and completing the plug-in. The horizontal adjustment module 2 has a self-locking function in the driving state and non-working mode. The horizontal adjustment module 2 is automatically unlocked when the plug-in module 3 is fixedly connected with the arrow body, ensuring that the plug-in module 3 has the function of following the arrow body in the horizontal direction. The plug-in module 3 is provided with automatic height adjustment to meet the height difference that may exist after the arrow body lands. The plug-in module 3 is provided with a slider mechanism to meet the function of following the arrow body in the vertical direction. Through the above settings, the rocket sub-stage body recovery connector plug-in device has the functions of automatic identification of preset clamping and fixing of the rocket body, quick clamping and fixing, automatic plug-in, and the plug-in module has the function of following the movement of the rocket body in a certain spherical space.

[0038] The adjustment module 2 is a horizontal adjustment module, and the adjustment module 2 includes an X-direction adjustment box 201, a Y-direction adjustment box 205 and a worm gear rotator 209. A slide rail A203 is arranged on the X-direction adjustment box 201, and two slide rails A203 are arranged in parallel. A slider A204 is arranged on the slide rail A203, and the slider A204 is connected to the X-direction adjustment box 201 through a supporting structure A202. The slider A204 is connected to the slide rail A203, and the top of the Y-direction adjustment box 205 is connected to the worm gear rotator 209.

[0039] The Y-axis adjustment box 205 is provided with a slide rail B206, two slide rails B206 are provided in parallel, a slider B207 is provided on the slide rail B206, the slider B207 is connected to the worm gear rotator 209 through a receiving structure B208, the slider B207 is connected to the slide rail B206, and the X-axis adjustment box 201 and the Y-axis adjustment box 205 are arranged vertically in the horizontal direction. The worm gear rotator 209 can provide a 360° rotation function for the plug-in module 3, and the angle between the plug-in module 3 and the Y-axis adjustment box 205 can be adjusted by the worm gear rotator 209.

[0040] An electric cylinder 211 is arranged in the X-direction adjustment box 201. Two electric cylinders 211 are arranged on both sides of the X-direction adjustment box 201 in opposite telescopic directions. One end of the electric cylinder 211 is connected to a limit baffle 212. A limit guide rod 210 is arranged at the central axis inside the X-direction adjustment box 201. The other end of the limit baffle 212 is connected to the limit guide rod 210. The limit guide rod 210 penetrates the receiving structure A202 and is connected. Both ends of the limit guide rod 210 are connected to the inner wall of the X-direction adjustment box 201. A slot A213 is arranged on the top of the X-direction adjustment box 201. The receiving structure A202 extends into the X-direction adjustment box 201 through the slot A213. A limit block A214 is arranged on the receiving structure A202 to guide and limit the receiving structure A202.

[0041] An electric cylinder 211 is arranged in the Y-axis adjustment box 205. Two electric cylinders 211 are arranged on both sides of the Y-axis adjustment box 205 in opposite telescopic directions. One end of the electric cylinder 211 is connected to a limit baffle 212. A limit guide rod 210 is arranged at the central axis inside the Y-axis adjustment box 205. The other end of the limit baffle 212 is connected to the limit guide rod 210. The limit guide rod 210 penetrates the receiving structure B208 and is connected. Both ends of the limit guide rod 210 are connected to the inner wall of the Y-axis adjustment box 205. A slot B215 is arranged on the top of the Y-axis adjustment box 205. The receiving structure B208 extends into the Y-axis adjustment box 205 through the slot B215. A limit block B216 is arranged on the receiving structure B208 to guide and limit the receiving structure B208.

[0042] When the device is in driving and non-working state, the electric cylinder 211 in the X-axis adjustment box 201 is in a retracted state, and the upper body connected to the receiving structure A202 is restricted by the limit baffles 212 on both sides and cannot move. When it is in working state, the electric cylinder 211 is extended, and the limit baffles 212 on both sides are released, and the upper body can move horizontally under the action of external force. The situation in the Y-axis adjustment box 205 is the same.

[0043] The plug-in module 3 includes a connecting base plate 301, a flip electric cylinder 302, a flip lower plate 303, a flip upper plate 304, a multi-stage electric cylinder 305, a guide slide bar 313 and a plug-in device. The connecting base plate 301 is connected to the adjustment module 2. One end of the flip electric cylinder 302 is hinged to the connecting base plate 301, and the other end of the flip electric cylinder 302 is hinged to one side of the multi-stage electric cylinder 305. The plug-in module 3 can be flipped 90° by telescoping the flip electric cylinder 302. One end of the flip lower plate 303 is connected to the connecting base plate 301, and the other end of the flip lower plate 303 is hinged to one end of the flip upper plate 304. The other end of the flip upper plate 304 is connected to the multi-stage electric cylinder 305. The multi-stage electric cylinder 305 is respectively connected to the guide slide bar 313 and the plug-in device.

[0044] The plug-in device includes a support plate 306, a vertical adjustment support plate 307, a fixing mechanism electric cylinder 310, a mounting bracket 311, a switch control electric cylinder 316, a plug-in electric cylinder A317 and a plug-in electric cylinder B318. The multi-stage electric cylinder 305 is provided with a support plate 306 in a circumferential direction. The bottom of the vertical adjustment support plate 307 is connected to the multi-stage electric cylinder 305. The top of the vertical adjustment support plate 307 is connected to the fixing mechanism electric cylinder 310 and the mounting bracket 311. The switch control electric cylinder 316, the plug-in electric cylinder A317 and the plug-in electric cylinder B318 are arranged on the mounting bracket 311 from top to bottom. The guide slide bar 313 is arranged on the support plate 306, and two guide slide bars 313 are symmetrically arranged. Through the arrangement of the plug-in device and the guide slide bar 313, the plug-in module 3 can be freely moved with the arrow body in the vertical direction when working.

[0045] A clamping fixture 308 is arranged at one end of the fixing mechanism electric cylinder 310, and a camera A309 is arranged on the clamping fixture 308. The camera A309 collects images for visual analysis, automatically identifies the predetermined clamping fixing point, and drives the clamping fixture 308 to perform fixing work. A camera B312 is arranged on the top of the mounting bracket 311. The camera B312 collects images for visual analysis, automatically identifies the predetermined clamping fixing point, and an interface switch contactor 319 is arranged at the end of the switch-controlled electric cylinder 316. The plug-in electric cylinder A317 is provided with an electric clamp A320, and the plug-in electric cylinder B318 is provided with an electric clamp B321.

[0046] The guide slide bar 313 is slidably connected to the vertical adjustment support plate 307 through the sleeve 3071. An elastic member 315 and a stop block 314 are set on the top of the guide slide bar 313. One end of the elastic member 315 is connected to the guide slide bar 313, and the other end of the elastic member 315 is connected to the stop block 314. The cross-sectional area of ​​the stop block 314 is larger than the cross-sectional area of ​​the guide slide bar 313 and the sleeve 3071, and is used to limit the vertical adjustment support plate 307.

[0047] A method for using a rocket sub-stage body recovery connector plug-in device comprises the following steps:

[0048] S1: When the rocket body lands in the landing area set on the ship, the rocket sub-stage body recovery connector plug-in device is turned on to complete self-inspection. After the self-inspection is correct, the walking chassis 1 is remotely controlled to drive the plug-in module 3 to the predetermined working position in a horizontal state. The surround view system set on the walking chassis 1 can be used to determine whether it is in place. After it is determined that it has reached the predetermined working position, the walking chassis 1 is converted to an upright state under the action of the flip electric cylinder 302.

[0049] S2: After the walking chassis 1 is erected, the clamping fixture 308 corresponds to the lowest point of the preset fixed position on the arrow body, and the relative position of the arrow body and the device is identified through the camera B312. If the arrow body is at the lowest position, the preset fixing point of the arrow body is further identified through the camera A309, and the clamping fixture 308 is controlled to complete the clamping and fixing, so that the upper part of the device and the arrow body are hard-connected. If the arrow body is not at the lowest position, the multi-stage electric cylinder 305 is extended or contracted to adjust the plug-in device to the corresponding position, and the preset fixing point of the arrow body is further identified through the camera A309, and the clamping fixture 308 is controlled to complete the clamping and fixing.

[0050] S3: After the plug-in device forms a hard connection with the arrow body, the multi-stage electric cylinder 305 shrinks to the initial position, the electric cylinder 211 in the X-axis adjustment box 201 and the Y-axis adjustment box 205 under the adjustment module 2 are respectively extended to the maximum stroke, and the adjustment module 2 is unlocked. At this time, the plug-in module 3 is softly connected with the walking chassis 1, and the plug-in module 3 is hard connected with the arrow body. The upper body can move with the arrow body in a certain spherical space. The geometric arrangement of the clamping fixture 308, the plug-in interface switch contactor 319, the electric clamp A320 and the electric clamp B321 set on the plug-in module 3 is consistent with the geometric arrangement of the preset fixed position, switch and plug-in interface on the arrow body, ensuring that the plug-in work can be accurately completed after the hard connection is formed.

[0051] S4: The plug-in interface switch contactor 319 extends under the action of the switch control electric cylinder 316, lightly touches the switch of the rocket body to open the protective cover of its connector plug-in interface, and then the plug-in electric cylinder A317 and the plug-in electric cylinder B318 extend, so that the electric clamp A320 and the electric clamp B321 that clamp the fuel pipe and the cable respectively complete the plug-in of the rocket body fuel pipe and the cable.

[0052] S5: After the plug-in is completed, the electric clamp A320 and the electric clamp B321 release the clamping of the fuel pipe and the cable, the clamping fixture 308 releases the fixation on the arrow body, all the electric cylinders 211 in the adjustment module 2 shrink to the initial position, completing the horizontal self-locking, the multi-stage electric cylinder 305 shrinks, and the plug-in device slides down along the guide slide bar 313 under the action of gravity and returns to the horizontal initial position, the flip electric cylinder 302 shrinks, the plug-in module 3 is restored to the horizontal lying state, and the remote control device drives out of the working area to complete the entire plug-in work.

Claims

1. A rocket sub-stage body recovery connector plug-in device, characterized in that: The invention comprises a running chassis (1), an adjusting module (2) and a plug-in module (3), wherein the running chassis (1) is connected to the adjusting module (2), a communication module (4) is arranged on the running chassis (1), and the plug-in module (3) is connected to the adjusting module (2).

2. A rocket sub-stage body recovery connector plug-in device as claimed in claim 1, characterized in that: The adjustment module (2) comprises an X-direction adjustment box (201), a Y-direction adjustment box (205) and a worm gear rotator (209); a slide rail A (203) is arranged on the X-direction adjustment box (201); a slider A (204) is arranged on the slide rail A (203); the slider A (204) is connected to the X-direction adjustment box (201) via a supporting structure A (202); the slider A (204) is connected to the slide rail A (203); and the top of the Y-direction adjustment box (205) is connected to the worm gear rotator (209).

3. A rocket sub-stage body recovery connector plug-in device as claimed in claim 2, characterized in that: The Y-direction adjustment box (205) is provided with a slide rail B (206), the slide rail B (206) is provided with a slider B (207), the slider B (207) is connected to the worm gear rotator (209) through a receiving structure B (208), the slider B (207) is connected to the slide rail B (206), and the X-direction adjustment box (201) and the Y-direction adjustment box (205) are arranged vertically in the horizontal direction.

4. A rocket sub-stage body recovery connector plug-in device as claimed in claim 2, characterized in that: An electric cylinder (211) is arranged in the X-direction adjustment box (201); two electric cylinders (211) are arranged on both sides of the X-direction adjustment box (201) in opposite telescopic directions; one end of the electric cylinder (211) is connected to a limit stopper (212); the other end of the limit stopper (212) is connected to a limit guide rod (210); the limit guide rod (210) penetrates the receiving structure A (202) and is connected; both ends of the limit guide rod (210) are connected to the inner wall of the X-direction adjustment box (201); a slot A (213) is arranged on the top of the X-direction adjustment box (201); the receiving structure A (202) extends into the X-direction adjustment box (201) through the slot A (213); and a limit block A (214) is arranged on the receiving structure A (202).

5. A rocket sub-stage body recovery connector plug-in device as claimed in claim 3, characterized in that: An electric cylinder (211) is arranged in the Y-direction adjustment box (205). Two electric cylinders (211) are arranged on both sides of the Y-direction adjustment box (205) in opposite telescopic directions. One end of the electric cylinder (211) is connected to a limit stopper (212). The other end of the limit stopper (212) is connected to a limit guide rod (210). The limit guide rod (210) penetrates the receiving structure B (208) for connection. Both ends of the limit guide rod (210) are connected to the inner wall of the Y-direction adjustment box (205). A slot B (215) is arranged on the top of the Y-direction adjustment box (205). The receiving structure B (208) extends into the Y-direction adjustment box (205) through the slot B (215). A limit block B (216) is arranged on the receiving structure B (208).

6. A rocket sub-stage body recovery connector plug-in device as claimed in claim 1, characterized in that: The plug-in module (3) comprises a connecting base plate (301), a flip electric cylinder (302), a flip lower plate (303), a flip upper plate (304), a multi-stage electric cylinder (305), a guide slide bar (313) and a plug-in device. The connecting base plate (301) is connected to the adjustment module (2). One end of the flip electric cylinder (302) is hinged to the connecting base plate (301). The other end of the flip electric cylinder (302) is hinged to one side of the multi-stage electric cylinder (305). One end of the flip lower plate (303) is connected to the connecting base plate (301). The other end of the flip lower plate (303) is hinged to one end of the flip upper plate (304). The other end of the flip upper plate (304) is connected to the multi-stage electric cylinder (305). The multi-stage electric cylinder (305) is respectively connected to the guide slide bar (313) and the plug-in device.

7. A rocket sub-stage body recovery connector plug-in device as claimed in claim 6, characterized in that: The plug-in device comprises a support plate (306), a vertical adjustment support plate (307), a fixing mechanism electric cylinder (310), a mounting bracket (311), a switch control electric cylinder (316), a plug-in electric cylinder A (317) and a plug-in electric cylinder B (318); the support plate (306) is arranged on the multi-stage electric cylinder (305); the bottom of the vertical adjustment support plate (307) is connected to the multi-stage electric cylinder (305); the top of the vertical adjustment support plate (307) is connected to the fixing mechanism electric cylinder (310) and the mounting bracket (311); the switch control electric cylinder (316), the plug-in electric cylinder A (317) and the plug-in electric cylinder B (318) are arranged on the mounting bracket (311) in sequence from top to bottom; and the guide slide bar (313) is arranged on the support plate (306).

8. A rocket sub-stage body recovery connector plug-in device as claimed in claim 7, characterized in that: A clamping fixture (308) is provided at one end of the fixing mechanism electric cylinder (310), a camera A (309) is provided on the clamping fixture (308), a camera B (312) is provided on the top of the mounting bracket (311), a plug-in interface switch contactor (319) is provided at the end of the switch control electric cylinder (316), an electric clamp A (320) is provided on the plug-in electric cylinder A (317), and an electric clamp B (321) is provided on the plug-in electric cylinder B (318).

9. A rocket sub-stage body recovery connector plug-in device as claimed in claim 6, characterized in that: The guide slide bar (313) is slidably connected to the vertical adjustment support plate (307) through a sleeve (3071); an elastic member (315) and a stopper (314) are arranged on the top of the guide slide bar (313); one end of the elastic member (315) is connected to the guide slide bar (313); the other end of the elastic member (315) is connected to the stopper (314); the cross-sectional area of ​​the stopper (314) is larger than the cross-sectional area of ​​the guide slide bar (313) and the sleeve (3071).

10. A method for using the rocket sub-stage body recovery connector plug-in device as described in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: When the rocket body lands in the set landing area, the rocket sub-stage body recovery connector plug-in device is turned on to complete self-inspection. After the self-inspection is correct, the remote-controlled walking chassis (1) is driven to a predetermined working position with the plug-in module (3) in a horizontal state. After reaching the predetermined working position, the walking chassis (1) is switched to a vertical state under the action of the flip electric cylinder (302). S2: After the walking chassis (1) is erected, the clamping fixture (308) corresponds to the lowest point of the preset fixing position on the arrow body, and the relative position of the arrow body and the device is identified through the camera B (312). If the arrow body is at the lowest position, the preset fixing point of the arrow body is further identified through the camera A (309), and the clamping fixture (308) is controlled to complete the clamping and fixing, so that the upper part of the device and the arrow body form a hard connection. If the arrow body is not at the lowest position, the multi-stage electric cylinder (305) is extended or contracted to adjust the plug-in device to the corresponding position, and the preset fixing point of the arrow body is further identified through the camera A (309), and the clamping fixture (308) is controlled to complete the clamping and fixing. S3: After the plug-in device and the arrow body are hard-connected, the multi-stage electric cylinder (305) is retracted to the initial position, the electric cylinder (211) in the X-axis adjustment box (201) and the Y-axis adjustment box (205) under the adjustment module (2) are respectively extended to the maximum stroke, and the adjustment module (2) is unlocked. At this time, the plug-in module (3) and the walking chassis (1) are soft-connected, and the plug-in module (3) and the arrow body are hard-connected. The geometric arrangement of the clamping fixture (308), the plug-in interface switch contactor (319), the electric clamp A (320) and the electric clamp B (321) provided on the plug-in module (3) is consistent with the geometric arrangement of the preset fixed position, switch and plug-in interface on the arrow body, ensuring that the plug-in work can be accurately completed after the hard connection is formed. S4: The plug-in interface switch contactor (319) is extended under the action of the switch control electric cylinder (316), lightly touching the switch of the rocket body to open the protective cover of its connector plug-in interface, and then the plug-in electric cylinder A (317) and the plug-in electric cylinder B (318) are extended, so that the electric clamp A (320) and the electric clamp B (321) that clamp the fuel pipe and the cable respectively complete the plug-in of the rocket body fuel pipe and the cable. S5: After the plugging is completed, the electric clamp A (320) and the electric clamp B (321) release the plug-in clamping of the fuel pipe and the cable, the clamping fixture (308) releases the fixation on the arrow body, all the electric cylinders (211) in the adjustment module (2) retract to the initial position, completing the self-locking in the horizontal direction, the multi-stage electric cylinder (305) retracts, and the plug-in device slides down along the guide slide bar (313) under the action of gravity to return to the horizontal initial position, the flip electric cylinder (302) retracts, the plug-in module (3) is restored to the horizontal lying state, and the remote control device drives away from the working area, completing the entire plug-in work.

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