Automatic docking mechanism of liquid rocket connector

Abstract

The invention discloses a liquid rocket connector automatic butt joint mechanism which at least comprises a fixing device, a first adjusting device, a second adjusting device and a butt joint device, the upper end of the fixing device is connected with the lower end of the first adjusting device through a rotating shaft, and the upper end of the first adjusting device is connected with the input end of the second adjusting device. The output end of the second adjusting device is connected with the input end of the butt joint device, the output end of the butt joint device is used for being in butt joint with an on-rocket connector assembly, and the fixing device is used for fixing the first adjusting device; the lower end of the first adjusting device can rotate in the circumferential direction of the surface of the rotating shaft so as to drive the second adjusting device located at the upper end of the first adjusting device to move, and therefore the butt-joint distance between the butt-joint device and the on-rocket connector assembly can be adjusted. The second adjusting device is used for further adjusting the butt joint position of the butt joint device and the on-rocket connector assembly. The mechanism is reasonable in design and convenient to operate, working efficiency is improved, and meanwhile the rocket can take off more safely and reliably.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to an automatic docking mechanism for a liquid rocket connector. Background Art

[0002] With the rapid development of the aerospace industry, various technologies involved in the rocket field have also achieved rapid progress. Before launch, liquid rockets need to be pre-filled with cryogenic liquid fuel and gas on the rocket body to be launched, which requires the application of cryogenic connectors and gas connectors. At present, when the cryogenic connector and gas connector are docked with the rocket, they need to be adjusted and docked separately. Due to the complex structure of the cryogenic connector and gas connector, the docking and separation processes require the collaboration of multiple people to complete, which seriously affects the efficiency of rocket filling and greatly increases costs. In addition, when the rocket takes off and the cryogenic connector and gas connector fall off, the connectors are very likely to collide with each other and even hit the rocket, seriously affecting the safe flight of the rocket. In order to meet the rapid response requirements of the launch vehicle, it is urgent to provide a liquid rocket connector automatic docking mechanism with a reasonable design, easy operation, and improved work efficiency. At the same time, it can also make the rocket safer and more reliable during takeoff. This is the problem to be solved at present. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic docking mechanism for a liquid rocket connector, which has a reasonable design, is easy to operate, improves work efficiency, and can also make the rocket safer and more reliable when taking off.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows: One aspect of the present invention provides a liquid rocket connector automatic docking mechanism, which at least comprises a fixing device, a first adjusting device, a second adjusting device and a docking device. The lower end of the fixing device is fixed to the ground device, the upper end of the fixing device is connected to the lower end of the first adjustment device through a rotating shaft, the upper end of the first adjustment device is connected to the input end of the second adjustment device, the output end of the second adjustment device is connected to the input end of the docking device, and the output end of the docking device is used to dock with the arrow connector assembly, wherein, The fixing device is used to fix the first adjusting device; The lower end of the first adjustment device can rotate circumferentially along the surface of the rotation axis to drive the second adjustment device located at the upper end of the first adjustment device to move, and further drive the docking device to move toward the side of the rocket body to adjust the docking distance between the docking device and the connector assembly on the rocket; The second adjustment device is used to further adjust the docking position of the docking device and the arrow-on connector assembly; The docking device is used to integrate liquid and gas circuit connectors, and after the second adjustment device completes the adjustment of the docking device, the docking device and the arrow connector assembly can be quickly docked.

[0005] Furthermore, the fixing device is a rectangular strip, and along the length direction of the rectangular strip, two groups of symmetrical and spaced-apart first fixing bases are provided on the upper surface of the rectangular strip, and the first fixing base is provided with a recessed portion for matching the lower end of the first adjustment device, the lower end of the first adjustment device is located in the recessed portion, and the first adjustment device is connected to the first fixed base via a first rotating axis, wherein the lower end of the first adjustment device can rotate circumferentially along the surface of the first rotating axis.

[0006] Furthermore, the first adjustment device includes a first adjustment structure and a second adjustment structure, wherein: The first adjustment structure comprises at least two symmetrically arranged first frame structures and two first driving devices. The two first frame structures are evenly spaced along the length direction of the fixing device at both ends of the fixing device and located on the upper part of the fixing device. The lower end and the upper end of each first frame structure are respectively connected to the fixing device and the outer shell of the second adjustment structure. Two first drive devices are arranged between two sets of first frame structures along the length direction of the fixing device, and the fixed end of each first drive device is connected to the fixing device, and the telescopic end of the first drive device is connected to the first adjustment structure close to the side of the rocket body to adjust the distance between the first frame structure and the rocket body; The second adjustment structure at least comprises a housing, an auxiliary connecting portion, two sets of double-row sliding rails and a second driving device. The shell is a structure with two ends connected and a channel inside. The two sets of double-row sliding rails are respectively tightly attached to the upper inner wall and the lower inner wall of the shell and are welded and fixed. The upper and lower ends of the auxiliary connecting part are respectively abutted against the corresponding double-row sliding rails and can slide freely along the surface of the double-row sliding rails. The fixed end of the second driving device is connected to the lower inner wall of the shell, and the telescopic end is connected to the side wall of the auxiliary connecting part away from the rocket body.

[0007] Furthermore, the upper end of the first frame structure is connected to the shell through a fixing assembly, wherein the fixing assembly includes a clamping member and a coupling member, the clamping member has an L-shaped structure, and the coupling member includes an integrally formed coupling base plate and a convex plate, one end of the convex plate is connected to the coupling base plate, and the other end extends to a side away from the coupling base plate. A portion of the surface of the outer side of the clamping member is in close contact with the surface of the shell and is fixed by bolts, and another portion of the surface on the same side is bent and in close contact with the upper surface of the combining base plate and is fixed by locking bolts. The convex plate is connected to the first frame structure through a second rotating axis, and the convex plate can rotate circumferentially along the surface of the second rotating axis.

[0008] Furthermore, the upper and lower panels of the shell are both provided with a first weight-reducing hole with a rectangular shape, and the side panels connecting the shell to the upper and lower surfaces are provided with a second weight-reducing hole with a triangular shape, and the volume of the first weight-reducing hole is greater than that of the second weight-reducing hole.

[0009] Furthermore, the auxiliary connecting part has a rectangular structure, and the upper and lower end surfaces of the auxiliary connecting part are provided with at least two groups of sliding blocks spaced apart along the length direction of the shell. The sliding block and the auxiliary connecting part are fixedly connected on one side close to each other, and the two ends of the sliding block are respectively abutted against the double-row sliding rails close to each other and can move along the surface of the double-row sliding rails.

[0010] Furthermore, the second adjustment device is located between the first adjustment device and the docking device, and is evenly arranged along the circumferential direction on the surfaces of the first adjustment device and the docking device on the sides opposite to each other, wherein, The second adjustment device includes multiple electric cylinders, a first fixing member, a second fixing member and a sphere. The two ends of each electric cylinder are respectively connected to the sphere. The first fixing member and the second fixing member are respectively fixed to the surfaces on the opposite sides of the first adjustment device and the docking device by bolts. The spheres at both ends of the electric cylinder are respectively embedded in the first fixing member and the second fixing member, and the spheres can rotate in the first fixing member and the second fixing member.

[0011] Furthermore, the docking device includes a locking panel and an integrated panel, wherein: The locking panel includes a bottom plate with a central hole, a side plate and a locking piece. The side plate is arranged along the outer circumference of the bottom plate and is tightly fixed to the outer surface of the bottom plate. The side plate and the bottom plate form a groove structure. The locking piece is located on the outer side wall of the groove structure and is used to fix the integrated panel in the groove structure. The integrated panel includes a main board, a guide cone, a locking block, a low-temperature connector, a gas line connector and a locking element. The main board is provided with a first through hole for fixing the low-temperature connector and a second through hole for fixing the gas path connector, wherein the first through hole is located at the center of the main board, and the second through holes are located outside the first through hole and are arranged at equal intervals along the circumference of the first through hole; The guide cone and the locking element are both located on a side of the mainboard close to the arrow connector, and the guide cone is used to position the mainboard when docking with the arrow connector; The locking block is located on a side of the main board away from the arrow connector, and a recessed portion is provided on a side of the locking block close to the side plate. The recessed portion is recessed toward the side away from the side plate, and the recessed portion and the telescopic end of the locking piece are matched in concave and convex manner. The low-temperature connector is used to communicate with the low-temperature connector interface on the arrow to transport the ground low-temperature liquid to the arrow body; The gas path connector is used to communicate with the gas path interface on the arrow and transport ground gas to the arrow body; The locking element is a ball lock structure and is used to cooperate with the arrow-on element to fix the main board.

[0012] Furthermore, at least one set of symmetrical sinking parts is provided on two sides corresponding to each other of the side plates, and the sinking parts sink toward one side of the bottom plate.

[0013] Furthermore, the locking member is a cylinder structure, which is fixed to the side panel, and its telescopic end passes through the side panel and is inserted into the recessed portion to fix the integrated panel in the groove structure; the guide cone is arranged around the main board, and includes a cone seat and a cone head, the cone seat is fixedly connected to the main board, one end of the cone head is connected to the cone seat, and the other end extends to the side away from the cone seat; the locking block is fixed to the main board by bolts, and the locking block has an L-shaped structure.

[0014] An embodiment of the present invention provides an automatic docking mechanism for a liquid rocket connector, which comprises at least a fixing device, a first adjustment device, a second adjustment device and a docking device.

[0015] First, the connection position of the docking device and the arrow connector assembly is adjusted for the first time through the first adjustment device, and then the connection position of the docking device and the arrow connector assembly is adjusted for the second time through the second adjustment device. The entire operation is automatically adjusted to make the connection position of the docking device and the arrow connector assembly more precise and convenient to operate. The entire operation adopts automated docking, which can avoid large errors due to improper manual operation and thus affect the subsequent filling rate, saving costs while improving work efficiency and ensuring manual safety.

[0016] The docking device's integrated design of the liquid and gas line connectors allows for rapid docking between the docking device and the rocket's connector assembly, facilitating the subsequent rapid filling of the rocket with liquid or gas. Furthermore, when the docking device is separated from the rocket body after liquid or gas filling is complete, the integrated design of the liquid and gas line connectors prevents collisions between them, reducing the risk of impact on the rocket and ensuring a safer and more reliable launch.

[0017] The entire liquid rocket connector automatic docking mechanism has a reasonable design and is easy to operate. While improving work efficiency, it can also make the rocket safer and more reliable during takeoff.

[0018] It should be understood that the foregoing general description and the following detailed description are merely exemplary and illustrative and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective view of the automatic docking mechanism of the liquid rocket connector of the present invention; Figure 2 This is a front view of the automatic docking mechanism of the liquid rocket connector of the present invention; Figure 3 is a perspective view of the locking panel and the second adjustment device of the present invention; Figure 4 is a perspective view of the integrated panel of the present invention; Figure 5 It is a front view of the integrated panel of the present invention; Figure 6 is a cross-sectional view of the locking element and locking head of the present invention; Figure 7 It is a three-dimensional view of the locking element of the present invention.

[0020] Reference numerals: 1 Fixing device 2 First adjustment device 3 Second adjustment device 4 Docking device 5 first fixed base 6 first frame structure 7 first drive device 8 housing 9 auxiliary connection part 10 double row sliding track 11 second drive device 12 fixing assembly 13 first weight reduction hole 14 second weight reduction hole 15 sliding block 16 electric cylinder 17 first fixing member 18 sphere 19 locking panel 20 integrated panel 21 bottom plate 22 side plate 23 locking piece 24 main board 25 guide cone 26 locking block 27 low temperature connector 28 gas line connector 29 locking element 30 ball lock housing 31 sphere 32 docking core 33 elastic member 34 fixed base 35 air intake nozzle 36 first annular recess 37 second annular recess 38 third annular recess 39 limiting through hole 40 air intake channel 41 upper locking sleeve 42 lower locking sleeve 43 cantilever 44 guide groove 45 locking head DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0022] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0024] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0025] In addition, numerous specific details are provided in the detailed description below to better illustrate the present application. Those skilled in the art will appreciate that the present application can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.

[0026] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the present invention provides an automatic docking mechanism for a liquid rocket connector in one aspect, which comprises at least a fixing device 1, a first adjustment device 2, a second adjustment device 3 and a docking device 4.

[0027] The lower end of the fixing device 1 is fixed to the ground device, the upper end of the fixing device 1 is connected to the lower end of the first adjustment device 2 through a rotating shaft, the upper end of the first adjustment device 2 is connected to the input end of the second adjustment device 3, the output end of the second adjustment device 3 is connected to the input end of the docking device 4, and the output end of the docking device 4 is used to dock with the connector assembly on the arrow, wherein, The fixing device 2 is used to fix the first adjusting device 2; The lower end of the first adjustment device 2 can rotate circumferentially along the surface of the rotation axis to drive the second adjustment device 3 located at the upper end of the first adjustment device 2 to move, and further drive the docking device 4 to move toward the side of the rocket body to adjust the docking distance between the docking device 4 and the connector assembly on the rocket; The second adjustment device 3 is used to further adjust the docking position of the docking device 4 and the arrow-mounted connector assembly; The docking device 4 is used to integrate the liquid and gas connectors. After the second adjustment device 3 completes the adjustment of the docking device 4, the docking device 4 and the arrow-mounted connector assembly can be quickly docked.

[0028] Specifically, an embodiment of the present invention provides an automatic docking mechanism for a liquid rocket connector, which comprises at least a fixing device 1, a first adjustment device 2, a second adjustment device 3 and a docking device 4.

[0029] First, the connection position of the docking device and the arrow connector assembly is adjusted for the first time through the first adjustment device, and then the connection position of the docking device and the arrow connector assembly is adjusted for the second time through the second adjustment device. The entire operation is automatically adjusted to make the connection position of the docking device and the arrow connector assembly more precise and convenient to operate. It can avoid large errors caused by improper manual operation, thereby affecting the subsequent filling rate. While saving costs, it can also improve work efficiency and ensure manual safety.

[0030] In addition, the design of the docking device 4 integrating the liquid and gas connectors can achieve rapid docking of the docking device with the connector assembly on the arrow, facilitating the subsequent rapid completion of the filling of liquid / gas on the arrow.

[0031] In addition, when the liquid / gas is filled and the docking device is separated from the rocket body, since the liquid and gas path connectors are integrated on the docking device, collisions between the liquid and gas path connectors can be avoided, reducing the risk of impact on the rocket, thereby ensuring that the rocket takes off safer and more reliable.

[0032] The entire liquid rocket connector automatic docking mechanism has a reasonable design and is easy to operate. While improving work efficiency, it can also make the rocket safer and more reliable during takeoff.

[0033] like Figure 1 As shown, to ensure the structural stability of the fixing device 1 and prevent tilting, the fixing device 1 is, for example, a rectangular parallelepiped strip. To facilitate the fixing device 1 to secure the first adjustment device 2 and facilitate the first adjustment device 2 to move the second adjustment device 3, two sets of symmetrical and spaced first fixing bases 5 are provided on the upper surface of the rectangular parallelepiped strip along its length. The first adjustment device 2 is connected to the first fixing bases 5 via a first rotation axis, wherein the lower end of the first adjustment device 2 can rotate circumferentially along the surface of the first rotation axis. Furthermore, to effectively support the first adjustment device 2 and reduce the pressure on the first rotation axis, the first fixing bases 5 are provided with a recessed portion that fits the lower end of the first adjustment device 2, with the lower end of the first adjustment device 2 located within the recessed portion. The bottom of the recessed portion supports the first adjustment device 2. Since one end of the first adjustment device 2 is located within the recessed portion, the recessed portion acts like a slot, preventing the first adjustment device 2 from shaking (along the axial direction of the first rotation axis) and facilitating the circumferential rotation of the first adjustment device 2 along the surface of the first rotation axis.

[0034] Specifically, the first adjustment device 2 includes a first adjustment structure and a second adjustment structure. The first adjustment structure comprises at least two symmetrically arranged first frame structures 6 and two first drive devices 7. The two first frame structures 6 are evenly spaced along the length of the fixture 1 at both ends and located above the fixture 1. The lower and upper ends of each first frame structure 6 are respectively connected to the outer shell of the fixture 1 and the second adjustment structure.

[0035] The two first drive devices 7 are arranged between the two groups of first frame structures 6 along the length direction of the fixing device 1, and the fixed end of each first drive device 7 is connected to the fixing device 1, and the telescopic end of the first drive device 7 is connected to the first adjustment structure close to the side of the rocket body to adjust the distance between the first frame structure and the rocket body.

[0036] In this embodiment, to ensure the stability of the first frame structure 6, for example, the first frame structure 6 includes two horizontal beams and two vertical beams. The two horizontal beams are evenly spaced between the two vertical beams, and their ends are welded to the inner sides of the corresponding vertical beams. To prevent the first adjustment device 2 from tipping over during rotation (i.e., the upper end of the first adjustment device is subjected to excessive tension), for example, one of the horizontal beams is positioned in the middle of the vertical beam, and the other horizontal beam is positioned at the bottom of the vertical beam (closer to the side of the fixing device). This overall design lowers the center of gravity of the first frame structure 6, reduces the probability of the first adjustment device 2 tipping over during rotation, and facilitates the adjustment of the docking device by the first adjustment device 2. In addition, to increase the strength of the first frame structure 6 and prevent deformation of the first frame structure 6 due to excessive pressure, for example, multiple support beams are installed between the two horizontal beams and the vertical beam between the two horizontal beams, and the support beams form angles with the horizontal beams and the vertical beams. In order to facilitate the application of thrust to the first frame structure and facilitate the rapid rotation of the first frame structure, for example, the telescopic end of the first driving device is set at the upper middle position of the vertical beam, that is, the length of the vertical beam is L, and the length of the position where the telescopic end is connected to the vertical beam is N (with the bottom end of the vertical beam as the starting end), where N>½L.

[0037] like Figure 1 and Figure 2 As shown, the second adjustment structure at least includes a housing 8 , an auxiliary connecting portion 9 , two sets of double-row sliding rails 10 and a second driving device 11 .

[0038] To reduce the weight of the housing 8, for example, the housing 8 is a structure with two ends connected and a channel provided inside. To securely fix the double-row sliding rails 10 and prevent them from moving, for example, two sets of double-row sliding rails 10 are respectively in close contact with the upper inner wall and the lower inner wall of the housing 8 and are welded and fixed.

[0039] The upper and lower ends of the auxiliary connecting part 9 are respectively abutted against the corresponding double-row sliding rails 10 and can slide freely along the surface of the double-row sliding rails 10. The fixed end of the second driving device 11 is connected to the lower inner wall of the shell 8, and the telescopic end is connected to the side wall of the auxiliary connecting part 9 away from the rocket body. The auxiliary connecting part 9 is connected to the second adjustment device 3 close to the rocket body.

[0040] In this embodiment, to facilitate connection between the housing 8 and the first frame structure 5, for example, the upper end of the first frame structure is connected to the housing 8 via a fixing assembly 12. The fixing assembly 12 includes a clamping member and a coupling member. The clamping member is L-shaped, and the coupling member comprises an integrally formed coupling base and a protruding plate. One end of the protruding plate is connected to the coupling base, and the other end extends away from the coupling base. A portion of the outer surface of the clamping member is in close contact with the surface of the housing 8 and secured by bolts. Another portion of the surface on the same side is bent and in close contact with the upper surface of the coupling base, and then secured by locking bolts. The protruding plate is connected to the first frame structure 5 via a second rotation axis and can rotate circumferentially along the surface of the second rotation axis.

[0041] In addition, to further reduce the weight of the shell 8, for example, the upper and lower panels of the shell 8 are each provided with a first weight-reducing hole 13 with a rectangular shape, and the side panel connecting the shell 8 to the upper and lower surfaces is provided with a second weight-reducing hole 14 with a triangular shape. The volume of the first weight-reducing hole 13 is greater than the volume of the second weight-reducing hole 14. In this embodiment, to prevent the weight-reducing holes from deforming, for example, the first weight-reducing hole 13 is in the shape of a rectangle with circular chamfers on all four sides, and the second weight-reducing hole 14 is in the shape of a triangle with circular chamfers on the inner corners. The provision of the circular chamfers makes the pressure near each angle of the weight-reducing hole more uniform, preventing the weight-reducing hole from deforming and thus affecting the stability of the shell.

[0042] Furthermore, to ensure the structural stability of the auxiliary connecting portion 9 and facilitate its connection to the second adjustment device 3, the auxiliary connecting portion 9 is, for example, shaped like a rectangular parallelepiped. To facilitate the rapid sliding of the auxiliary connecting portion 9, the upper and lower end surfaces of the auxiliary connecting portion 9 are provided with at least two sets of sliding blocks 15 spaced apart along the length of the housing. The sliding blocks 15 are fixedly connected to the auxiliary connecting portion 9 on one side thereof, and the two ends of the sliding blocks 15 (the sliding blocks are rectangular parallelepiped, and the length direction of the sliding blocks is perpendicular to the double-row sliding rails) respectively abut against the adjacent double-row sliding rails 10 and are movable along the surface of the double-row sliding rails 10.

[0043] In the same embodiment, the second adjustment device 3 is located between the first adjustment device 2 and the docking device 4 , and is evenly arranged along the circumferential direction on surfaces on opposite sides of the first adjustment device 2 and the docking device 4 .

[0044] Specifically, the second adjustment device 3 comprises multiple electric cylinders 16, a first fixing member 17, a second fixing member, and a sphere 18. Each electric cylinder 16 is connected to a sphere 18 at each end (the spheres are mounted on either end of the electric cylinder). The first fixing member 17 and the second fixing member are bolted to the surfaces on opposite sides of the first adjustment device 2 and the docking device 4, respectively. The spheres 18 at each end of the electric cylinder 16 are embedded in the first and second fixing members, respectively, and can rotate within the first and second fixing members. The telescopic adjustment of the electric cylinder 16 enables rapid response, facilitating quick adjustment of the distance between the docking device 4 and the rocket body, and improving operational efficiency. Furthermore, the provision of the electric cylinder 16 not only significantly improves adjustment accuracy but also reduces weight, facilitating the connection of the docking device 4 to the onboard docking assembly. This improves the accuracy of the docking device 4 and the onboard connection components, simplifies programming of complex motions, enables rapid adaptation of the equipment to varying process requirements, and streamlines maintenance. In this embodiment, in order to improve the docking accuracy of the docking device 4, for example, the number of electric cylinders 16 is 6, 8, 10, etc. After a large number of tests and simulations, when the number of electric cylinders 16 is 6, the precise adjustment of the docking device 4 is satisfied, and through the cooperation of multiple electric cylinders, the matching docking of the docking device 4 and the arrow connector can be quickly completed, thereby ensuring the rapid connection of the arrow connector and the lower arrow connector.

[0045] like Figure 1 and Figure 3 As shown, the docking device 4 includes a locking panel 19 and an integrated panel 20. The locking panel 19 includes a bottom plate 21 with a center hole, a side plate 22 and a locking member 23. In order to facilitate the fixing of the integrated panel 20, for example, the side plates 22 are arranged circumferentially along the outer side of the bottom plate 21 and are tightly fixed to the outer surface of the bottom plate 21. The side plates 22 and the bottom plate 21 form a groove structure. The locking member 23 is located on the outer side wall of the groove structure and is used to fix the integrated panel 20 in the groove structure. It should be further explained that the locking member 23 is a cylinder structure, which is fixed on the side plate 22. The telescopic end thereof passes through the side plate 22 and is inserted into the recessed portion (a recessed portion is provided on the side where the locking block is close to the side plate) to fix the integrated panel 20 in the groove structure.

[0046] In addition, to improve the efficiency of the integrated panel, for example, the integrated panel 20 includes a main board 24, a guide cone 25, a locking block 26, a cryogenic connector 27, a gas connector 28, and a locking element 29. The main board 24 is provided with a first through hole for securing the cryogenic connector 27 and a second through hole for securing the gas connector 28. The first through hole is located at the center of the main board 24, and the second through holes are located outside the first through hole and are arranged at equal intervals along the circumference of the first through hole.

[0047] The guide cone 25 and locking element 29 are both located on the side of the mainboard 24 near the arrow connector. The guide cone 25 is used to position the mainboard 24 when docking with the arrow interface (arrow connector). Specifically, the guide cone 25 is arranged around the mainboard 24 and includes a cone seat and a cone head. The cone seat is fixedly connected to the mainboard 24, and one end of the cone head is connected to the cone seat, while the other end extends away from the cone seat.

[0048] The locking block 26 is located on the side of the mainboard away from the arrow connector. A recessed portion is defined on the side of the locking block 26 proximal to the side panel 22. This recessed portion is recessed toward the side away from the side panel 22, and the recessed portion mates with the telescopic end of the cylinder structure, securing the integrated panel 20 within the recessed structure and preventing displacement of the integrated panel 20. This facilitates automatic docking of the integrated panel 20 with the arrow connector (arrow connector). To provide a tighter and more secure connection between the locking block 26 and the mainboard 24, for example, the locking block 26 is secured to the mainboard 24 via bolts. To facilitate connection of the locking block 24 to the cylinder structure, for example, the locking block 24 has an L-shaped configuration.

[0049] The low temperature connector 27 is used to communicate with the low temperature connector interface on the arrow to transport the ground low temperature liquid to the arrow body. The gas line connector 28 is used to communicate with the gas line interface on the arrow to transport the ground gas to the arrow body.

[0050] In addition, in order to facilitate the installation and disassembly of the integrated panel 20, for example, at least one set of symmetrical sunken parts is provided on the two corresponding sides of the side panels 22, and the sunken parts are sunken toward the bottom plate side.

[0051] It should be further explained that, in order to facilitate control and improve control accuracy, for example, the first drive device 7, the second drive device 11, the electric cylinder 16, and the pneumatic cylinder are all controlled by a programmable controller.

[0052] For ease of manufacturing and use, for example, the first fixing member 17 and the second fixing member have the same structure. Specifically, the first fixing member 17 comprises a first cylindrical body with a first inner through hole and a second cylindrical body with a second inner through hole. The outer diameter of the first cylindrical body is larger than the outer diameter of the second cylindrical body. Along the direction from the second cylindrical body to the first cylindrical body, an annular table is formed at the transition between the first and second cylindrical bodies. The annular table is provided with multiple fixing through holes, which are fixedly connected to the base plate after one end of a locking bolt passes through the fixing through holes. In addition, the transition between the first and second inner through holes forms an inner channel for confining the sphere (the sphere is fixed within the inner channel and can rotate freely within the inner channel).

[0053] like Figure 1 , Figure 6 and Figure 7 As shown, the locking element 29 is a ball lock structure and is used to cooperate with the arrow element to fix the main board 24.

[0054] In this embodiment, the ball lock structure at least includes a ball lock outer shell 30 , a ball 31 , a docking inner core 32 , an elastic member 33 , a fixing base 34 and an air inlet nozzle 35 .

[0055] The ball lock sleeve 30 has a structure with a channel inside and communicated at both ends, and a first annular recess 36, a second annular recess 37 and a third annular recess 38 are respectively provided on the inner side of the ball lock sleeve 30, which are recessed toward the side away from the center of the channel. The first annular recess 36, the second annular recess 37 and the third annular recess 38 are respectively located at the upper, middle and lower parts of the ball lock sleeve 30, and the first annular recess 36 and the second annular recess 37 are spaced apart so that the inner wall of the ball lock sleeve 30 between the first annular recess 36 and the second annular recess 37 forms a first annular boss, the second annular recess 37 and the third annular recess 38 are close to each other, and the transition part between the second annular recess 37 and the third annular recess 38 forms a first limit platform.

[0056] The docking inner core 32 includes a first lower groove and a second lower groove respectively provided at both ends, which are concave toward each other. The groove wall of the first lower groove is evenly provided with a plurality of limiting through holes 39, and the groove wall of the second lower groove is evenly provided with a plurality of air intake channels 40. A second annular boss is provided on the circumferential outer side of the lower end of the docking inner core 32, and the transition part between the docking inner core 32 and the second annular boss forms a second limiting platform.

[0057] The sphere 18 is located in the limiting through hole 39, and one side abuts the inner wall of the limiting channel 39, and the other side is used to abut against the first annular boss. The docking inner core 32 and the elastic member 33 are both located in the channel. The ball lock sleeve 30 can slide relative to the surface of the docking inner core 32, and the two ends of the elastic member 33 abut against the lower surface of the first annular boss and the upper surface of the second limiting platform respectively.

[0058] The fixed base 34 is located at the lower end of the ball lock sleeve 30, the upper end of the fixed base 34 is embedded in the ball lock sleeve 30 and fixedly connected to the inner wall of the ball lock sleeve 30, and the lower end is fixedly connected to the integrated panel 20. The air intake nozzle 35 is embedded in the fixed base 34 and connected to the air intake channel 40, wherein the air intake nozzle 35 and the fixed base 34 are connected by internal and external threads.

[0059] During application, the gas medium enters from the air inlet nozzle, and then enters the air inlet channel along the air inlet nozzle channel, and the gas medium through the air inlet channel enters the closed cavity formed by the bottom of the third annular recess, the upper end face of the side wall connected to the bottom of the third annular recess, and the lower end face of the second annular boss. Since the lower end of the fixed base is fixedly connected to the integrated panel, and the fixed base is threadedly connected to the docking inner core, the fixed base and the docking inner core remain stationary. The gas medium enters the closed cavity and pushes the ball lock sleeve to move downward along the docking inner core, so that the elastic member is in a compressed state, so that the ball located in the limiting through hole disengages from the limiting through hole and enters the first annular recess, and the lock of the arrow element The tightening head 45 enters the first lower groove on the docking inner core. When the locking head (containing annular groove) of the arrow-up element is flush with the limiting through-hole (the sphere can just fall into the annular groove), stop inputting gas medium into the air inlet nozzle. Under the elastic force of the elastic part, the ball lock sleeve is pushed to move upward along the docking inner core, so that the sphere slides out of the first annular lower recess and enters the limiting through-hole. The inner wall of the ball lock sleeve squeezes the sphere. Part of the sphere is located in the limiting through-hole, and part enters the locking head (part of the sphere enters the annular groove and is tightly attached to the surface of the annular groove). After the sphere enters the limiting through-hole from the first annular lower recess, it is engaged with the annular groove, thereby completing the fixation of the mainboard.

[0060] To facilitate the movement of the ball, for example, the cross section along the axial direction of the limiting through hole is an isosceles trapezoid, and the small end of the isosceles trapezoid is located close to the docking inner core 32 side, and the large end is close to the ball lock sleeve 30 side.

[0061] In order to ensure that the ball can slide smoothly from the first annular recess 36 into the limiting through hole, for example, a sliding groove is provided on the surface of the first annular recess 36, and the sliding groove is bent and extended along the upper part of the first annular recess to the lower part of the first annular recess (the sliding groove is an arc guide groove).

[0062] Further, to prevent the ball from slipping out of the chute on the first annular recess, an annular baffle is provided on the upper end surface of the first annular recess. The outer side of the annular baffle is fixedly connected to the inner wall of the first annular recess, and the inner side extends toward the docking core. The distance between the inner side and the docking core is smaller than the diameter of the ball.

[0063] In order to facilitate the ball 18 to quickly detach from the limiting through hole and enter the first annular lower recess 36, for example, a connecting channel is provided between the first lower recess and the second lower recess. A small portion of the gas medium output from the air inlet nozzle 35 enters the connecting channel and then enters the first lower recess. Since the locking head and the first lower recess form a sealed cavity, the pressure in the first lower recess increases, and the surface of the ball 18 is subjected to an increase in air pressure (increased radial pressure), so that the ball 2 quickly detaches from the limiting through hole and enters the first annular lower recess 36.

[0064] To facilitate installation and removal, for example, the ball lock housing includes an upper locking sleeve 41 and a lower locking sleeve 42. The lower end of the upper locking sleeve 41 is circumferentially provided with a first flange, and the lower end of the lower locking sleeve 42 is circumferentially provided with a second flange. The upper locking sleeve 41 and the upper locking sleeve 42 are fixedly connected through the first flange and the second flange.

[0065] In this embodiment, the end of the upper locking sleeve 41, distal from the first flange, is formed with a plurality of equally spaced cantilevers 43, each corresponding to a corresponding stop hole. The provision of cantilevers 43 not only reduces the weight of the locking element but also increases the radial elasticity of the upper locking sleeve 41, preventing deformation due to excessive pressure and extending the service life of the entire ball lock housing.

[0066] The locking head is shaped like a convex character. For convenience in cooperating with the spheroid 18, for example, the convex type is positioned at the position of the docking inner core and is provided with an annular groove.

[0067] In this embodiment, when the rocket is flying and the pneumatic unlocking fails (maintaining the docking device 4 and the connector on the arrow in a connected state), due to the setting of the cantilever 43, the upper locking sleeve 41 has radial elasticity, and the locking head of the arrow component is subjected to tension. The locking head drives the ball 18 to apply pressure to the cantilever 43, so that the cantilever 43 is subjected to radial pressure, so that after the cantilever 43 is radially stretched, the locking head quickly separates from the docking device 4, which is conducive to the safe flight of the rocket.

[0068] After a large number of simulation tests, when the number of cantilevers 43 is A and A≥4, it can not only reduce the weight of the locking element 29, but also increase the radial elasticity of the upper locking sleeve 41, which helps the arrow element to cooperate with the ball lock structure.

[0069] In this embodiment, in order to prevent the ball 18 from corroding and rusting, for example, the ball is a stainless steel metal ball.

[0070] In addition, in order to facilitate installation and ensure that the elastic member 33 can be smoothly contracted or extended, for example, the elastic member 33 is a spring or bellows structure.

[0071] In this embodiment, the fixed base 34 is evenly distributed around its circumference, with multiple fixed plates matching the guide grooves. One end of each fixed plate is connected to the fixed base, and the other end extends away from the fixed base. To facilitate downward movement of the ball lock housing 30, for example, the lower locking sleeve 42 is provided with multiple guide grooves along its circumference, distal to the second flange. These guide grooves are recessed toward the second flange, resembling U-shaped grooves. These guide grooves can be moved downward along the sidewalls of the fixed plates, effectively preventing circumferential rotation of the ball lock housing and facilitating vertical (axial) movement of the housing.

[0072] To prevent gaseous leakage, for example, the surface of the second annular boss is provided with a third annular groove and a first annular seal. One end of the first annular seal resides in the third annular groove, while the other end abuts and slides along the inner wall of the ball lock housing. A fourth annular groove and a second annular seal are provided where the ball lock housing and the fixed base overlap. One end of the second annular seal resides in the fourth annular groove, while the other end abuts and slides along the outer wall of the fixed base 34.

[0073] In addition, it should be noted that in order to avoid the rocket sinking due to the increase in weight during the filling of gas medium and liquid medium, causing the docking interface position to move, for example, when the docking device 4 is quickly docked with the connector assembly on the arrow, the cylinder structure (the locking part 23 is a cylinder structure) opens, that is, the telescopic end of the cylinder structure shortens and leaves the recess (the side of the locking block close to the side panel is provided with a recess), and the second adjustment device drives the locking panel 19 to move to the side away from the arrow body (the integrated panel 20 is docked and fixed with the connector assembly on the arrow), that is, the locking panel 19 is separated from the integrated panel 20. At this time, the gas medium and liquid medium under the arrow are transported to the arrow through the pipeline via the gas connector and liquid connector on the integrated panel (the relevant pipelines have been connected to the gas connector and liquid connector on the integrated panel before automatic docking). After the filling is completed, the second adjustment device is adjusted to drive the locking panel 19 to move toward the side close to the arrow body, so that the integrated panel 20 is located in the groove structure and is locked by the cylinder structure, that is, the locking panel 19 and the integrated panel 20 are fixed together again. By adjusting the first adjustment device (moving toward the side away from the arrow body), the docking device 4 and the connector assembly on the arrow are quickly separated.

[0074] The pipeline in this embodiment is a flexible pipeline that is retractable and bendable.

[0075] The above embodiments can be combined with each other and have corresponding technical effects.

[0076] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A liquid rocket connector automatic docking mechanism, characterized in that: At least comprising a fixing device, a first adjusting device, a second adjusting device and a docking device, The lower end of the fixing device is fixed to the ground device, the upper end of the fixing device is connected to the lower end of the first adjustment device through a rotating shaft, the upper end of the first adjustment device is connected to the input end of the second adjustment device, the output end of the second adjustment device is connected to the input end of the docking device, and the output end of the docking device is used to dock with the arrow connector assembly, wherein, The fixing device is used to fix the first adjusting device; The lower end of the first adjustment device can rotate circumferentially along the surface of the rotation axis to drive the second adjustment device located at the upper end of the first adjustment device to move, and further drive the docking device to move toward the side of the rocket body to adjust the docking distance between the docking device and the connector assembly on the rocket; The second adjustment device is used to further adjust the docking position of the docking device and the arrow-on connector assembly; The docking device is used to integrate liquid and gas circuit connectors, and after the second adjustment device completes the adjustment of the docking device, the docking device and the arrow connector assembly can be quickly docked.

2. The liquid rocket connector automatic docking mechanism according to claim 1, characterized in that: The fixing device is a rectangular strip, and along the length direction of the rectangular strip, two groups of symmetrical and spaced-apart first fixing bases are provided on the upper surface of the rectangular strip, and the first fixing base is provided with a recessed portion for matching the lower end of the first adjustment device. The lower end of the first adjustment device is located in the recessed portion, and the first adjustment device is connected to the first fixing base via a first rotating shaft, wherein the lower end of the first adjustment device can rotate circumferentially along the surface of the first rotating shaft.

3. The liquid rocket connector automatic docking mechanism according to claim 1, characterized in that: The first adjustment device includes a first adjustment structure and a second adjustment structure, wherein: The first adjustment structure comprises at least two symmetrically arranged first frame structures and two first driving devices. The two first frame structures are evenly spaced along the length direction of the fixing device at both ends of the fixing device and located on the upper part of the fixing device. The lower end and the upper end of each first frame structure are respectively connected to the fixing device and the outer shell of the second adjustment structure. Two first drive devices are arranged between two sets of first frame structures along the length direction of the fixing device, and the fixed end of each first drive device is connected to the fixing device, and the telescopic end of the first drive device is connected to the first adjustment structure close to the side of the rocket body to adjust the distance between the first frame structure and the rocket body; The second adjustment structure at least comprises a housing, an auxiliary connecting portion, two sets of double-row sliding rails and a second driving device. The shell is a structure with two ends connected and a channel inside. The two sets of double-row sliding rails are respectively tightly attached to the upper inner wall and the lower inner wall of the shell and are welded and fixed. The upper and lower ends of the auxiliary connecting part are respectively abutted against the corresponding double-row sliding rails and can slide freely along the surface of the double-row sliding rails. The fixed end of the second driving device is connected to the lower inner wall of the shell, and the telescopic end is connected to the side wall of the auxiliary connecting part away from the rocket body.

4. The liquid rocket connector automatic docking mechanism according to claim 3, characterized in that: The upper end of the first frame structure is connected to the shell through a fixing assembly, wherein the fixing assembly includes a clamping member and a coupling member, the clamping member has an L-shaped structure, and the coupling member includes an integrally formed coupling base plate and a convex plate, one end of the convex plate is connected to the coupling base plate, and the other end extends away from the coupling base plate. A portion of the surface of the outer side of the clamping member is in close contact with the surface of the shell and is fixed by bolts, and another portion of the surface on the same side is bent and in close contact with the upper surface of the combining base plate and is fixed by locking bolts. The convex plate is connected to the first frame structure through a second rotating axis, and the convex plate can rotate circumferentially along the surface of the second rotating axis.

5. The liquid rocket connector automatic docking mechanism according to claim 3, characterized in that: The upper and lower panels of the shell are both provided with a first weight-reducing hole with a rectangular shape, and the side panels connecting the shell to the upper and lower surfaces are provided with a second weight-reducing hole with a triangular shape, wherein the volume of the first weight-reducing hole is greater than that of the second weight-reducing hole.

6. The liquid rocket connector automatic docking mechanism according to claim 3, characterized in that: The auxiliary connecting part has a rectangular structure, and the upper and lower end surfaces of the auxiliary connecting part are provided with at least two groups of sliding blocks spaced apart along the length direction of the shell. The sliding block and the auxiliary connecting part are fixedly connected to each other on one side, and the two ends of the sliding block are respectively abutted against the double-row sliding rails close to each other and can move along the surface of the double-row sliding rails.

7. The liquid rocket connector automatic docking mechanism according to claim 1, characterized in that: The second adjustment device is located between the first adjustment device and the docking device, and is evenly arranged along the circumferential direction on the surface of the first adjustment device and the docking device on the opposite sides thereof, wherein: The second adjustment device includes multiple electric cylinders, a first fixing member, a second fixing member and a sphere. The two ends of each electric cylinder are respectively connected to the sphere. The first fixing member and the second fixing member are respectively fixed to the surfaces on the opposite sides of the first adjustment device and the docking device by bolts. The spheres at both ends of the electric cylinder are respectively embedded in the first fixing member and the second fixing member, and the spheres can rotate in the first fixing member and the second fixing member.

8. The liquid rocket connector automatic docking mechanism according to claim 1, characterized in that: The docking device comprises a locking panel and an integrated panel, wherein: The locking panel includes a bottom plate with a central hole, a side plate and a locking piece. The side plate is arranged along the outer circumference of the bottom plate and is tightly fixed to the outer surface of the bottom plate. The side plate and the bottom plate form a groove structure. The locking piece is located on the outer side wall of the groove structure and is used to fix the integrated panel in the groove structure. The integrated panel includes a main board, a guide cone, a locking block, a low-temperature connector, a gas line connector and a locking element. The main board is provided with a first through hole for fixing the low-temperature connector and a second through hole for fixing the gas path connector, wherein the first through hole is located at the center of the main board, and the second through holes are located outside the first through hole and are arranged at equal intervals along the circumference of the first through hole; The guide cone and the locking element are both located on a side of the mainboard close to the arrow connector, and the guide cone is used to position the mainboard when docking with the arrow connector; The locking block is located on a side of the main board away from the arrow connector, and a recessed portion is provided on a side of the locking block close to the side plate. The recessed portion is recessed toward the side away from the side plate, and the recessed portion and the telescopic end of the locking piece are matched in concave and convex manner. The low-temperature connector is used to communicate with the low-temperature connector interface on the arrow to transport the ground low-temperature liquid to the arrow body; The gas path connector is used to communicate with the gas path interface on the arrow and transport ground gas to the arrow body; The locking element is a ball lock structure and is used to cooperate with the arrow-on element to fix the main board.

9. The liquid rocket connector automatic docking mechanism according to claim 8, characterized in that: At least one set of symmetrical sinking parts is provided on two sides corresponding to each other of the side plates, and the sinking parts sink toward one side of the bottom plate.

10. The liquid rocket connector automatic docking mechanism according to claim 8, characterized in that: The locking member is a cylinder structure, which is fixed to the side panel, and its telescopic end passes through the side panel and is inserted into the lower recess to fix the integrated panel in the groove structure; the guide cone is arranged around the main board, and includes a cone seat and a cone head, the cone seat is fixedly connected to the main board, one end of the cone head is connected to the cone seat, and the other end extends away from the cone seat. The locking block is fixed to the mainboard by bolts, and the locking block has an L-shaped structure.

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