Liquid rocket connector automatic docking mechanism

Abstract

This invention discloses an automatic docking mechanism for a liquid rocket connector, comprising at least a fixing device, a first adjusting device, a second adjusting device, and a docking device. The upper end of the fixing device is connected to the lower end of the first adjusting device via a rotating shaft. The upper end of the first adjusting device is connected to the input end of the second adjusting device, and the output end of the second adjusting device is connected to the input end of the docking device. The output end of the docking device is used for docking with the rocket connector assembly. The fixing device is used to fix the first adjusting device. The lower end of the first adjusting device can rotate circumferentially along the rotating shaft surface to move the second adjusting device located above the first adjusting device, thereby adjusting the docking distance between the docking device and the rocket connector assembly. The second adjusting device is used to further adjust the docking position between the docking device and the rocket connector assembly. This mechanism is rationally designed, easy to operate, and improves work efficiency while also making rocket launch safer and more reliable.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to an automatic docking mechanism for liquid rocket connectors. Background Technology

[0002] With the rapid development of the aerospace industry, various technologies involved in the rocket field have also made leaps and bounds. Before launch, liquid rockets require the pre-filling of cryogenic liquid fuel and gas into the rocket body, necessitating the use of cryogenic connectors and gas connectors. Currently, when docking these connectors with the rocket, they require individual adjustment and connection. Due to the complex structure of the connectors and the need for multiple people to work together during docking and separation, this significantly impacts the rocket's fueling efficiency and greatly increases costs. Furthermore, if the cryogenic and gas connectors detach during takeoff, they are highly susceptible to collisions, potentially impacting the rocket and severely affecting its safe flight. To meet the rapid response requirements of launch vehicles, there is an urgent need for an automatic docking mechanism for liquid rocket connectors. This mechanism should be rationally designed, easy to operate, and improve work efficiency while ensuring safer and more reliable rocket takeoff. This is the problem that needs to be solved. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic docking mechanism for liquid rocket connectors, which is reasonably designed, easy to operate, improves work efficiency, and makes rocket takeoff safer and more reliable.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] One aspect of the present invention provides an automatic docking mechanism for a liquid rocket connector, comprising at least a fixing device, a first adjusting device, a second adjusting device, and a docking device.

[0006] The lower end of the fixing device is fixed to the ground device, and the upper end of the fixing device is connected to the lower end of the first adjusting device via a rotating shaft. The upper end of the first adjusting device is connected to the input end of the second adjusting device, and the output end of the second adjusting device is connected to the input end of the docking device. The output end of the docking device is used to dock with the arrow connector assembly.

[0007] The fixing device is used to fix the first adjusting device;

[0008] The lower end of the first adjustment device can rotate circumferentially along the surface of the rotating shaft 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 towards one side of the rocket body to adjust the docking distance between the docking device and the on-rocket connector assembly.

[0009] The second adjustment device is used to further adjust the docking position between the docking device and the arrow connector assembly;

[0010] The docking device is used to integrate the liquid and gas connectors. After the second adjustment device completes the adjustment of the docking device, the docking device can be quickly docked with the arrow connector assembly.

[0011] Furthermore, the fixing device is a cuboid strip. Along the length of the cuboid strip, the upper surface of the cuboid strip is provided with two sets of symmetrical and spaced first fixing bases. The first fixing base is provided with a recess for matching the lower end of the first adjusting device. The lower end of the first adjusting device is located in the recess, and the first adjusting device is connected to the first fixing base through a first rotating shaft. The lower end of the first adjusting device can rotate circumferentially along the surface of the first rotating shaft.

[0012] Furthermore, the first adjustment device includes a first adjustment structure and a second adjustment structure, wherein,

[0013] The first adjustment structure includes at least two sets of symmetrically arranged first frame structures and two first driving devices. The two sets of first frame structures are equally spaced at both ends of the fixing device along the length direction of the fixing device and located at the upper part of the fixing device. The lower end and upper end of each first frame structure are respectively connected to the outer shell of the fixing device and the second adjustment structure.

[0014] Two first drive devices are arranged between the 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. The telescopic end of the first drive device is connected to the first adjustment structure near the rocket body to adjust the distance between the first frame structure and the rocket body.

[0015] The second adjustment structure includes at least a housing, an auxiliary connecting part, two sets of double-row sliding rails, and a second drive device.

[0016] The housing has a structure with open ends and internal channels. The two sets of double-row sliding tracks are respectively tightly attached to and welded to the upper and lower inner walls of the housing.

[0017] The upper and lower ends of the auxiliary connecting part respectively abut 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 housing, and the telescopic end is connected to the side wall of the auxiliary connecting part away from the rocket body.

[0018] Furthermore, the upper end of the first frame structure is connected to the housing via a fixing component, wherein the fixing component includes a fastening member and a connecting member. The fastening member has an L-shaped structure, and the connecting member comprises an integrally formed connecting base plate and a protruding plate. One end of the protruding plate is connected to the connecting base plate, and the other end extends away from the connecting base plate.

[0019] A portion of the outer surface of the fastening member is in close contact with the surface of the housing and is fixed by bolts. Another portion of the surface on the same side is bent and then in close contact with the upper surface of the connecting base plate and fixed by locking bolts. The protruding plate is connected to the first frame structure through a second rotating shaft, and the protruding plate can rotate circumferentially along the surface of the second rotating shaft.

[0020] Furthermore, the upper and lower panels of the housing are provided with a first weight-reducing hole in the shape of a rectangle, and the side panels connected to the upper and lower surfaces of the housing are provided with a second weight-reducing hole in the shape of a triangle. The volume of the first weight-reducing hole is larger than the volume of the second weight-reducing hole.

[0021] Furthermore, the auxiliary connecting part has a cuboid structure, and the upper and lower end faces of the auxiliary connecting part are provided with at least two sets of sliding blocks spaced apart along the length of the housing. The sliding blocks are fixedly connected to the auxiliary connecting part on the side closer to each other, and the two ends of the sliding blocks respectively abut against the double row sliding tracks that are close to each other and can move along the surface of the double row sliding tracks.

[0022] Furthermore, the second adjustment device is located between the first adjustment device and the docking device, and is evenly arranged circumferentially on the surfaces of the first adjustment device and the docking device on opposite sides of each other, wherein,

[0023] The second adjustment device includes multiple electric cylinders, a first fixing member, a second fixing member, and a ball. Each electric cylinder has two ends connected to the ball. The first fixing member and the second fixing member are respectively fixed to the surfaces of the first adjustment device and the docking device on opposite sides by bolts. The balls at both ends of the electric cylinder are respectively embedded in the first fixing member and the second fixing member, and the balls can rotate within the first fixing member and the second fixing member.

[0024] Furthermore, the docking device includes a locking panel and an integrated panel, wherein,

[0025] The locking panel includes a base plate with a central hole, side plates, and a locking member. The side plates are arranged circumferentially along the outer side of the base plate and are tightly fixed to the outer surface of the base plate. The side plates and the base plate form a groove structure. The locking member is located on the outer sidewall of the groove structure and is used to fix the integrated panel within the groove structure.

[0026] The integrated panel includes a main board, guide cone, locking block, cryogenic connector, gas line connector, and locking elements.

[0027] The motherboard is provided with a first through hole for fixing the cryogenic connector and a second through hole for fixing the gas circuit connector. The first through hole is located at the center of the motherboard, and the second through hole is located outside the first through hole and is arranged at equal intervals along the circumference of the first through hole.

[0028] Both the guide cone and the locking element are located on the side of the main board near the arrow connector. The guide cone is used to position the main board when it is docked with the arrow interface.

[0029] The locking block is located on the side of the main board away from the arrow connector, and the side of the locking block that is close to the side plate has a recessed part. The recessed part is recessed towards the side away from the side plate, and the recessed part matches the telescopic end of the locking member.

[0030] The cryogenic connector is used to connect with the cryogenic connector interface on the rocket to deliver cryogenic liquid from the ground to the rocket body;

[0031] The gas connector is used to connect to the onboard gas interface and deliver ground gas to the rocket body;

[0032] The locking element is a ball lock structure and is used to cooperate with the arrow components to fix the main board.

[0033] Furthermore, at least one set of symmetrical recessed portions is provided on the corresponding two sides of the side plate, and the recessed portions sink towards one side of the bottom plate.

[0034] Furthermore, the locking component is a cylinder structure, which is fixed to the side plate. Its telescopic end penetrates the side plate and inserts into the recess to fix the integrated panel in the groove structure. The guide cones are arranged around the main board and include a cone seat and a cone head. The cone seat is fixedly connected to the main board, and one end of the cone head is connected to the cone seat, while the other end extends 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.

[0035] The present invention provides an automatic docking mechanism for a liquid rocket connector, which includes at least a fixing device, a first adjusting device, a second adjusting device, and a docking device.

[0036] First, the connection position between the docking device and the arrow connector assembly is adjusted for the first time using the first adjustment device. Then, the connection position is adjusted for the second time using the second adjustment device. The entire operation is automated, making the connection position between the docking device and the arrow connector assembly more precise and convenient. The entire operation adopts automated docking, which can avoid large errors caused by improper manual operation, thereby affecting the subsequent refueling rate. It saves costs, improves work efficiency, and ensures human safety.

[0037] The docking device integrates the liquid and gas connectors, enabling rapid docking with the onboard connector assembly and facilitating subsequent rapid refueling. Furthermore, after refueling, when the docking device detaches from the rocket body, the integrated design of the liquid and gas connectors prevents collisions between them, reducing the risk of impact and ensuring safer and more reliable rocket launch.

[0038] The entire liquid rocket connector automatic docking mechanism is rationally designed, easy to operate, and improves work efficiency, while also making rocket takeoff safer and more reliable.

[0039] It should be understood that the above general description and the following specific embodiments are merely exemplary and illustrative, and do not limit the scope of the invention. Attached Figure Description

[0040] Figure 1 This is a perspective view of the automatic docking mechanism for the liquid rocket connector of the present invention;

[0041] Figure 2 This is a front view of the automatic docking mechanism for the liquid rocket connector of the present invention;

[0042] Figure 3 This is a perspective view of the locking panel and the second adjustment device of the present invention;

[0043] Figure 4 This is a perspective view of the integrated panel of the present invention;

[0044] Figure 5 This is a front view of the integrated panel of the present invention;

[0045] Figure 6 This is a cross-sectional view of the locking element and locking head of the present invention;

[0046] Figure 7This is a perspective view of the locking element of the present invention.

[0047] Figure label:

[0048] 1. Fixing device; 2. First adjusting device

[0049] 3 Second adjustment device 4 Docking device

[0050] 5 First fixed base 6 First frame structure

[0051] 7 First drive unit 8 Housing

[0052] 9 Auxiliary connecting parts 10 Double row sliding rails

[0053] 11 Second drive unit 12 Fixed assembly

[0054] 13 First weight reduction hole 14 Second weight reduction hole

[0055] 15 sliding blocks, 16 electric cylinders

[0056] 17 First fastener 18 Sphere

[0057] 19 Locking Panel 20 Integrated Panel

[0058] 21 Base plate 22 Side plate

[0059] 23 Locking parts 24 Mainboard

[0060] 25 guide cone 26 locking block

[0061] 27 Cryogenic Connector 28 Gas Connection Connector

[0062] 29 Locking element 30 Ball lock outer sleeve

[0063] 31 Sphere 32 Dating Core

[0064] 33 Elastic element 34 Fixed base

[0065] 35 Intake nozzle 36 First annular recess

[0066] 37 Second annular recess 38 Third annular recess

[0067] 39 Limiting through hole 40 Air inlet channel

[0068] 41 Upper lock sleeve 42 Lower lock sleeve

[0069] 43 Cantilever 44 Guide Groove

[0070] 45 locking head Detailed Implementation

[0071] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention.

[0072] It should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0073] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0074] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0075] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0076] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, one aspect of the present invention provides an automatic docking mechanism for a liquid rocket connector, comprising at least a fixing device 1, a first adjusting device 2, a second adjusting device 3, and a docking device 4.

[0077] The lower end of the fixing device 1 is fixed to the ground device, and the upper end of the fixing device 1 is connected to the lower end of the first adjusting device 2 via a rotating shaft. The upper end of the first adjusting device 2 is connected to the input end of the second adjusting device 3, and the output end of the second adjusting device 3 is connected to the input end of the docking device 4. The output end of the docking device 4 is used to dock with the arrow connector assembly.

[0078] The fixing device 2 is used to fix the first adjusting device 2;

[0079] 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 towards one side of the rocket body to adjust the docking distance between the docking device 4 and the on-rocket connector assembly.

[0080] The second adjustment device 3 is used to further adjust the docking position of the docking device 4 and the arrow connector assembly;

[0081] The docking device 4 is used to integrate the hydraulic and pneumatic connectors. After the second adjustment device 3 completes the adjustment of the docking device 4, the docking device 4 can be quickly docked with the connector assembly on the arrow.

[0082] Specifically, the automatic docking mechanism for a liquid rocket connector provided in this embodiment of the invention includes at least a fixing device 1, a first adjusting device 2, a second adjusting device 3, and a docking device 4.

[0083] First, the connection position between the docking device and the arrow connector assembly is adjusted for the first time using the first adjustment device. Then, the connection position between the docking device and the arrow connector assembly is adjusted for the second time using the second adjustment device. The entire operation is automatically adjusted to make the connection position between the docking device and the arrow connector assembly more accurate and convenient. It can avoid large errors caused by improper manual operation, which would affect the subsequent refueling rate. While saving costs, it can also improve work efficiency and ensure the safety of personnel.

[0084] In addition, the docking device 4 integrates the liquid and gas connectors, which enables the docking device to quickly dock with the onboard connector assembly, facilitating the rapid subsequent filling of the onboard liquid / gas.

[0085] Furthermore, when the liquid / gas filling is completed and the docking device detaches from the rocket body, the integrated liquid and gas connectors on the docking device can prevent collisions between them, reducing the risk of impact to the rocket and thus ensuring a safer and more reliable rocket launch.

[0086] The entire liquid rocket connector automatic docking mechanism is rationally designed, easy to operate, and improves work efficiency, while also making rocket takeoff safer and more reliable.

[0087] 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 cuboid strip. To facilitate the fixing device 1 in fixing the first adjusting device 2 and to allow the first adjusting device 2 to move the second adjusting device 3, for example, two sets of symmetrically spaced first fixing bases 5 are provided on the upper surface of the cuboid strip along its length. The first adjusting device 2 is connected to the first fixing base 5 via a first rotating shaft, wherein the lower end of the first adjusting device 2 can rotate circumferentially along the surface of the first rotating shaft. Furthermore, to effectively support the first adjusting device 2 and reduce the pressure on the first rotating bearing, for example, the first fixing base 5 is provided with a recess for matching the lower end of the first adjusting device 2, with the lower end of the first adjusting device 2 located within the recess. The bottom of the recess supports the first adjusting device 2, and since one end of the first adjusting device 2 is located within the recess, which acts like a slot, it prevents the first adjusting device 2 from wobbling (along the axial direction of the first rotating shaft) and facilitates the circumferential rotation of the first adjusting device 2 along the surface of the first rotating shaft.

[0088] Specifically, the first adjustment device 2 includes a first adjustment structure and a second adjustment structure. The first adjustment structure includes at least two sets of symmetrically arranged first frame structures 6 and two first driving devices 7. The two sets of first frame structures 6 are equally spaced at both ends of the fixing device 1 along the length direction of the fixing device 1 and are located at the upper part of the fixing device 1. The lower end and upper end of each first frame structure 6 are respectively connected to the outer shell of the fixing device 1 and the second adjustment structure.

[0089] Two first drive devices 7 are arranged between the two sets of first frame structures 6 along the length of the fixing device 1, and the fixed end of each first drive device 7 is connected to the fixing device 1. The telescopic end of the first drive device 7 is connected to the first adjustment structure near the rocket body to adjust the distance between the first frame structure and the rocket body.

[0090] 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 equally spaced between the two vertical beams, and their ends are welded and fixed to the inner side of the corresponding vertical beams. To prevent the first adjusting device 2 from tipping over during rotation (i.e., the upper end of the first adjusting device is subjected to excessive tension), for example, one of the horizontal beams is located in the middle of the vertical beam, and the other horizontal beam is located at the bottom of the vertical beam (on the side near the fixing device). The entire design lowers the center of gravity of the first frame structure 6, reducing the probability of the first adjusting device 2 tipping over during rotation, which is beneficial for the first adjusting device 2 to adjust the docking device. In addition, to increase the strength of the first frame structure 6 and prevent the first frame structure 6 from deforming due to excessive pressure, for example, multiple support beams are added between the two horizontal beams and the vertical beams between the two horizontal beams, and the support beams form an angle with the horizontal beams and the vertical beams. To facilitate the application of thrust to the first frame structure and promote its rapid rotation, for example, the telescopic end of the first drive device is located in the upper middle part of the vertical beam, i.e., the length of the vertical beam is L, and the length of the connection between the telescopic end and the vertical beam is N (with the bottom end of the vertical beam as the starting end), where N > ½L.

[0091] like Figure 1 and Figure 2 As shown, the second adjustment structure includes at least a housing 8, an auxiliary connecting part 9, two sets of double-row sliding rails 10, and a second drive device 11.

[0092] To reduce the weight of the housing 8, for example, the housing 8 has a structure with open ends and an internal channel. To ensure that the double-row sliding rails 10 are firmly fixed and to prevent displacement, for example, the two sets of double-row sliding rails 10 are respectively attached to and welded to the upper inner wall and the lower inner wall of the housing 8.

[0093] The upper and lower ends of the auxiliary connecting part 9 abut 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 housing 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 adjusting device 3 on the side closer to the rocket body.

[0094] In this embodiment, to facilitate the 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 component 12. The fixing component 12 includes a fastening member and a connecting member. The fastening member has an L-shaped structure, and the connecting member comprises an integrally formed connecting base plate and a protruding plate. One end of the protruding plate is connected to the connecting base plate, and the other end extends away from the connecting base plate. A portion of the outer surface of the fastening member is tightly attached to the surface of the housing 8 and fixed with bolts. Another portion of the surface on the same side is bent and then tightly attached to the upper surface of the connecting base plate and fixed with locking bolts. The protruding plate is connected to the first frame structure 5 via a second rotating shaft, and the protruding plate can rotate circumferentially along the surface of the second rotating shaft.

[0095] Furthermore, to further reduce the weight of the housing 8, for example, the upper and lower panels of the housing 8 are provided with first weight-reducing holes 13 in a rectangular shape, and the side panels connecting the housing 8 to the upper and lower surfaces are provided with second weight-reducing holes 14 in a triangular shape. The volume of the first weight-reducing hole 13 is larger than the volume of the second weight-reducing hole 14. In this embodiment, to prevent deformation of the weight-reducing holes, for example, the first weight-reducing hole 13 is rectangular in shape with rounded chamfers on all four sides, and the second weight-reducing hole 14 is triangular in shape with rounded chamfers on the inner angles. The rounded chamfers make the pressure near each included angle of the weight-reducing hole more uniform, preventing deformation of the weight-reducing hole and thus affecting the stability of the housing.

[0096] Furthermore, to ensure the structural stability of the auxiliary connecting part 9 while facilitating its connection with the second adjustment device 3, the auxiliary connecting part 9 is, for example, a cuboid structure. To facilitate rapid sliding of the auxiliary connecting part 9, for example, at least two sets of sliding blocks 15 are provided on the upper and lower end faces of the auxiliary connecting part 9, spaced apart along the length of the housing. The sliding blocks 15 are fixedly connected to the auxiliary connecting part 9 on the side closest to each other. The two ends of the sliding blocks 15 (the sliding blocks are cuboids, and the length direction of the sliding blocks is perpendicular to the double-row sliding tracks) respectively abut against the double-row sliding tracks 10 that are close to each other and can move along the surface of the double-row sliding tracks 10.

[0097] 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 circumferentially on the surfaces of the first adjustment device 2 and the docking device 4 on opposite sides.

[0098] Specifically, the second adjustment device 3 includes multiple electric cylinders 16, a first fixing member 17, a second fixing member, and balls 18. Each electric cylinder 16 has two ends connected to a ball 18 (the ball is located at both ends of the electric cylinder). The first fixing member 17 and the second fixing member are respectively fixed to the surfaces of the first adjustment device 2 and the docking device 4 on opposite sides by bolts. The balls 18 at both ends of the electric cylinder 16 are embedded in the first fixing member 17 and the second fixing member, respectively, and the balls 18 can rotate within the first fixing member 17 and the second fixing member. The telescopic adjustment of the electric cylinders 16 allows for rapid response, facilitating quick adjustment of the distance between the docking device 4 and the rocket body, thus improving work efficiency. Furthermore, the electric cylinders 16 not only significantly improve adjustment accuracy but also reduce weight, which is beneficial for connecting the docking device 4 to the rocket docking components. This improves the accuracy of the docking device 4's connection to the rocket's connecting devices, simplifies the programming of complex movements, allows the equipment to quickly adapt to different process requirements, and simplifies maintenance procedures. 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 lot of experiments and simulations, when the number of electric cylinders 16 is 6, it can meet the requirement of precise adjustment of the docking device 4. By cooperating with each other, the docking device 4 and the arrow connector can be matched and docked quickly, thereby ensuring the rapid connection of the arrow connector.

[0099] 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 base plate 21 with a central hole, a side plate 22, and a locking member 23. To facilitate the fixing of the integrated panel 20, for example, the side plate 22 is arranged circumferentially along the outer side of the base plate 21 and is tightly fixed to the outer surface of the base plate 21. The side plate 22 and the base plate 21 form a groove structure. The locking member 23 is located on the outer sidewall of the groove structure and is used to fix the integrated panel 20 in the groove structure. It should be further noted that the locking member 23 is a cylinder structure. The cylinder structure is fixed on the side plate 22, and its telescopic end penetrates through the side plate 22 and inserts into the recess (a recess is provided on the side of the locking block that is close to the side plate) to fix the integrated panel 20 in the groove structure.

[0100] In addition, to improve the efficiency of the integrated panel, the integrated panel 20 includes, for example, 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 fixing the cryogenic connector 27 and a second through hole for fixing 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 evenly spaced along the circumference of the first through hole.

[0101] Both the guide cone 25 and the locking element 29 are located on the side of the main board 24 near the arrow connector. The guide cone 25 is used to position the main board 24 when it mates with the arrow interface (arrow connector). Specifically, the guide cone 25 is arranged around the main board 24 and includes a cone seat and a cone head. The cone seat is fixedly connected to the main board 24, one end of the cone head is connected to the cone seat, and the other end extends away from the cone seat.

[0102] The locking block 26 is located on the side of the main board away from the arrow connector, and a recessed portion is provided on the side of the locking block 26 closest to the side plate 22. This recessed portion is recessed away from the side plate 22, and its concave-convex shape matches the telescopic end of the cylinder structure, thus fixing 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 connecting element (arrow connector). To ensure a tighter and more secure connection between the locking block 26 and the main board 24, the locking block 26 can be fixed to the main board 24 with bolts. To facilitate the connection between the locking block 24 and the cylinder structure, the locking block 24 can be L-shaped.

[0103] Cryogenic connector 27 is used to connect with the onboard cryogenic connector interface to deliver cryogenic liquid from the ground to the rocket body. Gas connector 28 is used to connect with the onboard gas interface to deliver gas from the ground to the rocket body.

[0104] In addition, to facilitate the installation and disassembly of the integrated panel 20, for example, at least one set of symmetrical recessed portions is provided on the corresponding sides of the side panel 22, and the recessed portions are recessed towards the bottom plate.

[0105] 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.

[0106] For ease of manufacturing and use, for example, the first fixing member 17 has the same structure as the second fixing member. Specifically, the first fixing member 17 includes a first cylinder with a first inner through hole and a second cylinder with a second inner through hole. The outer diameter of the first cylinder is larger than the outer diameter of the second cylinder. Along the direction from the second cylinder to the first cylinder, the transition portion between the first cylinder and the second cylinder forms an annular platform, and the annular platform is provided with multiple fixing through holes. A locking bolt passes through one end of the fixing through hole and is fixedly connected to the base plate. In addition, the transition portion between the first inner through hole and the second inner through hole forms an inner channel for confining the sphere (the sphere is fixed in the inner channel and can rotate freely in the inner channel).

[0107] 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 components to fix the main board 24.

[0108] In this embodiment, the ball lock structure includes at least a ball lock outer sleeve 30, a ball 31, a mating inner core 32, an elastic element 33, a fixed base 34, and an air inlet nozzle 35.

[0109] The ball lock sleeve 30 has an internal channel that is open at both ends. Inside the ball lock sleeve 30, there are three annular recesses: a first annular recess 36, a second annular recess 37, and a third annular recess 38, which are recessed towards 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 located at the upper, middle, and lower parts of the ball lock sleeve 30, respectively. 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 limiting platform.

[0110] The docking core 32 includes a first lower groove and a second lower groove that are recessed to one side of each other at both ends. The groove wall of the first lower groove is uniformly provided with multiple limiting through holes 39 in the circumferential direction. The groove wall of the second lower groove is uniformly provided with multiple air inlet channels 40 in the circumferential direction. The lower end of the docking core 32 is provided with a second annular boss in the circumferential direction. The transition part between the docking core 32 and the second annular boss forms a second limiting platform.

[0111] The ball 18 is located inside the limiting through hole 39, with one side abutting against the inner wall of the limiting channel 39 and the other side abutting against the first annular boss. The mating core 32 and the elastic element 33 are both located inside the channel. The ball lock outer sleeve 30 can slide relative to the surface of the mating core 32. The two ends of the elastic element 33 abut against the lower platform of the first annular boss and the upper platform of the second limiting platform, respectively.

[0112] 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. The lower end is fixedly connected to the integrated panel 20. The air inlet nozzle 35 is embedded in the fixed base 34 and communicates with the air inlet channel 40. The air inlet nozzle 35 and the fixed base 34 are connected by internal and external threads.

[0113] In application, the gas medium enters through the inlet nozzle, then flows along the inlet nozzle channel into the inlet passage. The gas medium then 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 simultaneously, the fixed base is threadedly connected to the mating inner core, the fixed base and the mating inner core remain stationary. The gas medium entering the closed cavity pushes the ball lock outer sleeve downwards along the mating inner core, compressing the elastic element. This causes the ball, located in the limiting through hole, to disengage from the limiting through hole and enter the first annular recess, thus locking the arrow element. The tightening head 45 enters the first lower groove on the docking core. When the locking head (containing an annular groove) of the arrow component is flush with the limiting through hole (the ball can just fall into the annular groove), the input of gas medium to the air inlet nozzle stops. Under the elastic force of the elastic element, the ball lock sleeve is pushed to move upward along the docking core, so that the ball slides out from the first annular lower recess and enters the limiting through hole. The inner wall of the ball lock sleeve squeezes the ball. Part of the ball is located in the limiting through hole, and part of the ball enters the locking head (part of the ball enters the annular groove and is in close contact with the surface of the annular groove). After the ball enters the limiting through hole from the first annular lower recess, it is engaged with the annular groove, thereby completing the fixation of the main board.

[0114] To facilitate the movement of the ball, for example, the cross section intersecting the axial direction of the limiting through hole is an isosceles trapezoid, with the small end of the isosceles trapezoid located near the mating inner core 32 and the large end near the ball lock outer sleeve 30.

[0115] To ensure that the sphere can smoothly slide from the first annular recess 36 into the limiting through hole, for example, the surface of the first annular recess 36 is provided with a groove, which is bent along the upper part of the first annular recess to the lower part of the first annular recess (the groove is a curved guide groove).

[0116] To further explain, in order to prevent the sphere from sliding out of the groove on the first annular recess, an annular baffle is provided on the upper end face 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 towards the mating core. The dimension between the inner side and the mating core is smaller than the diameter of the sphere.

[0117] To facilitate the ball 18's rapid disengagement from the limiting through hole and entry into the first annular recess 36, for example, a connecting channel is provided between the first and second recesses. A small portion of the gas medium output from the air inlet 35 enters the connecting channel and then enters the first recess. Since the locking head and the first recess form a sealed cavity, the pressure in the first recess increases, and the surface of the ball 18 experiences increased air pressure (increased radial pressure), causing the ball 18 to quickly disengage from the limiting through hole and enter the first annular recess 36.

[0118] For ease of installation and disassembly, 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 provided with a first flange in the circumferential direction, and the lower end of the lower locking sleeve 42 is provided with a second flange in the circumferential direction. The upper locking sleeve 41 and the lower locking sleeve 42 are fixedly connected by the first flange and the second flange.

[0119] In this embodiment, the end of the upper locking sleeve 41 away from the first flange is composed of multiple cantilever arms 43 evenly distributed circumferentially, and the cantilever arms 43 are arranged one-to-one with the limiting through holes. The arrangement of the cantilever arms 43 not only reduces the weight of the locking element, but also increases the radial elasticity of the upper locking sleeve 41, preventing the upper locking sleeve 41 from deforming due to excessive pressure, and at the same time improving the service life of the entire ball lock outer sleeve.

[0120] The locking head is U-shaped. To facilitate mating with the ball 18, for example, the protruding part located at the mating core has an annular groove.

[0121] In this embodiment, when the pneumatic unlocking fails during rocket flight (keeping the docking device 4 and the rocket connector connected), the upper locking sleeve 41 has radial elasticity due to the cantilever 43. The locking head of the rocket component is subjected to tension, and the locking head drives the ball 18 to apply pressure to the cantilever 43, so that the cantilever 43 is subjected to radial pressure. As a result, after the cantilever 43 is radially opened, the locking head quickly separates from the docking device 4, which is beneficial to the safe flight of the rocket.

[0122] After extensive simulation tests, it was found that when the number of cantilever 43 is A and A≥4, not only can the weight of the locking element 29 be reduced, but the radial elasticity of the upper locking sleeve 41 can also be increased, which helps the arrow element to cooperate with the ball lock structure.

[0123] In this embodiment, to prevent the sphere 18 from corroding and rusting, for example, the sphere is a stainless steel metal sphere.

[0124] In addition, to facilitate installation and ensure that the elastic element 33 can contract or extend smoothly, the elastic element 33 may be a spring or a bellows structure.

[0125] In this embodiment, the fixed base 34 is uniformly provided with multiple fixed plates that match the guide grooves in the circumferential direction. One end of the fixed plate is connected to the fixed base, and the other end extends away from the fixed base. In order to facilitate the downward movement of the ball lock sleeve 30, for example, the lower lock sleeve 42 is provided with multiple guide grooves in the circumferential direction at the end away from the second flange, and the guide grooves are recessed towards the second flange side. The guide grooves are similar to U-shaped grooves. The guide grooves can move down along the side wall of the fixed plate, which effectively prevents the ball lock sleeve from rotating circumferentially and helps the ball lock sleeve to move up and down (axially).

[0126] To prevent gas 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 is located in the third annular groove, and the other end is used to abut against the inner wall of the ball lock sleeve and can slide along the inner wall surface of the ball lock sleeve. The overlapping portion of the ball lock sleeve and the fixed base is provided with a fourth annular groove and a second annular seal. One end of the second annular seal is located in the fourth annular groove, and the other end is used to abut against the outer wall of the fixed base 34 and can slide along the outer wall surface of the fixed base 34.

[0127] Additionally, it should be noted that, to prevent the rocket from sinking due to increased weight during the refueling of gaseous and liquid media, thus causing the docking interface position to shift, for example, after the docking device 4 and the on-rocket connector assembly are quickly docked, the cylinder structure (the locking component 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 that is close to the side plate has a recess), and the second adjustment device drives the locking panel 19 to move away from the rocket body (the integrated panel 20 and the on-rocket connector assembly are docked and fixed), that is, the locking panel 19 separates from the integrated panel 20. At this time, the gaseous and liquid media under the rocket are transported to the rocket through pipelines via the gas connectors and liquid connectors on the integrated panel (the relevant pipelines have been connected to the gas connectors and liquid connectors on the integrated panel before automatic docking). After the filling is completed, the second adjustment device is adjusted to move the locking panel 19 closer to the arrow body, so that the integrated panel 20 is located in the groove structure and 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 it away from the arrow body), the docking device 4 is quickly separated from the arrow connector assembly.

[0128] The pipeline in this embodiment is a flexible pipeline that is expandable and bendable.

[0129] The above embodiments can be combined with each other and have corresponding technical effects.

[0130] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic docking mechanism for a liquid rocket connector, characterized in that, It includes at least 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, and the upper end of the fixing device is connected to the lower end of the first adjusting device via a rotating shaft. The upper end of the first adjusting device is connected to the input end of the second adjusting device, and the output end of the second adjusting device is connected to the input end of the docking device. The output end of the docking device is used to dock with the arrow connector assembly. 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 rotating shaft 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 towards one side of the rocket body to adjust the docking distance between the docking device and the on-rocket connector assembly. The second adjustment device is used to further adjust the docking position between the docking device and the arrow connector assembly; The docking device is used to integrate the liquid and gas connectors. After the second adjustment device completes the adjustment of the docking device, the docking device can be quickly docked with the arrow connector assembly.

2. The automatic docking mechanism for liquid rocket connectors according to claim 1, characterized in that, The fixing device is a cuboid strip. Along the length of the cuboid strip, the upper surface of the cuboid strip is provided with two sets of symmetrical and spaced first fixing bases. The first fixing base is provided with a recess for matching the lower end of the first adjusting device. The lower end of the first adjusting device is located in the recess, and the first adjusting device is connected to the first fixing base through a first rotating shaft. The lower end of the first adjusting device can rotate circumferentially along the surface of the first rotating shaft.

3. The automatic docking mechanism for liquid rocket connectors 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 includes at least two sets of symmetrically arranged first frame structures and two first driving devices. The two sets of first frame structures are equally spaced at both ends of the fixing device along the length direction of the fixing device and located at the upper part of the fixing device. The lower end and upper end of each first frame structure are respectively connected to the outer shell of the fixing device and the second adjustment structure. Two first drive devices are arranged between the 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. The telescopic end of the first drive device is connected to the first adjustment structure near the rocket body to adjust the distance between the first frame structure and the rocket body. The second adjustment structure includes at least a housing, an auxiliary connecting part, two sets of double-row sliding rails, and a second drive device. The housing has a structure with open ends and internal channels. The two sets of double-row sliding tracks are respectively tightly attached to and welded to the upper and lower inner walls of the housing. The upper and lower ends of the auxiliary connecting part respectively abut 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 housing, and the telescopic end is connected to the side wall of the auxiliary connecting part away from the rocket body.

4. The automatic docking mechanism for liquid rocket connectors according to claim 3, characterized in that, The upper end of the first frame structure is connected to the housing via a fixing component. The fixing component includes a fastening member and a connecting member. The fastening member has an L-shaped structure, and the connecting member comprises an integrally formed connecting base plate and a protruding plate. One end of the protruding plate is connected to the connecting base plate, and the other end extends away from the connecting base plate. A portion of the outer surface of the fastening member is in close contact with the surface of the housing and is fixed by bolts. Another portion of the surface on the same side is bent and then in close contact with the upper surface of the connecting base plate and fixed by locking bolts. The protruding plate is connected to the first frame structure through a second rotating shaft, and the protruding plate can rotate circumferentially along the surface of the second rotating shaft.

5. The automatic docking mechanism for liquid rocket connectors according to claim 3, characterized in that, The upper and lower panels of the housing are provided with a first weight-reducing hole in the shape of a rectangle, and the side panels connected to the upper and lower surfaces of the housing are provided with a second weight-reducing hole in the shape of a triangle. The volume of the first weight-reducing hole is larger than the volume of the second weight-reducing hole.

6. The automatic docking mechanism for liquid rocket connectors according to claim 3, characterized in that, The auxiliary connecting part has a cuboid structure, and the upper and lower end faces of the auxiliary connecting part are provided with at least two sets of sliding blocks spaced apart along the length of the housing. The sliding blocks are fixedly connected to the auxiliary connecting part on the side closer to each other, and the two ends of the sliding blocks respectively abut against the double row sliding tracks that are close to each other and can move along the surface of the double row sliding tracks.

7. The automatic docking mechanism for liquid rocket connectors 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 circumferentially on the surfaces of the first adjustment device and the docking device on opposite sides of each other, wherein, The second adjustment device includes multiple electric cylinders, a first fixing member, a second fixing member, and a ball. Each electric cylinder has two ends connected to the ball. The first fixing member and the second fixing member are respectively fixed to the surfaces of the first adjustment device and the docking device on opposite sides by bolts. The balls at both ends of the electric cylinder are respectively embedded in the first fixing member and the second fixing member, and the balls can rotate within the first fixing member and the second fixing member.

8. The automatic docking mechanism for liquid rocket connectors according to claim 1, characterized in that, The docking device includes a locking panel and an integrated panel, wherein... The locking panel includes a base plate with a central hole, side plates, and a locking member. The side plates are arranged circumferentially along the outer side of the base plate and are tightly fixed to the outer surface of the base plate. The side plates and the base plate form a groove structure. The locking member is located on the outer sidewall of the groove structure and is used to fix the integrated panel within the groove structure. The integrated panel includes a main board, guide cone, locking block, cryogenic connector, gas line connector, and locking elements. The motherboard is provided with a first through hole for fixing the cryogenic connector and a second through hole for fixing the gas circuit connector. The first through hole is located at the center of the motherboard, and the second through hole is located outside the first through hole and is arranged at equal intervals along the circumference of the first through hole. Both the guide cone and the locking element are located on the side of the main board near the arrow connector. The guide cone is used to position the main board when it is docked with the arrow interface. The locking block is located on the side of the main board away from the arrow connector, and the side of the locking block that is close to the side plate has a recessed part. The recessed part is recessed towards the side away from the side plate, and the recessed part matches the telescopic end of the locking member. The cryogenic connector is used to connect with the cryogenic connector interface on the rocket to deliver cryogenic liquid from the ground to the rocket body; The gas connector is used to connect to the onboard gas interface and deliver ground gas to the rocket body; The locking element is a ball lock structure and is used to cooperate with the arrow components to fix the main board.

9. The automatic docking mechanism for liquid rocket connectors according to claim 8, characterized in that, At least one set of symmetrical recessed portions is provided on each of the two corresponding sides of the side plate, and the recessed portions sink towards one side of the bottom plate.

10. The automatic docking mechanism for liquid rocket connectors according to claim 8, characterized in that, The locking component is a cylinder structure, which is fixed to the side plate. Its telescopic end passes through the side plate and is inserted into the recess to fix the integrated panel in the groove structure. The guide cones are arranged around the main board and include a cone seat and a cone head. The cone seat is fixedly connected to the main board, and one end of the cone head is connected to the cone seat, while the other end extends 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.

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