Rocket propellant transfer pipeline automatic docking device and control method

Abstract

The present application relates to propellant transfer equipment technical field, specifically for a kind of rocket propellant transfer pipeline automatic docking device and control method, to solve the problems of traditional propellant transfer pipeline manual docking low efficiency, poor precision, and there is propellant leakage security risk, specifically includes: movable base, plug removal unit, joint docking unit, positioning detection unit, interface sealing unit and controller.The present application realizes the accurate identification and positioning of target by positioning detection unit, three-dimensional mechanical arm drives plug removal unit and joint docking unit, realizes the automatic removal of transfer port plug and the automatic docking of propellant transfer pipeline, and interface sealing unit detects the sealing performance of docking.The present application does not need manual intervention, and the docking efficiency is more than 5 times higher than manual, suitable for aerospace, chemical and other fields high-risk, high-purity propellant transfer scene requiring.

Description

Technical Field

[0001] This invention relates to propellant transfer equipment, specifically an automatic docking device and control method for rocket propellant transfer pipelines, which is particularly suitable for unmanned, high-precision docking operations of propellant transfer pipelines in scenarios such as aerospace launch sites and high-pressure chemical transportation. Background Technology

[0002] Propellants are highly toxic and corrosive, and the sealing and precision of their transfer pipeline connections directly determine transfer efficiency and operational safety. While currently deployed automated propellant transfer pipeline docking devices have replaced manual operation to some extent, they still have significant shortcomings in adaptability to complex operating conditions, core performance stability, and scenario compatibility. They cannot fully meet the stringent requirements of high-precision, high-safety scenarios such as aerospace launches. Specific deficiencies are as follows:

[0003] 1. Insufficient precision docking capability: Most devices can only compensate for small-range (usually ≤3mm) position and attitude deviations. When the pipeline is significantly offset due to equipment vibration or low-temperature contraction, docking misalignment is likely to occur, resulting in loose sealing surfaces and directly increasing the risk of propellant leakage.

[0004] 2. Risk of impact damage during docking: Without a flexible buffer structure, the active and passive end pipelines are in rigid contact during docking, which can easily generate instantaneous impact loads. This may not only cause the sealing surface to be bumped and deformed, but also accelerate the wear of the core components of the docking mechanism (such as guide pins and drive motors), shortening the overall service life of the device.

[0005] 3. Poor intelligent monitoring and fault tolerance: The lack of real-time operating condition monitoring and dynamic adjustment mechanism means that when problems such as seal wear or sensor failure occur, there is no timely warning or automatic correction, requiring manual shutdown for troubleshooting. This not only interrupts the transfer process but may also lead to safety accidents due to the escalation of the fault.

[0006] To address the aforementioned issues, there is an urgent need to develop a propellant transfer pipeline docking device and control method that features high docking accuracy, strong docking adaptability, intelligent monitoring capabilities, and high compatibility, thereby further improving docking reliability and efficiency. Summary of the Invention

[0007] To address the technical problems of insufficient precision docking capability, risk of docking impact damage, and poor intelligent monitoring and fault tolerance in existing docking devices, this invention provides an automatic docking device and control method for rocket propellant transfer pipelines.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] An automatic docking device for rocket propellant transfer lines, characterized by the following features:

[0010] It includes a controller, as well as a movable base, a plug removal unit, a connector docking unit, a positioning detection unit, and an interface sealing unit, all of which are electrically connected to the controller.

[0011] A visual sensing unit is installed on the periphery of the movable base. The visual sensing unit is electrically connected to the controller and is used to acquire visual information of the surrounding environment according to control commands and output it to the controller. A three-dimensional robotic arm is slidably installed on the upper side of the movable base. The three-dimensional robotic arm is electrically connected to the controller. The movable base and the three-dimensional robotic arm are used to move under the control of their respective control commands.

[0012] The cap removal unit and the connector docking unit are respectively installed at the output end of the three-dimensional robotic arm; the cap removal unit is used to remove the cap on the propellant transfer port of the highway tanker according to the control command; the connector docking unit is used to dock the propellant transfer pipeline with the propellant transfer port of the highway tanker according to the control command.

[0013] The positioning and detection unit is installed on the upper side of the movable base and is used to acquire image information of the propellant transfer port of the highway tanker according to the control command and output it to the controller;

[0014] The interface sealing unit is installed on the joint docking unit and is used to seal the connection between the propellant transfer pipeline and the propellant transfer port of the highway tanker according to the control command, and to obtain sealing status information.

[0015] The controller is mounted on a movable base and is used to receive visual information, docking status information, and sealing status information, and output control commands to the movable base, the three-dimensional robotic arm, the plug removal unit, the joint docking unit, the positioning detection unit, and the interface sealing unit, respectively.

[0016] Furthermore, the plug removal unit includes a plug clamping mechanism and a first driving mechanism, both electrically connected to the controller.

[0017] The cap clamping mechanism is installed at the output end of the three-dimensional robotic arm via a first drive mechanism, and is used to remove the cap on the propellant transfer port of the highway tanker under the drive of the first drive mechanism.

[0018] The connector docking unit includes a connector body, a flexible buffer device, and a second drive mechanism electrically connected to the controller;

[0019] One end of the connecting pipe body is provided with a docking interface adapted to the propellant transfer port of a highway tanker truck for connection to the propellant transfer port of the highway tanker truck; the periphery of the connecting pipe body is used to connect to the propellant transfer pipeline.

[0020] The other end of the connecting pipe is installed at the output end of the second drive mechanism through a flexible buffer device, which is used to realize the docking of the propellant transfer pipeline with the propellant transfer port of the highway tanker under the drive of the second drive mechanism;

[0021] The second drive mechanism is installed at the output end of the three-dimensional robotic arm;

[0022] A gas sealing groove is provided on the outer end face of the docking interface of the connecting pipe body;

[0023] The interface sealing unit includes a first gas pipeline, and a first solenoid valve and a pressure transmitter that are electrically connected to the controller respectively;

[0024] The first gas pipeline is installed on the docking interface of the connecting pipe body. Its inlet end is connected to an external sealing gas source, and its outlet end is placed in the gas sealing groove. It is used to transport sealing gas into the gas sealing groove to achieve the sealing of the connection between the propellant transfer pipeline and the propellant transfer port of the highway tanker.

[0025] The first solenoid valve is installed on the first gas pipeline and is used to control the opening and closing of the first gas pipeline;

[0026] The pressure transmitter is installed on the docking interface of the connecting pipe body to detect the gas pressure in the gas sealing groove of the docking interface in real time and obtain sealing status information.

[0027] Furthermore, the outer side of the docking interface of the docking pipe body is provided with a guide cone surface, which is used to guide the docking pipe body to dock with the propellant transfer port of the highway tanker during the docking process;

[0028] The gas sealing groove is an annular groove.

[0029] Furthermore, the plug clamping mechanism includes a fixed plate, M fixed clamping claws, M movable clamping claws, and M pneumatic drive components; M ≥ 2;

[0030] One side of the fixing plate is installed at the output end of the first drive mechanism;

[0031] One end of each of the M fixed clamping claws and the fixed end of each of the M pneumatic drive components are respectively mounted on the other side of the fixed plate along the circumferential direction; the middle parts of each of the M movable clamping claws are respectively hinged to the other end of the M fixed clamping claws;

[0032] The driving ends of the M pneumatic drive components are respectively hinged to one end of the M moving clamping claws, and the other end of the M moving clamping claws serves as a clamping end for clamping the outer circumferential surface of the plug.

[0033] The control terminals of each of the M pneumatic drive components are electrically connected to the controller.

[0034] Furthermore, the flexible buffer device includes a fixed bracket, a floating cylinder, a floating support, and a floating slider;

[0035] The number of floating cylinders is N, where N≥3; the N floating cylinders are respectively fixed on the fixed bracket, and their mounting ends are respectively installed on the output end of the second drive mechanism, and the output ends are respectively installed on one side of the floating support.

[0036] The floating slider includes floating slider I, floating slider II, and floating slider III; there are two floating sliders I.

[0037] The floating slider II is slidably mounted on the other side of the floating support, and a groove is provided in its middle, the extension direction of which is perpendicular to the sliding direction of the floating slider II;

[0038] The two floating sliders I are respectively fixedly connected to the two ends of the floating slider II along its sliding direction, and are respectively mounted on the floating support through the first elastic guide rail;

[0039] The floating slider III is installed in the groove in the middle of the floating slider II and is mounted on the floating slider II via the second elastic guide rail;

[0040] The floating slider III is fixedly connected to the connecting pipe body.

[0041] Furthermore, a pressure sensor is embedded on one side of the floating support. The pressure sensor is electrically connected to the controller and is used to detect the docking force during the docking process and output the force information to the controller.

[0042] Furthermore, a mounting bracket is provided on the upper side of the movable base;

[0043] The positioning detection unit includes a binocular vision camera electrically connected to the controller;

[0044] The binocular vision camera is mounted on a mounting bracket on the upper side of the movable base. It acquires image information of the propellant transfer port of the highway tanker according to control commands and outputs it to the controller.

[0045] A propellant concentration sensor is installed on the movable base. The propellant concentration sensor is electrically connected to the controller and is used to detect the propellant concentration in the air. When the propellant concentration exceeds a set threshold, an alarm signal is sent to the controller.

[0046] Furthermore, the upper side of the movable base is provided with two parallel mounting slots, and a ball screw and a drive motor are respectively installed in the two mounting slots; one end of each of the two ball screws is connected to the output end of the two drive motors; the two drive motors are electrically connected to the controller.

[0047] The three-dimensional robotic arm is mounted on two ball screws via lead screw nuts;

[0048] The three-dimensional robotic arm includes a base mounted on two lead screw nuts, and an X-axis displacement mechanism, a Y-axis displacement mechanism, and two Z-axis displacement mechanisms, the control end of which is electrically connected to the controller.

[0049] The fixed end of the Y-axis displacement mechanism is mounted on the base, the fixed end of the X-axis displacement mechanism is mounted on the drive end of the Y-axis displacement mechanism, and the two Z-axis displacement mechanisms are mounted side by side on the drive end of the X-axis displacement mechanism.

[0050] The plug removal unit and the connector docking unit are respectively installed at the drive ends of the two Z-axis displacement mechanisms.

[0051] Meanwhile, the present invention also provides an automatic docking control method for propellant transfer pipelines, based on the aforementioned automatic docking device for rocket propellant transfer pipelines, characterized by the following steps:

[0052] Step 1: Initialization

[0053] The controller starts the device to perform a self-test to determine whether the plug removal unit, connector docking unit, positioning detection unit, and interface sealing unit are working properly. If there is a fault, an alarm is triggered. If it is normal, the movable base is guided to the location of the propellant transfer port of the highway tanker, and the three-dimensional robotic arm is reset to the initial position.

[0054] Step Two: Target Positioning

[0055] The controller determines the position of the propellant transfer port of the highway tanker truck in three-dimensional space based on the image information of the propellant transfer port output by the positioning detection unit, and compares it with the preset target coordinates of the plug clamping mechanism and the joint docking unit to calculate the displacement deviation value.

[0056] Step 3: Remove the plug:

[0057] Based on the displacement deviation value, the controller uses a three-dimensional robotic arm to align the cap removal unit with the cap of the propellant transfer port of the highway tanker truck. At the same time, it receives coordinate signals from the positioning detection unit in real time and dynamically adjusts the displacement to control the cap removal unit to dock with the cap on the propellant transfer port of the highway tanker truck. Then, it controls the cap removal unit to clamp and remove the cap. After removal, it controls the cap removal unit to reset.

[0058] Step 4: Precise Connection

[0059] Based on the displacement deviation value, the controller uses a three-dimensional robotic arm to align the joint docking unit with the propellant transfer port of the highway tanker truck. At the same time, it receives coordinate signals from the positioning detection unit in real time and dynamically adjusts the displacement until the joint docking unit successfully docks with the propellant transfer port of the highway tanker truck. Then, the joint docking unit is sealed and fixed to the propellant transfer port of the highway tanker truck.

[0060] Step 5: Connection Confirmation

[0061] The controller controls the sealing unit to seal the connection between the connector docking unit and the propellant transfer port of the highway tanker, and determines whether the sealing effect meets the set requirements. If yes, the control is completed; otherwise, the controller controls the connector docking unit to separate from the propellant transfer port of the highway tanker and returns to step four.

[0062] Furthermore, in steps three and four:

[0063] When the controller controls the plug removal unit, the joint docking unit, and the plug and joint of the propellant transfer port of the highway tanker truck, it adopts a two-step displacement control mode of coarse adjustment and fine adjustment.

[0064] During the coarse adjustment stage, the plug removal unit or joint docking unit is driven at a speed of 10-15 mm / s to move to a position with a deviation value of ≤5 mm. During the fine adjustment stage, the plug removal unit or joint docking unit is driven at a speed of 0.5-1 mm / s to complete the docking.

[0065] Step five is as follows:

[0066] The controller activates the first solenoid valve to fill the gas sealing groove of the docking body with sealing gas. At the same time, the pressure value of the gas sealing groove is monitored in real time by the pressure transmitter. When the pressure value is stable between 1.5-2.0MPa, if the pressure fluctuation within 30 seconds is ≤0.05MPa, the docking is considered successful. If the pressure value drops beyond the threshold, the docking is considered to have failed. The controller then controls the docking unit to separate from the propellant transfer port of the highway tanker and returns to step four.

[0067] Compared with the prior art, the beneficial effects of the present invention are:

[0068] 1. High docking accuracy: Through the combination of binocular vision camera and servo motor + ball screw, the docking accuracy reaches ±0.1mm, which is far higher than the accuracy of manual docking (±5mm), ensuring tight sealing of the sealing surface and reducing the risk of leakage;

[0069] 2. High work efficiency: The entire process is automated, with each docking taking only 3-5 minutes, which is 3-4 times more efficient than manual docking (15-20 minutes);

[0070] 3. Excellent safety performance: It eliminates the need for operators to have close contact with the highly toxic and corrosive propellant pipelines, avoiding the safety risks of manual operation; it also has functions such as fault alarm and emergency reset, which can promptly handle abnormal situations during docking and improve operational safety. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of the main structure of an embodiment of the present invention (mounting bracket not shown).

[0072] Figure 2 This is a schematic diagram of the main structure of an embodiment of the present invention;

[0073] Figure 3 This is a schematic diagram of the structure of the three-dimensional robotic arm in an embodiment of the present invention;

[0074] Figure 4 This is a schematic diagram of the interface sealing unit in an embodiment of the present invention;

[0075] Figure 5 This is a schematic diagram of the plug clamping mechanism in an embodiment of the present invention.

[0076] Figure 6 and Figure 7 This is a schematic diagram of the flexible buffer device in an embodiment of the present invention.

[0077] The attached figures are labeled as follows:

[0078] 01-Propellant transfer pipeline; 02-Propellant transfer port for highway tank trucks;

[0079] 1-Movable base,

[0080] 2-Cap removal unit; 21-Cap clamping mechanism; 211-Fixing plate; 212-Fixed clamping claw; 213-Modified clamping claw; 214-Pneumatic drive assembly; 2141-Second gas pipeline; 2142-Third gas pipeline; 2143-Cylinder; 2144-Second solenoid valve; 2145-Third solenoid valve; 22-First drive mechanism;

[0081] 3-Connector docking unit; 31-Docking pipe body; 32-Flexible buffer device; 321-Fixed bracket; 322-Floating cylinder; 323-Floating support; 324-Floating slider I; 325-Floating slider II; 326-Floating slider III; 327-First elastic guide rail; 328-Second elastic guide rail; 329-Pressure sensor; 33-Second drive mechanism; 34-Gas sealing groove;

[0082] 4-Positioning detection unit;

[0083] 5-Interface sealing unit, 51-First gas pipeline, 52-First solenoid valve, 53-Pressure transmitter;

[0084] 6-3D robotic arm, 61-X-axis displacement mechanism, 62-Y-axis displacement mechanism, 63-Z-axis displacement mechanism;

[0085] 7-Ball screw, 8-Drive motor, 9-Vision sensing unit. Detailed Implementation

[0086] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0087] See Figure 1 The present invention discloses an automatic docking device for rocket propellant transfer pipeline, specifically including a controller (not shown in the figure), and a movable base 1, a plug removal unit 2, a joint docking unit 3, a positioning detection unit 4, and an interface sealing unit 5, which are electrically connected to the controller.

[0088] The main function of the movable base 1 is to support the overall structure of the device. The movable base 1 is electrically connected to the controller, and the overall structure of the device is moved to the target position under the control of the controller.

[0089] A visual perception unit 9 is installed around the movable base 1. Specifically, in this embodiment, the visual perception unit 9 adopts a lidar. The lidar is electrically connected to the controller. The lidar models the surrounding environment, obtains the three-dimensional model of the surrounding environment as visual information, and outputs it to the controller.

[0090] A three-dimensional robotic arm 6 is slidably mounted on the upper side of the movable base 1.

[0091] Specifically, two parallel mounting slots are provided on the upper side of the movable base 1, and a ball screw 7 and a drive motor 8 are respectively installed in the two mounting slots; one end of the two ball screws 7 is connected to the output end of the two drive motors 8 respectively; the two drive motors 8 are electrically connected to the controller respectively; the base of the three-dimensional robotic arm 6 is installed on the two ball screws 7 through screw nuts.

[0092] The 3D robotic arm 6 is electrically connected to the controller and is used to move under the control of the controller.

[0093] See Figure 3 Specifically, the three-dimensional robotic arm 6 includes a base, and an X-axis displacement mechanism 61, a Y-axis displacement mechanism 62, and two Z-axis displacement mechanisms 63, which are electrically connected to the controller.

[0094] Define the Y direction as the direction perpendicular to the upper surface of the movable base 1, the X direction as the direction parallel to the upper surface of the movable base 1, and the Z direction as determined by the right-hand rule.

[0095] The fixed end of the Y-axis displacement mechanism 62 is mounted on the base, the fixed end of the X-axis displacement mechanism 61 is mounted on the drive end of the Y-axis displacement mechanism 62, and the two Z-axis displacement mechanisms 63 are mounted side by side on the drive end of the X-axis displacement mechanism 61.

[0096] It should be noted that in this embodiment, the X-axis displacement mechanism 61, the Y-axis displacement mechanism 62 and the two Z-axis displacement mechanisms 63 respectively adopt servo motors and ball screws 7 to achieve displacement. The specific arrangement structure is existing technology and will not be described in detail in this embodiment.

[0097] The plug removal unit 2 and the connector docking unit 3 are respectively installed at the drive ends of the two Z-axis displacement mechanisms 63.

[0098] The cap removal unit 2 is used to remove the cap on the propellant transfer port 02 of the highway tanker truck according to control commands; specifically, the cap removal unit 2 includes a cap clamping mechanism 21 and a first drive mechanism 22, which are electrically connected to the controller. The cap clamping mechanism 21 is used for stable clamping during the cap removal process, and the first drive mechanism 22 is used to drive the cap clamping mechanism 21 to rotate.

[0099] The plug clamping mechanism 21 includes a fixed plate 211, M fixed clamping claws 212, M movable clamping claws 213 and M pneumatic drive components 214; M≥2; in this embodiment, M=2 is used as an example.

[0100] One side of the fixed plate 211 is installed at the output end of the first drive mechanism 22; one end of the two fixed clamping claws 212 and the fixed ends of the two pneumatic drive components 214 are respectively installed on the other side of the fixed plate 211 along the circumferential direction; the middle parts of the two movable clamping claws 213 are respectively hinged to the other ends of the two fixed clamping claws 212.

[0101] The pneumatic drive assembly 214 includes a second gas line 2141, a third gas line 2142, a cylinder 2143, a second solenoid valve 2144, and a third solenoid valve 2145. The cylinder 2143 is fixedly mounted on the other side of the fixed plate 211, with its output end hinged to one end of the movable gripper 213. One end of the second gas line 2141 and the third gas line 2142 are connected to an external air source, and the other ends are respectively connected to the cylinder body of the cylinder 2143 and located on both sides of the piston in the cylinder 2143. The second solenoid valve 2144 and the third solenoid valve 2145 are respectively mounted on the second gas line 2141 and the third gas line 2142 and are electrically connected to the controller. The other ends of the two movable grippers 213 serve as gripping ends for clamping the outer circumferential surface of the plug.

[0102] The first drive mechanism 22 specifically adopts a servo motor + reducer structure. The other side of the fixing plate 211 is fixed to the output end of the reducer, and the servo motor is installed at the output end of the three-dimensional robotic arm 6.

[0103] The connector docking unit 3 is used to dock the propellant transfer pipeline 01 with the propellant transfer port 02 of the highway tanker according to the control command.

[0104] Specifically, the connector docking unit 3 includes a docking pipe body 31, a flexible buffer device 32, and a second drive mechanism 33 electrically connected to the controller.

[0105] One end of the connecting pipe body 31 is provided with a docking interface adapted to the propellant transfer port 02 of the highway tanker truck. A guide cone surface is also provided on the outer side of the docking interface of the connecting pipe body 31 to guide the connecting pipe body 31 to dock with the propellant transfer port 02 of the highway tanker truck during the docking process. The periphery of the connecting pipe body 31 is used to connect with the propellant transfer pipeline 01.

[0106] The other end of the connecting pipe 31 is installed at the output end of the second drive mechanism 33 via a flexible buffer device 32. The second drive mechanism 33 is installed at the drive end of the second Z-axis displacement mechanism of the three-dimensional robotic arm 6. The propellant transfer pipeline 01 is connected to the propellant transfer port 02 of the highway tanker truck by the drive of the second drive mechanism 33.

[0107] See Figure 6 and Figure 7 The flexible buffer device 32 includes a fixed bracket 321, floating cylinders 322, floating supports 323, and floating sliders; the number of floating cylinders 322 is N, where N≥3; in this embodiment, N=3 is used as an example. The three floating cylinders 322 are respectively fixed on the fixed bracket 321, and their mounting ends are respectively mounted on the output end of the second drive mechanism 33, and the output ends are respectively mounted on one side of the floating support 323.

[0108] Similarly, the second drive mechanism 33 also adopts a servo motor + reducer structure.

[0109] The floating slider includes floating slider I 324, floating slider II 325, and floating slider III 326; there are two floating sliders I 324; floating slider II 325 is slidably mounted on the other side of the floating support 323, and has a groove in its middle, the extension direction of which is perpendicular to the sliding direction of floating slider II 325; the two floating sliders I 324 are respectively fixedly connected to the two ends of floating slider II 325 along its sliding direction, and are respectively mounted on the floating support 323 via the first elastic guide rail 327; floating slider III 326 is installed in the groove in the middle of floating slider II 325, and is mounted on floating slider II 325 via the second elastic guide rail 328; floating slider III 326 is fixedly connected to the docking body 31. During the docking process, the first elastic guide rail 327 and the second elastic guide rail 328 buffer the external forces from the X-axis and Y-axis on the docking body 31 during the docking process, ensuring smooth docking.

[0110] A pressure sensor 329 is embedded on one side of the floating support 323. The pressure sensor 329 is electrically connected to the controller. The pressure sensor 329 detects the docking force during the docking process, avoids excessive docking force from damaging the interface, and outputs the force information to the controller.

[0111] See Figure 2 A mounting bracket is installed on the upper side of the movable base 1. The positioning detection unit 4 includes a binocular vision camera electrically connected to the controller. The binocular vision camera is mounted on the mounting bracket on the upper side of the movable base 1, acquires image information of the propellant transfer port 02 of the highway tanker according to control commands, and outputs it to the controller. At the same time, a propellant concentration sensor (not shown in the figure) is installed on the movable base 1. The propellant concentration sensor is electrically connected to the controller and is used to detect the propellant concentration in the air. When the propellant concentration exceeds a set threshold, an alarm signal is sent to the controller.

[0112] See Figure 4 A gas sealing groove 34 is provided on the outer end face of the docking interface of the connecting pipe body 31; the gas sealing groove 34 is an annular groove. After the connecting pipe body 31 is successfully docked with the transfer port, the gas sealing groove 34 becomes a sealed space to facilitate gas sealing testing.

[0113] The interface sealing unit 5 includes a first gas pipeline 51, and a first solenoid valve 52 and a pressure transmitter 53, which are electrically connected to the controller. The first gas pipeline 51 is installed on the docking interface of the connecting pipe body 31. Its inlet end is connected to an external sealing gas source, and its outlet end is placed in the gas sealing groove 34. It is used to supply sealing gas to the gas sealing groove 34 to achieve sealing at the docking point between the propellant transfer pipeline 01 and the propellant transfer port 02 of the highway tanker. The first solenoid valve 52 is installed on the first gas pipeline 51 to control the opening and closing of the first gas pipeline 51. The pressure transmitter 53 is installed on the docking interface of the connecting pipe body 31 to detect the gas pressure in the gas sealing groove 34 of the docking interface in real time, obtain sealing status information, and thus detect the sealing performance of the docking interface.

[0114] The controller receives visual information, docking status information, sealing status information, etc., generates corresponding control commands based on the relevant information, and outputs them to the movable base 1, the three-dimensional robotic arm 6, the plug removal unit 2, the joint docking unit 3, the positioning detection unit 4, and the interface sealing unit 5 respectively to achieve closed-loop control.

[0115] During the docking process, the following steps should be performed:

[0116] Step 1: Initialization

[0117] The controller starts the device to perform a self-test, determining whether the plug removal unit 2, connector docking unit 3, positioning detection unit 4, and interface sealing unit 5 are working properly. If a fault is found, an alarm is triggered. If normal, the movable base 1 is guided to the location of the propellant transfer port 02 of the highway tanker, and the three-dimensional robotic arm 6 is reset to the initial position.

[0118] Step Two: Target Positioning

[0119] The controller determines the position of the propellant transfer port 02 of the highway tanker truck in three-dimensional space based on the image information of the propellant transfer port 02 output by the positioning detection unit 4, and compares it with the preset target coordinates of the plug clamping mechanism 21 and the connector docking unit 3 to calculate the displacement deviation value.

[0120] Step 3: Remove the plug:

[0121] Based on the displacement deviation value, the controller uses the three-dimensional robotic arm 6 to align the cap removal unit 2 with the cap of the propellant transfer port 02 of the highway tanker truck. At the same time, it receives the coordinate signal fed back by the positioning detection unit 4 in real time and dynamically adjusts the displacement to control the cap removal unit 2 to dock with the cap on the propellant transfer port 02 of the highway tanker truck. Then, it controls the cap removal unit 2 to clamp and fix the cap, drives the cap removal unit 2 to remove the cap, and controls the cap removal unit 2 to reset after removal.

[0122] Step 4: Precise Connection

[0123] Based on the displacement deviation value, the controller uses the three-dimensional robotic arm 6 to align the joint docking unit 3 with the propellant transfer port 02 of the highway tanker truck. At the same time, it receives the coordinate signal fed back by the positioning detection unit 4 in real time and dynamically adjusts the displacement until the joint docking unit 3 and the propellant transfer port 02 of the highway tanker truck are successfully docked. Then, the joint docking unit 3 and the propellant transfer port 02 of the highway tanker truck are sealed and fixed, completing the control.

[0124] Preferably, when the controller controls the plug removal unit 2, the joint docking unit 3 to align and dock with the plug and the propellant transfer port 02 of the highway tanker truck, the controller adopts a two-step displacement control mode of coarse adjustment and fine adjustment.

[0125] During the coarse adjustment stage, the plug removal unit 2 or the connector docking unit 3 is driven at a speed of 10-15 mm / s to move to a position with a deviation value of ≤5 mm. During the fine adjustment stage, the plug removal unit 2 or the connector docking unit 3 is driven at a speed of 0.5-1 mm / s to complete the docking.

[0126] Step 5: Connection Confirmation

[0127] The controller activates the first solenoid valve 52 to fill the gas sealing groove 34 of the docking pipe body 31 with sealing gas. At the same time, the pressure transmitter 53 monitors the pressure value of the gas sealing groove 34 in real time. When the pressure value is stable between 1.5-2.0 MPa, if the pressure fluctuation within 30 seconds is ≤0.05 MPa, the docking is considered successful. If the pressure value drops beyond the threshold, the docking is considered to have failed. The controller then controls the docking unit 3 to separate from the propellant transfer port 02 of the highway tanker truck and returns to step four to re-dock.

[0128] This invention has been described through preferred embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. This invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims are also within the protection scope of this invention.

Claims

1. An automatic docking device for rocket propellant transfer pipelines, characterized in that: It includes a controller, and a movable base (1), a plug removal unit (2), a connector docking unit (3), a positioning detection unit (4), and an interface sealing unit (5) that are electrically connected to the controller respectively; A visual sensing unit (9) is installed on the periphery of the movable base (1). The visual sensing unit (9) is electrically connected to the controller and is used to acquire visual information of the surrounding environment according to the control command and output it to the controller. A three-dimensional robotic arm (6) is slidably installed on the upper side of the movable base (1). The three-dimensional robotic arm (6) is electrically connected to the controller. The movable base (1) and the three-dimensional robotic arm (6) are respectively used to move under the control of their respective control commands. The plug removal unit (2) and the connector docking unit (3) are respectively installed at the output end of the three-dimensional robotic arm (6); the plug removal unit (2) is used to remove the plug on the propellant transfer port (02) of the highway tanker according to the control command; the connector docking unit (3) is used to dock the propellant transfer pipeline (01) with the propellant transfer port (02) of the highway tanker according to the control command; The positioning detection unit (4) is installed on the upper side of the movable base (1) and is used to acquire image information of the propellant transfer port (02) of the highway tanker according to the control command and output it to the controller; The interface sealing unit (5) is installed on the joint docking unit (3) and is used to seal the connection between the propellant transfer pipeline (01) and the propellant transfer port (02) of the highway tanker according to the control command, and to obtain the sealing status information; The controller is installed on the movable base (1) and is used to receive visual information, docking status information, and sealing status information, and output control commands to the movable base (1), the three-dimensional robotic arm (6), the plug removal unit (2), the joint docking unit (3), the positioning detection unit (4), and the interface sealing unit (5), respectively.

2. The automatic docking device for rocket propellant transfer pipeline according to claim 1, characterized in that: The plug removal unit (2) includes a plug clamping mechanism (21) and a first driving mechanism (22) that are electrically connected to the controller respectively; The plug clamping mechanism (21) is installed at the output end of the three-dimensional robotic arm (6) through the first drive mechanism (22) and is used to remove the plug on the propellant transfer port (02) of the highway tanker under the drive of the first drive mechanism (22); The connector docking unit (3) includes a docking pipe body (31), a flexible buffer device (32), and a second drive mechanism (33) electrically connected to the controller; One end of the connecting pipe body (31) is provided with a docking interface adapted to the propellant transfer port (02) of the highway tanker truck, for connecting with the propellant transfer port (02) of the highway tanker truck; the periphery of the connecting pipe body (31) is used to connect with the propellant transfer pipeline (01); The other end of the connecting pipe (31) is installed at the output end of the second drive mechanism (33) through a flexible buffer device (32) for connecting the propellant transfer pipeline (01) and the propellant transfer port (02) of the highway tanker under the drive of the second drive mechanism (33); The second drive mechanism (33) is installed at the output end of the three-dimensional robotic arm (6); A gas sealing groove (34) is provided on the outer end face of the docking interface of the connecting pipe body (31); The interface sealing unit (5) includes a first gas pipeline (51), and a first solenoid valve (52) and a pressure transmitter (53) that are electrically connected to the controller respectively; The first gas pipeline (51) is installed on the docking interface of the connecting pipe body (31). Its inlet end is connected to an external sealing gas source, and its outlet end is placed in the gas sealing groove (34) to deliver sealing gas to the gas sealing groove (34) and achieve sealing at the docking point of the propellant transfer pipeline (01) and the road tanker propellant transfer port (02). The first solenoid valve (52) is installed on the first gas pipeline (51) and is used to control the opening and closing of the first gas pipeline (51); The pressure transmitter (53) is installed on the docking interface of the connecting pipe body (31) to detect the gas pressure in the gas sealing groove (34) of the docking interface in real time and obtain sealing status information.

3. The automatic docking device for rocket propellant transfer pipeline according to claim 2, characterized in that: The docking interface of the docking pipe body (31) is provided with a guide cone surface, which is used to guide the docking pipe body (31) to dock with the propellant transfer port (02) of the highway tanker during the docking process; The gas sealing groove (34) is an annular groove.

4. An automatic docking device for rocket propellant transfer pipelines according to claim 2 or 3, characterized in that: The plug clamping mechanism (21) includes a fixed plate (211), M fixed clamping claws (212), M movable clamping claws (213), and M pneumatic drive components (214); M ≥ 2; One side of the fixing plate (211) is installed at the output end of the first drive mechanism (22); One end of each of the M fixed clamping claws (212) and the fixed end of each of the M pneumatic drive assemblies (214) are respectively mounted on the other side of the fixed plate (211) along the circumferential direction; the middle parts of the M movable clamping claws (213) are respectively hinged to the other ends of the M fixed clamping claws (212); The driving ends of the M pneumatic drive components (214) are respectively hinged to one end of the M moving clamping claws (213), and the other end of the M moving clamping claws (213) serves as a clamping end for clamping on the outer circumferential surface of the plug. The control terminals of each of the M pneumatic drive components (214) are electrically connected to the controller.

5. An automatic docking device for rocket propellant transfer pipelines according to claim 2 or 3, characterized in that: The flexible buffer device (32) includes a fixed bracket (321), a floating cylinder (322), a floating support (323), and a floating slider; The number of floating cylinders (322) is N, where N≥3; the N floating cylinders (322) are respectively fixed on the fixed bracket (321), and their mounting ends are respectively installed on the output end of the second drive mechanism (33), and the output ends are respectively installed on one side of the floating support (323); The floating slider includes floating slider I (324), floating slider II (325), and floating slider III (326); there are two floating sliders I (324). The floating slider II (325) is slidably mounted on the other side of the floating support (323), and a groove is provided in its middle, the extension direction of the groove being perpendicular to the sliding direction of the floating slider II (325); The two floating sliders I (324) are respectively fixedly connected to the two ends of the floating slider II (325) along its sliding direction, and are respectively mounted on the floating support (323) through the first elastic guide rail (327); The floating slider III (326) is installed in the groove in the middle of the floating slider II (325) and is mounted on the floating slider II (325) by the second elastic guide rail (328); The floating slider III (326) is fixedly connected to the connecting pipe (31).

6. An automatic docking device for rocket propellant transfer pipelines according to claim 5, characterized in that: A pressure sensor (329) is embedded on one side of the floating support (323). The pressure sensor (329) is electrically connected to the controller and is used to detect the docking force during the docking process and output the force information to the controller.

7. An automatic docking device for rocket propellant transfer pipelines according to claim 1, characterized in that: A mounting bracket is provided on the upper side of the movable base (1); The positioning detection unit (4) includes a binocular vision camera electrically connected to the controller; The binocular vision camera is mounted on the mounting bracket on the upper side of the movable base (1), and acquires image information of the propellant transfer port (02) of the highway tanker according to the control command, and outputs it to the controller; A propellant concentration sensor is installed on the movable base (1). The propellant concentration sensor is electrically connected to the controller and is used to detect the propellant concentration in the air and send an alarm signal to the controller when the propellant concentration exceeds a set threshold.

8. The automatic docking device for propellant transfer pipelines according to claim 1, characterized in that: The movable base (1) is provided with two parallel mounting slots, and a ball screw (7) and a drive motor (8) are respectively installed in the two mounting slots; one end of the two ball screws (7) is connected to the output end of the two drive motors (8); the two drive motors (8) are electrically connected to the controller. The three-dimensional robotic arm (6) is mounted on two ball screws (7) respectively via lead screw nuts; The three-dimensional robotic arm (6) includes a base mounted on two lead screw nuts, and an X-axis displacement mechanism (61), a Y-axis displacement mechanism (62), and two Z-axis displacement mechanisms (63) that are electrically connected to the controller. The fixed end of the Y-axis displacement mechanism (62) is mounted on the base, the fixed end of the X-axis displacement mechanism (61) is mounted on the drive end of the Y-axis displacement mechanism (62), and the two Z-axis displacement mechanisms (63) are mounted side by side on the drive end of the X-axis displacement mechanism (61). The plug removal unit (2) and the connector docking unit (3) are respectively installed on the drive ends of the two Z-axis displacement mechanisms (63).

9. An automatic docking control method for a propellant transfer pipeline, based on the automatic docking device for a rocket propellant transfer pipeline as described in any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Initialization The controller starts the device to perform a self-test and determine whether the plug removal unit (2), the connector docking unit (3), the positioning detection unit (4), and the interface sealing unit (5) are working properly. If there is a fault, an alarm is triggered. If it is normal, the movable base (1) is guided to the location of the propellant transfer port (02) of the highway tanker, and the three-dimensional robotic arm (6) is reset to the initial position. Step Two: Target Positioning The controller determines the position of the propellant transfer port (02) of the highway tanker truck in three-dimensional space based on the image information of the highway tanker truck propellant transfer port (02) output by the positioning detection unit (4), and compares it with the preset target coordinates of the plug clamping mechanism (21) and the connector docking unit (3) to calculate the displacement deviation value. Step 3: Remove the plug: According to the displacement deviation value, the controller controls the cap removal unit (2) to align with the cap of the propellant transfer port (02) of the highway tanker truck through the three-dimensional robotic arm (6). At the same time, it receives the coordinate signal fed back by the positioning detection unit (4) in real time and dynamically adjusts the displacement to control the cap removal unit (2) to dock with the cap on the propellant transfer port (02) of the highway tanker truck. Then, the controller controls the cap removal unit (2) to clamp and fix the cap and remove it. After removal, the controller controls the cap removal unit (2) to reset. Step 4: Precise Connection According to the displacement deviation value, the controller controls the joint docking unit (3) to align with the propellant transfer port (02) of the highway tanker through the three-dimensional robotic arm (6). At the same time, it receives the coordinate signal fed back by the positioning detection unit (4) in real time and dynamically adjusts the displacement until the joint docking unit (3) and the propellant transfer port (02) of the highway tanker are successfully docked. Then, the joint docking unit (3) and the propellant transfer port (02) of the highway tanker are sealed and fixed. Step 5: Connection Confirmation The controller controls the sealing unit (5) to seal the joint between the connector docking unit (3) and the propellant transfer port (02) of the highway tanker, and determines whether the sealing effect meets the set requirements. If yes, the control is completed; otherwise, the controller controls the connector docking unit (3) to separate from the propellant transfer port (02) of the highway tanker and returns to step four.

10. The automatic docking control method for a propellant transfer pipeline according to claim 9, characterized in that, In steps three and four: When the controller controls the plug removal unit (2), the joint docking unit (3) to align and dock with the plug and the propellant transfer port (02) of the highway tanker truck, the controller adopts a two-step displacement control mode of coarse adjustment and fine adjustment. In the coarse adjustment stage, the plug removal unit (2) or the joint docking unit (3) is driven at a speed of 10-15 mm / s to move to a position with a deviation value of ≤5 mm. In the fine adjustment stage, the plug removal unit (2) or the joint docking unit (3) is driven at a speed of 0.5-1 mm / s to complete the docking. Step five is as follows: The controller activates the first solenoid valve (52) to fill the gas sealing groove (34) of the docking pipe body (31) with sealing gas. At the same time, the pressure value of the gas sealing groove (34) is monitored in real time by the pressure transmitter (53). When the pressure value is stable at 1.5-2.0MPa, if the pressure value fluctuation within 30s is ≤0.05MPa, the docking is considered successful. If the pressure value drops beyond the threshold, the docking is considered unsuccessful. The controller then controls the docking unit (3) to separate from the propellant transfer port (02) of the highway tanker and returns to step four.

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