Butt joint device, butt joint system and butt joint method of rocket cabin section

Abstract

The invention provides a docking device, a docking system and a docking method for rocket cabin sections. The docking device comprises a guide device and a bracket assembly, the guiding device comprises a platform support, and a shooting assembly, a control module and a driving module which are all arranged on the platform support. The shooting assembly and the driving module are electrically connected with the control module; the control module is configured to detect position information of the other group of docking devices and axis height information of rocket cabin sections borne by the group of docking devices through the shooting assembly; and the bracket assembly is arranged on the guide device, and the bracket assembly is configured to adjust the rolling angle and the axis height of the rocket cabin section borne by the docking device. The docking device does not need to move on a fixed track, multiple times of track switching and manual posture adjustment are not needed during docking, automatic posture adjustment can be achieved during docking of the rocket cabin sections, and therefore the efficiency of the docking process of the rocket cabin sections is improved, the docking precision is improved, and the labor intensity is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carrier rockets, in particular, the present application relates to a docking device, a docking system and a docking method for rocket cabin sections. BACKGROUND

[0002] A carrier rocket is composed of multiple engines and interstage sections, and each section has a large direct and length, which makes it difficult to dock each section.

[0003] The current docking method for rocket cabin sections is manual docking assembly. The manual docking frame used has a single function, and can only realize the docking function on a fixed track. Moreover, multiple track switching is required during docking assembly, and the relative positions between the rocket cabin sections to be docked are mainly measured by relying on the human eye and experience. The positions between the rocket cabin sections to be docked are adjusted by manually rotating a hand wheel, which results in that the docking work of the rocket cabin sections needs to be completed through multiple trial and error, and thus the docking process of the rocket cabin sections is inefficient, complicated to operate, low in precision or labor-intensive, and thus cannot meet the high-density launch requirements of carrier rockets. SUMMARY

[0004] The present application proposes a docking device, a docking system and a docking method for rocket cabin sections to solve the technical problem that the docking process of the rocket cabin sections is inefficient, complicated to operate, low in precision or labor-intensive, and thus cannot meet the high-density launch requirements of carrier rockets.

[0005] In a first aspect, the present application provides a docking device for rocket cabin sections, comprising: A guide device, comprising a platform support, and a shooting assembly, a control module and a driving module arranged on the platform support; the shooting assembly and the driving module are electrically connected with the control module; the control module is configured to detect the position information of another set of docking devices and the axial height information of the rocket cabin section carried by the present set of docking devices through the shooting assembly; A bracket assembly arranged above the guide device, the bracket assembly is configured to adjust the roll angle and the axial height of the rocket cabin section carried by the present set of docking devices.

[0006] Optionally, the shooting assembly comprises a first shooting component and a second shooting component; A set of first shooting components is arranged around the platform support and is configured to obtain images of the surrounding environment; A set of second shooting components is arranged on the surface of the platform support near the bracket assembly and is configured to obtain images containing the rocket cabin section carried by the present set of docking devices.

[0007] Optionally, the top of the platform support is provided with at least two grooves, and the control module and the drive module are arranged in different grooves of the platform support, respectively.

[0008] Optionally, the bracket assembly comprises a lifting module, a rolling module and a bracket. The number of the lifting modules is at least two, and the lifting modules are arranged below both ends of the bracket and are in transmission connection with the bracket. The rolling module is arranged at least partially below the middle section of the bracket and is in transmission connection with the bracket. The lifting module and the rolling module are in electrical connection with the control module.

[0009] Optionally, the docking device of the rocket cabin section comprises at least one of the following: The shape of the bracket comprises a circular arc, and the top surface of the bracket is configured to be in contact with the outer surface of the rocket cabin section. The number of the brackets comprises at least two, and the at least two brackets are arranged in a second direction parallel to the axis of the carried rocket cabin section. The top of the platform support is arranged with at least three grooves extending in the second direction in the first direction, the rolling module is arranged at the middle groove, comprises a first power member and a rotating member, the rotating member is arranged below the middle section of the bracket and is connected with the bracket, and the first power member is located between the adjacent brackets and is in electrical connection with the control module. The at least two lifting modules are arranged below both ends of the same bracket, the lifting module comprises a second power member and a lifting member, the lifting member is connected with the bracket, and the second power member is in electrical connection with the control module.

[0010] Optionally, the guide device further comprises a set of wheels, and the set of wheels is arranged on the lower surface of the platform support.

[0011] In a second aspect, the embodiments of the present application provide a docking system of a rocket cabin section, comprising: at least two sets of any of the above-mentioned docking devices, each set of the docking devices is configured to carry one rocket cabin section, and any two sets of the docking devices are configured to dock the rocket cabin sections carried by the docking devices, respectively.

[0012] In a third aspect, the embodiments of the present application provide a docking method based on the above-mentioned docking system of the rocket cabin section, comprising: One set of the docking devices transports one rocket cabin section to the vicinity of another set of the docking devices carrying another rocket cabin section to be docked. The control module of one set of the docking devices detects the position information of another set of the docking devices through the shooting assembly, and controls the driving module of one set of the docking devices to drive the wheels to move according to the position information, so that the axes of the two rocket cabin sections are located in the same vertical plane. The control module of each set of the docking devices detects the axial height information of the rocket cabin section carried by each set of the docking devices through the shooting assembly, and adjusts the axial height of at least one of the rocket cabin sections through the bracket assembly of at least one set of the docking devices according to the axial height information, so that the axes of the two rocket cabin sections are collinear. The control module of at least one set of the docking devices detects the roll angle difference between the positioning hole and the positioning pin on the docking end face of the two rocket cabin sections through the shooting assembly, and controls at least one of the bracket assemblies to adjust the roll angle of at least one of the rocket cabin sections according to the roll angle difference, so that the positioning hole and the positioning pin are collinear.

[0013] Optionally, one set of the docking devices transports one rocket cabin section to the vicinity of another set of the docking devices carrying another rocket cabin section to be docked, comprising: The control module of one set of the docking devices obtains the surrounding environment image through the shooting assembly; the surrounding environment image includes the image of another set of the docking devices. The control module constructs a map according to the surrounding environment image and formulates the travel route of the docking device; The driving module of one set of the docking devices drives the wheels to move to the vicinity of another set of the docking devices according to the travel route.

[0014] Optionally, the control module of at least one set of the docking devices detects the roll angle difference between the positioning hole and the positioning pin on the docking end face of the two rocket cabin sections through the shooting assembly, comprising: The control module of one set of the docking devices detects the roll angle of the positioning pin on the docking end face of another rocket cabin section carried by another set of the docking devices through the shooting assembly; The control module of another set of the docking devices detects the roll angle of the positioning hole on the docking end face of one rocket cabin section carried by one set of the docking devices through the shooting assembly; After the control modules of the two sets of the docking devices interact the roll angles, the roll angle difference between the positioning hole and the positioning pin is determined.

[0015] The technical scheme provided by the embodiments of the present application has the beneficial technical effects including: The docking device for the rocket cabin sections provided by the embodiment of the present application comprises a guiding device, a bracket assembly, a shooting assembly, a control module and a driving module. The shooting assembly, the driving module and the bracket assembly are arranged on the guiding device. The control module, the shooting assembly, the driving module and the bracket assembly are electrically connected. The bracket assembly is arranged on the guiding device. The control module, the shooting assembly, the driving module and the bracket assembly cooperate with each other to adjust the two rocket cabin sections in the following steps: the axes are in the same vertical plane, the axes are in the same line, and the roll angles are consistent, so that the docking of the two rocket cabin sections is realized. The docking device of the embodiment of the present application does not need to move on a fixed track, does not need to turn the track for multiple times during docking, does not need manual attitude adjustment, can automatically adjust the attitude during the docking of the rocket cabin sections, and thus can improve the efficiency of the docking process of the rocket cabin sections, improve the docking precision, reduce the labor intensity, and further meet the high-density launch demand of the carrier rocket.

[0016] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which: Figure 1 A structural schematic diagram of a docking system for rocket cabin sections provided by the embodiment of the present application; Figure 2 A side view schematic diagram of a docking system for rocket cabin sections provided by the embodiment of the present application; Figure 3 A front view schematic diagram of a specific embodiment of a docking system for rocket cabin sections provided by the embodiment of the present application; Figure 4 A structural schematic diagram of a docking device for rocket cabin sections provided by the embodiment of the present application; Figure 5 A structural schematic diagram of a guiding device in a docking device for rocket cabin sections provided by the embodiment of the present application; Figure 6 A structural schematic diagram of a bracket assembly in a docking device for rocket cabin sections provided by the embodiment of the present application; Figure 7 A flowchart of a docking method for rocket cabin sections provided by the embodiment of the present application. REFERENCE SIGNS 1 - docking device; 11 - guiding device; 111 - platform support; 1111 - groove; 112 - shooting assembly; 1121 - first shooting component; 1122 - second shooting component; 113 - control module; 114 - driving module; 115 - wheel; 12 - bracket assembly; 121 - lifting module; 1211 - second power member; 1212 - lifting member; 122 - rolling module; 1221 - first power member; 1222 - rotating member; 123 - bracket; 2 - rocket cabin section; 21 - positioning hole; 22 - positioning pin. DETAILED DESCRIPTION

[0018] The embodiments of the present application will be described below in conjunction with the accompanying drawings. It should be understood that the embodiments described below in conjunction with the accompanying drawings are exemplary descriptions of the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0019] Those skilled in the art can understand that "the" and "that" used herein can also include plural forms unless specifically stated. It should be further understood that the use of the word "comprise" in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but does not exclude other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technology. The term "and / or" used herein means at least one of the items defined by the term, for example, "A and / or B" can be implemented as "A", or as "B", or as "A and B".

[0020] In order to make the purposes, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below in conjunction with the accompanying drawings.

[0021] The launch vehicle is composed of multiple engines and interstage sections, and the diameter and length of each section are large, making it difficult to dock each section.

[0022] The current docking method for rocket cabin sections is manual docking assembly. The manual docking frame vehicle used has a single function, and can only realize the docking function on a fixed track. Moreover, multiple track changes are required during docking assembly, and the relative positions between the rocket cabin sections to be docked are mainly identified by the human eye and judged by experience. The positions between the rocket cabin sections to be docked are adjusted by manually rotating the hand wheel, resulting in that the docking work of the rocket cabin sections needs to be completed through multiple trial and error, which causes the docking process of the rocket cabin sections to be low in efficiency, complicated in operation, poor in precision or high in labor intensity, and thus cannot meet the high-density launch requirements of the launch vehicle.

[0023] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. It should be pointed out that the following embodiments can be mutually referenced, borrowed or combined. For the same terms, similar features and similar implementation steps in different embodiments, they will not be described repeatedly.

[0024] This application provides a docking device 1 for a rocket section, such as... Figures 1-6 As shown, the docking device 1 for the rocket section includes: The guidance device 11 includes: a platform support 111, and a camera assembly 112, a control module 113, and a drive module 114, all mounted on the platform support 111; the camera assembly 112 and the drive module 114 are electrically connected to the control module 113; the control module 113 is configured to detect the position information of another docking device 1 and the axial height information of the rocket section 2 carried by the docking device 1 through the camera assembly 112.

[0025] The bracket assembly 12 is mounted on the guide device 11 and is configured to adjust the roll angle and axial height of the rocket section 2 carried by the docking device 1.

[0026] In the rocket segment docking device 1 provided in this embodiment, the imaging component 112, control module 113, and drive module 114 of the guidance device 11 are all mounted on the platform support 111 of the guidance device 11. The imaging component 112 and drive module 114 are electrically connected to the control module 113. The control module 113 detects the position information of the other docking device 1 through the imaging component 112, and controls the drive module 114 of the docking device 1 to drive the guidance device 11 to move according to the position information, so that the axes of the two rocket segments 2 are located in the same vertical plane. The bracket assembly 12 is mounted on the guidance device 11. The control module 113 detects the axis height information of the rocket segment 2 carried by the docking device 1 through the imaging component 112, and compares the axis height information of the rocket segment 2 carried by the docking device 1 with that of the other docking device 1. The system uses the axial height information of the rocket section 2 to adjust the axial height of the rocket section 2 carried by the bracket assembly 12, so that the axes of the two rocket sections 2 are collinear. The control module 113 detects the roll angle difference between the positioning hole 21 and the positioning pin 22 on the docking surface of the two rocket sections 2 through the imaging component 112, and controls the bracket assembly 12 of the docking device 1 to adjust the roll angle of the rocket section 2 according to the roll angle difference, so that the positioning hole 21 and the positioning pin 22 are collinear, thereby realizing the automatic docking of the two sets of rocket sections 2. The docking device 1 of this application embodiment does not need to move on a fixed track, does not need to rotate the track multiple times during docking, and does not need to manually adjust the attitude. It can realize automatic attitude adjustment during the docking of rocket sections 2, thereby improving the efficiency of the docking process of rocket sections 2, improving the docking accuracy, reducing labor intensity, and thus meeting the high-density launch requirements of launch vehicles.

[0027] Optionally, in one embodiment of this application, such as Figure 1 , Figures 4-5 As shown, the shooting component 112 includes: a set of first shooting elements 1121 and a set of second shooting elements 1122.

[0028] A first set of camera components 1121 is arranged around the platform support 111 and is configured to obtain an image of the surrounding environment.

[0029] A second set of camera components 1122 is arranged on the surface of the platform support 111 near the side of the bracket assembly 12 and is configured to obtain an image containing the image of the rocket cabin section 2 carried by the docking device 1.

[0030] Optionally, the image of the surrounding environment includes the image of another docking device 1. The number of the first set of camera components 1121 includes at least four, and the number of the second set of camera components 1122 includes at least three.

[0031] Optionally, the control module is configured to determine the height information of the axis of the rocket cabin section 2 carried by the docking device 1 according to the image of the rocket cabin section 2 carried by the docking device 1 in the image.

[0032] In the embodiment of the present application, the first set of camera components 1121 is arranged around the platform support 111, and all the first set of camera components 1121 obtains the image of the surrounding environment near the docking device 1 by shooting the surrounding environment, and transmits the image of the surrounding environment to the control module 113. The control module 113 constructs a map according to the image of the surrounding environment transmitted by all the first set of camera components 1121 and determines the route of the docking device 1, so that the docking device 1 does not need to move on a fixed track, and does not need to change the track for multiple times during docking, thereby reducing the repeated work of changing the track during docking, and without the need to change the ground or interrupt the production during docking, thereby improving the docking efficiency and reducing the labor intensity.

[0033] In the embodiment of the present application, at least three second set of camera components 1122 are arranged on the surface of the platform support 111 near the side of the bracket assembly 12. The second set of camera components 1122 shoots the rocket cabin section 2 carried by the docking device 1 and transmits the image to the control module 113. The control module 113 calculates the height of the axis of the rocket cabin section 2 carried by the docking device 1 according to the image transmitted by the second set of camera components 1122. After the control modules 113 of the two docking devices 1 exchange the height of the axis, the height information of the axis to be adjusted is determined. The second set of camera components 1122 of the two docking devices 1 respectively shoots the positioning hole 21 and the positioning pin 22 on the docking end surface of the rocket cabin section 2 carried by the two docking devices 1, and transmits the corresponding image to the control module 113 of the corresponding docking device 1, so as to determine the roll angle of the positioning hole 21 and the positioning pin 22. After the control modules 113 of the two docking devices 1 exchange the roll angle, the roll angle difference between the positioning hole 21 and the positioning pin 22 is determined, so as to realize automatic alignment of the rocket cabin section 2 during docking without manual adjustment, thereby improving the docking accuracy and the docking efficiency and reducing the labor intensity.

[0034] Optionally, in one embodiment of the present application, as shown in Figures 4-5 The top of the platform support 111 is provided with at least two grooves 1111, and the control module 113 and the driving module 114 are arranged in different grooves 1111 of the platform support 111 respectively.

[0035] In the embodiment of the present application, the platform support 111 is provided with at least two grooves 1111 near one side of the bracket assembly 12, and the control module 113 and the driving module 114 are arranged in different grooves 1111 of the platform support 111 respectively, thereby saving space, making the overall structure of the docking device 1 more compact, and preventing external objects from scratching the control module 113 and the driving module 114, thereby protecting the control module 113 and the driving module 114 to a certain extent.

[0036] Optionally, in one embodiment of the present application, as shown in Figure 1 、 Figure 4 and Figure 6 The bracket assembly 12 comprises a lifting module 121, a rolling module 122 and a bracket 123.

[0037] The number of the lifting module 121 is at least two, and the lifting module 121 is arranged below both ends of the bracket 123 and is in driving connection with the bracket 123.

[0038] The rolling module 122 is at least partially arranged below the middle section of the bracket 123 and is in driving connection with the bracket 123.

[0039] The lifting module 121 and the rolling module 122 are electrically connected with the control module 113.

[0040] In the embodiment of the present application, the lifting module 121 is electrically connected with the control module 113, the control module 113 controls the lifting module 121 to perform lifting movement, and the lifting module 121 drives the bracket 123 to perform lifting, thereby adjusting the axial height of the carried rocket cabin section 2. The rolling module 122 is electrically connected with the control module 113, the control module 113 controls the rolling module 122 to perform rolling movement, and the rolling module 122 drives the bracket 123 to perform rolling, thereby causing the rocket cabin section 2 on the bracket 123 to perform rolling, adjusting the rolling angle of the carried rocket cabin section 2, thereby realizing the automation of measurement and docking without manual attitude adjustment, improving the docking efficiency, reducing the labor intensity and improving the docking quality.

[0041] Optionally, in one embodiment of the present application, as shown in Figure 1 、 Figure 4 and Figure 6 , The shape of the bracket 123 comprises a circular arc shape; the top surface of the bracket 123 is configured to be in contact with the outer surface of the rocket cabin section 2.

[0042] The number of the bracket 123 comprises at least two; the at least two brackets 123 are arranged along a second direction parallel to the axis of the carried rocket cabin section 2.

[0043] The top of the platform support 111 is arranged with at least three grooves 1111 extending along the second direction, the roll module 122 is arranged at the middle groove 1111, and comprises a first power component 1221 and a rotating component 1222, the rotating component 1222 is arranged below the middle segment of the bracket 123 and connected with the bracket 123, and the first power component 1221 is located between the adjacent brackets 123 and electrically connected with the control module 113.

[0044] The at least two lifting modules 121 are arranged below the two ends of the same bracket 123, and the lifting module 121 comprises a second power component 1211 and a lifting component 1212, the lifting component 1212 is connected with the bracket 123, and the second power component 1211 is electrically connected with the control module 113.

[0045] In the embodiment of the present application, at least two brackets 123 are arranged in each docking device 1, the inner surface of the bracket 123 is in contact with the outer surface of the carried rocket cabin section 2, the shape of the bracket 123 comprises a circular arc shape, and the shape of the bracket 123 matches the shape of the outer surface of the carried rocket cabin section 2, so as to increase the contact area of the bracket 123 and the rocket cabin section 2 and improve the stability of the rocket cabin section 2 in the docking process.

[0046] In the embodiment of the present application, the control module 113 controls the first power component 1221 to drive the rotating component 1222 to rotate, the rotating component 1222 drives the bracket 123 to rotate, so as to adjust the roll angle of the positioning hole 21 / positioning pin 22 on the docking end surface of the carried rocket cabin section 2. The control module 113 controls the second power component 1211 to drive the lifting component 1212 to move, the lifting component 1212 drives the bracket 123 to move, so as to adjust the height of the bracket 123, and then adjust the axis height of the carried rocket cabin section 2. The structure is simple, and manual operation is not needed, so as to reduce the labor intensity.

[0047] Optionally, in the embodiment of the present application, the first power component 1221 and the second power component 1211 comprise motors, the rotating component 1222 comprises a gear, and the lifting component 1212 comprises a lifting arm.

[0048] Optionally, in one embodiment of the present application, as shown in Figures 1-5As shown, the guide device 11 also includes a set of wheels 115, which are disposed on the lower surface of the platform support 111.

[0049] In this embodiment, a set of wheels 115 are disposed on the lower surface of the platform support 111. After the control module 113 sets the travel route, the control module 113 controls the drive module 114 to drive the wheels 115 to travel along the set route. Thus, the docking device 1 does not need to move on a fixed track, and there is no need to switch tracks multiple times during docking, thereby reducing the repetitive track switching work during docking. Furthermore, there is no need to modify the ground or interrupt production during docking, thereby improving docking efficiency and reducing labor intensity.

[0050] Optionally, a set of wheels 115 may include at least four wheels.

[0051] Based on the same inventive concept, embodiments of this application provide a docking system for rocket modules, such as... Figures 1-3 As shown, the docking system of the rocket segment includes: at least two sets of docking devices 1 of any of the above embodiments, each set of docking devices 1 is configured to carry a rocket segment 2, and any two sets of docking devices 1 are configured to dock their respective rocket segments 2.

[0052] In this embodiment of the application, a set of docking devices 1 may include one docking device 1, which is relatively long, for example, slightly shorter than the rocket section 2 it carries; a set of docking devices 1 may also include at least two docking devices 1, which are placed at a certain interval to jointly carry a rocket section 2.

[0053] In one specific embodiment of this application, such as Figure 3 As shown, a set of docking devices 1 includes two docking devices 1. For ease of description, in this embodiment, the docking devices 1 are numbered from left to right as first docking device 1a, second docking device 1b, third docking device 1c, and fourth docking device 1d. The rocket segment carried by the first docking device 1a and the second docking device 1b is the first rocket segment 2a, and the rocket segment carried by the third docking device 1c and the fourth docking device 1d is the second rocket segment 2b. The guide device 11 of the first docking device 1a is the first guide device 11a, and the bracket assembly 12 is the first bracket assembly 12a. The guide device 11 of the second docking device 1b is the second guide device 11b, and the bracket assembly 12 is the second bracket assembly 12b. The guide device 11 of the third docking device 1c is the third guide device 11c, and the bracket assembly 12 is the third bracket assembly 12c. The guide device 11 of the fourth docking device 1d is the fourth guide device 11d, and the bracket assembly 12 is the fourth bracket assembly 12d.

[0054] The first docking device 1a and the second docking device 1b, the third docking device 1c and the fourth docking device 1d are automatically parked according to a preset distance, the first rocket cabin section 2a is placed on the first docking device 1a and the second docking device 1b, and the second rocket cabin section 2b is placed on the third docking device 1c and the fourth docking device 1d, so as to realize the towing and transportation of the rocket cabin section 2; the first guide device 11a and the second guide device 11b transport the first rocket cabin section 2a to the vicinity of the second rocket cabin section 2b which is docked with the first rocket cabin section 2a according to the route formulated by the control module 113 of the second guide device 11b, the second guide device 11b detects the position information of the third guide device 11c, and the position of the first docking device 1a and the second docking device 1b is adjusted, so that the axes of the first rocket cabin section 2a and the second rocket cabin section 2b are located in the same vertical plane.

[0055] The first guide device 11a and the second guide device 11b detect the axis height information of the first rocket cabin section 2a, the third guide device 11c and the fourth guide device 11d detect the axis height information of the second rocket cabin section 2b, the axis height difference between the first rocket cabin section 2a and the second rocket cabin section 2b is determined by interacting the axis height information of the first rocket cabin section 2a and the second rocket cabin section 2b, and the axis height of the first rocket cabin section 2a is adjusted by adjusting the first bracket assembly 11a and the second bracket assembly 11b, so that the axes of the first rocket cabin section 2a and the second rocket cabin section 2b are collinear.

[0056] The second guide device 11b detects the roll angle of the positioning pin (not shown in the figure) of the docking end face of the second rocket cabin section 2b, the third guide device 11c detects the roll angle of the positioning hole (not shown in the figure) of the docking end face of the first rocket cabin section 2a, the roll angle difference between the positioning hole and the positioning pin is determined by interacting the roll angles of the positioning hole of the docking end face of the first rocket cabin section 2a and the positioning pin of the docking end face of the second rocket cabin section 2b, and the roll angle of the first rocket cabin section 2a is adjusted by adjusting the first bracket assembly 11a and the second bracket assembly 11b, so that the positioning hole and the positioning pin are collinear, thereby realizing the automatic docking of the first rocket cabin section 2a and the second rocket cabin section 2b, the docking process does not need manual pose adjustment, the automation of measurement and docking is realized, the docking efficiency is improved, the labor intensity is reduced, and the docking quality is improved.

[0057] Based on the same inventive concept, the embodiment of the present application provides a docking method of a docking system based on the rocket cabin section of the above-mentioned embodiment, as shown in the Figure 7 docking method, which comprises the following steps: S101: A group of docking devices 1 transports one rocket cabin section 2 to the vicinity of another group of docking devices 1 which carries another rocket cabin section 2 to be docked.

[0058] S102: The control module 113 of the docking device 1 detects the position information of the other docking device 1 through the shooting assembly 112, and controls the driving module 114 of the docking device 1 to drive the wheels 115 to move according to the position information, so that the axes of the two rocket cabin sections 2 are located in the same vertical plane.

[0059] S103: The control module 113 of each docking device 1 detects the axis height information of the rocket cabin section 2 carried by itself through the shooting assembly 112, and adjusts the axis height of at least one rocket cabin section 2 according to the axis height information through the bracket assembly 12 of at least one docking device 1, so that the axes of the two rocket cabin sections 2 are collinear.

[0060] S104: The control module 113 of at least one docking device 1 detects the roll angle difference between the positioning hole 21 and the positioning pin 22 on the docking end face of the two rocket cabin sections 2 through the shooting assembly 112, and controls at least one bracket assembly 12 to adjust the roll angle of at least one rocket cabin section 2 according to the roll angle difference, so that the positioning hole 21 and the positioning pin 22 are collinear.

[0061] In the embodiment of the present application, the control module 113 of one set of docking devices 1 detects the position information of the other set of docking devices 1 through the shooting assembly 112, and formulates a travel route according to the position information, and controls the driving module 114 of the set of docking devices 1 to drive the wheels 115 to move, so as to realize that the axes of the two rocket cabin sections 2 are located in the same vertical plane without moving along the fixed track. Then, the control module 113 of each set of docking devices 1 detects the axial height information of the rocket cabin section 2 carried by itself through the shooting assembly 112, and the two control modules 113 determine the axial height difference of the two rocket cabin sections 2 by exchanging the axial height information of the rocket cabin sections 2 carried by the two sets of docking devices 1, wherein the carrier assembly 12 of one set of docking devices 1 adjusts the axial height of the rocket cabin section 2 carried by itself, or the carrier assemblies 12 of the two sets of docking devices 1 simultaneously adjust the axial heights of the rocket cabin sections 2 carried by themselves, so that the axes of the two rocket cabin sections 2 are collinear. Further, the control module 113 of one set of docking devices 1 detects the roll angle of the positioning hole 21 / positioning pin 22 on the docking end face of the rocket cabin section 2 carried by the other set of docking devices 1 through the shooting assembly 112, and the control module 113 of the other set of docking devices 1 detects the roll angle of the positioning pin 22 / positioning hole 21 on the docking end face of the rocket cabin section 2 carried by one set of docking devices 1 through the shooting assembly 112, and the two control modules 113 obtain the roll angle difference between the positioning hole 21 and the positioning pin 22 by exchanging the roll angle between the positioning hole 21 and the positioning pin 22 on the docking end face of the two rocket cabin sections 2, and control at least one carrier assembly 12 to adjust the roll angle of at least one rocket cabin section 2 according to the roll angle difference, so that the positioning hole 21 and the positioning pin 22 are collinear, thereby realizing the automatic docking of the two rocket cabin sections 2, and the docking process does not need manual pose adjustment, and the rocket cabin sections 2 can be automatically adjusted in pose during docking, so as to improve the efficiency of the rocket cabin section 2 docking process, improve the docking precision, and reduce the labor intensity, thereby meeting the high-density launch demand of the carrier rocket.

[0062] Optionally, before the one set of docking devices 1 transports one rocket cabin section 2 to the vicinity of the other set of docking devices 1 carrying another rocket cabin section 2 to be docked in the step S101, the method further comprises: mounting the two rocket cabin sections 2 on the two sets of docking devices 1 parked at a preset interval, respectively.

[0063] Optionally, in the embodiment of the present application, in the step S103, the axial height of the at least one rocket cabin section 2 is adjusted according to the axial height information by the bracket assembly 12 of the at least one docking device 1, and specifically includes: the control module 113 of the two docking devices 1 respectively calculates the axial height information of the rocket cabin section 2 carried by the two docking devices 1, and performs information interaction to determine the axial height difference of the rocket cabin sections 2 carried by the two docking devices 1, wherein the control module 113 of one of the docking devices 1 controls the lifting module 121 of the docking device 1 to perform lifting movement or the control modules 113 of the two docking devices 1 respectively control the lifting modules 121 of the docking devices 1 to perform lifting movement, so as to adjust the axial height of the rocket cabin section 2 carried by the docking device 1, and make the axes of the two rocket cabin sections 2 collinear.

[0064] Optionally, in one embodiment of the present application, in the step S101, the one docking device 1 transports one rocket cabin section 2 to the vicinity of another docking device 1 carrying another rocket cabin section 2 to be docked, including: The control module 113 of the one docking device 1 obtains the surrounding environment image through the shooting assembly 112; the surrounding environment image includes the pattern of the other docking device 1.

[0065] The control module 113 constructs a map according to the surrounding environment image and formulates a travel route of the docking device 1.

[0066] The driving module 114 of the one docking device 1 drives the wheels 115 to move to the vicinity of the other docking device 1 according to the travel route.

[0067] In the embodiment of the present application, the control module 113 of the one docking device 1 is electrically connected with the shooting assembly 112, the shooting assembly 112 shoots the surrounding environment, the surrounding environment image shot by the shooting assembly 112 includes the pattern of the other rocket cabin section 2 carried by the other docking device 1 to be docked, the shooting assembly 112 returns the shot image to the control module 113, the control module 113 constructs a map according to the shot image and determines the relative position between the one docking device and the other docking device 1, thereby formulating a travel route of the one docking device 1, and then the control module 113 controls the driving module 114 of the one docking device to drive the wheels 115 to move to the vicinity of the other docking device according to the travel route, so that the travel of the docking device does not need to rely on the fixed track, and the docking does not need to rely on multiple track switching, thereby reducing the repeated track switching time in the docking process and improving the docking efficiency.

[0068] Optionally, in one embodiment of the present application, in the step S104, the control module of the at least one docking device 1 detects the roll angle difference between the positioning hole 21 and the positioning pin 22 on the docking end face of the two rocket cabin sections 2 through the shooting assembly 112, including: The control module 113 of one set of docking devices 1 detects the roll angle of the positioning pin 22 on the docking end face of the other rocket cabin section 2 carried by the other set of docking devices 1 through the shooting assembly 112.

[0069] The control module 113 of the other set of docking devices 1 detects the roll angle of the positioning hole 21 on the docking end face of the rocket cabin section 2 carried by one set of docking devices 1 through the shooting assembly 112.

[0070] After the control modules 113 of the two sets of docking devices 1 interact the roll angles, the roll angle difference between the positioning hole 21 and the positioning pin 22 is determined.

[0071] In the embodiments of the present application, the control module 113 of one set of docking devices 1 detects the roll angle of the positioning hole 21 / positioning pin 22 on the docking end face of the rocket cabin section 2 carried by the other set of docking devices 1 through the shooting assembly 112, the control module 113 of the other set of docking devices 1 detects the roll angle of the positioning pin 22 / positioning hole 21 on the docking end face of the rocket cabin section 2 carried by one set of docking devices 1 through the shooting assembly 112, the control modules 113 of the two sets of docking devices 1 interact the roll angles between the positioning hole 21 and the positioning pin 22 on the docking end face of the two rocket cabin sections 2, the roll angle difference between the positioning hole 21 and the positioning pin 22 is obtained, the control module 113 of one set of docking devices 1 controls the carrier assembly 12 of the set to adjust the roll angle of the rocket cabin section 2 carried by the set, or the control modules 113 of the two sets of docking devices 1 respectively control the carrier assemblies 12 of the sets to adjust the roll angles of the rocket cabin sections 2 carried by the sets, so that the positioning hole 21 and the positioning pin 22 are collinear, thereby realizing automatic attitude adjustment in the docking process and improving the attitude adjustment precision.

[0072] Optionally, in the embodiments of the present application, after the control modules 113 of the two sets of docking devices 1 interact the roll angles and determine the roll angle difference between the positioning hole 21 and the positioning pin 22, the control module 113 of one set of docking devices 1 controls the roll module 122 of the set of docking devices 1 to perform roll movement, or the control modules 113 of the two sets of docking devices 1 respectively control the roll modules 122 of the sets of docking devices 1 to perform roll movement, the roll module 122 drives the carrier 123 to roll, so that the rocket cabin section 2 on the carrier 123 rolls, and then the positioning hole 21 and the positioning pin 22 are collinear, thereby realizing the docking of the two rocket cabin sections 2, the docking process does not need manual attitude adjustment, the automation of measurement and docking is realized, the docking efficiency is improved, the labor intensity is reduced, and the docking quality is improved.

[0073] By applying the embodiments of the present application, the following beneficial effects can be achieved at least: The docking device 1 of the rocket cabin section provided in the embodiment of the present application, the shooting assembly 112, the control module 113 and the driving module 114 of the guiding device 11 are all arranged on the platform support 111 of the guiding device 11, the shooting assembly 112 and the driving module 114 are electrically connected with the control module 113, the control module 113 detects the position information of the other set of docking devices 1 through the shooting assembly 112, and controls the driving module 114 of the docking device 1 to drive the guiding device 11 to move according to the position information, so that the axes of the two rocket cabin sections 2 are located in the same vertical plane; the bracket assembly 12 is arranged above the guiding device 11, the control module 113 detects the axis height information of the rocket cabin section 2 carried by the docking device 1 through the shooting assembly 112, and compares the axis height information of the rocket cabin section 2 carried by the docking device 1 with the axis height information of the rocket cabin section 2 carried by the other set of docking devices 1, and adjusts the axis height of the rocket cabin section 2 carried by the docking device 1 through the bracket assembly 12, so that the axes of the two rocket cabin sections 2 are collinear; the control module 113 detects the roll angle difference between the positioning hole 21 and the positioning pin 22 on the docking surface of the two rocket cabin sections 2 through the shooting assembly 112, and controls the bracket assembly 12 of the docking device 1 to adjust the roll angle of the rocket cabin section 2 according to the roll angle difference, so that the positioning hole 21 and the positioning pin 22 are collinear, thereby realizing the docking of the two sets of rocket cabin sections 2. The docking device 1 of the embodiment of the present application does not need to move on the fixed track, does not need to turn the track for multiple times during docking, does not need manual attitude adjustment, can realize automatic attitude adjustment during the docking of the rocket cabin section 2, thereby improving the efficiency of the docking process of the rocket cabin section 2, improving the docking precision, reducing the labor intensity, and further meeting the high-density launch demand of the carrier rocket.

[0074] Those skilled in the art can understand that the steps, measures and schemes in various operations, methods and processes discussed in the present application can be alternated, changed, combined or deleted. Further, other steps, measures and schemes in various operations, methods and processes discussed in the present application can also be alternated, changed, rearranged, decomposed, combined or deleted.

[0075] In the description of the present application, the directions or position relationships indicated by the words "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are the example directions or position relationships shown in the drawings, which are for the convenience of description or simplification of the description of the embodiments of the present application, and are not intended to indicate or imply that the devices or components referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0076] The terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance or a specific number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0077] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0078] In the description of the present application, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0079] The above is only part of the embodiments of the present application, and it should be pointed out that, for those skilled in the art, without departing from the technical concept of the present application, other similar implementation means based on the technical idea of the present application also belong to the protection scope of the embodiments of the present application.

Claims

1. A docking device for a rocket stage, characterized in that The device comprises: a guiding device, which comprises a platform support, a shooting assembly, a control module and a driving module, all of which are arranged on the platform support; the shooting assembly and the driving module are electrically connected with the control module; the control module is configured to detect the position information of another set of docking devices and the axial height information of the rocket cabin section carried by the set of docking devices through the shooting assembly; a bracket assembly arranged on the guiding device, which is configured to adjust the roll angle and the axial height of the rocket cabin section carried by the set of docking devices.

2. The docking apparatus of a rocket stage according to claim 1, characterized in that The shooting assembly comprises a set of first shooting components and a set of second shooting components; The set of first shooting components are arranged around the platform support and are configured to obtain surrounding environment images; The set of second shooting components are arranged on the surface of the platform support near the bracket assembly and are configured to obtain images containing the pattern of the rocket cabin section carried by the set of docking devices.

3. The docking apparatus of a rocket stage according to claim 1, characterized in that The top of the platform support is provided with at least two grooves, and the control module and the driving module are arranged in different grooves of the platform support, respectively.

4. The docking apparatus of claim 1, wherein, The bracket assembly comprises a lifting module, a roll module and a bracket; The number of lifting modules is at least two, and the lifting modules are arranged below the two ends of the bracket and are in transmission connection with the bracket; The roll module is at least partially arranged below the middle section of the bracket and is in transmission connection with the bracket; The lifting module and the roll module are electrically connected with the control module.

5. The docking apparatus of claim 4, wherein, At least one of the following is included: The shape of the bracket includes a circular arc; the orthographic projection of the bracket on the platform support extends along a first direction perpendicular to the axis of the carried rocket cabin section, and the top surface of the bracket is configured to be in contact with the outer surface of the rocket cabin section; The number of brackets includes at least two; at least two brackets are arranged along a second direction parallel to the axis of the carried rocket cabin section; At least three grooves extending along the second direction are arranged on the top of the platform support along the first direction, the roll module is arranged at the middle groove, which comprises a first power component and a rotating component, the rotating component is arranged below the middle section of the bracket and is connected with the bracket, and the first power component is located between adjacent brackets and is electrically connected with the control module; At least two lifting modules are arranged below the two ends of the same bracket, and the lifting module comprises a second power component and a lifting component, the lifting component is connected with the bracket, and the second power component is electrically connected with the control module.

6. The docking apparatus of a rocket stage according to claim 1, characterized in that The guiding device further comprises a set of wheels, and the set of wheels are arranged on the lower surface of the platform support.

7. A docking system for a rocket stage, characterized by The device comprises: At least two sets of docking devices as claimed in any one of claims 1-6, each set of docking devices is configured to carry one rocket cabin section, and any two sets of docking devices are configured to dock the rocket cabin sections carried by each set.

8. A method of docking a docking system according to claim 7, characterized in that The device comprises: One set of docking devices transports one rocket cabin section to the vicinity of another set of docking devices carrying another rocket cabin section to be docked; The control module of one set of docking devices detects the position information of another set of docking devices through the shooting assembly, and controls the driving module of one set of docking devices to drive the wheels to move according to the position information, so that the axes of the two rocket cabin sections are located in the same vertical plane. The control module of each set of docking devices detects the axial height information of the rocket cabin section carried by itself through the shooting assembly, and adjusts the axial height of at least one rocket cabin section through the bracket assembly of at least one set of docking devices according to the axial height information, so that the axes of the two rocket cabin sections are collinear. The control module of at least one set of docking devices detects the roll angle difference between the positioning hole and the positioning pin on the docking end face of the two rocket cabin sections through the shooting assembly, and controls at least one bracket assembly to adjust the roll angle of at least one rocket cabin section according to the roll angle difference, so that the positioning hole and the positioning pin are collinear.

9. The docking method of claim 8, wherein, One set of docking devices transports one rocket cabin section to the vicinity of another set of docking devices carrying another rocket cabin section to be docked, comprising: The control module of one set of docking devices obtains the surrounding environment image through the shooting assembly; the surrounding environment image includes the image of another set of docking devices; The control module constructs a map according to the surrounding environment image and formulates the travel route of the docking device; The driving module of one set of docking devices drives the wheels to move to the vicinity of another set of docking devices according to the travel route.

10. The docking method of claim 8, wherein, The control module of at least one set of docking devices detects the roll angle difference between the positioning hole and the positioning pin on the docking end face of the two rocket cabin sections through the shooting assembly, comprising: The control module of one set of docking devices detects the roll angle of the positioning pin on the docking end face of another rocket cabin section carried by another set of docking devices through the shooting assembly; The control module of another set of docking devices detects the roll angle of the positioning hole on the docking end face of one rocket cabin section carried by one set of docking devices through the shooting assembly; After the control modules of the two sets of docking devices interact the roll angles, the roll angle difference between the positioning hole and the positioning pin is determined.

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