Device for automatic docking and shedding of a rocket second stage vent connector

Abstract

The application relates to a device for automatically docking and falling off a rocket second-stage leakage connector, which comprises an on-rocket flange, a ground flange, a docking flange, a lifting mechanism, a sliding table, a transverse alignment mechanism and a flexible connecting rod mechanism, the on-rocket flange is used for being mounted on a second-stage rocket body; the ground flange is connected with the docking flange through the flexible connecting rod mechanism, the docking flange is connected with the lifting mechanism, and the lifting mechanism is mounted on the sliding table; the transverse alignment mechanism comprises a fixed support and a transverse driving assembly mounted on the fixed support; the device further comprises a visual sighting and a measuring module, the measuring module is in communication connection with the lifting mechanism and the transverse alignment mechanism; the measuring module is mounted on the docking flange, and the visual sighting is mounted on the ground flange and is correspondingly arranged with the measuring module. The application can realize automatic docking of the rocket second-stage leakage connector and the second-stage rocket body, can improve docking efficiency, and can avoid personnel casualty caused by explosion of a rocket storage tank.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, and in particular to a device for automatically docking and detaching the second-stage venting connector of a rocket. Background Technology

[0002] In the launch process of a carrier rocket, the fuel loading and venting connector plays a crucial role in the fuel loading (especially cryogenic liquid fuel), gas delivery, and electrical signal connection between the rocket and the ground. Compared to the first-stage fuel loading and venting connector, which has a relatively fixed location, is not significantly affected by wind loads or structural vibrations, and is less susceptible to these factors, the second-stage fuel loading and venting connector has a unique installation location—it needs to be mounted on a boom on the rocket's service tower at a high altitude. Therefore, the second-stage connector is significantly affected by environmental disturbances such as wind loads and structural vibrations, making it difficult to achieve zero-second detachment during subsequent launches.

[0003] Meanwhile, if the launch process is aborted due to a launch malfunction after the second-stage fuel filler connector has detached, a second docking with the second-stage rocket body is required. However, since the rocket propellant tanks in the second-stage rocket body are now filled with cryogenic liquid fuel (such as liquid oxygen / liquid methane), the risk of the propellant tanks exploding increases significantly. If the traditional manual second docking method is still used to re-dock the second-stage fuel filler connector to the second-stage rocket body, not only will the efficiency be extremely low, but the risk of personnel casualties will also be significantly increased.

[0004] Therefore, there is an urgent need for a device for automatically docking and detaching the rocket's second-stage venting connector. Summary of the Invention

[0005] The purpose of this invention is to provide a device for automatically docking and detaching the secondary stage venting connector of a rocket, so as to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution:

[0007] This invention provides a device for automatically docking and detaching the second-stage venting connector of a rocket, comprising an on-rocket flange, a ground flange, a docking flange, a lifting mechanism, a sliding table, a lateral alignment mechanism, and a flexible linkage mechanism, wherein:

[0008] The on-rocket flange is used to be installed on the body of the second-stage rocket; the ground flange is connected to the docking flange through the flexible linkage mechanism, the docking flange is connected to the lifting mechanism, and the lifting mechanism is installed on the slide table;

[0009] The lateral alignment mechanism includes a fixed bracket and a lateral drive assembly mounted on the fixed bracket. The slide table is limited and slidably engaged with the fixed bracket through the lateral drive assembly.

[0010] The device also includes a visual sight and a measurement module. The measurement module is communicatively connected to both the lifting mechanism and the lateral alignment mechanism. The measurement module is installed on the docking flange, and the visual sight is installed on the ground flange and correspondingly set with the measurement module. The measurement module is used to measure the deviation between the second-stage rocket body and the visual sight and obtain the deviation signal.

[0011] The lifting mechanism is used to drive the docking flange to move in the longitudinal plane according to the deviation signal; the lateral movement drive assembly is used to drive the slide to move laterally according to the deviation signal, so as to adjust the position of the ground flange and dock it with the arrow flange; the flexible linkage mechanism is used to provide flexible compensation during the docking process of the ground flange and the arrow flange.

[0012] According to one embodiment of the present invention, the flexible linkage mechanism includes a universal joint, a first stop, a spring, a second stop, a tapered nut, and a central rod, wherein:

[0013] The two ends of the universal joint are respectively connected to the ground flange and the first stop block, the two ends of the center rod are respectively connected to the tapered nut and the end of the first stop block away from the universal joint, the spring and the second stop block are slidably sleeved on the center rod, and the two ends of the spring are respectively connected to the end of the second stop block and the end of the first stop block away from the universal joint;

[0014] The docking flange has a tapered nut mounting hole, the tapered surface of the tapered nut mates with the tapered nut mounting hole, and the end of the second stop block away from the spring abuts against the docking flange.

[0015] According to one embodiment of the present invention, the lifting mechanism includes a first parallel link, a first electric lifting cylinder, a first lifting arm, a second lifting arm, a transfer plate, a second parallel link, and a second electric lifting cylinder;

[0016] The two ends of the first parallel link are respectively hinged to the docking flange and the adapter plate. The first lifting arm is located below the first parallel link and is arranged parallel to the first parallel link. The two ends of the first lifting arm are respectively hinged to the docking flange and the adapter plate.

[0017] The first lifting electric cylinder has two ends that are hinged to the first lifting arm and the slide table respectively; one end of the second lifting arm is hinged to the slide table, and the other end of the second lifting arm is hinged to the hinge joint between the first lifting arm and the adapter plate. The second lifting arm is located on one side of the first lifting electric cylinder.

[0018] The second parallel link is located on the side of the second lifting arm away from the first lifting electric cylinder and is arranged parallel to the second lifting arm. The two ends of the second parallel link are respectively hinged to the adapter plate and the slide table; the two ends of the second lifting electric cylinder are respectively hinged to the adapter plate and the slide table.

[0019] Both the first and second electric lifting cylinders are communicatively connected to the measurement module.

[0020] According to one embodiment of the present invention, the lifting mechanism further includes a pull-out cylinder, which is communicatively connected to the measuring module. The pull-out cylinder is located between the second lifting electric cylinder and the second parallel connecting rod, and its two ends are respectively hinged to the adapter plate and the slide.

[0021] According to one embodiment of the present invention, both ends of the first lifting electric cylinder are hinged to the first lifting arm and the slide table respectively via first joint bearings;

[0022] Both ends of the second lifting electric cylinder are hinged to the adapter plate and the slide table respectively through the second joint bearing.

[0023] According to one embodiment of the present invention, the transverse drive assembly includes a linear guide pair and a lead screw and nut pair both mounted on the fixed bracket, and the linear guide pair and the lead screw and nut pair are arranged in parallel; the slide table is limited and slidably engaged with the fixed bracket through the linear guide pair;

[0024] The fixed bracket is equipped with a drive motor, which is communicatively connected to the measurement module. The output end of the drive motor is driven by the lead screw and nut pair to drive the slide table to move along the length direction of the linear guide pair.

[0025] According to one embodiment of the present invention, the linear guide pair is a linear ball guide pair, and there are several linear ball guide pairs that are parallel to each other. The slider and guide rail of the linear ball guide pair are respectively connected to the slide table and the fixed bracket.

[0026] The lead screw and nut assembly is a ball screw and nut assembly. The nut of the ball screw and nut assembly is connected to the slide table, and the lead screw of the ball screw and nut assembly is mounted on the fixed bracket for limited rotation.

[0027] The output end of the drive motor is coaxially mounted with a drive gear, and one end of the ball screw nut pair is coaxially mounted with a driven gear. The drive gear meshes with the driven gear, and the output end of the drive motor is in transmission cooperation with the ball screw nut pair through the drive gear and the driven gear.

[0028] According to one embodiment of the present invention, the device further includes a limiting and guiding mechanism for providing a limiting and guiding function during the docking of the ground flange and the arrow flange;

[0029] The guiding mechanism includes a guide sleeve installed on the arrow flange and a guide plug installed on the ground flange. The end of the guide plug near the guide sleeve is tapered. The guide plug can be inserted into the guide sleeve to provide a limiting and guiding function during the docking of the ground flange and the arrow flange.

[0030] According to one embodiment of the present invention, the device further includes a locking mechanism for locking the ground flange and the arrow flange after docking;

[0031] The locking mechanism includes a locking pin, a locking claw, a first transmission rod, a second transmission rod, and a locking cylinder; the locking pin is installed on the arrow flange, the locking cylinder is installed on the ground flange, one end of the second transmission rod is coaxially installed on the output end of the locking cylinder, the other end of the second transmission rod is hinged to one end of the first transmission rod, the other end of the first transmission rod is hinged to the locking claw, and one end of the locking claw is hinged to the ground flange;

[0032] When the ground flange and the arrow flange are connected, the locking cylinder can drive the locking claw to engage with the locking pin to lock the connected ground flange and arrow flange.

[0033] According to one embodiment of the present invention, a pin force sensor is installed at the hinge joint between the docking flange and the first parallel connecting rod, and at the hinge joint between the docking flange and the first lifting arm. The pin force sensor is used to measure in real time the force exerted on the rocket's second-stage venting connector during the docking process between the ground flange and the rocket flange.

[0034] Beneficial effects

[0035] This invention has at least the following technical effects:

[0036] This invention, through the configuration of an on-rocket flange, a ground flange, a docking flange, a lifting mechanism, a sliding table, a lateral alignment mechanism, and a flexible linkage mechanism, enables automatic docking between the rocket's second-stage fuel tank connector and the second-stage rocket body. This eliminates the need for traditional manual docking methods, thereby improving the docking efficiency between the two stages and preventing casualties caused by rocket tank explosions. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0040] Figure 3 for Figure 1 A schematic diagram of the overall structure from another angle;

[0041] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0042] Figure 5 for Figure 3 A magnified view of a section at point C;

[0043] Figure 6 for Figure 3 A magnified view of a section at point D;

[0044] Figure 7 for Figure 3 A schematic diagram of the overall structure from another angle;

[0045] Figure 8 for Figure 7 A magnified view of a section at point E in the middle;

[0046] Figure 9 for Figure 7 A magnified view of a section at point F in the middle;

[0047] Figure 10 This is a schematic diagram of the overall structure of the locking claw, the first transmission rod, the second transmission rod, and the locking cylinder in this invention.

[0048] Figure 11This is a schematic diagram of the overall structure of the flexible linkage mechanism in this invention.

[0049] Explanation of reference numerals in the attached figures:

[0050] 1. Arrow flange; 2. Ground flange; 3. Butt flange; 4. Visual sight; 5. Measurement module; 6. Flexible linkage mechanism; 601. Universal joint; 602. First stop block; 603. Spring; 604. Second stop block; 605. Tapered nut; 606. Center rod; 7. First parallel link; 8. First lifting electric cylinder; 9. First lifting arm; 10. Second lifting arm; 11. Adapter plate; 12. Second parallel link; 13. Pull-out cylinder; 14. Second lifting electric cylinder; 15. Drive motor; 16. Slide table; 17. Lead screw and nut pair; 18. Linear guide pair; 19. Fixed bracket; 20. Guide sleeve; 21. Locking pin; 22. Guide plug-in post; 23. Locking claw; 24. First transmission rod; 25. Second transmission rod; 26. Locking cylinder; 27. Pin force sensor. Detailed Implementation

[0051] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and to exemplify the principles of the present invention, and are not configured to limit the present invention. In addition, the structural components in the drawings are not necessarily drawn to scale. For example, the dimensions of some structural components or regions in the drawings may be enlarged for other structural components or regions to aid in the understanding of the embodiments of the present invention.

[0052] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the embodiments of the present invention. In the description of the present invention, it should be noted that, unless otherwise stated, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0053] Furthermore, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure or component that includes a list of elements includes not only those elements but also other structural elements that are not expressly listed or inherent to the structure or component. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or apparatus that includes the element.

[0054] Spatial relation terms such as "below," "under," "under," "low," "above," "on," and "high" are used for descriptive convenience to explain the positioning of one element relative to a second element, indicating that these terms are intended to cover different orientations of the device, in addition to those different from those shown in the figure. Furthermore, phrases such as "one element on / below another element" can indicate that two elements are in direct contact, or that there are other elements between the two elements. In addition, terms such as "first" and "second" are also used to describe individual elements, areas, parts, etc., without specifically indicating order or sequence, and should not be considered restrictive. Similar terms are used throughout the description to represent similar elements.

[0055] It will be apparent to those skilled in the art that the present invention can be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention.

[0056] In the following embodiments, there may be descriptions such as "this device". It should be understood that "this device" refers to the device provided by the present invention for automatically docking and detaching the rocket's second-stage venting connector.

[0057] like Figures 1-11 As shown, this embodiment provides a device for automatically docking and detaching the rocket's second-stage venting connector.

[0058] like Figure 1 , Figure 3 and Figure 7 As shown, this device includes at least an on-rocket flange 1, a ground flange 2, a docking flange 3, a lifting mechanism, a sliding table 16, a lateral alignment mechanism, and a flexible linkage mechanism 6, wherein:

[0059] In this embodiment, the on-rocket flange 1 can be used to install on the second-stage rocket body (not shown in the figure). The second-stage rocket body is a prior art known in the art, and the on-rocket flange 1 installed on the second-stage rocket body is correspondingly configured with the filling port (not shown in the figure) on the second-stage rocket body.

[0060] In this embodiment, as Figure 2 As shown, the ground flange 2 can be connected to the docking flange 3 through the flexible linkage mechanism 6, and the docking flange 3 can be connected to the lifting mechanism, thereby realizing the interconnection of the ground flange 2, the docking flange 3 and the lifting mechanism.

[0061] In this embodiment, as Figure 1 As shown, the lifting mechanism can be integrally mounted on the slide table 16. Preferably, the lifting mechanism is mounted on the top of the slide table 16.

[0062] In one embodiment of the present invention, the lateral alignment mechanism includes at least a fixed bracket 19 and a lateral drive assembly mounted on the fixed bracket 19. The slide table 16 is capable of sliding and limiting engagement with the fixed bracket 19 via the lateral drive assembly, and the fixed bracket 19 can be used to connect to the swing arm (not shown in the figure) of the rocket service tower. The swing arm of the rocket service tower is prior art known in the art and will not be described in detail here.

[0063] In this embodiment, as Figure 1 As shown, the fixed bracket 19 can be a frame structure welded from multiple square beams, and no special limitation is made here.

[0064] In one embodiment of the present invention, the device further includes a visual sight 4 and a measurement module 5, and the measurement module 5 is communicatively connected to both the lifting mechanism and the lateral alignment mechanism (this communication connection can be any connection known in the art capable of signal transmission). Wherein, such as Figure 2 , Figure 4 and Figure 8 As shown, the measurement module 5 is installed on the top of the docking flange 3, and the visual sight 4 is installed on the top of the ground flange 2 and is correspondingly set with the measurement module 5. The measurement module 5 can be used to measure the pixel deviation between the reflective label (not shown in the figure, and the reflective label is prior art known in the art) on the second-stage rocket body and the visual sight 4, and obtain the position deviation signal in the physical coordinate system through coordinate transformation, and then transmit the deviation signal to the lifting mechanism and the lateral alignment mechanism.

[0065] In this embodiment, since the measurement module 5 can measure the pixel deviation signal between the reflective label on the second-stage rocket body and the visual sight 4 and transmit the deviation signal to the lifting mechanism and the lateral alignment mechanism, the lifting mechanism can drive the docking flange 3 and the ground flange 2 to move in the longitudinal plane according to the deviation signal. The lateral drive assembly can drive the slide table 16 to move laterally according to the deviation signal. In this way, the positions of the ground flange 2 and the docking flange 3 relative to the rocket flange 1 can be adjusted by the lifting mechanism and the lateral drive assembly, so that the ground flange 2 can accurately dock with the rocket flange 1. Among them, the flexible linkage mechanism 6 can provide flexible compensation between the ground flange 2 and the docking flange 3 during the docking process of the ground flange 2 and the rocket flange 1.

[0066] In addition, the measurement module 5 can also communicate with both the lifting mechanism and the lateral alignment mechanism via an external controller (not shown in the figure, and the external controller is prior art known in the art), without any particular limitation.

[0067] Specifically, in this embodiment, such as Figure 11As shown, the flexible linkage mechanism 6 includes a universal joint 601 (the universal joint 601 can also be a cross-hooker joint), a first stop 602, a spring 603, a second stop 604, a tapered nut 605, and a center rod 606, wherein:

[0068] like Figure 4 and Figure 11 As shown, the two ends of the universal joint 601 are fixedly connected to the ground flange 2 and the first stop 602, respectively. The two ends of the center rod 606 are fixedly connected to the tapered nut 605 and the end of the first stop 602 away from the universal joint 601, respectively. The spring 603 and the second stop 604 are both slidably sleeved on the center rod 606. The two ends of the spring 603 are fixedly connected to the end of the second stop 604 and the end of the first stop 602 away from the universal joint 601, respectively. The mating flange 3 has a tapered nut mounting hole. The tapered surface of the tapered nut 605 mates with the tapered nut mounting hole to achieve mutual connection between the tapered nut 605 and the tapered nut mounting hole. The end of the second stop 604 away from the spring 603 abuts against the mating flange 3.

[0069] During the docking process between ground flange 2 and onboard flange 1, if a force still exists that causes ground flange 2 and docking flange 3 to move closer together after docking, docking flange 3 will push the second stop 604 and compress spring 603. This provides flexible compensation between ground flange 2 and docking flange 3, thus preventing damage to the second-stage rocket body or the device during docking. When spring 603 is compressed, the tapered surface of tapered nut 605 disengages from the tapered nut mounting hole, providing some room for movement of docking flange 3 due to external factors (such as wind load). This allows for slight adjustment of the relative position of docking flange 3 and ground flange 2, providing relative position error compensation for docking flange 3 during docking. Meanwhile, the fit between the tapered surface of the tapered nut 605 and the tapered nut mounting hole enables the tapered nut 605 to automatically center and spring back to its original position, ensuring the consistency of the relative positions of the ground flange 2 and the docking flange 3 during the docking process of the ground flange 2 and the arrow flange 1.

[0070] In this embodiment, as Figure 2 As shown, the outer contours of the ground flange 2 and the docking flange 3 can both be square structures, and the number of flexible linkage mechanisms 6 can preferably be four. The four flexible linkage mechanisms 6 can be installed sequentially at the four included corners of the ground flange 2 and the docking flange 3, without any particular limitation.

[0071] In addition, spring 603 can be replaced with disc spring, and universal joint 601 can be replaced with ball joint assembly, without any particular limitation.

[0072] Specifically, in one embodiment of the present invention, such as Figure 1 , Figure 3 and Figure 7 As shown, the lifting mechanism includes at least a first parallel link 7, a first electric lifting cylinder 8, a first lifting arm 9, a second lifting arm 10, an adapter plate 11, a second parallel link 12, and a second electric lifting cylinder 14, wherein:

[0073] In this embodiment, the two ends of the first parallel connecting rod 7 are hinged to the docking flange 3 and the adapter plate 11, respectively. The first lifting arm 9 is located directly below the first parallel connecting rod 7, and the first lifting arm 9 is parallel to the first parallel connecting rod 7. The two ends of the first lifting arm 9 are hinged to the docking flange 3 and the adapter plate 11, respectively. The two ends of the first lifting electric cylinder 8 are hinged to the bottom end of the first lifting arm 9 and the slide table 16, respectively. One end of the second lifting arm 10 is hinged to the slide table 16, and the other end of the second lifting arm 10 is hinged to the hinge point of the first lifting arm 9 and the adapter plate 11. That is, the hinge positions of the second lifting arm 10, the first lifting arm 9, and the adapter plate 11 are the same, and the second lifting arm 10 is located on one side of the first lifting electric cylinder 8 (i.e., Figure 1 (Right side of the first lifting electric cylinder 8).

[0074] Preferably, the first lifting arm 9 and the second lifting arm 10 can both be frame structures with arc-shaped beams, which can further improve the structural strength of the first lifting arm 9 and the second lifting arm 10, and thus improve the overall structural strength of the device. No particular limitation is made here.

[0075] In this embodiment, the second parallel link 12 is located on the side of the second lifting arm 10 away from the first lifting electric cylinder 8 (i.e., Figure 1 (The second parallel link 12 is located on the right side of the second lifting arm 10 and is arranged parallel to the second lifting arm 10. The two ends of the second parallel link 12 are hinged to the adapter plate 11 and the slide table 16, respectively.)

[0076] In this embodiment, the second lifting electric cylinder 14 is located on the side of the second parallel connecting rod 12 away from the second lifting arm 10 (i.e., Figure 1 (on the right side of the second parallel link 12), and the two ends of the second lifting electric cylinder 14 are respectively hinged to the adapter plate 11 and the slide table 16.

[0077] In this embodiment, both the first lifting electric cylinder 8 and the second lifting electric cylinder 14 are communicatively connected to the measurement module 5, so that the lengths of the first lifting electric cylinder 8 and the second lifting electric cylinder 14 can be adjusted in real time by means of the deviation signal measured by the measurement module 5, thereby causing the docking flange 3 and the ground flange 2 to move in the longitudinal plane and adjust their positions in the longitudinal plane.

[0078] In this embodiment, as Figure 1 As shown, the lifting mechanism also includes a pull-out cylinder 13, which is also communicatively connected to the measurement module 5. The pull-out cylinder 13 is located between the second lifting electric cylinder 14 and the second parallel connecting rod 12, and its two ends are hinged to the adapter plate 11 and the slide table 16, respectively.

[0079] In this embodiment, the pull-out cylinder 13 can cooperate with the second lifting electric cylinder 14 to jointly adjust the position of the docking flange 3 and the ground flange 2 in the longitudinal plane. For example, the extension and retraction of the second lifting electric cylinder 14 and the pull-out cylinder 13 can jointly realize the movement of the second lifting arm 10, and the attitude angle of the adapter plate 11 is kept constant by the second parallel link 12. The extension and retraction of the first lifting electric cylinder 8 can make the first lifting arm 9 pitch, and the attitude angle of the docking flange 3 is kept constant by the first parallel link 7. Therefore, through the coordinated movement of the first lifting electric cylinder 8, the second lifting electric cylinder 14 and the pull-out cylinder 13, the movement of the docking flange 3 and the ground flange 2 in the longitudinal plane can be realized.

[0080] Furthermore, if the detachment of the ground flange 2 from the arrow flange 1 malfunctions, requiring de-energization (emergency power cut-off), the extension and retraction of the pull-out cylinder 13 can quickly retract the ground flange 2. Simultaneously, the pull-out cylinder 13 can serve as a backup to the first lifting electric cylinder 8 and the second lifting electric cylinder 14, improving the reliability of the device.

[0081] Furthermore, both ends of the first lifting electric cylinder 8 are hinged to the first lifting arm 9 and the slide table 16 respectively via first joint bearings. Both ends of the second lifting electric cylinder 14 are hinged to the adapter plate 11 and the slide table 16 respectively via second joint bearings.

[0082] In this embodiment, the spherical bearing is a prior art known in the art, which can realize multi-directional load and rotation at a certain angle, and will not be described in detail here.

[0083] In this embodiment, the lifting mechanism lowers the lateral degree of freedom, allowing for reduced attitude angle adjustment degrees of freedom while maintaining normal adjustment functionality compared to existing swing-arm and sliding-rail docking and detachment devices. For example, existing swing-arm and sliding-rail docking and detachment devices require at least six degrees of freedom to achieve normal adjustment, while this device only requires three. Therefore, this device not only meets the control degree of freedom requirements for high-altitude docking operations of the rocket's second-stage fueling connector but also adapts to the swaying of the second-stage rocket body and the follow-up movements during fueling and descent. Furthermore, compared to existing swing-arm and sliding-rail docking and detachment devices, this device is lighter and has a stronger load-bearing capacity.

[0084] In one embodiment of the present invention, such as Figure 6 As shown, the transverse drive assembly includes at least a linear guide pair 18 and a lead screw and nut pair 17, both mounted on the fixed bracket 19, and the linear guide pair 18 and the lead screw and nut pair 17 are arranged in parallel. That is, the slide table 16 can be limited and slidably engaged with the fixed bracket 19 through the linear guide pair 18.

[0085] Furthermore, in order to drive the lead screw and nut assembly 17 to rotate, such as Figure 9 As shown, a drive motor 15 is mounted on the fixed bracket 19, and the drive motor 15 is communicatively connected to the measurement module 5. The output end of the drive motor 15 is engaged with the lead screw and nut pair 17, thereby driving the slide table 16 to move along the length direction of the linear guide pair 18 through the lead screw and nut pair 17. That is, the drive motor 15 can drive the slide table 16 to move in the lateral direction in real time through the lead screw and nut pair 17 based on the deviation signal measured by the measurement module 5.

[0086] Preferably, the linear guide pair 18 is a linear ball bearing guide pair, and there are several linear ball bearing guide pairs that are parallel to each other. The slider and guide rail of the linear ball bearing guide pair are connected to the slide table 16 and the fixed bracket 19, respectively. The lead screw and nut pair 17 is a ball screw and nut pair, with the nut connected to the slide table 16 and the lead screw of the ball screw and nut pair mounted on the fixed bracket 19 for limited rotation. By setting up the linear ball bearing guide pairs and the ball screw and nut pairs, the sliding friction force inside the linear guide pair 18 and the lead screw and nut pair 17 can be converted into rolling friction force.

[0087] More preferably, such as Figure 1 As shown, the number of linear ball guide pairs can be four, and there is no particular limitation here. A slotted hole (not shown in the figure) can be provided between the guide rail of the linear ball guide pair and the fixed bracket 19, so as to avoid over-constraint between the guide rail of the linear ball guide pair and the fixed bracket 19.

[0088] In this embodiment, as Figure 9 As shown, a drive gear is coaxially mounted on the output end of the drive motor 15, and a driven gear is coaxially mounted on one end of the ball screw nut pair. The drive gear and the driven gear mesh with each other, that is, the output end of the drive motor 15 can be driven and engaged with the ball screw nut pair through the drive gear and the driven gear.

[0089] When the slide 16 needs to move laterally, the rotation of the drive motor 15 will cause the lead screw of the ball screw nut pair to rotate, thereby enabling the slide 16 to move along the length of the linear ball guide pair. It should be understood that moving the slide 16 laterally is equivalent to adjusting the horizontal position of the docking flange 3 and the ground flange 2, so that the ground flange 2 can accurately dock with the arrow flange 1.

[0090] In one embodiment of the present invention, the device further includes a limiting and guiding mechanism, which can be used to provide limiting and guiding functions between the ground flange 2 and the arrow flange 1 during the docking process.

[0091] Specifically, in this embodiment, such as Figure 2 and Figure 5 As shown, the guiding mechanism includes a guide sleeve 20 mounted on the arrow flange 1 and a guide insertion post 22 mounted on the ground flange 2. The end of the guide insertion post 22 near the guide sleeve 20 has a tapered structure. During the docking process between the ground flange 2 and the arrow flange 1, the guide insertion post 22 can be inserted into the guide sleeve 20, thereby providing a limiting and guiding function between the ground flange 2 and the arrow flange 1 during the docking process.

[0092] More specifically, such as Figure 2 As shown, the number of guide sleeves 20 and guide plugs 22 can both be two, and they are symmetrically arranged on the arrow flange 1 and the ground flange 2 respectively, without any special limitation.

[0093] In one embodiment of the present invention, the device further includes a locking mechanism, which can be used to lock the ground flange 2 and the arrow flange 1 after docking.

[0094] Specifically, in this embodiment, such as Figure 4 , Figure 8 and Figure 10As shown, the locking mechanism includes at least a locking pin 21, a locking claw 23, a first transmission rod 24, a second transmission rod 25, and a locking cylinder 26. The locking pin 21 is mounted on the arrow flange 1, the locking cylinder 26 is mounted on the ground flange 2, one end of the second transmission rod 25 is coaxially mounted on the output end of the locking cylinder 26, the other end of the second transmission rod 25 is hinged to one end of the first transmission rod 24, the other end of the first transmission rod 24 is hinged to the locking claw 23, and one end of the locking claw 23 (i.e., the end away from its claw portion) is hinged to the ground flange 2. When the ground flange 2 and the arrow flange 1 are connected (when the connection distance between the ground flange 2 and the arrow flange 1 is less than or equal to the set value), the locking cylinder 26 can drive the locking claw 23 to move and make the locking claw 23 engage with the locking pin 21 (even if the locking claw 23 hooks the locking pin 21), and thus can be used to lock the connected ground flange 2 and arrow flange 1.

[0095] In this embodiment, as Figure 2 As shown, there can be two locking mechanisms, symmetrically arranged on the arrow flange 1 and the ground flange 2. Each locking mechanism can have two locking claws 23, therefore the number of locking pins 21 installed on the arrow flange 1 will be four.

[0096] In this embodiment, the locking mechanism integrates the capture and locking functions of the second-stage rocket loading / unloading connector flange, increasing the positional error tolerance range of the capture and locking. This allows for locking action to be initiated within a larger docking error range, avoiding the cumbersome manual high-precision adjustment and assisted docking locking required in existing technologies. This provides a solid technical foundation and improves efficiency for the automatic docking of the second-stage rocket loading / unloading connector. Furthermore, since the locking mechanism uses a locking cylinder 26, continuous air supply is required in the locking state. Without air supply, the locking cylinder 26 does not provide locking force, enabling rapid separation (i.e., detachment) of the rocket flange 1 and the ground flange 2 even without air supply, significantly improving the speed and reliability of the detachment process.

[0097] Furthermore, such as Figure 2 As shown, pin force sensors 27 are installed at the hinge joints of the docking flange 3 and the first parallel connecting rod 7, and at the hinge joints of the docking flange 3 and the first lifting arm 9. That is, the docking flange 3 and the first parallel connecting rod 7, and the docking flange 3 and the first lifting arm 9, are hinged together by pin force sensors 27. The pin force sensors 27 are used to measure in real time the force exerted on the rocket's second-stage venting connector during the docking process between the ground flange 2 and the rocket flange 1.

[0098] In addition, the pin force sensor 27 can also be replaced with a six-dimensional force sensor, without any particular limitation.

[0099] The most preferred operating process of this device will be briefly described below with reference to the above embodiments:

[0100] First, the deployment position needs to be calibrated. During the initial docking of ground flange 2 and rocket flange 1, the lifting mechanism and lateral drive assembly can be controlled via a handheld remote control (not shown in the figure, but a known component in the art, capable of communicating with all electrical components of the device), thereby driving ground flange 2 to move and dock with rocket flange 1. When both are aligned and the distance is between 150mm and 200mm, the returned image from measurement module 5 is observed. If the complete outline of the visual label on the second-stage rocket body can be clearly obtained, the joint coordinates of the device at this point are calibrated.

[0101] Then, the lifting mechanism and lateral drive assembly are controlled again via handheld remote control, and the ground flange 2 is manually docked in the sequence of "lateral movement → height movement → docking". After docking, the locking cylinder 26 is activated via handheld remote control, and the locking claw 23 engages with the locking pin 21, thereby locking the ground flange 2 and the arrow flange 1. During the docking process between the ground flange 2 and the arrow flange 1, the system of this device will remember the docking height and distance.

[0102] Then, during the refueling process after docking, all electrical components of this device will be de-enabled, at which point the device can move freely with the second-stage rocket body.

[0103] Finally, when the detachment operation is required, the locking cylinder 26 is activated and the locking claw 23 disengages from the locking pin 21. Then, the pull-out cylinder 13 is activated, which enables the ground flange 2 to quickly separate from the arrow flange 1, thus quickly completing the detachment operation.

[0104] In the foregoing, it should be understood that when this device receives a remote control automatic docking signal from a handheld remote controller, it can automatically calibrate its working state and relative position. The measurement module 5 can acquire the relative positional deviation between the ground flange 2 and the second-stage rocket body, and control the lifting mechanism and lateral drive assembly to enable the ground flange 2 to complete position adjustments in multiple directions. When the docking error meets the design value, the docking operation can be completed with the assistance of the guide sleeve 20 and the guide plug 22. When the proximity switch in this device (not shown in the figure, and the proximity switch is prior art known in the art) receives a trigger signal, the locking mechanism can capture and lock in real time, and return a locking position signal, thereby quickly locking the ground flange 2 and the rocket flange 1.

[0105] Furthermore, it should be understood that the above description is merely the most preferred operating process of this device, and not the only operating process of this device. In other words, the above-described operating process does not constitute any limitation on the present invention.

[0106] It should be understood that the above-described embodiments or examples of the present invention can be combined with each other and have corresponding technical effects.

[0107] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for automatically docking and detaching the second-stage venting connector of a rocket, characterized in that, Includes an on-rocket flange (1), a ground flange (2), a docking flange (3), a lifting mechanism, a sliding table (16), a lateral alignment mechanism, and a flexible linkage mechanism (6), wherein: The on-rocket flange (1) is used to be installed on the body of the second-stage rocket; the ground flange (2) is connected to the docking flange (3) through the flexible linkage mechanism (6), the docking flange (3) is connected to the lifting mechanism, and the lifting mechanism is installed on the slide (16). The lateral alignment mechanism includes a fixed bracket (19) and a lateral drive assembly mounted on the fixed bracket (19). The slide (16) is limited and slidably engaged with the fixed bracket (19) through the lateral drive assembly. The device also includes a visual sight (4) and a measurement module (5). The measurement module (5) is communicatively connected to both the lifting mechanism and the lateral alignment mechanism. The measurement module (5) is installed on the docking flange (3), and the visual sight (4) is installed on the ground flange (2) and is correspondingly set with the measurement module (5). The measurement module (5) is used to measure the deviation between the second-stage rocket body and the visual sight (4) and obtain the deviation signal. The lifting mechanism includes a first parallel link (7), a first lifting electric cylinder (8), a first lifting arm (9), a second lifting arm (10), a transfer plate (11), a second parallel link (12), and a second lifting electric cylinder (14); the first lifting electric cylinder (8) and the second lifting electric cylinder (14) are both communicatively connected to the measurement module (5); The lifting mechanism is used to drive the docking flange (3) to move in the longitudinal plane according to the deviation signal. The lateral drive assembly is used to drive the slide (16) to move laterally according to the deviation signal to adjust the position of the ground flange (2) and dock it with the arrow flange (1). The flexible linkage mechanism (6) is used to provide flexible compensation during the docking process of the ground flange (2) and the arrow flange (1).

2. The device for automatically docking and detaching the rocket second-stage venting connector according to claim 1, characterized in that, The flexible linkage mechanism (6) includes a universal joint (601), a first stop (602), a spring (603), a second stop (604), a tapered nut (605), and a center rod (606), wherein: The two ends of the universal joint (601) are respectively connected to the ground flange (2) and the first stop (602). The two ends of the center rod (606) are respectively connected to the tapered nut (605) and the end of the first stop (602) away from the universal joint (601). The spring (603) and the second stop (604) are both slidably sleeved on the center rod (606). The two ends of the spring (603) are respectively connected to the end of the second stop (604) and the end of the first stop (602) away from the universal joint (601). The docking flange (3) has a tapered nut mounting hole, the tapered surface of the tapered nut (605) is matched with the tapered nut mounting hole, and the end of the second stop (604) away from the spring (603) abuts against the docking flange (3).

3. The device for automatically docking and detaching the rocket second-stage venting connector according to claim 1, characterized in that, The two ends of the first parallel link (7) are respectively hinged to the docking flange (3) and the adapter plate (11). The first lifting arm (9) is located below the first parallel link (7) and is arranged parallel to the first parallel link (7). The two ends of the first lifting arm (9) are respectively hinged to the docking flange (3) and the adapter plate (11). The two ends of the first lifting electric cylinder (8) are respectively hinged to the first lifting arm (9) and the slide (16); one end of the second lifting arm (10) is hinged to the slide (16), and the other end of the second lifting arm (10) is hinged to the hinge of the first lifting arm (9) and the adapter plate (11). The second lifting arm (10) is located on one side of the first lifting electric cylinder (8). The second parallel link (12) is located on the side of the second lifting arm (10) away from the first lifting electric cylinder (8) and is arranged parallel to the second lifting arm (10). The two ends of the second parallel link (12) are respectively hinged to the adapter plate (11) and the slide (16); the two ends of the second lifting electric cylinder (14) are respectively hinged to the adapter plate (11) and the slide (16).

4. The device for automatically docking and detaching the rocket second-stage venting connector according to claim 3, characterized in that, The lifting mechanism also includes a pull-out cylinder (13), which is communicatively connected to the measuring module (5). The pull-out cylinder (13) is located between the second lifting electric cylinder (14) and the second parallel connecting rod (12), and its two ends are respectively hinged to the adapter plate (11) and the slide (16).

5. The device for automatically docking and detaching the rocket second-stage venting connector according to claim 3, characterized in that, Both ends of the first lifting electric cylinder (8) are hinged to the first lifting arm (9) and the slide (16) respectively through the first joint bearing; Both ends of the second lifting electric cylinder (14) are hinged to the adapter plate (11) and the slide (16) respectively through the second joint bearing.

6. The device for automatically docking and detaching the rocket second-stage venting connector according to claim 1, characterized in that, The transverse drive assembly includes a linear guide pair (18) and a lead screw and nut pair (17) both mounted on the fixed bracket (19), and the linear guide pair (18) and the lead screw and nut pair (17) are arranged in parallel; the slide table (16) is limited and slidably engaged with the fixed bracket (19) through the linear guide pair (18); The fixed bracket (19) is equipped with a drive motor (15), which is communicatively connected to the measurement module (5). The output end of the drive motor (15) is driven by the lead screw and nut pair (17) to drive the slide (16) to move along the length direction of the linear guide pair (18) through the lead screw and nut pair (17).

7. The device for automatically docking and detaching the rocket second-stage venting connector according to claim 6, characterized in that, The linear guide pair (18) is a linear ball guide pair. There are several linear ball guide pairs that are parallel to each other. The slider and guide rail of the linear ball guide pair are respectively connected to the slide table (16) and the fixed bracket (19). The lead screw nut pair (17) is a ball screw nut pair. The nut of the ball screw nut pair is connected to the slide (16). The lead screw of the ball screw nut pair is limited to rotate and installed on the fixed bracket (19). The output end of the drive motor (15) is coaxially mounted with a drive gear, and one end of the ball screw nut pair is coaxially mounted with a driven gear. The drive gear meshes with the driven gear, and the output end of the drive motor (15) is in transmission cooperation with the ball screw nut pair through the drive gear and the driven gear.

8. The device for automatically docking and detaching the rocket second-stage venting connector according to claim 1, characterized in that, The device also includes a limiting and guiding mechanism, which provides a limiting and guiding function during the docking of the ground flange (2) and the arrow flange (1); The guiding mechanism includes a guide sleeve (20) installed on the arrow flange (1) and a guide plug (22) installed on the ground flange (2). The end of the guide plug (22) near the guide sleeve (20) is tapered. The guide plug (22) can be inserted into the guide sleeve (20) to provide a limiting and guiding function during the docking of the ground flange (2) and the arrow flange (1).

9. The device for automatically docking and detaching the second-stage venting connector of a rocket according to claim 1, characterized in that, The device also includes a locking mechanism for locking the ground flange (2) and the arrow flange (1) after docking. The locking mechanism includes a locking pin (21), a locking claw (23), a first transmission rod (24), a second transmission rod (25), and a locking cylinder (26); the locking pin (21) is installed on the arrow flange (1), the locking cylinder (26) is installed on the ground flange (2), one end of the second transmission rod (25) is coaxially installed on the output end of the locking cylinder (26), the other end of the second transmission rod (25) is hinged to one end of the first transmission rod (24), the other end of the first transmission rod (24) is hinged to the locking claw (23), and one end of the locking claw (23) is hinged to the ground flange (2); When the ground flange (2) and the arrow flange (1) are connected, the locking cylinder (26) can drive the locking claw (23) to move and make the locking claw (23) engage with the locking pin (21) to lock the connected ground flange (2) and the arrow flange (1).

10. The device for automatically docking and detaching the rocket second-stage venting connector according to claim 3, characterized in that, Pin force sensors (27) are installed at the hinge joint between the docking flange (3) and the first parallel connecting rod (7) and at the hinge joint between the docking flange (3) and the first lifting arm (9). The pin force sensors (27) are used to measure in real time the force exerted on the rocket's second-stage venting connector during the docking process between the ground flange (2) and the rocket flange (1).

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