Flexible docking device for liquid rocket engine turbine pump casing

Abstract

This invention discloses a flexible docking device for a liquid rocket engine turbopump housing, comprising: a cylinder assembly and an axial motion device connected via a slide rail structure; an actuating rod of the cylinder assembly fixedly connected to a planar floating device; a locking mechanism for locking or unlocking the axial motion device and the planar floating device; when locked, the cylinder assembly can only drive the planar floating device to move axially, and the planar floating device cannot swing relative to the cylinder assembly; after unlocking, the cylinder assembly can not only drive the planar floating device to move axially, but the planar floating device can also swing relative to the cylinder assembly; the bottom of the planar floating device and a circumferential rotating device are fixedly connected; the circumferential rotating device secures the external docking product. Using the flexible docking device for a liquid rocket engine turbopump housing provided by this invention for component docking and assembly is simple in process and convenient in operation, effectively improving the assembly efficiency and accuracy of the turbopump and reducing the labor intensity of workers.

Description

Technical Field

[0001] This invention belongs to the field of rocket engine turbopump assembly technology, and relates to a flexible docking device for the housing of a liquid rocket engine turbopump and its usage method. Background Technology

[0002] Currently, liquid rocket engines widely employ pump-pressurized propellant supply systems, with the turbopump being a key component, often referred to as the "heart" of the rocket engine. The performance and reliability of the turbopump directly impact the engine's and even the launch vehicle's carrying capacity and reliability. Turbop assembly requires the docking of large components. Due to the high precision requirements, the large mass of the docking components, and their often eccentric structure, the docking process is extremely challenging. Traditionally, a crane is manually operated to move the docking components. Once the parts are lifted above the docking area, the position of the components in all four directions (front, back, left, and right) is manually observed and adjusted. Because of the eccentric structure, this process requires repeated adjustments before the crane is slowly lowered to dock the components. The entire docking process is time-consuming, inefficient, labor-intensive, and poses safety hazards. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a flexible docking device for the casing of a liquid rocket engine turbopump and its usage method. The process is simple and easy to operate, which can effectively improve the quality of the turbopump and reduce labor intensity.

[0004] The technical solution adopted in this invention is: A flexible docking device for a liquid rocket engine turbopump housing includes: a cylinder assembly, an axial motion device, a locking mechanism, a planar floating device, and a circumferential rotating device; the cylinder assembly, the planar floating device, and the circumferential rotating device are arranged sequentially along the axial direction; the axial motion device is fitted onto the outside of the cylinder assembly, and the cylinder assembly and the axial motion device are connected by a slide rail structure; the outer shell of the cylinder assembly is fixedly connected to the external structure; the actuating rod of the cylinder assembly is fixedly connected to the planar floating device; the locking mechanism is installed on the axial motion device; the locking mechanism is used to lock or unlock the axial motion device and the planar floating device. When locked, the cylinder assembly can only drive the planar floating device to move axially, and the planar floating device cannot swing relative to the cylinder assembly; after unlocking and releasing, the cylinder assembly can not only drive the planar floating device to move axially, but the planar floating device can also swing relative to the cylinder assembly. The bottom of the planar floating device is fixedly connected to the circumferential rotating device; an external mechanical interface is provided below the circumferential rotating device for fixing external docking products.

[0005] Preferably, the planar floating device is provided with a radially movable bearing, and the planar floating device can adjust the radial positional relationship between the cylinder assembly and the circumferential rotating device.

[0006] Preferably, the cylinder assembly includes: an upper sealing cover, a piston rod, a cylinder barrel, a lower sealing cover, a cylinder fixing plate, an upper support plate, a fixed slide rail, and a connecting rod; the upper and lower ends of the cylinder barrel are respectively connected to the upper sealing cover and the lower sealing cover; the connecting rod is located on the outside of the cylinder barrel, and the connecting rod is used to fix the upper sealing cover, the cylinder barrel, and the lower sealing cover into an integral structure; the lower sealing cover is fixedly connected to the cylinder fixing plate; both sides of the lower end face of the cylinder fixing plate are fixedly connected to the fixed slide rail through an insert-fixed upper support plate; the fixed slide rail can slide relative to the axial movement device; the cylinder fixing plate is fixedly connected to the external structure; the cylinder piston rod is fitted inside the cylinder barrel; the bottom of the cylinder piston rod passes through the lower sealing cover and is fixedly connected to the planar floating device.

[0007] Preferably, the axial motion device includes: a movable slide rail, a first fixed plate, and a second fixed plate; the movable slide rail is fixedly connected to the first fixed plate; the movable slide rail is connected to the fixed slide rail of the cylinder assembly through a slide rail structure; the second fixed plate is fitted inside the first fixed plate and fixedly connected; the second fixed plate is supported on the bottom of the upper support plate of the cylinder assembly; the first fixed plate is connected to the locking mechanism through a threaded pair.

[0008] Preferably, the movable slide rail is a flat plate structure; movable slide tracks are machined on both sides of the movable slide rail, and the movable slide tracks cooperate with the slide track structure of the fixed slide rail; multiple connecting holes are machined on the side surface of the movable slide rail, and the connecting holes are used for fixed connection with the first fixed plate.

[0009] Preferably, the locking mechanism includes: a locking screw and a rotating handle; the locking screw is connected to the first fixed plate of the axial motion device through a threaded pair; one end of the locking screw is machined with a limiting structure that mates with the end face of the planar floating device, and one end of the locking screw passes through the first fixed plate of the axial motion device and abuts against the end face of the planar floating device, thereby locking and fixing the axial motion device and the planar floating device, so that the cylinder assembly can only drive the planar floating device to move axially, and the planar floating device cannot swing relative to the cylinder assembly; The other end of the locking screw is connected and fixed to the rotating handle.

[0010] Preferably, it further includes: a limiting nut; the limiting nut is connected to the locking screw through a threaded pair to limit the screwing depth of the locking screw.

[0011] Preferably, the planar floating device includes: a swing plate, an upper limit cover, a floating bearing outer ring, an outer ring fixing plate, a floating bearing inner ring, an inner ring connecting plate, a second ball bearing, a lower support plate, a hinge joint, and a fixing pin; the top of the hinge joint is connected to the piston rod of the cylinder assembly via a threaded pair; the bottom of the hinge joint passes through the second fixing plate of the cylinder assembly and is connected to the swing plate via a threaded pair, the hinge joint being able to drive the swing plate to swing relative to the cylinder assembly; the floating bearing outer ring is fitted between the floating bearing inner ring and the outer ring fixing plate; the upper limit cover, the floating bearing outer ring, and the inner ring connecting plate are arranged sequentially along the axial direction; the upper limit cover is fixedly connected to the top of the floating bearing inner ring; the bottom of the floating bearing inner ring is connected to... The inner ring connecting plate is fixedly connected; the outer ring of the floating bearing is fixedly connected to the outer ring fixing plate; multiple second balls are provided between the outer ring of the floating bearing and the upper limit cover; multiple second balls are provided between the outer ring of the floating bearing and the inner ring connecting plate; the top of the outer ring fixing plate is fixedly connected to the bottom of the lower support plate; the top of the lower support plate is fixedly connected to the bottom of the swing plate; multiple lower support plates are provided between the swing plate and the outer ring fixing plate; the outer ring fixing plate and the inner ring connecting plate are fixedly connected by a fixing pin parallel to the axial direction in the outer edge area; there is a gap between the outer ring of the floating bearing and the inner ring of the floating bearing, and after the fixing pin is removed, the inner ring of the floating bearing can move radially relative to the outer ring of the floating bearing.

[0012] Preferably, the center of the swing plate is machined with a threaded hole, and the threaded hole of the swing plate is connected to the hinge joint through a threaded pair; the two sides of the lower end face of the swing plate are machined with locking grooves, which are inclined surfaces and cooperate with the limiting structure of the locking mechanism. The swing plate has multiple threaded holes for fixed connection with the lower support plate.

[0013] Preferably, the space between the top end face of the piston and the upper sealing cover is the first cavity, and the space between the bottom end face of the piston and the lower sealing cover is the second cavity. An external air source fills the first cavity through the upper sealing cover, pushing the cylinder piston rod downward to drive the planar floating device to move. When the planar floating device stops moving, the external air source switches its channel and fills the second cavity through the lower sealing cover to achieve axial force balance of the cylinder piston rod, so that the planar floating device is in a floating state.

[0014] The advantages of this invention compared to the prior art are as follows: 1) The floating docking device for assembling parts in this invention has a docking interface. The first gear is driven to rotate by external power, and the power is input to the second gear through the transmission belt, which drives the quick-change disc and the parts installed below to rotate together, so as to realize the circumferential position adjustment of the docking parts and the adjustment accuracy is high.

[0015] 2) The floating docking device for assembling parts of the present invention achieves axial downward movement of the cylinder piston rod and the lower component by inflating the cylinder piston rod with air above it, and the moving slide rail slides with the fixed slide rail, which plays a guiding role; by inflating the cylinder piston rod with air below it, the axial force on the cylinder piston rod is balanced, so that the cylinder piston rod and the lower moving component are in an axial floating state. The operator can move the cylinder piston rod and the lower moving component downward by applying a little force on the operating handle, reducing the labor intensity of the workers.

[0016] 3) The floating docking device for assembling parts of the present invention can be operated by rotating the handles on the left and right sides of the swing plate, which will cause the locking screw to rotate outward, thereby untying the second fixed plate and the swing plate. Then, the operating handle can be moved to make the swing plate swing around the hinge joint space, changing the angle between the quick-change plate of the component below the swing plate and the axis. The operation is simple.

[0017] 4) The floating docking device for assembling parts of the present invention can remove the fixing pin, thereby unbinding the outer ring fixing plate and the inner ring connecting plate. The mechanism is in a horizontal floating state. The gap between the outer ring and the inner ring of the floating bearing can be used. The operator applies force on the operating handle to make the inner ring connecting plate drive the lower mechanism to move in the horizontal plane, thereby realizing the horizontal adjustment of the quick change plate.

[0018] 5) The design concept provided by the floating docking device for parts assembly of the present invention can be extended to all docking scenarios of turbine pump parts, and only adaptive changes based on the weight and size of the parts are needed to meet the usage requirements. Attached Figure Description

[0019] Figure 1 A schematic diagram of the overall assembly axial section of the flexible docking device for the liquid rocket engine turbopump housing provided by the present invention. Figure 2 A schematic diagram of the overall assembly of the flexible docking device for the liquid rocket engine turbopump housing provided by the present invention. Figure 3 A schematic diagram of the cylinder fixing plate 7 in the flexible docking device for the liquid rocket engine turbopump housing provided by the present invention. Figure 4 This is a schematic diagram of the upper support plate structure of the present invention; Figure 5 This is a schematic diagram of the fixed slide rail structure of the present invention; Figure 6 This is a schematic diagram of the moving slide rail structure of the present invention; Figure 7 This is a schematic diagram of the cylinder fixing plate structure of the present invention; Figure 8 This is a schematic diagram of the first fixing plate structure of the present invention; Figure 9 This is a schematic diagram of the second fixing plate structure of the present invention; Figure 10 This is a schematic diagram of the swing plate structure of the present invention; Figure 11 This is a schematic diagram of the locking screw structure of the present invention; Figure 12 This is a schematic diagram of the rotating handle structure of the present invention; Figure 13 This is a schematic diagram of the reinforcing plate structure of the present invention; Figure 14 This is a schematic diagram of the upper limit cover structure of the present invention; Figure 15 This is a schematic diagram of the outer ring structure of the floating bearing of the present invention; Figure 16 This is a schematic diagram of the outer ring fixing plate structure of the present invention; Figure 17 This is a schematic diagram of the inner ring structure of the floating bearing of the present invention; Figure 18 This is a schematic diagram of the inner ring connecting plate structure of the present invention; Figure 19 This is a schematic diagram of the lower support plate structure of the present invention; Figure 20 This is a schematic diagram of the fixing pin structure of the present invention; Figure 21 This is a schematic diagram of the first gear structure of the present invention; Figure 22 This is a schematic diagram of the gear plug structure of the present invention; Figure 23 This is a schematic diagram of the outer ring structure of the connecting bearing of the present invention; Figure 24 This is a schematic diagram of the inner ring structure of the bearing connected in this invention; Figure 25 This is a schematic diagram of the second gear structure of the present invention; Figure 26 This is a schematic diagram of the quick-change disc structure of the present invention; Figure 27 This is a schematic diagram of the fixed plate structure of the rotating mechanism of the present invention; Figure 28 This is a schematic diagram of the operating handle structure of the present invention.

[0020] Figure label: 1. Moving slide rail; 1-1; 1-2 connecting hole; 2. Upper sealing cover; 3. Cylinder piston rod; 3-1 threaded section; 3-2 piston; 4. Cylinder barrel; 5. First fixing plate; 5. Threaded hole; 5-1 threaded hole; 5-2 threaded hole; 5-3 threaded hole; 5-4 through hole; 5-5 threaded hole; 6. Lower sealing cover; 7. Cylinder fixing plate; 7. Center hole; 7-1 cylinder fixing hole; 7-2 external device connecting hole; 7-3 weight reduction groove; 7-4 upper support plate connecting hole; 7-5 upper support plate; 8. Threaded hole; 8-1 threaded hole; 8-2 threaded hole; 8-3 weight reduction hole; 8-4 weight reduction groove; 9. Fixed slide rail; 9-1 guide slide; 9-2 connecting hole; 10. Second fixing plate; 10-1 through hole; 10-1 weight reduction hole. 2; Threaded hole 10-3; Weight reduction groove 10-4; Swinging plate 11; Threaded hole 11-1; Weight reduction groove 11-2; Locking groove 11-3; Threaded hole 11-4; Screw 12; Limit nut 13; Locking screw 14; Cylindrical section 14-1; Hole 14-2; Threaded section 14-3; Tapered section 14-4; Connecting pin 15; Rotating handle 16; Handle 16-1; Pin hole 16-2; Hole 16-3; Upper limit cover 17; Stepped hole 17-1; Floating bearing outer ring 18; Inner boss 18-1; Outer boss 18-2; Hole 18-3; Straight plane 18-4; Outer ring fixing plate 19; First round hole 19-1; Second round hole 19-2; Pin hole 19-3; Threaded hole 19-4; Floating bearing inner ring 20; Threaded hole 20-1; Inner ring connecting plate 21; Stepped hole 21-1; Hole 21-2; Threaded hole 21-3; Pin hole 21-4; Threaded hole 21-5; First gear 22; Keyway 22-1; Drive belt 23; Gear plug 24; Cylindrical section 24-1; Stepped surface 24-2; Connecting bearing outer ring 25; Inner raceway 25-1; Through hole 25-2; Connecting bearing inner ring 26; Outer raceway 26-1; Threaded hole 26-2; Second gear 27; Threaded hole 27-1; Cylindrical recess 27-2; Stepped hole 27-3; Quick change plate 28; Observation port 28-1; Through hole 28-2; Stepped Surface 28-3; Threaded hole 28-4; Screw 29; First ball bearing 30; Screw 31; Screw 32; Rotating mechanism fixing plate 33; Threaded hole 33-1; Threaded hole 33-2; Stepped hole 33-3; Second ball bearing 34; Screw 35; Screw 36; Lower support plate 37; Threaded through hole 37-1; Hinge joint 38; Limit nut 39; Connecting rod 40; Screw 41; Screw 42; Screw 43; Reinforcing plate 44; Stepped hole 44-1; Screw 45; Screw 46; Fixing pin 47; Mounting handle 47-1; Pin 47-2; Screw 48; Screw 49; Operating handle 50; Connecting plate 50-1; Through hole 50-2; Handle 50-3. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the spirit of the present invention will be described in detail below with reference to the accompanying drawings. Any person skilled in the art who understands the embodiments of the present invention can make changes and modifications based on the technology described in the present invention without departing from the spirit and scope of the present invention.

[0022] The illustrative embodiments and descriptions of the present invention are used to explain the invention, but are not intended to limit the invention. Furthermore, elements / components using the same or similar reference numerals in the drawings and embodiments are used to represent the same or similar parts.

[0023] The present invention provides a flexible docking device for the housing of a liquid rocket engine turbopump, comprising: a cylinder assembly, an axial motion device, a locking mechanism, a planar floating device, and a circumferential rotation device; The cylinder assembly, the planar floating device, and the circumferential rotating device are arranged sequentially along the axial direction; The cylinder assembly is installed inside the axial motion device, and the cylinder assembly and the axial motion device are connected by a slide rail structure. The outer shell of the cylinder assembly is fixedly connected to the external structure; The cylinder assembly serves as the power input for the mechanism's movement and the source of axial balancing force when the mechanism is stationary; The bottom of the cylinder piston rod 3 of the cylinder assembly is fixedly connected to the hinge joint 38 of the planar floating device; The locking mechanism is installed on the axial motion device; the locking mechanism is used to lock or unlock the axial motion device and the planar floating device. When locked in place, the cylinder assembly can only drive the planar floating device to move axially, and the planar floating device cannot swing relative to the cylinder assembly. After unlocking and releasing, the cylinder assembly can not only drive the planar floating device to move axially, but the planar floating device can also swing relative to the cylinder assembly; that is, the hinge joint 38 is used to change the axial angle between the quick-change plate 28 and the cylinder piston rod 3. The bottom of the planar floating device and the circumferential rotating device are fixedly connected.

[0024] The planar floating device includes a radially movable bearing, with a gap between the inner and outer rings (the outer ring 18 and the inner ring 20 of the floating bearing), enabling the moving parts to float in the plane. That is, after the fixing pin 47 in the planar floating device is released from locking the outer ring fixing plate 19 and the inner ring connecting plate 21, the planar floating device can adjust the radial positional relationship between the cylinder assembly and the circumferential rotating device.

[0025] An external mechanical interface is located at the bottom of the circumferential rotating device for securing the docking products. The circumferential rotating device incorporates a belt and gear drive mechanism to adjust the circumferential angle of the docking products, facilitating positional adjustments during docking.

[0026] This invention utilizes a cylinder as an axial power output device. The cylinder piston rod 3 is hinged to the moving parts, and a floating mechanism with inner and outer bearing rings is incorporated. The device features a belt and gear transmission structure at the end, and the entire assembly can serve as an end-effector for part docking. Adjustment of the cylinder assembly's air intake channel allows the axial motion device to generate axial movement or maintain axial force balance. Locking or releasing the locking mechanism enables relative planar movement of internal parts within the planar floating device or oscillation along the hinged joint. A circumferential rotation device, when external power is applied, enables axial rotation of the external interface. The free combination of these three scenarios ultimately allows the end-effector of this invention to achieve axial movement, axial floating, axial oscillation, planar movement, and axial rotation in space. This device is easy to operate, improves assembly efficiency and quality, and reduces operator workload.

[0027] In this embodiment, as Figure 1 As shown, the cylinder assembly includes: an upper sealing cover 2, a cylinder piston rod 3, a cylinder barrel 4, a lower sealing cover 6, a cylinder fixing plate 7, an upper support plate 8, a fixed slide rail 9, and a connecting rod 40; The upper and lower ends of the cylinder barrel 4 are respectively connected to the upper sealing cover 2 and the lower sealing cover 6; the connecting rod 40 is located on the outside of the cylinder barrel 4, and the connecting rod 40 is used to fix the upper sealing cover 2, the cylinder barrel 4, and the lower sealing cover 6 into an integral structure.

[0028] The lower sealing cover 6 is fixedly connected to the cylinder fixing plate 7; The lower end face of the cylinder fixing plate 7 is fixedly connected to the fixed slide rail 9 on both sides by an upper support plate 8 that is inserted and fixed; the fixed slide rail 9 is connected to the moving slide rail 1 of the axial motion device through a slide rail structure, and the fixed slide rail 9 can slide relative to the axial motion device along the cylinder piston rod 3 axially. The cylinder fixing plate 7 does not move when the floating docking device is in operation, and is used for connection between the floating docking device and the external interface.

[0029] The cylinder piston rod 3 is fitted inside the cylinder barrel 4. The bottom of the cylinder piston rod 3 passes through the lower sealing cover 6 and is fixedly connected to the planar floating device. In this embodiment, as Figure 7 As shown, the cylinder piston rod 3 is a stepped shaft integral structure. The cylinder piston rod 3 includes a threaded section 3-1, a smooth rod section, and a piston 3-2 arranged sequentially along the axial direction. The threaded section 3-1 is used to connect with the hinge joint 38 of the planar floating device; Piston 3-2 is located at the large end of cylinder piston rod 3 and is the force-bearing component of cylinder piston rod 3. Piston 3-2 and cylinder barrel 4 are fitted with a clearance fit.

[0030] In this embodiment, as Figure 3 As shown, the cylinder mounting plate 7 has a single-step structure.

[0031] The cylinder fixing plate 7 has a center hole 7-1 machined in the center for mating with the protruding frustum of the lower sealing cover 6; The top of the cylinder mounting plate 7 has four cylinder mounting holes 7-2 for insertion and fixing with the lower sealing cover 6; The cylinder mounting plate 7 is machined with external device connection holes 7-3 for connecting with external devices, and there are 4 external device connection holes 7-3 evenly distributed in the plate 7. The cylinder mounting plate 7 has weight-reducing grooves 7-4 machined on both sides to reduce weight. There are 12 upper support plate connection holes 7-5 machined on the four corners of the cylinder fixing plate 7, and the upper support plate connection holes 7-5 are in groups of three.

[0032] In this embodiment, as Figure 4 As shown, the cross-section of the upper support plate 8 is C-shaped.

[0033] The upper support plate 8 has four threaded holes 8-1 evenly distributed on its side wall. The threaded holes 8-1 are threaded through holes. The upper support plate 8 is fixedly connected to the fixed slide rail 9 through the threaded holes 8-1.

[0034] The upper support plate 8 has threaded holes 8-2 on both sides of the support section. There are a total of 6 threaded holes 8-2. The threaded holes 8-2 on the upper support plate 8 are fixedly connected to the upper support plate connection hole 7-5 of the cylinder fixing plate 7 through standard parts.

[0035] The upper support plate 8 has weight-reducing holes 8-3 machined on both sides of the support section. The upper support plate 8 has weight-reducing grooves 8-4 machined on the side wall, which serve to reduce weight.

[0036] In this embodiment, as Figure 5 As shown, the fixed slide rail 9 has a C-shaped cross-section, with the C-shaped opening facing the movable slide rail 1. The movable slide rail 1 can slide axially relative to the fixed slide rail 9. The inner concave surface of the fixed slide rail 9 is machined with a protruding longitudinal strip structure, which serves as a guide slide 9-1. The guide slide 9-1 is used to mate with the inner wall surface of the movable slide rail 1 and plays a guiding role during movement. The connecting hole 9-2 of the fixed slide rail 9 is fixedly connected to the threaded hole 8-1 of the upper support plate 8 through a standard part.

[0037] In this embodiment, as Figure 1 As shown, the axial motion device includes: a movable slide rail 1, a first fixed plate 5, a second fixed plate 10, and a reinforcing plate 44.

[0038] The movable slide rail 1 is fixedly connected to the first fixed plate 5; the movable slide rail 1 is connected to the fixed slide rail 9 of the cylinder assembly through a slide rail structure.

[0039] The second fixing plate 10 is fitted inside the first fixing plate 5 and fixedly connected. The second fixing plate 10 is supported at the bottom of the upper support plate 8 of the cylinder assembly; First fixing plate 5 external fixing connection reinforcement plate 44; The first fixed plate 5 and the planar floating device can be locked or unlocked through a locking mechanism; In this embodiment, as Figure 6 As shown, the movable slide rail 1 has a flat plate structure. Movable slide tracks 1-1 are machined on both sides of the movable slide rail 1; the movable slide tracks 1-1 are used to cooperate with the guide slide tracks 9-1 of the fixed slide rail 9; the movable slide tracks 1-1 are concave slide tracks.

[0040] The side surface of the movable slide rail 1 has 12 connecting holes 1-2. The connecting holes 1-2 are arranged in pairs and evenly distributed along the axial direction. The connecting holes 1-2 are used to connect with the first fixed plate 5.

[0041] In this embodiment, as Figure 8 As shown, the first fixing plate 5 is a flat plate structure.

[0042] The surface of the first fixed plate 5 has 12 threaded holes 5-1, which are used to connect with the movable slide rail 1; the 12 threaded holes 5-1 are evenly distributed in pairs.

[0043] Four threaded holes 5-2 are machined in the area below the first fixed plate 5. The threaded holes 5-2 are used to connect with the movable slide rail 1. The threaded holes 5-2 are evenly distributed.

[0044] The side of the first fixing plate 5 has two threaded holes 5-3, which are used to connect with the reinforcing plate 44; The surface of the first fixing plate 5 has three through holes 5-4, which are used to connect with the second fixing plate 10; the threaded hole 5-5 is used to connect with the locking screw 14.

[0045] In this embodiment, as Figure 9 As shown, the second fixing plate 10 is a flat plate structure. The surface of the second fixing plate 10 is machined with through holes 10-1 and weight reduction holes 10-2; the side surface of the second fixing plate 10 is machined with threaded holes 10-3.

[0046] The through hole 10-1 is used to allow the hinge joint 38 of the planar floating device to pass through, and the diameter of the through hole 10-1 is larger than the outer diameter of the hinge joint 38.

[0047] The weight-reducing holes 10-2 are evenly distributed in the central area of ​​the second fixing plate 10, with a total of 4 holes, and play a role in weight reduction. The threaded holes 10-3 are distributed on the left and right sides of the second fixing plate 10, with 3 holes on each side, for a total of 6 holes. The threaded holes 10-3 of the second fixing plate 10 and the through holes 5-4 of the first fixing plate 5 are fixedly connected by standard parts.

[0048] The second fixing plate 10 has two weight-reducing grooves 10-4 machined on its front and rear sides, which serve to reduce weight.

[0049] In this embodiment, as Figure 1 As shown, the locking mechanism includes: a limit nut 13, a locking screw 14, a connecting pin 15, and a rotating handle 16.

[0050] The locking screw 14 is connected to the first fixed plate 5 of the axial motion device via a threaded pair; One end of the locking screw 14 is machined with a limiting structure that mates with the end face of the swing plate 11 of the planar floating device. One end of the locking screw 14 passes through the first fixed plate 5 of the axial motion device and abuts against the end face of the swing plate 11 of the planar floating device. This locks and fixes the axial motion device and the planar floating device, so that the cylinder assembly and the planar floating device can only move synchronously along the axial direction, and the cylinder assembly and the planar floating device cannot swing relative to each other.

[0051] The limiting nut 13 is connected to the locking screw 14 through a threaded pair, which limits the screwing depth of the locking screw 14.

[0052] The locking screw 14 and the free end of the rotating handle 16 are connected and fixed by the connecting pin 15.

[0053] After the locking mechanism is unlocked and released, the cylinder assembly and the planar floating device can not only move synchronously along the axial direction, but also achieve relative swinging, that is, the axial angle between the quick-change plate 28 and the cylinder piston rod 3 is changed by using the hinge joint 38. In this embodiment, as Figure 11 As shown, the locking screw 14 has a stepped shaft structure, and the locking screw 14 includes a cylindrical section 14-1, a threaded section 14-3 and a tapered section 14-4 arranged sequentially along the axial direction.

[0054] The cylindrical section 14-1 is inserted into the rotating handle 16; The cylindrical section 14-1 is machined with radial holes 14-2 for connection and fixation with the connecting pin 15; The threaded section 14-3 and the threaded hole 5-4 of the first fixing plate 5 are connected by a threaded pair; The conical segment 14-4 serves as a limiting structure that engages with the end face of the swing plate 11 of the planar floating device, with the conical segment 14-4 resting against the end face of the swing plate 11 of the planar floating device.

[0055] In this embodiment, as Figure 13As shown, the reinforcing plate 44 is a trapezoidal flat plate, and the surface of the reinforcing plate 44 is machined with stepped holes 44-1. The stepped holes 44-1 of the reinforcing plate 44 are used to connect with the first fixing plate 5 to strengthen and fix it.

[0056] In this embodiment, as Figure 12 As shown, the rotating handle 16 has a T-shaped structure, and one end of the rotating handle 16 serves as the handle 16-1; the handle 16-1 is an arc-shaped handle, which is a force-applying component when the locking screw 14 is rotated.

[0057] The other end of the rotating handle 16 is machined with a hole 16-3. The rotating handle 16 is inserted into the cylindrical section 14-1 of the locking screw 14 through the hole 16-3. The other end of the rotating handle 16 is machined with a pin hole 16-2. The connecting pin 15 passes through the pin hole 16-2 of the rotating handle 16 and the hole 14-2 of the locking screw 14, thereby connecting and fixing the rotating handle 16 and the locking screw 14.

[0058] Rotating the handle 16 causes the locking screw 14 to rotate, and the locking screw 14 moves along its own axis to the outside of the first fixed plate 5, thereby releasing the locking screw 14 from restricting the position of the swing plate 11.

[0059] In this embodiment, as Figures 1-2 As shown, the planar floating device includes: a swing plate 11, an upper limit cover 17, a floating bearing outer ring 18, an outer ring fixing plate 19, a floating bearing inner ring 20, an inner ring connecting plate 21, a screw 31, a second ball bearing 34, a screw 35, a screw 36, a lower support plate 37, a hinge joint 38, a limit nut 39, a screw 46, a fixing pin 47, and a screw 48.

[0060] The top of the hinge joint 38 and the piston rod 3 of the cylinder assembly are connected by a threaded pair and fixed by a limit nut 39; The bottom of the hinge joint 38 passes through the second fixed plate 10 of the cylinder assembly and is connected to the swing plate 11 by a threaded pair. The swing plate 11 can swing relative to the cylinder assembly using the hinge joint 38.

[0061] The space between the top end face of piston 3-2 and the upper sealing cover 2 forms the first cavity, and the space between the bottom end face of piston 3-2 and the lower sealing cover 6 forms the second cavity. An external air source fills the first cavity through the upper sealing cover 2, pushing the cylinder piston rod 3 downward. The cylinder piston rod 3 pushes the swing plate 11 downward along the axis through the hinge joint 38. When the planar floating device stops moving, the external air source switches channels and fills the second cavity through the lower sealing cover 6, achieving axial force balance of the cylinder piston rod 3, and the planar floating device is in a floating state.

[0062] The upper limit cover 17 is connected to the top of the inner ring 20 of the floating bearing by screws 36; The bottom of the inner ring 20 of the floating bearing is connected to the inner ring connecting plate 21 by screws 31; The outer ring 18 of the floating bearing is connected to the outer ring fixing plate 19 by screws 35. The outer ring 18 of the floating bearing is fitted between the inner ring 20 of the floating bearing and the outer ring fixing plate 19. The upper limit cover 17, the outer ring 18 of the floating bearing and the inner ring connecting plate 21 are arranged sequentially along the axial direction. Multiple second balls 34 are provided between the outer ring 18 of the floating bearing and the upper limit cover 17 for axial contact force transmission; multiple second balls 34 are provided between the outer ring 18 of the floating bearing and the inner ring connecting plate 21 for axial contact force transmission. The top of the outer ring fixing plate 19 is connected to the bottom of the lower support plate 37 by screws 48; The top of the lower support plate 37 is connected to the bottom of the swing plate 11 by screws 46; Multiple lower support plates 37 are provided between the swing plate 11 and the outer ring fixing plate 19.

[0063] The outer ring fixing plate 19 and the inner ring connecting plate 21 are fixed in the outer edge area by fixing pins 47 parallel to the axial direction; the fixing pins 47 are symmetrically arranged at two locations about the axis on the front and rear sides.

[0064] There is a gap between the outer ring 18 and the inner ring 20 of the floating bearing. After the fixing pin 47 is removed, the inner ring 20 of the floating bearing can move radially relative to the outer ring 18 of the floating bearing. In this embodiment, as Figure 10 As shown, the swing plate 11 is a milled groove plate structure.

[0065] The swing plate 11 has a threaded hole 11-1 machined in the center. The threaded hole 11-1 of the swing plate 11 is used to connect with the hinge joint 38 through a threaded pair. The swing plate 11 has weight-reducing grooves 11-2 machined on both the front and rear sides, and the weight-reducing grooves 11-2 serve to reduce weight. The swing plate 11 has locking grooves 11-3 machined on both sides. The locking grooves 11-3 are inclined surfaces and serve as a limiting structure that cooperates with the tapered section 14-4 of the locking screw 14 in the locking mechanism.

[0066] The swing plate 11 has eight threaded holes 11-4 evenly distributed at its four corners. The threaded holes 11-4 of the swing plate 11 are used to connect with the lower support plate 37.

[0067] In this embodiment, as Figure 14 As shown, the upper limit cover 17 is an annular plate with 12 evenly distributed stepped holes 17-1, which are used to connect with the inner ring 20 of the floating bearing.

[0068] In this embodiment, as Figure 15 As shown, the floating bearing outer ring 18 has a stepped ring structure. The inner ring and outer ring of the floating bearing outer ring 18 are respectively machined with an inner boss 18-1 and an outer boss 18-2. Holes 18-3 are evenly distributed along the axial direction on the outer boss 18-2. A straight plane 18-4 is machined on the outer wall of the outer boss 18-2.

[0069] The inner boss 18-1 is located in the middle of the inner ring of the outer ring 18 of the floating bearing. Multiple second balls 34 are provided between the upper stepped surface of the inner boss 18-1 and the stepped hole 17-1 of the upper limit cover 17 for axial contact force transmission. Multiple second balls 34 are provided between the lower stepped surface of the inner boss 18-1 and the hole 21-2 of the inner ring connecting plate 21 for axial contact force transmission. The outer boss 18-2 is located in the middle of the inner ring of the outer ring 18 of the floating bearing. There are 10 holes 18-3 evenly distributed around the outer boss 18-2. The holes 18-3 are used to fix the outer ring fixing plate 19. The outer boss 18-2 has milled planes on both the front and rear sides to form a straight plane 18-4. The straight plane 18-4 is used to prevent the fixing pin 47 from interfering with the outer boss 18-2.

[0070] In this embodiment, as Figure 16 As shown, the outer ring fixing plate 19 is a square flat plate, and a through hole is machined in the center of the outer ring fixing plate 19 as the first circular hole 19-1. The first circular hole 19-1 plays a role in weight reduction. The outer ring fixing plate 19 has multiple second round holes 19-2 machined in the four vertex areas. There are a total of 8 second round holes 19-2 in pairs. The second round holes 19-2 are used to connect with the lower support plate 37. The pin hole 19-3 is located on the front and rear edge areas of the outer ring fixing plate 19, and the pin hole 19-3 is used in conjunction with the fixing pin 47. The inner ring of the outer ring fixing plate 19 is provided with multiple threaded holes 19-4, a total of 10 threaded holes 19-4, which are used to connect with the outer ring 18 of the floating bearing.

[0071] In this embodiment, as Figure 17 As shown, the inner ring 20 of the floating bearing has a ring structure, with 12 evenly distributed threaded holes 20-1 on the upper and lower end faces, which are used to connect with the upper limit cover 17 and the inner ring connecting plate 21 respectively.

[0072] In this embodiment, as Figure 18 As shown, the inner ring connecting plate 21 is a square flat plate, and a stepped hole is machined in the center of the inner ring connecting plate 21 as a stepped hole 21-1; The stepped hole 21-1 is located at the center of the inner ring connecting plate 21 and is used for positioning the inner ring 20 of the floating bearing. Multiple holes 21-2 are evenly distributed on the stepped hole 21-1 along the axial direction. The holes 21-2 are used to connect with the inner ring 20 of the floating bearing. The inner ring connecting plate 21 has four threaded holes 21-3 machined at its four vertices, for a total of four. The threaded holes 21-3 are used to connect with the rotating mechanism fixing plate 33. The front and rear edge areas of the inner ring connecting plate 21 are machined with pin holes 21-4, which are used to cooperate with the fixing pin 47.

[0073] The inner ring connecting plate 21 has a threaded hole 21-5 perpendicular to the axial direction machined on its front side surface. The threaded hole 21-5 is used to connect with the operating handle 50.

[0074] In this embodiment, as Figure 19 As shown, the lower support plate 37 has an L-shaped structure, and the threaded through hole 37-1 is used to connect to the swing plate 11 and the outer ring fixing plate 19 respectively.

[0075] In this embodiment, as Figure 20 As shown, the fixing pin 47 has a stepped shaft structure and includes an installation handle 47-1 and a pin 47-2 arranged sequentially along the axial direction. The installation handle 47-1 is a three-lobed irregular handle used for inserting and removing the fixing pin 47. The pin 47-2 is located at the small end of the fixing pin 47 and has a cylindrical structure. The pin 47-2 works in conjunction with the outer ring fixing plate 19 and the inner ring connecting plate 21.

[0076] In this embodiment, as Figure 1 As shown, the circumferential rotating device includes: a first gear 22, a transmission belt 23, a gear plug 24, a connecting bearing outer ring 25, a connecting bearing inner ring 26, a second gear 27, a quick-change disc 28, a screw 29, a first ball bearing 30, a screw 32, a rotating mechanism fixing plate 33, and an operating handle 50.

[0077] The rotating mechanism fixing plate 33 is connected to the inner ring connecting plate 21 of the planar floating device by screws 32; The outer ring 25 of the connecting bearing is connected to the fixed plate 33 of the rotating mechanism, and the inner ring 26 of the connecting bearing is connected to the second gear 27. The quick-change disc 28 is connected to the second gear 27 by screws 29; The first gear 22 is interference-fitted with the gear plug 24, and the first gear 22 is connected to the second gear 27 via the drive belt 23; A power input port can be installed on the rotating mechanism fixing plate 33 to drive the first gear 22 to rotate. The first gear 22 is driven by the transmission belt 23 to drive the second gear 27 to rotate, thereby driving the quick change plate 28 to rotate and realizing the circumferential rotation of the quick change plate 28.

[0078] A plurality of first balls 30 are provided between the outer wall of the outer ring 25 of the connecting bearing and the inner wall of the inner ring 26 of the connecting bearing; In this embodiment, as Figure 21 As shown, the first gear 22 is a spur gear. The first gear 22 is connected to an external power source as a driving gear. The gear has a keyway 22-1 in its inner diameter for connecting to an external power source.

[0079] In this embodiment, as Figure 22 As shown, the gear plug 24 is a stepped cylindrical hollow structure. The cylindrical section 24-1 is interference-fitted with the inner hole of the first gear 22, and the stepped surface 24-2 is in contact with the step of the inner hole of the first gear 22.

[0080] In this embodiment, as Figure 23 As shown, the outer ring 25 of the connecting bearing has an annular structure, the first ball 30 slides on the inner raceway 25-1, and the through holes 25-2 are evenly distributed on the end face of the outer ring 25 of the connecting bearing for connection with the rotating mechanism fixing plate 33.

[0081] In this embodiment, as Figure 24 As shown, the inner ring 26 of the connecting bearing has an annular structure, the first ball 30 slides on the outer raceway 26-1, and the threaded holes 26-2 are evenly distributed on the end face of the inner ring 26 of the connecting bearing for connecting with the second gear 27.

[0082] In this embodiment, as Figure 25 As shown, the second gear 27 is a spur gear. The second gear 27 acts as a driven gear, and the power of the first gear 22 is transmitted to the second gear 27 by the transmission belt 23, driving the second gear 27 to rotate.

[0083] The second gear 27 includes: a threaded hole 27-1, a cylindrical recess 27-2, and a stepped hole 27-3.

[0084] The second gear 27 has 6 threaded holes 27-1 evenly distributed on it. The threaded holes 27-1 are used to connect with the quick-change plate 28. The cylindrical recess 27-2 of the second gear 27 has six stepped holes 27-3 evenly distributed on it. The stepped holes 27-3 are used to connect with the inner ring 26 of the connecting bearing.

[0085] The threaded hole 27-1 is located near the outer side of the second gear 27, and the stepped hole 27-3 is located near the inner side of the second gear 27.

[0086] In this embodiment, as Figure 26 As shown, the quick-change disc 28 has a disc-shaped structure. A milled groove is machined on the quick-change disc 28 as an observation port 28-1. The observation port 28-1 is located on the side of the quick-change disc 28 and is used for observation during mechanism maintenance. The stepped surface 28-3 is located on the upper end surface of the quick-change disc 28 and is used for positioning when connecting with the second gear 27; Multiple through holes 28-2 are evenly distributed on the stepped surface 28-3 of the quick-change plate 28, and the through holes 28-2 are used to connect to the second gear 27; The quick-change disc 28 has multiple threaded holes 28-4 machined on it. In this embodiment of the invention, the quick-change disc 28 is evenly distributed circumferentially in 6 locations. The quick-change disc 28 serves as an external mechanical interface for fixing and docking products.

[0087] In this embodiment, as Figure 27 As shown, the rotating mechanism fixing plate 33 is a fan-shaped flat plate structure.

[0088] A threaded hole 33-1 is machined on the front side of the rotating mechanism fixing plate 33. The threaded hole 33-1 is used to connect with the operating handle 50. The end face of the rotating mechanism fixing plate 33 is machined with threaded holes 33-2 and stepped holes 33-3; The threaded hole 33-2 is located on the protruding side of the inner ring connecting plate 21 and is used to connect an external power device to drive the first gear 22. Stepped holes 33-3 are distributed on the lower end face of the rotating mechanism fixing plate 33, with a total of 4 holes. Stepped holes 33-3 are used to connect with the inner ring connecting plate 21.

[0089] The end face of the rotating mechanism fixing plate 33 is machined with a plug-in structure that mates with the outer ring 25 of the bearing; In this embodiment, as Figure 28 As shown, the operating handle 50 has a T-shaped structure and includes a connecting plate 50-1 and a handle 50-3 arranged sequentially along the axial direction.

[0090] The connecting plate 50-1 is fixedly connected to the inner ring connecting plate 21 and the rotating mechanism fixing plate 33; the connecting plate 50-1 is machined with a plurality of through holes 50-2 for connecting with the inner ring connecting plate 21 and the rotating mechanism fixing plate 33. The means 50-3 is cylindrical and is used when the operator manually applies force in a floating mechanism.

[0091] This invention also provides a component docking and assembly process for a flexible docking device for a liquid rocket engine turbopump housing, comprising the following steps: 1) The upper sealing cover 2, cylinder barrel 4, lower sealing cover 6, cylinder fixing plate 7, upper support plate 8, fixed slide rail 9, and connecting rod 40 are connected as one piece by threads. They are fixed to the external structure by external device connection 7-3 on the cylinder fixing plate 7. They are fixed parts of the floating docking device. The quick change plate 28 is connected to the docking product below and is the end actuator of the floating docking device. 2) When the device is in operation, the external power first inputs power to the first gear 22, causing the first gear 22 to rotate. The second gear 27 is driven to rotate through the transmission belt 23, which in turn drives the quick-change disc 28 to rotate along the central axis of the device. By controlling the rotation angle of the first gear 22, the end quick-change disc 28 is rotated around the central axis of the device to the required angle. 3) After the quick-change disc 28 rotates to a suitable angle along the central axis of the device, air is injected into the top cavity of the piston rod 3 through the upper sealing cover 2, pushing the piston rod 3 to move downward. The piston rod 3 then drives the hinge joint 38 and the swing plate 11 to move downward. Since the swing plate 11 is threadedly connected to the first fixed plate 5 and the moving slide rail 1, the moving slide rail 1 slides with the fixed slide rail 9, and the swing plate 11 moves downward. The swing plate 11 drives the lower part to move downward as a whole, and finally makes the end mechanism quick-change disc 28 move axially. 4) When the quick-change disc 28 moves axially to the appropriate position, the external control system stops charging air into the top cavity of the cylinder piston rod 3 and switches the air source to charge air into the bottom cavity of the cylinder piston rod 3. The charging air pressure and the axial force on the cylinder piston rod 3 are kept in balance, so that the cylinder piston rod 3 is in a state of force balance. At this time, the device is in a floating state. The operator can move the lower mechanism down by applying a little force on the operating handle 50. 5) When it is necessary to adjust the angle between the end quick-change disc 28 and the axis, the handles 16 on both sides of the swing plate 11 can be rotated to drive the locking screw 14 to rotate outward, thereby untying the second fixed plate 10 and the swing plate 11. At this time, the swing plate 11 is only connected to the hinge joint 38. The operator applies downward force on the operating handle 50 to move the swing plate 11 downward a certain distance, separating the swing plate 11 and the second fixed plate 10. Then, the operating handle 50 is moved to make the swing plate 11 swing around the hinge joint 38, changing the angle between the quick-change disc 28 and the axis of the component below the swing plate 11. 6) When it is necessary to adjust the horizontal position of the end quick-change disc 28, the fixing pin 47 can be removed to unbind the outer ring fixing plate 19 and the inner ring connecting plate 21. The mechanism is in a horizontal floating state. At this time, the gap between the floating bearing outer ring 18 and the floating bearing inner ring 20 can be used. The operator applies force on the operating handle 50 to make the inner ring connecting plate 21 drive the lower mechanism to move in the horizontal plane, thereby realizing the horizontal adjustment of the quick-change disc 28.

[0092] 7) After the quick-change disc 28 rotates, moves axially, and swings, when the circumferential rotation position and horizontal position of the quick-change disc 28 are adjusted to the correct position, the operator applies downward force on the operating handle 50 to move the docking product below the quick-change disc 28 down to complete the docking.

[0093] Based on the floating docking device for assembling parts provided by the present invention, the present invention also provides a method for docking parts, which includes the following steps: 1) such as Figure 1 and Figure 2 As shown, when the device operates, external power first inputs power to the first gear 22, causing the first gear 22 to rotate. This rotation is then driven by the transmission belt 23 to rotate the second gear 27, which in turn drives the quick-change disc 28 to rotate along the central axis of the device. The rotation angle of the first gear 22 is controlled so that the end quick-change disc 28 rotates along the central axis of the device to the required angle. 2) After the quick-change disc 28 rotates to a suitable angle along the central axis of the device, air is injected into the top cavity of the piston 3-2 of the cylinder piston rod 3 through the upper sealing cover 2, pushing the cylinder piston rod 3 to move downward. The cylinder piston rod 3 then drives the hinge joint 38 and the swing plate 11 to move downward. Since the swing plate 11 is threadedly connected to the first fixed plate 5 and the moving slide rail 1, the moving slide rail 1 slides with the fixed slide rail 9, and the swing plate 11 moves downward. The swing plate 11 drives the lower part to move downward as a whole, and finally makes the end mechanism quick-change disc 28 move axially. 3) When the quick-change disc 28 moves axially to the appropriate position, the external control system stops charging air into the top cavity of the cylinder piston rod 3 and switches the air source to charge air into the bottom cavity of the piston 3-2 of the cylinder piston rod 3. The charging air pressure and the magnitude of the axial force on the cylinder piston rod 3 are kept in balance, so that the cylinder piston rod 3 is in a state of force balance. At this time, the device is in a floating state. The operator can move the lower mechanism downward by applying a little force on the operating handle 50. 4) When it is necessary to adjust the horizontal position of the end quick-change plate 28, if the adjustment range is small, the fixing pin 47 can be removed to unbind the outer ring fixing plate 19 and the inner ring connecting plate 21. The mechanism is in a horizontal floating state. At this time, the gap between the floating bearing outer ring 18 and the floating bearing inner ring 20 can be used. The operator applies force on the operating handle 50 to make the inner ring connecting plate 21 drive the lower mechanism to move in the horizontal plane, so as to achieve a small horizontal adjustment of the quick-change plate 28.

[0094] 5) When it is necessary to adjust the horizontal position of the end quick-change plate 28, if the adjustment range is large, the handles 16 on both sides of the swing plate 11 can be rotated to drive the locking screw 14 to rotate outward, so that the second fixed plate 10 and the swing plate 11 are untied. At this time, the swing plate 11 is only connected to the hinge joint 38. The operator applies downward force on the operating handle 50 to move the swing plate 11 downward a certain distance, and the swing plate 11 and the second fixed plate 10 are separated in space. Then, the operating handle 50 is moved to make the swing plate 11 swing around the space of the hinge joint 38, so as to achieve a large adjustment of the horizontal direction of the quick-change plate 28 below the swing plate 11. 6) After the quick-change disc 28 rotates, moves axially, and swings, when the circumferential rotation position and horizontal position of the quick-change disc 28 are adjusted to the correct position, the operator applies downward force on the operating handle 50 to move the mounting parts below the quick-change disc 28 down to complete the docking.

[0095] The flexible docking device for liquid rocket engine turbopump housing provided by this invention is used for component docking and assembly. The process is simple and easy to operate, which can effectively improve the assembly efficiency and accuracy of turbopump and reduce the labor intensity of workers.

[0096] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make possible variations and modifications to the technical solutions of the present invention using the disclosed methods and techniques without departing from the spirit and scope of the invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the content of the technical solutions of the present invention, shall fall within the protection scope of the present invention. Where there is no conflict, the embodiments of this application and the technical features thereof can be combined with each other.

[0097] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A flexible docking device for the casing of a liquid rocket engine turbopump, characterized in that, include: Cylinder assembly, axial motion device, locking mechanism, planar floating device, and circumferential rotation device; The cylinder assembly, the planar floating device, and the circumferential rotating device are arranged sequentially along the axial direction; The axial motion device is mounted on the outside of the cylinder assembly, and the cylinder assembly and the axial motion device are connected by a slide rail structure. The outer shell of the cylinder assembly is fixedly connected to the external structure; The actuator rod of the cylinder assembly is fixedly connected to the planar floating device; The locking mechanism is installed on the axial motion device; the locking mechanism is used to lock or unlock the axial motion device and the planar floating device. When locked in place, the cylinder assembly can only drive the planar floating device to move axially, and the planar floating device cannot swing relative to the cylinder assembly. After unlocking and releasing, the cylinder assembly can not only drive the planar floating device to move axially, but the planar floating device can also swing relative to the cylinder assembly. The bottom of the planar floating device is fixedly connected to the circumferential rotating device; an external mechanical interface is provided below the circumferential rotating device for fixing external docking products.

2. The flexible docking device for the casing of a liquid rocket engine turbopump according to claim 1, characterized in that, The planar floating device is equipped with a radially movable bearing, which can adjust the radial positional relationship between the cylinder assembly and the circumferential rotating device.

3. The flexible docking device for a liquid rocket engine turbopump housing according to claim 2, characterized in that, The cylinder assembly includes: an upper sealing cover (2), a cylinder piston rod (3), a cylinder barrel (4), a lower sealing cover (6), a cylinder fixing plate (7), an upper support plate (8), a fixed slide rail (9), and a connecting rod (40). The upper and lower ends of the cylinder barrel (4) are respectively connected to the upper sealing cover (2) and the lower sealing cover (6); the connecting rod (40) is located on the outside of the cylinder barrel (4), and the connecting rod (40) is used to fix the upper sealing cover (2), the cylinder barrel (4) and the lower sealing cover (6) into an integral structure. The lower sealing cover (6) is fixedly connected to the cylinder fixing plate (7); The two sides of the lower end face of the cylinder fixing plate (7) are fixedly connected to the fixed slide rail (9) by a plug-in fixed upper support plate (8); The fixed slide rail (9) can slide relative to the axial motion device; The cylinder mounting plate (7) is fixedly connected to the external structure; The cylinder piston rod (3) is fitted inside the cylinder barrel (4); The bottom of the cylinder piston rod (3) passes through the lower sealing cover (6) and is fixedly connected to the planar floating device.

4. The flexible docking device for the casing of a liquid rocket engine turbopump according to claim 3, characterized in that, The axial motion device includes: a movable slide rail (1), a first fixed plate (5), and a second fixed plate (10); The movable slide rail (1) is fixedly connected to the first fixed plate (5); the movable slide rail (1) is connected to the fixed slide rail (9) of the cylinder assembly through a slide rail structure; The second fixing plate (10) is fitted inside the first fixing plate (5) and fixedly connected; the second fixing plate (10) is supported on the bottom of the upper support plate (8) of the cylinder assembly; The first fixed plate (5) is connected to the locking mechanism via a threaded pair.

5. A flexible docking device for a liquid rocket engine turbopump housing according to claim 4, characterized in that, The movable slide rail (1) has a flat plate structure; The movable slide rail (1) has movable slide channels (1-1) on both sides respectively. The movable slide channels (1-1) are used to cooperate with the slide channel structure of the fixed slide rail (9). Multiple connection holes are machined on the side surface of the movable slide rail (1), which are used to fix and connect with the first fixed plate (5).

6. A flexible docking device for a liquid rocket engine turbopump housing according to claim 5, characterized in that, The locking mechanism includes a locking screw (14) and a rotating handle (16). The locking screw (14) is connected to the first fixed plate (5) of the axial motion device by a threaded pair; One end of the locking screw (14) is machined with a limiting structure that matches the end face of the planar floating device. One end of the locking screw (14) passes through the first fixing plate (5) of the axial motion device and abuts against the end face of the planar floating device, thereby locking and fixing the axial motion device and the planar floating device, so that the cylinder assembly can only drive the planar floating device to move along the axial direction, and the planar floating device cannot swing relative to the cylinder assembly. The other end of the locking screw (14) is connected and fixed to the rotating handle (16).

7. A flexible docking device for a liquid rocket engine turbopump housing according to claim 6, characterized in that, Also includes: Limit nut (13); The limiting nut (13) and the locking screw (14) are connected by a threaded pair to limit the screwing depth of the locking screw (14).

8. A flexible docking device for a liquid rocket engine turbopump housing according to any one of claims 3-7, characterized in that, The planar floating device includes: a swing plate (11), an upper limit cover (17), a floating bearing outer ring (18), an outer ring fixing plate (19), a floating bearing inner ring (20), an inner ring connecting plate (21), a second ball (34), a lower support plate (37), a hinge joint (38), and a fixing pin (47). The top of the hinge joint (38) and the piston rod (3) of the cylinder assembly are connected by a threaded pair; The bottom of the hinge joint (38) passes through the second fixing plate (10) of the cylinder assembly and is connected to the swing plate (11) by a threaded pair. The hinge joint (38) can drive the swing plate (11) to swing relative to the cylinder assembly. The outer ring (18) of the floating bearing is fitted between the inner ring (20) and the outer ring fixing plate (19) of the floating bearing; the upper limit cover (17), the outer ring (18) and the inner ring connecting plate (21) of the floating bearing are arranged sequentially along the axial direction; The upper limit cover (17) is fixedly connected to the top of the inner ring (20) of the floating bearing; The bottom of the inner ring (20) of the floating bearing is fixedly connected to the inner ring connecting plate (21); The outer ring (18) of the floating bearing is fixedly connected to the outer ring fixing plate (19); Multiple second balls (34) are provided between the outer ring (18) of the floating bearing and the upper limit cover (17); multiple second balls (34) are provided between the outer ring (18) of the floating bearing and the inner ring connecting plate (21). The top of the outer ring fixing plate (19) is fixedly connected to the bottom of the lower support plate (37); The top of the lower support plate (37) is fixedly connected to the bottom of the swing plate (11); Multiple lower support plates (37) are provided between the swing plate (11) and the outer ring fixing plate (19). The outer ring fixing plate (19) and the inner ring connecting plate (21) are fixed in the outer edge area by a fixing pin (47) parallel to the axial direction; There is a gap between the outer ring (18) and the inner ring (20) of the floating bearing. After the fixing pin (47) is removed, the inner ring (20) of the floating bearing can move radially relative to the outer ring (18).

9. A flexible docking device for a liquid rocket engine turbopump housing according to claim 8, characterized in that, The center of the swing plate (11) is machined with a threaded hole (11-1), and the threaded hole (11-1) of the swing plate (11) is connected to the hinge joint (38) through a threaded pair; The two sides of the lower end face of the swing plate (11) are machined with locking grooves (11-3). The locking grooves (11-3) are inclined surfaces and are matched with the limiting structure of the locking mechanism. The swing plate (11) has multiple threaded holes for fixed connection with the lower support plate (37).

10. A flexible docking device for a liquid rocket engine turbopump housing according to any one of claims 3-9, characterized in that, The first cavity is between the top end face of the piston (3-2) and the upper sealing cover (2), and the second cavity is between the bottom end face of the piston (3-2) and the lower sealing cover (6). An external air source fills the first cavity with air through the upper sealing cover (2), pushing the cylinder piston rod (3) downward to drive the planar floating device to move; when the planar floating device stops moving, the external air source switches channels and fills the second cavity with air through the lower sealing cover (6), so as to achieve axial force balance of the cylinder piston rod (3) and make the planar floating device float.

Images