A hot water automatic docking device suitable for a premixing process of solid propellant

Abstract

This application proposes an automatic hot water docking device suitable for the premixing process of solid propellants. The device consists of a pot body limiting mechanism and a hot water docking mechanism. The pot body limiting mechanism consists of a base plate, a limiting hydraulic cylinder, and a limiting rod, located in a pit directly below the premixing station. The base plate is a load-bearing component. The limiting hydraulic cylinder drives the limiting rod to move up and down. The limiting rod is used to lock and limit the mixing pot. The hot water docking mechanism consists of a mounting base, a cylinder, a flexible block, a docking block, a pipe joint, a docking plug, and a docking sleeve. The mounting base is installed on one side of the mixing pot, corresponding to the inlet and outlet positions of the mixing pot, and is used to support the cylinder. The docking block is installed on the actuating end of the cylinder. The pipe joint is the connector for the hot water pipeline. The cylinder drives the docking plug to perform reciprocating insertion and extraction movements through the docking block. After the docking plug is inserted into the docking sleeve, the pipeline is automatically connected. After being pulled out, the pipeline is automatically cut off to prevent water leakage.

Description

Technical Field

[0001] The embodiments of this application relate to the field of composite solid propellant premixing technology, and in particular to an automatic hot water docking device suitable for the solid propellant premixing process. Background Technology

[0002] Currently, both domestically and internationally, most premixing of composite solid propellants adopts a vertical premixing method. This method primarily utilizes premixing equipment to stir the propellant raw materials, achieving a homogeneous propellant slurry. The premixing equipment mainly consists of a premixing unit and a mixing pot. A common mixing pot structure is shown below. Figure 1 As shown, the cylindrical mixing pot sits on a frame similar to a flatbed cart. The frame is typically a square structure welded from structural steel. The bottom of the mixing pot frame is equipped with rollers for movement, allowing it to run on steel rails (such as...). Figure 2 (As shown). During the premixing process, the propellant slurry in the mixing pot must be maintained within a specific temperature range to ensure the slurry's processing performance. Therefore, a hot water jacket is generally installed on the mixing pot used to hold the propellant slurry, and hot water is circulated inside the jacket to maintain the temperature inside the mixing pot. The hot water jacket of the mixing pot has two interfaces, an inlet and an outlet, with the inlet at the bottom and the outlet at the top.

[0003] The existing operating methods mostly involve manual insertion and removal of the inlet and outlet pipe joints. This method is labor-intensive, has a low degree of automation, and involves personnel in close contact with the propellant slurry, which poses a high safety risk.

[0004] To improve the safety of special equipment and enhance the automation level of hot water pipeline connection, we seek an automatic hot water connection device with high engineering practical value.

[0005] The utility model patent with publication number CN220286697U designs an automatic docking liquid circuit mechanism. Through the combination of a fixed plate, a cylinder, a connector, a guide rod and a controller, the extension and retraction of the cylinder and the cooperation of the guide rod are used to realize the automatic docking and disconnection of the liquid circuit under remote control, avoiding manual operation.

[0006] Chinese utility model patent CN211779572U discloses a quick connection device for the water circuit in a lithium battery formation and capacity testing equipment. The device includes a male connector, a female connector fixing plate, a linear slide rail, a cylinder, a floating connector, and a cylinder fixing plate. The male connector is fixedly mounted on one side of the male connector fixing plate, and the female connector fixing plate is slidably mounted on the linear slide rail. The cylinder is fixed on the cylinder fixing plate and connected to the female connector fixing plate through the floating connector. The cylinder drives the female connector fixing plate to slide back and forth through the floating connector, and the female connector moves accordingly to realize the connection and separation of the male and female connectors.

[0007] However, the inventors of this application have discovered that propellant raw materials typically possess dangerous characteristics such as flammability, explosiveness, and toxicity, requiring extremely high levels of safety, reliability, and automation in the production process. Commercially available automatic hot water docking devices cannot meet the high safety and high reliability requirements of such applications and are not suitable for the premixing process of composite solid propellants. Summary of the Invention

[0008] In view of this, embodiments of this application propose an automatic hot water docking device suitable for the solid propellant premixing process. It has a simple structure, can be operated remotely, and does not require manual on-site operation. It uses a cylinder to drive the hot water connector to complete the automatic docking and separation of the water circuit. It has a high degree of automation and reduces the labor intensity and safety risks of personnel.

[0009] To achieve the above objectives, embodiments of this application propose an automatic hot water docking device suitable for the solid propellant premixing process. The device comprises a pot body limiting mechanism 1 and a hot water docking mechanism 2. The pot body limiting mechanism 1 consists of a base plate 5, a limiting hydraulic cylinder 6, and a limiting rod 7, located in a pit directly below the premixing station. The base plate 5 is a load-bearing component, leveled and installed in the pit using anchor bolts. It has two sets of threaded holes on its surface for installing the limiting hydraulic cylinder 6. The limiting hydraulic cylinder 6 is a double-acting hydraulic cylinder used to drive the limiting rod 7 to move up and down. The limiting rod 7 is a rod-shaped part used to lock and limit the mixing pot. The hot water docking mechanism 2 comprises a mounting base 8, a cylinder 9, a flexible block 10, a docking block 11, a pipe joint 12, a docking joint plug 13, and a docking connector. The system consists of a head sleeve 14; a mounting base 8 is installed on one side of the mixing pot, corresponding to the inlet and outlet positions of the mixing pot, and is used to support the cylinder 9; a docking block 11 is installed on the actuating end of the cylinder 9, and a flexible block 10 is provided between the two to compensate for docking accuracy. The docking block 11 has a pipe thread hole and a metric thread hole on both sides, respectively. The pipe thread hole is used to install the pipe connector 12, and the metric thread hole is used to install the docking connector plug 13. The docking connector sleeve 14 is installed at the inlet and outlet positions of the mixing pot; the pipe connector 12 is the connector for the hot water pipeline; the cylinder 9 drives the docking connector plug 13 to reciprocate through the docking block 11. After the docking connector plug 13 is inserted into the docking connector sleeve 14, the pipeline is automatically connected. After being pulled out, the pipeline is automatically cut off to prevent water leakage.

[0010] To achieve the above objectives, embodiments of this application also propose an automatic hot water docking method suitable for the solid propellant premixing process. This method is based on the aforementioned automatic hot water docking device for the solid propellant premixing process. The method includes: transferring the mixing pot to the premixing station; a pot-body limiting mechanism using a limiting hydraulic cylinder to lift a limiting rod into a limiting hole at the bottom of the mixing pot; the limiting rod and the limiting hole working together to ensure the mixing pot is locked and limited; after the mixing pot is locked and limited, the limiting hydraulic cylinder automatically generates a lifting-in-place feedback signal, which is sent to the hot water docking mechanism via the pot-body limiting mechanism; upon receiving the lifting-in-place feedback signal, the hot water docking mechanism uses a cylinder to dock the docking connector plug with the docking connector sleeve at the corresponding position on the mixing pot. During docking, a guide pin and guide sleeve provide guidance, and a flexible block compensates for docking accuracy to avoid inaccurate docking; after detecting docking in place, the cylinder automatically generates a docking-in-place feedback signal, and the hot water docking mechanism starts hot water circulation under the instruction of the docking-in-place feedback signal.

[0011] Optionally, one end of the limiting rod 7 is provided with an internal thread and connected to the end of the piston rod of the limiting hydraulic cylinder 6, and the other end is provided with a taper for guidance during limiting; the pot body limiting mechanism 1 also includes a limiting block 3 set at the bottom of the mixing pot frame, whose setting position corresponds to the limiting rod 7. The limiting block 3 is provided with a limiting hole, which is used to cooperate with the limiting rod 7 to ensure the precise locking and limiting of the mixing pot. The fitting gap between the limiting rod 7 and the limiting hole is no more than 0.3mm; the limiting block 3 and the limiting rod 7 are made of steel and copper respectively, so as to avoid the occurrence of sparks due to the contact between the limiting rod 7 and the limiting block 3, which could lead to safety accidents.

[0012] Optionally, the base plate 5 is provided with a drainage groove and a forklift working groove. The drainage groove is used to drain the condensate dripping from the surface of the mixing pot, and the forklift working groove is used for the transportation and replacement of the base plate 5. The bottom of the base plate 5 is provided with cross reinforcing ribs to improve rigidity, ensure flatness for long-term use, and prevent the limiting hydraulic cylinder 6 from bearing lateral force due to the depression of the base plate 5. The inlet and outlet of the limiting hydraulic cylinder 6 are integrated with hydraulic locks to ensure that the piston rod is locked in place when the pipeline loses pressure, so as to prevent the mixing pot from tipping over or shifting.

[0013] Optionally, after the mixing pot is transferred from the previous process to the premixing station, the pot body limiting mechanism 1 starts to work. The limiting hydraulic cylinder 6 lifts the limiting rod 7 into the limiting hole of the limiting block 3. The limiting rod 7 and the limiting hole cooperate with each other to ensure the precise locking and limiting of the mixing pot. After the mixing pot is locked and limited, the limiting hydraulic cylinder 6 automatically generates a lifting position feedback signal, which is sent to the hot water docking mechanism 2 via the pot body limiting mechanism 1.

[0014] Optionally, the mounting base 8 consists of a mounting base plate and a mounting main plate. The mounting base plate has four slotted holes for connection, which can accommodate on-site installation deviations to ensure alignment with the inlet and outlet positions of the mixing pot. The mounting main plate is perpendicular to the mounting base plate and has two slotted holes for connection, used to install the cylinder 9. The cylinder 9 is bolted to the mounting main plate of the mounting base 8. Adjustable buffer valves are provided at both ends of the cylinder 9. By adjusting the buffer pressure, the impact force during docking is reduced, preventing rigid collision between the docking connector plug 13 and the docking connector sleeve 14. The stroke of the cylinder 9... A proximity switch is installed at the end to detect the insertion position of the mating connector plug 13 in real time. When the mating connector plug 13 is fully inserted into the mating connector sleeve 14, the proximity switch generates a mating feedback signal, controls the cylinder to stop moving 9 and lock it, to prevent damage to components due to excessive movement of the cylinder 9 and to ensure mating accuracy. The control solenoid valve, proximity switch, pressure sensor and temperature sensor of the cylinder 9 are all explosion-proof devices, suitable for flammable and explosive working environments, eliminating safety hazards caused by electrical sparks. The electrical circuit of the cylinder 9 is protected by explosion-proof sleeves to avoid leakage and spark problems caused by circuit damage.

[0015] Optionally, the mating block 11 is made of stainless steel, with four holes in the middle for connecting and mounting to the actuator end of the cylinder 9. The flexible block 10 is made of rubber and is placed between the mating block 11 and the cylinder 9 to compensate for the mating accuracy. The mating block 11 and the flexible block 10 are fastened to the cylinder 9 with screws. A small pressure compensation spring is provided at the connection between the mating block 11 and the mating connector plug 13. When the hot water delivery pressure fluctuates, the pressure compensation spring automatically adjusts the insertion depth of the mating connector plug 13 to ensure that the sealing surface is always tightly fitted, avoiding sealing failure due to pressure impact. At the same time, a sealing ring is provided at the connection between the mating block 11 and the pipe connector 12 to prevent hot water leakage at the pipe interface.

[0016] Optionally, the hot water connection mechanism 2 also includes a guide sleeve 4 located on the mixing pot body between the inlet and outlet. The guide sleeve 4 is provided with a guide hole, and a guide pin corresponding to the guide sleeve 4 is provided on the same side of the connection block 11 and the connection plug 13. During the process of the cylinder 9 driving the connection plug 13 to reciprocate through the connection block 11 and connecting with the connection sleeve 14, the guide pin and the guide sleeve 4 cooperate with each other to play a guiding role.

[0017] Optionally, after the mixing pot is locked and limited, the limiting hydraulic cylinder 6 automatically generates a lifting position feedback signal, which is sent to the hot water docking mechanism 2 via the pot body limiting mechanism 1. After receiving the lifting position feedback signal, the hot water docking mechanism 2 uses the cylinder 9 to dock the docking connector plug 13 with the docking connector sleeve 14. During the docking process, a guide pin and a guide sleeve 4 provide guidance, and a flexible block 10 compensates for the docking accuracy to avoid inaccurate docking. After the proximity switch detects that the docking is in place, it automatically generates a docking position feedback signal. Under the instruction of the docking position feedback signal, the hot water docking mechanism 2 starts hot water circulation.

[0018] Optionally, the mating block 11 is equipped with a first pressure sensor and a displacement sensor. The first pressure sensor is used to detect the sealing pressure at the mating joint. When the sealing pressure is lower than the preset pressure threshold, it is determined that the seal has failed or the mating is not in place. The displacement sensor is used to detect the insertion depth of the mating joint plug 13. When the insertion depth does not reach the preset depth threshold, a mating abnormality signal is issued. The pipe joint 12 is equipped with a temperature sensor and a second pressure sensor, which are used to monitor the temperature and pressure of the hot water in real time. When the temperature and / or pressure of the hot water deviate from the set value of the premixing process, the valve opening of the hot water pipeline is automatically adjusted to ensure the stability of the temperature and pressure of the hot water. At the same time, the data is recorded for subsequent traceability and analysis. Through the historical data of the displacement sensor and the first pressure sensor, a wear model of the mating joint plug 13 and the mating joint sleeve 14 is established. When the sealing pressure is detected to be continuously decreasing and the insertion displacement deviation is increased, it is determined that the component is worn and a wear warning signal is issued to remind the staff to replace the component in time to avoid sudden failure.

[0019] This application proposes an automatic hot water docking device for the solid propellant premixing process. Through the coordinated operation of the boiler limiting mechanism and the hot water docking mechanism, it achieves automated and precise docking of the hot water pipeline of the mixing boiler. This effectively solves the problems of high labor intensity and low automation caused by the traditional manual insertion and removal of hot water pipelines. Compared with the traditional hot water docking devices in the industry, it has the following advantages.

[0020] First, the bottom plate in the pit supports the limiting hydraulic cylinder, which drives the limiting rod to rise and insert into the limiting hole at the bottom of the mixing pot. Based on the mechanical locking principle, the displacement degree of the mixing pot during the docking process is eliminated, thereby providing a stable reference position for subsequent pipeline docking.

[0021] Second, the hot water docking mechanism starts after receiving the locking signal. The cylinder drives the docking block to carry the docking plug to the docking sleeve on the mixing pot. The mechanical guidance of the guide pin and guide sleeve corrects the lateral docking deviation, and the flexible block absorbs the longitudinal and angular errors, so that the plug can accurately enter the sleeve.

[0022] Third, the plug and sleeve complete the insertion action, triggering the internal communication mechanism to automatically connect the hot water pipeline, and automatically cut off the fluid channel when pulled apart, avoiding the risk of water leakage and ensuring the continuity and stability of the propellant production process.

[0023] Fourth, this application enables remote, unmanned operation of the entire process, significantly improving the safety level of the premixing process and avoiding the high safety risks caused by personnel coming into close contact with hazardous materials.

[0024] Fifth, this application ensures the sealing reliability and repeatability accuracy of pipeline connections through multiple guidance and compensation mechanisms, meeting the stringent requirements for high reliability and high automation of equipment in high-risk chemical environments. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies of this application will be briefly introduced below. The following drawings are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The drawings described herein are only used to explain this application and are not intended to limit this application.

[0026] Figure 1 These are the three views of a common mixing pot; Figure 2 This is a schematic diagram of transferring the mixing pot to the premixing process; Figure 3 This is a schematic diagram of the structure of an automatic hot water docking device for a solid propellant premixing process provided in one embodiment of this application; Figure 4 This is a schematic diagram of a limiting block provided at the bottom of the mixing pot frame and a guide sleeve provided on the mixing pot body between the inlet and outlet positions, provided in one embodiment of this application. Figure 5 This is a schematic diagram of the structure of the pot body limiting mechanism provided in one embodiment of this application; Figure 6 This is a schematic diagram of the hot water connection mechanism provided in one embodiment of this application; Figure 7 This is a side view of a hot water connection mechanism provided in one embodiment of this application; Figure 8 This is a schematic diagram of the structure of the mounting base provided in one embodiment of this application; Figure 9 This is a schematic diagram of the structure of the docking block provided in one embodiment of this application; Figure 10This is a schematic diagram of the structure of the mating connector plug provided in one embodiment of this application; Figure 11 This is a schematic diagram of the structure of the mating joint sleeve provided in one embodiment of this application; Figure 12 This is a flowchart of an automatic hot water docking method for a solid propellant premixing process provided in another embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. Those skilled in the art will understand that many technical details have been presented in the embodiments of this application to facilitate better understanding. However, the technical solutions claimed in this application can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of this application. The following embodiments can be combined with and referenced by each other without contradiction.

[0028] One embodiment of this application proposes an automatic hot water docking device suitable for the solid propellant premixing process. The implementation details of the automatic hot water docking device suitable for the solid propellant premixing process proposed in this embodiment are described in detail below. The following details are provided for ease of understanding only and are not necessary for implementing this solution.

[0029] The specific structure of the automatic hot water docking device for the solid propellant premixing process proposed in this embodiment can be as follows: Figure 3 As shown, the device consists of a pot body limiting mechanism 1 and a hot water connection mechanism 2.

[0030] The structure of the pot body limiting mechanism 1 is as follows Figure 5 As shown, the system consists of a base plate 5, a limiting hydraulic cylinder 6, and a limiting rod 7, located in the pit directly below the premixing station. The base plate 5 is a load-bearing component, leveled and installed in the pit using anchor bolts. It has two sets of threaded holes on its surface for mounting the limiting hydraulic cylinder 6. The limiting hydraulic cylinder 6 is a double-acting hydraulic cylinder used to drive the limiting rod 7 to move up and down. The limiting rod 7 is a rod-shaped part used to lock and limit the mixing pot.

[0031] Specifically, the pot body limiting mechanism 1 is a mechanical component used to fix and lock the mixing pot in position at the premixing station. Its function is to ensure that the mixing pot remains stationary and accurately positioned when connecting to the hot water pipeline, preventing connection failure or damage to the interface due to pot body shaking. Figure 3As shown, the pot body limiting mechanism 1 is located in the pit directly below the premixing station. This layout ensures that the limiting mechanism does not interfere with the ground track during normal transport of the mixing pot, and only rises to work when locking is required. The base plate 5, as the basic support component of the pot body limiting mechanism 1, can be a leveled steel plate or cast iron plate. Two sets of threaded holes on its surface are distributed according to actual installation requirements, used to securely install the limiting hydraulic cylinder 6 with bolts. The limiting hydraulic cylinder 6 is a double-acting hydraulic cylinder, meaning that its piston rod can both extend and retract, controlling the vertical lifting and lowering movement of the limiting rod 7 through the inflow and outflow of hydraulic oil. The limiting rod 7, as the component that directly performs the locking action, can be a cylindrical or prismatic rod-shaped part, and its top shape is set according to the actual situation. For example, it can be designed as a tapered guide head to facilitate smooth insertion into the limiting hole at the bottom of the mixing pot. Through cooperation with the bottom of the mixing pot frame, the pot body limiting mechanism 1 first completes the coarse positioning and fine locking of the mixing pot body, providing a stable foundation environment for the subsequent high-precision docking of the hot water docking mechanism 2.

[0032] The structure of hot water connection mechanism 2 is as follows Figure 6 As shown, the system consists of a mounting base 8, a cylinder 9, a flexible block 10, a docking block 11, a pipe connector 12, a docking connector plug 13, and a docking connector sleeve 14. The mounting base 8 is installed on one side of the mixing pot, corresponding to the inlet and outlet positions of the mixing pot, and is used to support the cylinder 9. The docking block 11 is installed on the actuating end of the cylinder 9, with a flexible block 10 between them to compensate for docking accuracy. The docking block 11 has a pipe thread hole and a metric thread hole on both sides. The pipe thread hole is used to install the pipe connector 12, and the metric thread hole is used to install the docking connector plug 13. The docking connector sleeve 14 is installed at the inlet and outlet positions of the mixing pot. The pipe connector 12 is the connector for the hot water pipeline. The cylinder 9 drives the docking connector plug 13 to reciprocate through the docking block 11. After the docking connector plug 13 is inserted into the docking connector sleeve 14, it automatically connects the pipeline; after being pulled out, it automatically cuts off the pipeline to prevent leakage.

[0033] Specifically, the hot water connection mechanism 2 can be an actuator used to automatically connect and disconnect the hot water pipe from the mixing pot interface. (Refer to Figure 6.) Figure 7(Side view of hot water connection mechanism 2) The hot water connection mechanism 2 is installed on the side of the mixing pot body, corresponding to the inlet and outlet positions of the mixing pot body. Mounting base 8 serves as a support base and can be a welded or bolted steel structure used to fix cylinder 9 in a suitable spatial position relative to the mixing pot. Cylinder 9 serves as a power source and can be a double-acting cylinder, driving the piston rod to perform linear reciprocating motion via compressed air, thereby moving the actuator. Flexible block 10 is placed between cylinder 9 and connection block 11 and can be a buffer pad made of rubber, polyurethane, or other materials with elastic deformation capabilities. Its function is to absorb axial or radial misalignment caused by manufacturing errors or installation deviations during the connection process, providing floating compensation and preventing rigid collisions from damaging components. Connection block 11 is a key transmission component connecting the power end and the actuator. The pipe thread holes and metric thread holes on both sides are used to fix pipe fitting 12 and connection plug 13, respectively. Pipe fitting 12 is used to connect to an external hot water supply pipeline and can be a standard stainless steel quick coupling or flange coupling. The docking plug 13 is used in conjunction with the docking sleeve 14 installed on the mixing pot. When the cylinder 9 pushes the docking block 11 forward, the docking plug 13 is inserted into the docking sleeve 14, triggering the internal valve mechanism to open and realize pipeline connection. When the cylinder 9 pulls the docking block 11 backward, the two separate, the internal valve automatically closes, cuts off the fluid passage and seals the port to prevent hot water leakage.

[0034] The structure and function of each component of the automatic hot water docking device for the solid propellant premixing process proposed in this embodiment will be described in detail below.

[0035] 1) Limit rod and locking limit.

[0036] The pot body limiting mechanism 1 also includes a limiting block 3 disposed at the bottom of the mixing pot frame (specifically as follows). Figure 4 As shown in the figure, its setting position corresponds to the limiting rod 7. The limiting block 3 has a limiting hole, which is used to cooperate with the limiting rod 7 to ensure the precise locking and limiting of the mixing pot. The fitting clearance between the limiting rod 7 and the limiting hole is no more than 0.3mm. One end of the limiting rod 7 is provided with an internal thread, which is connected to the end of the piston rod of the limiting hydraulic cylinder 6. The other end is provided with a taper for guidance during limiting.

[0037] The limiting rod 7 is a rod-shaped connector. One end of it is rigidly and detachably connected to the piston rod of the limiting hydraulic cylinder 6 via an internal thread structure. The other end is machined with a tapered structure, which serves to provide guidance. When the limiting hydraulic cylinder 6 drives the limiting rod 7 upward, the tapered surface guides the limiting rod 7 smoothly into the limiting hole of the limiting block 3, compensating for the initial alignment error. The limiting rod 7 then cooperates with the limiting hydraulic cylinder 6 as the direct carrier for performing the locking action. The specific dimensions, tapered angle, and other parameters of the limiting rod 7 can be set according to the actual weight of the mixing pot and the positioning accuracy requirements. For example, the tapered angle can be 1:10. This embodiment does not impose any special limitations on this.

[0038] The limiting block 3 is a mating component fixed to the bottom of the mixing pot frame, and its position corresponds perpendicularly to the limiting rod 7. The limiting hole on the limiting block 3 is a smooth hole used to receive the tapered end of the limiting rod 7. The fitting gap between the limiting rod 7 and the limiting hole is no more than 0.3mm. This precise fit ensures the positional stability of the mixing pot after it is locked, providing a basis for the precise insertion of the subsequent hot water docking mechanism 2. It can be understood that the limiting block 3 and the limiting rod 7 form an upper and lower insertion fit in space, limiting the horizontal displacement of the mixing pot through a small gap. As for the specific shape of the limiting hole, it can be a circular hole or other shapes adapted to the cross-section of the limiting rod; this embodiment does not impose any special limitations on this.

[0039] The limiting block 3 and the limiting rod 7 are made of steel and copper, respectively, to prevent sparking caused by contact between the limiting rod 7 and the limiting block 3, thus avoiding safety accidents. This combination of dissimilar metals utilizes the softness and spark-resistant properties of copper to prevent mechanical sparks from being generated by friction or impact between the metals during the insertion or removal of the limiting rod 7 from the limiting block 3, thereby meeting the stringent explosion-proof safety requirements of the solid propellant premixing process. The combination of hard and soft materials at the contact surface ensures structural strength while eliminating the risk of ignition sources. The specific steel and copper materials can be chosen according to actual conditions; for example, the steel can be 45# steel, and the copper can be brass or bronze, etc. This embodiment does not impose any special limitations on this.

[0040] In this embodiment, after the mixing pot is transferred to the premixing station, the limiting hydraulic cylinder 6 is activated and pushes the piston rod upward, causing the limiting rod 7 to rise synchronously. The tapered structure at the end of the limiting rod 7 first contacts and aligns with the limiting hole entrance on the limiting block 3. As it continues to rise, the limiting rod 7 gradually inserts into the limiting hole. Since the fit clearance between the limiting rod 7 and the limiting hole is controlled within 0.3mm, the mixing pot is forcibly locked in a preset precise position.

[0041] After the mixing pot is locked and limited, the limiting hydraulic cylinder 6 automatically generates a lifting completion feedback signal, which is sent to the hot water docking mechanism 2 via the pot body limiting mechanism 1. The limiting hydraulic cylinder 6 integrates a position sensor (such as a magnetostrictive displacement sensor), or has a proximity switch, limit switch, or other detection element at the end of its stroke. When the piston rod moves to the preset lifting end position, indicating that the mixing pot has been reliably locked, the detection element is triggered, generating an electrical signal. This signal can be a digital signal such as a high / low level; this embodiment does not impose any special limitations on this.

[0042] This feedback signal is crucial for determining whether the pot's limiting action has been completed. The feedback signal sent from the pot limiting mechanism 1 to the hot water connection mechanism 2 refers to the generated lifting positioning feedback signal being transmitted to the input of the control system via electrical wiring or an industrial bus. After logical confirmation, the control system sends an enable command to the actuator controller of the hot water connection mechanism 2, such as a PLC output module or a cylinder solenoid valve. This signal transmission path can be wired to ensure signal stability and anti-interference capabilities; in specific layouts, wireless communication can also be used. This signal serves as a logical interlock condition for the activation of the hot water connection mechanism 2, ensuring that subsequent pipeline connection operations are only permitted when the pot is securely locked, thus preventing equipment damage or media leakage caused by forced connection due to an unsecured pot.

[0043] 2) Base plate structure and safety protection.

[0044] The base plate 5 is provided with a drainage groove and a forklift working groove. The drainage groove is specifically used to drain the condensate dripping from the surface of the mixing pot, and the forklift working groove is specifically used for the transportation and replacement of the base plate 5.

[0045] A drainage trough is a flow-guiding structure formed on the surface of the base plate 5. Its shape, depth, and direction can be set according to actual conditions. For example, it can be a straight trough or an arc-shaped trough with a certain slope. This embodiment does not impose any special limitations on this. The function of the drainage trough is to collect and guide the condensate generated on the surface of the mixing pot due to temperature difference to a designated area in the pit for discharge, avoiding water accumulation that could corrode the equipment or cause ice formation on the ground that could affect operational safety. The drainage trough and the base plate 5 are integrally formed. In terms of spatial layout, it is independent of but also works in conjunction with the forklift working trough to jointly constitute the basic functional surface of the base plate 5.

[0046] The forklift working slot refers to a groove or through-hole structure on the base plate 5 for inserting forklift forks. Its size, quantity, and location distribution can be designed according to the specifications of the actual handling tools and the weight of the base plate 5. This embodiment does not impose any special limitations on this. The function of the forklift working slot is to provide a convenient lifting or forklift interface for the installation, maintenance, and replacement of the base plate 5, so that the heavy base plate 5 can be quickly moved out when it is necessary to repair the equipment in the pit.

[0047] The bottom of the base plate 5 is provided with cross reinforcing ribs to improve rigidity, ensure flatness for long-term use, and prevent the limit hydraulic cylinder 6 from bearing lateral force due to the depression of the base plate 5.

[0048] Cross-reinforcing ribs refer to the mesh or grid-like reinforcing structures set on the bottom surface of the base plate 5. Their cross-sectional shape, rib width, and grid density can be adjusted according to the stress conditions and material properties of the base plate 5; this embodiment does not impose any special limitations on these aspects. The main function of the cross-reinforcing ribs is to improve the overall rigidity and bending resistance of the base plate 5, disperse the concentrated load transmitted to the base plate during the operation of the limiting hydraulic cylinder 6, and prevent the base plate 5 from undergoing plastic deformation or denting under long-term heavy loads. If the base plate 5 dents, it will cause the axis of the limiting hydraulic cylinder 6 mounted on it to become misaligned, thereby causing the piston rod to bear non-axial lateral forces, accelerating seal wear, and even causing the hydraulic cylinder to jam. By enhancing the structural stability of the base plate 5, the cross-reinforcing ribs ensure the vertical movement accuracy of the limiting hydraulic cylinder 6.

[0049] The limit hydraulic cylinder 6 has a hydraulic lock integrated at the oil inlet and outlet to ensure that the piston rod is locked in place when the pipeline loses pressure, so as to prevent the mixing pot from tipping over or shifting.

[0050] The hydraulic lock is a hydraulic control element integrated at the inlet and outlet of the limit hydraulic cylinder 6. Its specific model, internal structure, and locking principle can be selected according to the working pressure and response speed requirements of the hydraulic system. For example, it can be a dual-loop locking circuit composed of a hydraulically controlled check valve, or a dedicated hydraulic locking module. This embodiment does not impose any special limitations on this. The function of the hydraulic lock is to automatically cut off the oil passage of the limit hydraulic cylinder 6 in emergency situations such as sudden pressure loss in the hydraulic pipeline (e.g., pipe burst, pump station failure, or power outage), locking the piston rod in its current position to prevent accidental retraction or extension due to gravity or external load. The hydraulic lock is directly connected to the limit hydraulic cylinder 6, forming a safety redundancy mechanism for the pot body limiting mechanism, ensuring that the mixing pot remains locked even under extreme working conditions, avoiding safety accidents caused by pot body displacement or tipping.

[0051] 3) Mounting bracket and cylinder control.

[0052] Mounting bracket 8 consists of a mounting base plate and a mounting main plate (e.g., ...). Figure 8 As shown), the mounting base plate has four strip holes for connection, which can adapt to on-site installation deviations to achieve the correspondence with the inlet and outlet positions of the mixing pot. The mounting main plate is perpendicular to the mounting base plate, and the mounting main plate has two strip holes for connection, which are used to install cylinder 9.

[0053] Mounting base 8 is a structural component used to support and fix pneumatic actuators. Its function is to provide a stable mounting reference for cylinder 9 and to compensate for random errors in the docking position of the mixing pot through its structural adjustability. The mounting base plate and mounting main plate are usually arranged vertically to form an L-shaped or T-shaped structure. The material can be carbon steel or stainless steel, which can be set according to the actual situation. The four strip holes on the mounting base plate and the two strip holes on the mounting main plate can be oblong, oval, or other through-hole structures that allow bolts to slide within a certain range. This embodiment does not make any special limitations on this. These strip holes cooperate with anchor bolts or connecting bolts, so that mounting base 8 can be finely adjusted in the horizontal and vertical directions during installation, thereby ensuring that the axis of cylinder 9 on the mounting main plate can be accurately aligned with the center line of the mating joint sleeve 14 on the mixing pot, so as to solve the problem of misalignment caused by civil construction errors or track installation deviations.

[0054] The cylinder 9 is bolted to the mounting plate of the mounting base 8. Both ends of the cylinder 9 are equipped with adjustable buffer valves. By adjusting the buffer pressure, the impact force during docking is reduced, and rigid collision between the docking connector plug 13 and the docking connector sleeve 14 is avoided.

[0055] Cylinder 9 is a pneumatic actuator that provides linear reciprocating motion power. In this embodiment, it is used to drive the mating block 11 and the mating connector plug 13 to complete the insertion and removal actions. An adjustable buffer valve is located at the end of the piston stroke of cylinder 9. When the piston approaches the end point, the buffer valve throttles and exhausts air, forming back pressure to absorb kinetic energy. The buffer pressure can be adjusted according to the mass of the mating block 11, the movement speed, and the allowable impact force. For example, the throttling opening can be changed by rotating the buffer screw. This embodiment does not impose any special limitations on this. With this setting, cylinder 9 can effectively reduce mechanical impact at the moment it drives the mating connector plug 13 to insert into the mating connector sleeve 14, or when it returns to its original position. This prevents damage to the mating connector sealing surface, thread damage, or loosening of the mounting base 8 due to rigid collisions, thus extending the service life of the components.

[0056] A proximity switch is provided at the end of the stroke of cylinder 9 to detect the insertion position of the mating connector plug 13 in real time. When the mating connector plug 13 is fully inserted into the mating connector sleeve 14, the proximity switch generates a mating feedback signal, controls the cylinder to stop moving 9 and lock it, to prevent damage to components due to excessive movement of cylinder 9 and to ensure the mating accuracy.

[0057] A proximity switch is a sensor that detects the position of an object without physical contact. It can be inductive, capacitive, or Hall effect, and the type can be selected based on the environment and the material of the object being detected. This embodiment does not impose any special limitations on this. The proximity switch is installed at the position corresponding to the end of the stroke of cylinder 9, or near the trigger block that moves with the cylinder piston rod. When the mating connector plug 13 reaches the preset full insertion depth, the proximity switch is triggered, generating an electrical signal. This signal serves as a logical criterion for proper mating. On one hand, it immediately cuts off the air intake passage of cylinder 9 or controls the reversing valve to reset, stopping the cylinder's movement and maintaining its current position, preventing overshoot from damaging the internal structure of the mating connector sleeve 14 due to the plug 13. This signal can also be sent to the control system as a prerequisite safety condition for opening the hot water circulation valve, ensuring that hot water is only introduced after the physical connection is confirmed to be reliable, preventing leaks.

[0058] The control solenoid valve, proximity switch, pressure sensor, and temperature sensor of cylinder 9 are all explosion-proof devices, suitable for flammable and explosive working environments, eliminating safety hazards caused by electrical sparks. In addition, the electrical circuit of cylinder 9 is protected by explosion-proof sleeves to avoid leakage and spark problems caused by circuit damage.

[0059] Explosion-proof devices refer to electrical equipment that meets the explosion-proof rating specified in national standards. Their housings have explosion-proof properties or employ intrinsically safe circuit designs, enabling them to operate safely in environments containing flammable and explosive gases or dust without igniting the surrounding medium. Since the solid propellant premixing process involves flammable and explosive raw materials, even a tiny electrical spark could trigger a serious safety accident. Therefore, it is necessary to select explosion-proof products for solenoid valves, proximity switches, and various sensors that directly participate in control and detection. Simultaneously, the electrical wiring connecting these devices is externally encased in explosion-proof sleeves. These sleeves can be flexible metal hoses or flame-retardant, anti-static rigid plastic tubes, selected according to the actual wiring environment; this embodiment does not impose any special limitations. The explosion-proof sleeves not only provide mechanical protection, preventing the wiring from being worn, squeezed, or corroded, thus exposing the wires, but also further block the path of potential spark propagation. Together with the explosion-proof devices, they constitute a complete electrical explosion-proof system, ensuring the intrinsic safety of the entire automatic hot water connection device in hazardous areas.

[0060] 4) Connecting block and sealing compensation.

[0061] Connecting block 11 is made of stainless steel, such as Figure 9 As shown, four light holes are provided in the middle position for connecting and installing on the actuator end of the cylinder 9. The flexible block 10 is made of rubber and is set between the docking block 11 and the cylinder 9 to achieve compensation for docking accuracy. The docking block 11 and the flexible block 10 are fastened to the cylinder 9 by screws.

[0062] The docking block 11 is the core connecting component used to support the quick-connect coupling assembly and transmit the cylinder driving force. In this embodiment, the docking block 11 is made of stainless steel. This material is chosen based on its good mechanical strength, corrosion resistance, and adaptability to hot water environments to prevent rusting or deformation under long-term reciprocating motion and humid and hot conditions. The aperture and distribution of the four holes in the middle of the docking block 11 can be set according to actual conditions. For example, it can be a uniformly distributed rectangular arrangement or other arrangements suitable for the flange structure of the cylinder 9 actuator end. This embodiment does not make any special limitations on this. These four holes are mainly used to firmly install the docking block 11 on the piston rod end or output flange of the cylinder 9 using fasteners. The docking block 11, together with the flexible block 10, constitutes an actuator end with error compensation function. Its overall function is to accurately transmit the linear motion of the cylinder 9 to the docking connector plug 13, while absorbing misalignment caused by installation deviation or mechanical vibration. The flexible block 10 is an elastic buffer set between the rigid transmission component and the actuator component. It can be made of rubber. This embodiment does not make any special limitations on this.

[0063] The flexible block 10 is positioned between the docking block 11 and the cylinder 9. Its connection to both the docking block 11 and the cylinder 9 can be achieved through screw fastening, interference fit, or bonding, as long as it allows for slight relative displacement while transmitting thrust. When the cylinder 9 pushes the docking block 11 towards the mixing pot, if there is an axial misalignment between the docking connector plug 13 and the docking connector sleeve 14, the flexible block 10 undergoes elastic deformation, allowing the docking block 11 to adaptively adjust its angle or position within a certain range. This prevents component damage or alignment failure caused by rigid collisions.

[0064] A small pressure compensation spring is provided at the connection between the docking block 11 and the docking connector plug 13. When the hot water delivery pressure fluctuates, the pressure compensation spring automatically adjusts the insertion depth of the docking connector plug 13 to ensure that the sealing surface is always tightly fitted and to avoid sealing failure due to pressure impact. At the same time, a sealing ring is provided at the connection between the docking block 11 and the pipe connector 12 to prevent hot water leakage at the pipe interface.

[0065] A small pressure-compensating spring is installed at the connection between the mating block 11 and the mating connector plug 13. This spring is an elastic reset element used to dynamically maintain the sealing contact force. The spring is installed inside the mating block 11 or at the root of the mating connector plug 13. Its function is to provide resistance to counteract the fluid thrust when there is a sudden pressure fluctuation in the hot water delivery pipeline, such as a sudden pressure increase. When the pressure attempts to push the mating connector plug 13 outward, the spring is compressed to maintain sufficient insertion depth. When the pressure decreases, the spring extends, pushing the mating connector plug 13 to maintain sufficient insertion depth. The pressure-compensating spring, mating connector plug 13, and mating block 11 work together to ensure that the sealing surface between the mating connector plug 13 and the mating connector sleeve 14 remains tightly fitted under any pressure conditions, preventing instantaneous separation or seal failure due to pressure shock. The sealing ring at the connection between the mating block 11 and the pipe fitting 12 is a static seal used to fill the threaded connection gap and prevent fluid leakage. The sealing ring can be an O-ring, a combination gasket, or other type of sealing element. Its material can be selected from fluororubber or EPDM rubber, depending on the hot water temperature; specific models are not specifically limited in this embodiment. The sealing ring is installed on the end face or step where the external thread of the pipe connector 12 engages with the internal thread of the mating block 11. Its function is to form a second line of defense at the pipe connection point, effectively preventing hot water leakage from the interface even if there are minor gaps in the thread machining or insufficient tightening torque, thus ensuring a safe working environment.

[0066] 5) Guiding mechanism and multi-level interlocking.

[0067] The hot water connection mechanism 2 also includes a guide sleeve 4 (such as a guide sleeve 4) located on the mixing pot body between the inlet and outlet positions. Figure 4 As shown), the guide sleeve 4 is provided with a guide hole, and the mating block 11 and the mating connector plug 13 (as shown) Figure 10 A guide pin corresponding to the guide sleeve 4 is provided on the same side of the sleeve (as shown). The cylinder 9 drives the docking plug 13 to reciprocate through the docking block 11, and the plug 13 reciprocates with the docking sleeve 14 (as shown). Figure 11 During the insertion process (as shown), the guide pin and guide sleeve 4 cooperate with each other to play a guiding role.

[0068] The guide sleeve 4 is a guide component installed on the side of the mixing pot body, located between the inlet and outlet. Its main function is to provide macroscopic path constraints for the hot water connection process. Its material can be set according to actual conditions, such as steel, stainless steel, or high-strength engineering plastics; this embodiment does not impose any special limitations. The guide sleeve 4 has a guide hole with a diameter slightly larger than the outer diameter of the guide pin to form a clearance fit. This clearance can be adjusted according to actual processing accuracy and guiding requirements, for example, it can be 0.1mm. The guide sleeve 4 has a spatial correspondence with components such as the mounting base 8 and the cylinder 9. Its installation position must ensure that when the mixing pot is locked and limited, the axis of the guide hole is substantially coincident with the axis of the guide pin on the docking block 11 or within the compensable range of the flexible block 10. By setting the guide sleeve 4, the docking block 11 is physically restricted in the initial movement with the cylinder 9, preventing the docking connector plug 13 from directly impacting the edge of the docking connector sleeve 14 due to lateral deviation. The guide pin is a columnar or conical protrusion fixed to the mating block 11 and corresponding to the position of the guide sleeve 4. The guide pin can be integrally formed with the mating block 11, or it can be an independent part fixed to the surface of the mating block 11 by means of threaded connection, interference fit, etc. The shape of the guide pin can be cylindrical, frustum conical, or prism with chamfers. Among them, the frustum conical or chamfered shape is conducive to guiding the guide pin to slide smoothly into the guide hole during the initial contact stage. The number, diameter, and length of the guide pin can be set according to the layout of the guide sleeve 4 and the required guiding stiffness. For example, two guide pins can be set to correspond to two guide sleeves 4 respectively to form a stable two-point guide. The guide pin and the guide sleeve 4 together constitute a mechanical guide pair. When the cylinder 9 drives the mating block 11 to move towards the mixing pot, the guide pin first inserts into the guide hole of the guide sleeve 4. By using the constraint of the hole wall on the pin body, the angular deviation or positional offset of the mating block 11 is forcibly corrected, thereby ensuring that the subsequent mating connector plug 13 can be accurately aligned and inserted into the mating connector sleeve 14.

[0069] After the mixing pot is locked and limited, the limiting hydraulic cylinder 6 automatically generates a lifting position feedback signal, which is sent to the hot water docking mechanism 2 via the pot body limiting mechanism 1. After receiving the lifting position feedback signal, the hot water docking mechanism 2 uses the cylinder 9 to dock the docking connector plug 13 with the docking connector sleeve 14. During the docking process, the guide pin and guide sleeve 4 provide guidance, and the flexible block 10 compensates for the docking accuracy to avoid inaccurate docking. After the proximity switch detects that the docking is in place, it automatically generates a docking position feedback signal. Under the instruction of the docking position feedback signal, the hot water docking mechanism 2 starts the hot water circulation.

[0070] The lifting-in feedback signal is an electrical signal generated by a proximity switch integrated on the limit hydraulic cylinder 6 when the limit rod 7 is lifted into the limit hole of the bottom limit block 3 of the mixing pot and reaches the preset locking position. This signal serves as a marker that the pot limiting mechanism 1 has completed its work, indicating that the mixing pot has been precisely locked in the premixing position, eliminating the risk of subsequent pipeline connection failure due to pot shaking. This signal is transmitted to the hot water connection mechanism 2 through the control system as a necessary prerequisite for initiating subsequent connection actions, achieving logical interlocking between the two sub-components. If this signal is not received, the hot water connection mechanism 2 will remain stationary and will not perform any actions, thus preventing equipment damage or safety accidents caused by forced connection when the pot is not fixed.

[0071] Upon receiving the feedback signal indicating that the hot water connection mechanism 2 has reached its lifting position, it responds by sending a command to the control solenoid valve of cylinder 9, driving the piston rod of cylinder 9 to extend. That is, the pipe connection operation is only permitted after confirming that the pot body is locked. The movement of cylinder 9 drives the connection block 11 and the connection plug 13 mounted on it to move towards the mixing pot, preparing to engage with the connection sleeves 14 installed at the inlet and outlet of the mixing pot. The engagement of the guide pin and guide sleeve 4 uses mechanical constraints to forcibly correct the relative positional deviation between the connection block 11 and the mixing pot, ensuring that the axis of the connection plug 13 coincides with the axis of the connection sleeve 14 or is within the allowable tolerance range. This method of guiding before insertion effectively avoids hard collisions or connection failures caused by accumulated errors.

[0072] The docking accuracy compensation performed by the flexible block 10 refers to using the elastic deformation capability of the flexible block 10 itself to absorb the remaining minute positional or angular deviations during the docking process. The flexible block 10 is positioned between the actuator end of the cylinder 9 and the docking block 11. When the guide pin and guide sleeve 4 are engaged, if there is still a misalignment at the millimeter level or even smaller, the flexible block 10 can undergo compression, shearing, or bending deformation, allowing the docking block 11 to adaptively adjust its posture and ensuring that the docking connector plug 13 can smoothly and unobstructedly enter the docking connector sleeve 14. This compensation mechanism protects rigid components from excessive lateral forces and extends the service life of the equipment.

[0073] The proximity switch is a non-contact position sensor, such as an inductive or Hall effect sensor, installed at the end of the stroke of cylinder 9 or near the docking block 11. Its function is to monitor in real time whether the docking plug 13 has been fully inserted into the docking sleeve 14 to a predetermined depth. When the plug reaches the designated position, the proximity switch senses the target object and generates a docking feedback signal. This signal is the direct basis for judging whether the physical connection of the pipeline is reliable. Only when this signal is generated does the control system determine that the docking action has been successfully completed.

[0074] Upon receiving the docking confirmation signal, the control system automatically opens the electric valve on the hot water pipeline or starts the circulation pump, creating a closed loop of hot water flow between the mixing tank jacket and the external heat source. This design is the final execution stage of the entire automation process, and its triggering strictly depends on the preceding locking and docking confirmation signals. This control logic ensures that high-temperature hot water is only introduced when the mechanical connection is completely reliable, fundamentally eliminating safety hazards such as hot water leakage and splashing caused by improper docking, while also avoiding energy waste.

[0075] 6) Sensor detection and predictive protection.

[0076] The docking block 11 is equipped with a first pressure sensor and a displacement sensor. The first pressure sensor is used to detect the sealing pressure at the docking joint. When the sealing pressure is lower than the preset pressure threshold, it is determined that the seal has failed or the docking is not in place. The displacement sensor is used to detect the insertion depth of the docking joint plug 13. When the insertion depth does not reach the preset depth threshold, a docking abnormality signal is issued.

[0077] Temperature sensors and second pressure sensors are installed at pipe joint 12, which are used to monitor the temperature and pressure of hot water in real time. When the temperature and / or pressure of hot water deviates from the set value of the premixing process, the valve opening of the hot water pipeline is automatically adjusted to ensure the stability of the temperature and pressure of hot water. At the same time, the data is recorded for subsequent traceability and analysis.

[0078] By using historical data from the displacement sensor and the first pressure sensor, a wear model is established for the mating joint plug 13 and the mating joint sleeve 14. When a continuous decrease in sealing pressure and an increase in insertion displacement deviation are detected, it is determined that the components are worn, and a wear warning signal is issued to remind the staff to replace the components in time to avoid sudden failures.

[0079] This embodiment proposes an automatic hot water docking device suitable for the solid propellant premixing process. Through the coordinated operation of the boiler limiting mechanism and the hot water docking mechanism, it realizes the automated and precise docking of the hot water pipeline of the mixing boiler. It effectively solves the problems of high labor intensity and low automation caused by the traditional manual insertion and removal of hot water pipelines. Compared with the traditional hot water docking devices in the industry, it has the following advantages.

[0080] First, the bottom plate in the pit supports the limiting hydraulic cylinder, which drives the limiting rod to rise and insert into the limiting hole at the bottom of the mixing pot. Based on the mechanical locking principle, the displacement degree of the mixing pot during the docking process is eliminated, thereby providing a stable reference position for subsequent pipeline docking.

[0081] Second, the hot water docking mechanism starts after receiving the locking signal. The cylinder drives the docking block to carry the docking plug to the docking sleeve on the mixing pot. The mechanical guidance of the guide pin and guide sleeve corrects the lateral docking deviation, and the flexible block absorbs the longitudinal and angular errors, so that the plug can accurately enter the sleeve.

[0082] Third, the plug and sleeve complete the insertion action, triggering the internal communication mechanism to automatically connect the hot water pipeline, and automatically cut off the fluid channel when pulled apart, avoiding the risk of water leakage and ensuring the continuity and stability of the propellant production process.

[0083] Fourth, this embodiment realizes remote unmanned intelligent operation of the entire process, which significantly improves the safety level of the premixing process and avoids the high safety risks caused by personnel coming into close contact with hazardous materials.

[0084] Fifth, this embodiment ensures the sealing reliability and repeatability accuracy of the pipeline connection through multiple guidance and compensation mechanisms, meeting the stringent requirements for high reliability and high automation of equipment in high-risk chemical environments.

[0085] It is worth noting that all modules involved in this embodiment are logical modules. In practical applications, a logical module can be a physical module, a part of a physical module, or an organic combination of multiple physical modules. Furthermore, to highlight the innovative aspects of this application, this embodiment does not introduce modules that are not closely related to solving the technical problems proposed in this application. However, this does not mean that other modules are absent from this embodiment.

[0086] Accordingly, another embodiment of this application proposes an automatic hot water docking method for a solid propellant premixing process, which is implemented based on an automatic hot water docking device for a solid propellant premixing process as described in the above device embodiment. The details of the automatic hot water docking method for a solid propellant premixing process proposed in this embodiment are described in detail below. The following details are provided for ease of understanding only and are not necessary for implementing this solution.

[0087] The specific process of the automatic hot water docking method for solid propellant premixing proposed in this embodiment can be described as follows: Figure 12 As shown, it includes: S1, the mixing pot is transferred to the premixing station. The pot body limiting mechanism lifts the limiting rod to the limiting hole at the bottom of the mixing pot through the limiting hydraulic cylinder. The limiting rod and the limiting hole cooperate with each other to ensure that the mixing pot is locked and limited.

[0088] The mixing pot, a container holding the propellant slurry, typically sits on a wheeled frame and is transported from the previous process to the premixing station via a rail transport system. The pot's limiting mechanism is located in a pit directly below the premixing station, and its core actuating component is a limiting hydraulic cylinder. Upon receiving a start command, the limiting hydraulic cylinder drives the piston rod upwards, causing the connected limiting rod to rise synchronously. One end of the limiting rod has a tapered guide structure, allowing it to smoothly enter the limiting hole on a pre-set limiting block at the bottom of the mixing pot frame. The clearance between the limiting rod and the limiting hole is strictly controlled to no more than 0.3mm. This high-precision fit ensures that the mixing pot's horizontal position is accurately locked, preventing displacement or tilting during subsequent docking. Through the tight fit between the limiting rod and the limiting hole, the mixing pot is firmly fixed at the premixing station, providing a stable reference position for subsequent pipeline docking.

[0089] S2, after the mixing pot is locked and limited, the limit hydraulic cylinder automatically generates a lifting position feedback signal, which is sent to the hot water docking mechanism via the pot body limit mechanism.

[0090] The lifting-in-place feedback signal is a crucial status indicator for determining whether the mixing pot has completed its safe locking process. This signal originates from a position detection element, such as a limit switch or pressure sensor, integrated into the limit hydraulic cylinder system. When the piston rod of the limit hydraulic cylinder moves to the preset lifting endpoint position—that is, when the limit rod is fully inserted into the limit hole and reaches the locking state—the detection element is triggered, automatically generating a high-level signal or a specific digital signal. This signal serves as a safety interlock condition and is transmitted in real-time to the hot water docking mechanism via the control system's data bus or hardwired wiring. Only after receiving this valid lifting-in-place feedback signal is the hot water docking mechanism authorized to initiate subsequent docking actions. If this signal is not received, the system determines that the mixing pot is not in place, thereby prohibiting cylinder movement and preventing docking failure or equipment damage due to pot instability. This mechanism establishes a logical dependency between the pot limiting mechanism and the hot water docking mechanism, ensuring the safety of the operational process.

[0091] S3, after receiving the feedback signal of the lifting position, the hot water docking mechanism uses a cylinder to dock the docking connector plug with the docking connector sleeve at the corresponding position on the mixing pot. During the docking process, a guide pin and a guide sleeve provide guidance, and a flexible block compensates for the docking accuracy to avoid inaccurate docking.

[0092] After receiving the feedback signal indicating that the hot water docking mechanism has reached the designated position, it activates the cylinder mounted on the mounting base. The cylinder's actuator is connected to a docking block, on which a docking connector plug is installed. As the cylinder pushes the docking block towards the mixing pot, a guide pin located on the side of the docking block first inserts into the guide hole of a guide sleeve fixed to the mixing pot body. The cooperation between the guide pin and the guide sleeve provides coarse positioning and guidance, correcting any minor lateral deviations that may occur when the mixing pot stops. Simultaneously, a flexible block positioned between the docking block and the cylinder's actuator undergoes elastic deformation, absorbing axial and radial misalignments caused by manufacturing tolerances or installation errors, thus achieving dynamic compensation for docking accuracy. After the docking connector plug is inserted into the docking connector sleeve, the internal valve automatically opens to connect the pipeline. If forcibly pulled out, it automatically cuts off the pipeline to prevent hot water leakage. Through the coordinated operation of the guide pin, guide sleeve, and flexible block, this embodiment achieves high-precision automatic docking without manual intervention, effectively avoiding joint damage or sealing failure caused by misalignment.

[0093] S4, after detecting that the docking is in place, the cylinder automatically generates a docking feedback signal, and the hot water docking mechanism starts hot water circulation under the instruction of the docking feedback signal.

[0094] The docking feedback signal is the final verification indicator confirming that the physical connection of the pipeline is complete and the seal is reliable. This signal is generated by a proximity switch installed at the end of the cylinder stroke. When the docking connector plug is fully inserted into the docking connector sleeve and reaches the preset depth, the proximity switch senses the target object and immediately generates a docking feedback signal. After analyzing this signal, the control system determines that the docking action has been successfully completed, and then issues a command to open the electric valve on the hot water pipeline, start the hot water circulation pump, and allow constant-temperature hot water to flow into the jacket layer of the mixing pot to begin temperature regulation of the propellant slurry. If the docking feedback signal is not detected within the specified time, the control system will determine that the docking is abnormal, automatically stop the cylinder movement, and sound an alarm to prevent water leakage accidents caused by water flow in an unconnected state. This mechanism completes the logical closed loop from mechanical connection to fluid transportation, ensuring that hot water transportation can only be carried out when the physical connection is absolutely reliable, greatly improving the safety and reliability of the production process.

[0095] Through the orderly execution of the above steps, this embodiment achieves full automation of hot water pipeline docking in the solid propellant premixing process. By closely integrating the mixing pot transfer, mechanical locking, signal interlocking, guided compensation docking, and status confirmation water supply, a complete safety control process is formed. The high-precision fit between the limit rod and the limit hole provides a stable foundation for docking; the lifting position feedback signal serves as the first safety barrier, preventing misoperation when the pot is not locked; the combined application of guide pins, guide sleeves, and flexible blocks solves the docking problem caused by positioning errors in large equipment, achieving a complementarity of flexibility and rigidity; the docking position feedback signal serves as the second safety barrier, ensuring that the principle of connecting first and then supplying water is strictly implemented. This method not only significantly reduces the labor intensity of operators, but more importantly, it liberates personnel from the hazardous working environment of flammable and explosive materials. Through remote automated control, it completely eliminates the safety hazards of close-range manual operation, ensuring the continuity and stability of the propellant premixing production process.

[0096] The steps described above are merely for clarity in describing the technical solution. In actual implementation, they can be combined into one step, or certain steps can be broken down into multiple steps, as long as they involve the same logical relationship, they are all within the scope of protection of this application. Any insignificant modifications or designs added to the algorithm or process, as long as they do not change the core of the algorithm or process, are also within the scope of protection of this application.

[0097] It is not difficult to see that this embodiment is a method embodiment corresponding to the above-described device embodiment, and this embodiment can be implemented in conjunction with the above-described device embodiment. The relevant technical details and technical effects mentioned in the above-described device embodiment are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the above-described device embodiment.

[0098] It will be understood by those skilled in the art that the above embodiments are specific implementations of this application, and in practical applications, various changes can be made in form, detail, and description without departing from the spirit and scope of this application. For those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. An automatic hot water docking device suitable for the premixing process of solid propellants, characterized in that, The device consists of a pot body limiting mechanism (1) and a hot water connection mechanism (2); The pot body limiting mechanism (1) consists of a base plate (5), a limiting hydraulic cylinder (6), and a limiting rod (7), and is located in the pit directly below the premixing station; the base plate (5) is a load-bearing component, which is installed in the pit by anchor bolts after leveling, and has two sets of threaded holes on its surface for installing the limiting hydraulic cylinder (6); the limiting hydraulic cylinder (6) is a double-acting hydraulic cylinder, which is used to drive the limiting rod (7) to move up and down; the limiting rod (7) is a rod-shaped part, which is used to lock and limit the mixing pot; The hot water connection mechanism (2) consists of a mounting base (8), a cylinder (9), a flexible block (10), a connection block (11), a pipe joint (12), a connection plug (13), and a connection sleeve (14). The mounting base (8) is installed on one side of the mixing pot, corresponding to the inlet and outlet positions of the mixing pot, and is used to support the cylinder (9). The connection block (11) is installed on the actuating end of the cylinder (9), and a flexible block (10) for compensating for connection accuracy is provided between the two. The two sides of the connection block (11) are respectively provided with... There are pipe threaded holes and metric threaded holes. The pipe threaded holes are used to install pipe fittings (12), and the metric threaded holes are used to install butt plugs (13). The butt sleeve (14) is installed at the inlet and outlet of the mixing pot. The pipe fitting (12) is the connector of the hot water pipeline. The cylinder (9) drives the butt plug (13) to reciprocate through the butt block (11). After the butt plug (13) and the butt sleeve (14) are inserted, the pipeline is automatically connected. After being pulled out, the pipeline is automatically cut off to avoid water leakage.

2. The automatic hot water docking device for a solid propellant premixing process according to claim 1, characterized in that, One end of the limiting rod (7) is provided with an internal thread, which is connected to the end of the piston rod of the limiting hydraulic cylinder (6), and the other end is provided with a taper for guiding during limiting; The pot body limiting mechanism (1) also includes a limiting block (3) set at the bottom of the mixing pot frame. Its setting position corresponds to the limiting rod (7). The limiting block (3) has a limiting hole, which is used to cooperate with the limiting rod (7) to ensure the precise locking and limiting of the mixing pot. The gap between the limiting rod (7) and the limiting hole is no more than 0.3mm. The limiting block (3) and the limiting rod (7) are made of steel and copper, respectively, to prevent sparking caused by contact between the limiting rod (7) and the limiting block (3) and thus avoid safety accidents.

3. The automatic hot water docking device for a solid propellant premixing process according to claim 1, characterized in that, The bottom plate (5) is provided with a drainage groove and a forklift working groove. The drainage groove is used to drain the condensate dripping from the surface of the mixing pot, and the forklift working groove is used for the transportation and replacement of the bottom plate (5). The bottom of the base plate (5) is provided with cross reinforcing ribs to improve rigidity, ensure flatness for long-term use, and prevent the limiting hydraulic cylinder (6) from bearing lateral force due to the depression of the base plate (5). The limit hydraulic cylinder (6) has a hydraulic lock integrated at the oil inlet and outlet to ensure that the position of the piston rod is locked when the pipeline loses pressure, so as to prevent the mixing pot from tipping over or shifting.

4. The automatic hot water docking device for a solid propellant premixing process according to claim 2, characterized in that, After the mixing pot is transferred from the previous process to the premixing station, the pot body limiting mechanism (1) starts to work. The limiting hydraulic cylinder (6) lifts the limiting rod (7) into the limiting hole of the limiting block (3). The limiting rod (7) and the limiting hole cooperate to ensure the precise locking and limiting of the mixing pot. After the mixing pot is locked and limited, the limiting hydraulic cylinder (6) automatically generates a lifting position feedback signal, which is sent to the hot water docking mechanism (2) through the pot body limiting mechanism (1).

5. The automatic hot water docking device for a solid propellant premixing process according to claim 1, characterized in that, The mounting base (8) consists of a mounting base plate and a mounting main plate. The mounting base plate has four strip holes for connection, which can adapt to the on-site installation deviation and correspond to the position of the water inlet and outlet of the mixing pot. The mounting main plate is perpendicular to the mounting base plate. The mounting main plate has two strip holes for connection, which are used to install the cylinder (9). The cylinder (9) is mounted on the mounting plate of the mounting base (8) by bolts. Adjustable buffer valves are provided at both ends of the cylinder (9). By adjusting the buffer pressure, the impact force during docking is reduced, and rigid collision between the docking plug (13) and the docking sleeve (14) is avoided. A proximity switch is provided at the end of the stroke of the cylinder (9) to check the insertion position of the docking plug (13) in real time. When the docking plug (13) is fully inserted into the docking sleeve (14), the proximity switch generates a docking feedback signal, controls the cylinder to stop moving (9) and lock, prevents damage to components due to excessive movement of the cylinder (9), and ensures docking accuracy. The control solenoid valve, proximity switch, pressure sensor and temperature sensor of the cylinder (9) are all explosion-proof devices, which are suitable for flammable and explosive working environments and eliminate the safety hazards caused by electrical sparks. The electrical circuit of the cylinder (9) is protected by explosion-proof sleeves to avoid leakage and spark problems caused by circuit damage.

6. The automatic hot water docking device for a solid propellant premixing process according to claim 1, characterized in that, The docking block (11) is made of stainless steel and has four light holes in the middle position for connecting and installing on the actuator end of the cylinder (9). The flexible block (10) is made of rubber and is set between the docking block (11) and the cylinder (9) to achieve compensation for docking accuracy. The docking block (11) and the flexible block (10) are fastened to the cylinder (9) by screws. A small pressure compensation spring is provided at the connection between the docking block (11) and the docking connector plug (13). When the hot water delivery pressure fluctuates, the pressure compensation spring automatically adjusts the insertion depth of the docking connector plug (13) to ensure that the sealing surface is always tightly fitted and to avoid sealing failure due to pressure impact. At the same time, a sealing ring is provided at the connection between the docking block (11) and the pipe connector (12) to prevent hot water leakage at the pipe interface.

7. The automatic hot water docking device for a solid propellant premixing process according to claim 5, characterized in that, The hot water docking mechanism (2) also includes a guide sleeve (4) located between the inlet and outlet of the mixing pot body. The guide sleeve (4) is provided with a guide hole, and the docking block (11) and the docking connector plug (13) are provided with a guide pin corresponding to the guide sleeve (4) on the same side. During the process of the cylinder (9) driving the docking plug (13) to reciprocate through the docking block (11) and inserting it into the docking sleeve (14), the guide pin and the guide sleeve (4) cooperate with each other to play a guiding role.

8. The automatic hot water docking device for a solid propellant premixing process according to claim 7, characterized in that, After the mixing pot is locked and limited, the limiting hydraulic cylinder (6) automatically generates a lifting position feedback signal, which is sent to the hot water docking mechanism (2) via the pot body limiting mechanism (1). After receiving the lifting position feedback signal, the hot water docking mechanism (2) docks the docking connector plug (13) with the docking connector sleeve (14) through the cylinder (9). During the docking process, the guide pin and guide sleeve (4) provide guidance, and the flexible block (10) provides docking accuracy compensation to avoid inaccurate docking. After the proximity switch detects that the docking is in place, it automatically generates a docking position feedback signal. The hot water docking mechanism (2) starts hot water circulation under the instruction of the docking position feedback signal.

9. A hot water automatic docking device for a solid propellant premixing process according to any one of claims 1 to 8, characterized in that, The docking block (11) is equipped with a first pressure sensor and a displacement sensor. The first pressure sensor is used to detect the sealing pressure at the docking joint. When the sealing pressure is lower than the preset pressure threshold, it is determined that the seal is ineffective or the docking is not in place. The displacement sensor is used to detect the insertion depth of the docking joint plug (13). When the insertion depth does not reach the preset depth threshold, a docking abnormality signal is issued. A temperature sensor and a second pressure sensor are installed at the pipe joint (12) to monitor the temperature and pressure of the hot water in real time. When the temperature and / or pressure of the hot water deviates from the set value of the premixing process, the valve opening of the hot water pipeline is automatically adjusted to ensure the temperature and pressure of the hot water are stable. At the same time, the data is recorded for subsequent traceability and analysis. Based on historical data from displacement sensor and first pressure sensor, wear models of mating connector plug (13) and mating connector sleeve (14) are established. When the sealing pressure continues to drop and the insertion displacement deviation increases, it is determined that the component is worn and a wear warning signal is issued to remind the staff to replace the component in time to avoid sudden failure.

10. A method for automatic hot water docking in a solid propellant premixing process, implemented based on an automatic hot water docking device for a solid propellant premixing process as described in any one of claims 1 to 9, characterized in that, The method includes: The mixing pot is transferred to the premixing station. The pot body limiting mechanism lifts the limiting rod to the limiting hole at the bottom of the mixing pot through the limiting hydraulic cylinder. The limiting rod and the limiting hole cooperate with each other to ensure that the mixing pot is locked and limited. After the mixing pot is locked and limited, the limit hydraulic cylinder automatically generates a lifting position feedback signal, which is sent to the hot water docking mechanism via the pot body limit mechanism. After receiving the feedback signal that the hot water docking mechanism has been lifted into place, it uses a cylinder to dock the docking connector plug with the docking connector sleeve at the corresponding position on the mixing pot. During the docking process, a guide pin and a guide sleeve provide guidance, and a flexible block compensates for the docking accuracy to avoid inaccurate docking. Once the docking is detected, the cylinder automatically generates a docking feedback signal, and the hot water docking mechanism starts hot water circulation under the instruction of the docking feedback signal.

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