CN109297370B - Elastic clamping type connector centering device - Google Patents
Elastic clamping type connector centering device Download PDFInfo
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- CN109297370B CN109297370B CN201811157593.7A CN201811157593A CN109297370B CN 109297370 B CN109297370 B CN 109297370B CN 201811157593 A CN201811157593 A CN 201811157593A CN 109297370 B CN109297370 B CN 109297370B
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- frame
- connecting frame
- butt joint
- sliding
- cylinder
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/36—Means for interconnecting rocket-motor and body section; Multi-stage connectors; Disconnecting means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
An elastic clamping type connector centering device comprises a connecting frame assembly, a butt joint frame, a plurality of centering cylinders and the like; a guide rail is arranged on the base, the sliding frame is arranged on the guide rail, and the main propulsion cylinder drives the sliding frame to move along the guide rail; four corners of the butt joint frame are respectively connected to the side face of the sliding frame through swing arms, and the butt joint frame swings relative to the sliding frame through the swing arms; the equipment B is arranged in the connecting frame assembly, the butt joint frame is matched with a slide rail on the connecting frame assembly through supporting lug pieces on two sides of the frame, the auxiliary propulsion cylinder drives the connecting frame assembly to move along the slide rail, and the moving direction is consistent with the direction of the guide rail; and a plurality of centering air cylinders are arranged on the butt joint frame and used for clamping the equipment A and adjusting the position of the equipment A to be aligned with the equipment B. The invention can be used for the automatic centering of the position between the connector for rocket filling and the valve on the rocket, and can also be used for the automatic positioning and following of the position of other objects in a static state or relative motion.
Description
Technical Field
The invention belongs to the technical field of automatic butt joint of carrier rockets, and relates to a centering device.
Background
In the prior art, automatic butt joint technology is adopted for connectors located at the bottom of an arrow body mostly, automatic butt joint of the tail of the arrow body and low-temperature fuel filling is basically achieved, the connector and a valve are relatively static in position during butt joint, model application examples are not reported yet under the condition that the high-altitude connector and the valve have large relative movement speeds, and manual butt joint or semi-automatic butt joint is mostly completed in a final assembly test factory building for the connectors located at high altitude.
The connector for filling the rocket and the upper valve of the rocket are relatively static, the connection is generally butted by manpower, and the labor intensity is high; under special conditions such as fuel leakage, the working environment is severe and dangerous.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the elastic clamping type connector centering device can be used for automatically centering the position between a connector for rocket filling and a valve on a rocket, and can also be used for automatically positioning and following the positions of other objects in a static state or relative motion.
The technical scheme adopted by the invention is as follows: an elastic clamping type connector centering device comprises a connecting frame assembly, a butt joint frame, a plurality of centering cylinders, a main propelling cylinder, an auxiliary propelling cylinder, a swing arm, a sliding frame, a guide rail and a base;
a guide rail is arranged on the base, the sliding frame is arranged on the guide rail, and the main propulsion cylinder drives the sliding frame to move along the guide rail;
four corners of the butt joint frame are respectively connected to the side face of the sliding frame through swing arms, and the butt joint frame swings relative to the sliding frame through the swing arms;
the equipment B is arranged in the connecting frame assembly, the butt joint frame is matched with a slide rail on the connecting frame assembly through supporting lug pieces on two sides of the frame, the auxiliary propulsion cylinder drives the connecting frame assembly to move along the slide rail, and the moving direction is consistent with the direction of the guide rail; and a plurality of centering air cylinders are arranged on the butt joint frame and used for clamping the equipment A and adjusting the position of the equipment A to be aligned with the equipment B.
The elastic clamping type connector centering device further comprises a lower support cylinder, the lower support cylinder is installed on the side face of the sliding frame, an output shaft of the lower support cylinder is in contact with a support rod of the swing arm, and the positions of the swing arm are adjusted from the lower side respectively.
The elastic clamping type connector centering device further comprises a side supporting cylinder, the side supporting cylinder is installed on the side face of the sliding frame, an output shaft of the side supporting cylinder is in contact with a supporting rod of the swing arm, and the position of the swing arm is adjusted from the side face.
The connecting frame assembly comprises a slide rail, a plurality of pull rope mechanisms and a connecting frame; slide rails are arranged on two sides of the connecting frame, and the pull rope mechanism is arranged on the outer wall of the connecting frame and used for tensioning equipment B arranged in the connecting frame.
The rope pulling mechanism comprises a pressing cover, a spring, a pull rod, a steel wire rope, a roller seat and a spring seat; one end of the steel wire rope is connected with the equipment B, the other end of the steel wire rope is connected with the pull rod by bypassing the roller wheel, and the roller wheel is arranged on the outer wall of the connecting frame; the pull rod penetrates through a center hole of the spring seat, the spring seat is installed on the connecting frame, the pressing cover is fixed on the pull rod, the spring is installed between the pressing cover and the spring seat, and the pull rod slides relative to the spring seat under the action of the spring.
And the centers of four frames of the butt joint frame are respectively provided with a centering cylinder, the output shaft of the centering cylinder is respectively vertical to each frame of the butt joint frame, and the equipment A is clamped from the upper direction, the lower direction, the left direction and the right direction.
The swing arm comprises a sliding block assembly and a supporting rod, and two ends of the supporting rod are connected with the sliding frame and the butt-joint frame through the sliding block assembly respectively.
The sliding block assembly comprises a cross block, a sliding block seat, a pin shaft I and a pin shaft II, the cross block is arranged at the end part of the supporting rod, the cross block is matched with a mounting hole of the sliding block seat through the pin shaft I and the pin shaft II which are perpendicular to each other, and the sliding block seat is arranged on the butt-joint frame or the sliding frame.
Two groups of rope pulling mechanisms are arranged on the top surface of the connecting frame and are symmetrical about the central axis of the connecting frame; each group comprises two rope pulling mechanisms arranged along the central shaft of the connecting frame, and the stretching directions of the steel wire ropes in the two rope pulling mechanisms are opposite.
Two side surfaces of the connecting frame are respectively provided with a group of rope pulling mechanisms, each group of rope pulling mechanisms comprises two rope pulling mechanisms arranged along the central shaft of the connecting frame, and the stretching directions of the steel wire ropes in the two rope pulling mechanisms are opposite.
Compared with the prior art, the invention has the advantages that:
(1) the invention can be used for automatically positioning and following the relative positions of two objects in static or moving. Such as the automatic butt joint of the rocket filling connector and the valve on the rocket. The method is particularly suitable for the following occasions, such as: toxic and other gaseous environments; the emergency treatment system can not complete the work quickly within the specified time by manpower; in the climates of heavy fog, rain, snow and the like, the manual work is inconvenient to handle.
(2) The method can realize the accurate automatic adjustment and tracking of the three-freedom-degree position between the rocket filling connector 210 and the valve, can also be used for the accurate automatic adjustment of the three-freedom-degree position of other clamping objects, and can automatically track the position of a target object in a static state or a moving state according to the requirement.
(3) The invention has simple control principle and realizes centering adjustment of the cylinder. No position sensing element and no servo control system is required. The system has high reliability and strong environmental adaptability.
Drawings
FIG. 1 is a schematic view of the centering device of the present invention;
FIG. 2 is a right side view of the connecting frame;
FIG. 3 is a front view of the connection frame;
FIG. 4 is a top view of the slider assembly.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the centering device includes a connection frame assembly, a docking frame 3, a centering cylinder 4 (including an upper centering cylinder, a lower centering cylinder, and a side centering cylinder), a supporting cylinder (including a lower supporting cylinder 5 and a side supporting cylinder 6), a main propulsion cylinder, an auxiliary propulsion cylinder, a swing arm 1, a carriage 9, a guide rail 8, and a base 7.
A guide rail 8 is arranged on the base 7, a sliding frame 9 is arranged on the guide rail 8, and a main propulsion cylinder drives the sliding frame 9 to move along the guide rail 8; four corners of the butt joint frame 3 are respectively connected to the side surface of the sliding frame 9 through the swing arm 1, and the butt joint frame 3 swings relative to the sliding frame 9 through the swing arm 1; a connector 210 for rocket filling is arranged in the connecting frame assembly, the butt joint frame 3 is matched with a slide rail 21 on the connecting frame assembly through supporting lugs on two sides of the frame, and a propelling cylinder is assisted to drive the connecting frame assembly to move along the slide rail 21, wherein the moving direction is consistent with the direction of the guide rail 8; a plurality of centering cylinders 4 are arranged on the butt joint frame 3 and used for clamping the upper valve of the rocket and adjusting the position of the upper valve of the rocket to be aligned with the connector 210 for rocket filling; the lower support cylinder 5 is arranged on the side surface of the sliding frame 9, the output shaft of the lower support cylinder 5 is in contact with the support rod of the swing arm 1, and the positions of the swing arm 1 are respectively adjusted from the lower part. The side support cylinder 6 is installed on the side of the carriage 9, the output shaft of the side support cylinder 6 contacts with the support rod of the swing arm 1, and the position of the swing arm 1 is adjusted from the side.
The connecting frame assembly comprises a slide rail 21, a plurality of pull rope mechanisms and a connecting frame 2; the slide rails 21 are arranged on two sides of the connecting frame 2, and the rope pulling mechanism is arranged on the outer wall of the connecting frame 2 and used for tensioning the rocket filling connector 210 arranged in the connecting frame 2. As shown in fig. 2 and 3, the connection frame 2 is fixed to the docking frame 3. The connecting frame 2 is provided with a slide rail 21 which can move in the left and right directions of the figure relative to the butt-joint frame 3 under the action of the auxiliary propulsion cylinder. Two groups of rope pulling mechanisms are arranged on the top surface of the connecting frame 2, and the two groups of rope pulling mechanisms are symmetrical about the central axis of the connecting frame 2; two side surfaces of the connecting frame 2 are respectively provided with a group of rope pulling mechanisms, each group comprises two rope pulling mechanisms arranged along the central shaft of the connecting frame 2, and the stretching directions of the steel wire ropes 25 in the two rope pulling mechanisms are opposite.
A plurality of groups of pull rope mechanisms are arranged on the connecting frame 2. As shown in fig. 3, the rope pulling mechanism includes a pressing cover 28, a spring 27, a pull rod 26, a steel wire rope 25, a roller 24, a roller seat 23 and a spring seat 22. One end of the steel wire rope 25 is connected with the rocket filling connector 210, the other end of the steel wire rope bypasses the roller 24 to be connected with the pull rod 26, and the roller 24 is arranged on the outer wall of the connecting frame 2. The pull rod 26 passes through a central hole of the spring seat 22, and the spring seat 22 is mounted on the connection frame 2 to be slidable relative to the spring seat 22. The hold down cap 28 is secured to the pull rod 26. A spring 27 is mounted between the hold down cover 28 and the spring seat 22. As shown in fig. 2, the rocket-charging connector 210 is fixed to the middle of the connection frame 2 by a pull-cord mechanism.
A group of centering cylinders 4 are respectively installed on the upper side, the lower side, the left side and the right side of the butt joint frame 3, when the front end of the butt joint frame 3 is close to the rocket, the upper valve of the rocket is clamped from the upper direction, the lower direction, the left direction and the right direction through four groups of cylinders installed on the butt joint frame 3, centering of the connecting frame 2 and the upper valve is achieved, the rocket filling connector 210 is installed in the middle of the connecting frame 2, and therefore centering of the rocket filling connector 210 and the upper valve is achieved.
The butt joint frame 3 is connected with the sliding frame 9 through four groups of swing arms 1. Four group's swing arms 1 parallel arrangement, both ends all are connected with balladeur train 9, butt joint frame 3 respectively through the sliding block subassembly, and swing arm 1 includes sliding block subassembly, bracing piece, and the bracing piece both ends are connected with balladeur train 9, butt joint frame 3 through the sliding block subassembly respectively. The slider assembly is shown in figure 4. The sliding block assembly comprises a cross block 13, a sliding block seat 14, a pin shaft I11 and a pin shaft II12, the cross block 13 is installed at the end part of the supporting rod, the cross block 13 is matched with the installation hole of the sliding block seat 14 through the pin shaft I11 and the pin shaft II12 which are mutually perpendicular, and the sliding block seat 14 is installed on the butt-joint frame 3 or slides
On the shelf 9. The left end of the swing arm 1 is connected with the supporting seat through a sliding block component. Under the action of external force, the butt joint frame 3 can swing relative to the sliding frame 9 through the coordination control action of the four groups of swing arms 1.
The base 7 is provided with a main propulsion cylinder to realize the forward and backward movement of the whole device above.
The working principle of centering the rocket filling connector 210 and the valve position is as follows:
in the initial position, rocket-filling connector 210 is spaced from the valve. The primary propulsion cylinder retracts, leaving the rocket-filling connector 210 in a position away from the valves. The centering cylinder 4 is retracted. Each supporting cylinder extends out, so that the swing arm 1 is in an initial position. The rocket filling connector 210 is fixed at the middle position of the connecting frame 2 through a rope pulling mechanism.
The main push cylinder extends to push the carriage 9 to move leftward as shown in fig. 1. When the front end of the butt joint frame 3 is tightly pressed against the surface of the rocket, the rocket stops advancing. Under the push of the advance and retreat cylinder, if the rocket swings in the left and right directions of the drawing, the right side of the butt joint frame 3 can be always attached to the rocket.
Each centering cylinder 4 extends out, the front end of each centering cylinder 4 is attached to the periphery of the upper valve of the rocket, the thrust of the cylinders is kept unchanged, and the relative position of the butt-joint frame 3 and the upper valve of the rocket can be kept unchanged all the time.
The auxiliary propulsion cylinder advances to push the rocket filling connector 210 to be attached to the valve. When the two positions are different, particularly have small-angle deviation, the position of the rocket filling connector 210 can be finely adjusted through the pull rope mechanism, and finally the rocket filling connector 210 and the valve are connected together through the connecting mechanism of the rocket filling connector 210.
The procedure is reversed when the rocket filling connector 210 is disengaged from the valves.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (8)
1. An elastic clamping type connector centering device is characterized by comprising a connecting frame assembly, a butt joint frame (3), a plurality of centering cylinders (4), a main propelling cylinder, an auxiliary propelling cylinder, a swing arm (1), a sliding frame (9), a guide rail (8) and a base (7);
a guide rail (8) is arranged on the base (7), the sliding frame (9) is arranged on the guide rail (8), and the main propulsion cylinder drives the sliding frame (9) to move along the guide rail (8);
four corners of the butt joint frame (3) are respectively connected to the side surface of the sliding frame (9) through the swing arms (1), and the butt joint frame (3) swings relative to the sliding frame (9) through the swing arms (1);
the equipment B is arranged in the connecting frame assembly, the butt joint frame (3) is matched with a slide rail (21) on the connecting frame assembly through supporting lug pieces on two sides of the frame, the auxiliary propulsion cylinder drives the connecting frame assembly to move along the slide rail (21), and the moving direction is consistent with the direction of the guide rail (8); a plurality of centering cylinders (4) are arranged on the butt joint frame (3) and used for clamping the equipment A and adjusting the position of the equipment A to be aligned with the equipment B;
the connecting frame assembly comprises a slide rail (21), a plurality of pull rope mechanisms and a connecting frame (2); sliding rails (21) are arranged on two sides of the connecting frame (2), and the rope pulling mechanism is arranged on the outer wall of the connecting frame (2) and used for tensioning equipment B arranged in the connecting frame (2);
the rope pulling mechanism comprises a pressing cover (28), a spring (27), a pull rod (26), a steel wire rope (25), a roller (24), a roller seat (23) and a spring seat (22); one end of a steel wire rope (25) is connected with the equipment B, the other end of the steel wire rope bypasses a roller (24) to be connected with a pull rod (26), and the roller (24) is installed on the outer wall of the connecting frame (2); the pull rod (26) penetrates through a center hole of the spring seat (22), the spring seat (22) is installed on the connecting frame (2), the pressing cover (28) is fixed on the pull rod (26), the spring (27) is installed between the pressing cover (28) and the spring seat (22), and the pull rod (26) slides relative to the spring seat (22) under the action of the spring (27).
2. A resilient clip-on connector centering device as in claim 1, wherein: the device is characterized by further comprising a lower supporting cylinder (5), wherein the lower supporting cylinder (5) is installed on the side face of the sliding frame (9), an output shaft of the lower supporting cylinder (5) is in contact with a supporting rod of the swing arm (1), and the position of the swing arm (1) is adjusted from the lower side.
3. A resilient clip-on connector centering device as in claim 1 or 2, wherein: the side support device is characterized by further comprising a side support cylinder (6), wherein the side support cylinder (6) is installed on the side face of the sliding frame (9), an output shaft of the side support cylinder (6) is in contact with a support rod of the swing arm (1), and the position of the swing arm (1) is adjusted from the side face.
4. A resilient clip-on connector centering device as in claim 1, wherein: and the centers of four frames of the butt joint frame (3) are respectively provided with a centering cylinder (4), the output shaft of the centering cylinder (4) is respectively vertical to each frame of the butt joint frame (3), and the equipment A is clamped from the upper direction, the lower direction, the left direction and the right direction.
5. A resilient clip-on connector centering device as in claim 1, wherein: the swing arm (1) comprises a sliding block assembly and a supporting rod, and two ends of the supporting rod are connected with the sliding frame (9) and the butt-joint frame (3) through the sliding block assembly respectively.
6. A resilient clip-on connector centering device as in claim 5, wherein: the sliding block assembly comprises a cross block (13), a sliding block seat (14), a pin shaft I (11) and a pin shaft II (12), the cross block (13) is installed at the end part of the supporting rod, the cross block (13) is matched with a mounting hole of the sliding block seat (14) through the pin shaft I (11) and the pin shaft II (12) which are perpendicular to each other, and the sliding block seat (14) is installed on the butt-joint frame (3) or the sliding frame (9).
7. A resilient clip-on connector centering device as in claim 1, wherein: two groups of rope pulling mechanisms are arranged on the top surface of the connecting frame (2), and are symmetrical about the central axis of the connecting frame (2); each group comprises two rope pulling mechanisms arranged along the central shaft of the connecting frame (2), and the stretching directions of the steel wire ropes (25) in the two rope pulling mechanisms are opposite.
8. A resilient clip-on connector centering device as in claim 7, wherein: two side surfaces of the connecting frame (2) are respectively provided with a group of rope pulling mechanisms, each group of rope pulling mechanisms comprises two rope pulling mechanisms arranged along the central shaft of the connecting frame (2), and the stretching directions of the steel wire ropes (25) in the two rope pulling mechanisms are opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157593.7A CN109297370B (en) | 2018-09-30 | 2018-09-30 | Elastic clamping type connector centering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157593.7A CN109297370B (en) | 2018-09-30 | 2018-09-30 | Elastic clamping type connector centering device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109297370A CN109297370A (en) | 2019-02-01 |
| CN109297370B true CN109297370B (en) | 2020-09-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811157593.7A Active CN109297370B (en) | 2018-09-30 | 2018-09-30 | Elastic clamping type connector centering device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109297370B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116294841B (en) * | 2023-02-13 | 2023-08-11 | 东方空间技术(山东)有限公司 | Automatic butt joint device for rocket air conditioner winch |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101398277A (en) * | 2008-11-06 | 2009-04-01 | 上海交通大学 | Robot system for implementing amphibious automatic butt joint and releasing for rocket |
| CN104613826A (en) * | 2015-02-06 | 2015-05-13 | 南京理工大学 | Automatic docking and falling connector with active follow-up function of carrier rocket |
| CN105066795A (en) * | 2015-07-03 | 2015-11-18 | 北京航天发射技术研究所 | Connector rotation docking automatic shedding recovery device |
| CN205589530U (en) * | 2016-03-22 | 2016-09-21 | 南京理工大学 | Automatic butt joint of carrier rocket adds lets out simple and easy position appearance compensation mechanism of connector |
| CN105953666A (en) * | 2016-01-08 | 2016-09-21 | 璧电函 | Space docking error compensation mechanism |
| CN107627259A (en) * | 2017-10-25 | 2018-01-26 | 北京航天发射技术研究所 | The adaptive centralising device in mechanical hydraulic servo position and method |
-
2018
- 2018-09-30 CN CN201811157593.7A patent/CN109297370B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101398277A (en) * | 2008-11-06 | 2009-04-01 | 上海交通大学 | Robot system for implementing amphibious automatic butt joint and releasing for rocket |
| CN104613826A (en) * | 2015-02-06 | 2015-05-13 | 南京理工大学 | Automatic docking and falling connector with active follow-up function of carrier rocket |
| CN105066795A (en) * | 2015-07-03 | 2015-11-18 | 北京航天发射技术研究所 | Connector rotation docking automatic shedding recovery device |
| CN105953666A (en) * | 2016-01-08 | 2016-09-21 | 璧电函 | Space docking error compensation mechanism |
| CN205589530U (en) * | 2016-03-22 | 2016-09-21 | 南京理工大学 | Automatic butt joint of carrier rocket adds lets out simple and easy position appearance compensation mechanism of connector |
| CN107627259A (en) * | 2017-10-25 | 2018-01-26 | 北京航天发射技术研究所 | The adaptive centralising device in mechanical hydraulic servo position and method |
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| CN109297370A (en) | 2019-02-01 |
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