CN109297370B - Elastic clamping type connector centering device - Google Patents

Abstract

An elastic clamping type connector centering device, including a connecting frame assembly, a docking frame, a number of centering cylinders, etc.; a guide rail is installed on the base, a carriage is installed on the guide rail, and a main propulsion cylinder drives the carriage to move along the guide rail; the butting frame The four corners are respectively connected to the side of the carriage through the swing arm, and the docking frame swings relative to the carriage through the swing arm; the device B is installed in the connecting frame assembly, and the docking frame cooperates with the slide rails on the connecting frame assembly through the supporting lugs on both sides of the frame to assist The advancing 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; several alignment cylinders are installed on the docking frame to clamp equipment A and adjust the position of equipment A to align with equipment B. The invention can be used for the automatic alignment of the position between the rocket filling connector and the upper valve of the rocket, and can also be used for the automatic positioning and tracking of the position of other objects in static or relative motion.

Description

An elastic clamping connector centering device

technical field

The invention belongs to the technical field of automatic docking of launch vehicles, and relates to a centering device.

Background technique

In the prior art, the connector located at the bottom of the rocket body mostly adopts the automatic docking technology, which basically realizes the automatic docking of the tail of the rocket body and low-temperature fuel filling. When the relative movement speed of the valve and the valve is relatively large, there is no report on the application of the model. Most of the connectors located at high altitudes are manually docked or semi-automatically docked in the final assembly test workshop.

The connector for rocket filling and the upper valve of the rocket are relatively static, and the connection is generally connected by manpower, which is labor-intensive; in special circumstances such as fuel leakage, the working environment is harsh and the danger is high.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an elastic clamping connector centering device, which can be used for automatic centering of the position between the rocket filling connector and the upper valve of the rocket, and can also be used for The position of other stationary or relative moving objects is automatically positioned and followed.

The technical scheme adopted in the present invention is: an elastic clamping connector centering device, comprising a connecting frame assembly, a docking frame, several centering cylinders, a main propulsion cylinder, an auxiliary propulsion cylinder, a swing arm, a sliding frame, a guide rail, base;

The guide rail is installed on the base, the carriage is installed on the guide rail, and the main propulsion cylinder drives the carriage to move along the guide rail;

The four corners of the docking frame are respectively connected to the sides of the carriage through swing arms, and the docking frame swings relative to the carriage through the swing arms;

Device B is installed in the connecting frame assembly, the docking frame cooperates with the slide rails on the connecting frame assembly through the support lugs on both sides of the frame, and the auxiliary propelling cylinder drives the connecting frame assembly to move along the sliding rail, and the moving direction is consistent with the direction of the guide rail; Install several centering cylinders to clamp device A and adjust the position of device A to align with device B.

The elastic clamping connector centering device also includes a lower support cylinder, the lower support cylinder is installed on the side of the carriage, the output shaft of the lower support cylinder is in contact with the support rod of the swing arm, and the position of the swing arm is adjusted from below. .

The elastic clamping connector centering device further includes a side support cylinder installed on the side of the carriage, and the output shaft of the side support cylinder is in contact with the support rod of the swing arm to adjust the position of the swing arm from the side.

The connecting frame assembly includes a sliding rail, several pulling rope mechanisms, and a connecting frame; the sliding rails are installed on both sides of the connecting frame, and the pulling rope mechanism is installed on the outer wall of the connecting frame for tightening the equipment B installed in the connecting frame.

The pulling rope mechanism includes a pressing cover, a spring, a pulling rod, a wire rope, a roller, a roller seat, and a spring seat; one end of the wire rope is connected to the equipment B, and the other end is connected to the pulling rod around the roller, and the roller is installed on the outer wall of the connection frame; Through the 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 rod slides relative to the spring seat under the action of the spring.

A centering cylinder is installed at the center of the four frames of the docking frame, and the output shaft of the centering cylinder is perpendicular to each frame of the docking frame, and the device A is clamped from four directions: top, bottom, left, and right.

The swing arm includes a slider assembly and a support rod, and two ends of the support rod are respectively connected with the slide frame and the docking frame through the slider assembly.

The slider assembly includes a cross block, a slider seat, a pin shaft I, and a pin shaft II. The cross block is installed at the end of the support rod, and the cross block passes through the mounting holes of the pin shaft I, the pin shaft II and the slider seat that are perpendicular to each other. Matching, the slider seat is installed on the docking frame or the sliding frame.

Two sets of rope pulling mechanisms are installed on the top surface of the connecting frame, and the two sets of rope pulling mechanisms are symmetrical about the central axis of the connecting frame; each group includes two rope pulling mechanisms arranged along the central axis of the connecting frame, and one of the two rope pulling mechanisms The wire rope stretches in the opposite direction.

Two sides of the connecting frame are respectively installed with a group of pulling rope mechanisms, each group includes two pulling rope mechanisms arranged along the central axis of the connecting frame, and the wire ropes in the two pulling rope mechanisms are drawn in opposite directions.

The advantages of the present invention compared with the prior art are:

(1) The present invention can be used to automatically locate and follow the relative positions of two objects in motion or in motion. Such as the automatic docking of the rocket filling connector and the valve on the rocket. It is especially suitable for the following occasions, such as: toxic and other gas environments; emergency treatment system, manual work cannot be completed quickly within the specified time; heavy fog, rain, snow and other climates, manual processing is inconvenient.

(2) The method of the present invention can realize the precise automatic adjustment and tracking of the positions of the three degrees of freedom between the rocket filling connector 210 and the valve, and can also be used for other precise automatic adjustment of the three degrees of freedom positions of the clamping object, and can be used as required. Automatic tracking of the position of stationary or moving objects.

(3) The control principle of the present invention is simple, and the cylinder can realize centering adjustment. No position detection element is required, no servo control system is required. The system has high reliability and strong environmental adaptability.

Description of drawings

Fig. 1 is the structural representation of the centering device of the present invention;

Fig. 2 is the right side view of the connection frame;

Fig. 3 is the front view of the connection frame;

Figure 4 is a top view of the slider assembly.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in Figure 1, the centering device includes a connecting 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 support cylinder (including a lower support cylinder 5, a side centering cylinder) Support cylinder 6), main propulsion cylinder, auxiliary propulsion cylinder, swing arm 1, carriage 9, guide rail 8, base 7.

The guide rail 8 is installed on the base 7, the carriage 9 is installed on the guide rail 8, and the main propulsion cylinder drives the carriage 9 to move along the guide rail 8; the four corners of the docking frame 3 are respectively connected to the side of the carriage 9 through the swing arm 1, and the docking frame 3 passes through the swing arm. 1 swings relative to the carriage 9; the rocket filling connector 210 is installed in the connecting frame assembly, and the docking frame 3 cooperates with the slide rails 21 on the connecting frame assembly through the support lugs on both sides of the frame, and the auxiliary propulsion cylinder drives the connecting frame assembly along the The sliding rail 21 moves, and the moving direction is consistent with the direction of the guide rail 8; several centering cylinders 4 are installed on the docking frame 3 to clamp the rocket upper valve and adjust the position of the rocket upper valve to align with the rocket filling connector 210; The lower support cylinder 5 is installed on the side of the carriage 9, and the output shaft of the lower support cylinder 5 is in contact with the support rod of the swing arm 1 to adjust the position of the swing arm 1 from below. The side support cylinder 6 is installed on the side of the carriage 9, and the output shaft of the side support cylinder 6 is in contact 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 includes a slide rail 21, a number of pulling rope mechanisms, and a connecting frame 2; the sliding rails 21 are installed on both sides of the connecting frame 2, and the pulling rope mechanism is installed on the outer wall of the connecting frame 2 for tightening the rocket installed in the connecting frame 2. Filling connector 210. The connection frame 2 is shown in FIG. 2 and FIG. 3 , and the connection frame 2 is installed and fixed on the docking frame 3 . A sliding rail 21 is installed on the connecting frame 2, and can move relative to the docking frame 3 in the left and right directions in the figure under the action of the auxiliary propulsion cylinder. Two sets of rope pulling mechanisms are installed on the top surface of the connecting frame 2, and the two sets of rope pulling mechanisms are symmetrical about the central axis of the connecting frame 2; 2. For the pulling rope mechanism arranged on the central axis, the wire ropes 25 in the two pulling rope mechanisms are stretched in opposite directions.

A plurality of groups of pulling rope mechanisms are installed on the connection frame 2 . As shown in FIG. 3 , the pulling rope mechanism includes a pressing cover 28 , a spring 27 , a pulling rod 26 , a wire rope 25 , a roller 24 , a roller seat 23 , and a spring seat 22 . One end of the wire rope 25 is connected to the rocket filling connector 210 , and the other end is connected to the pull rod 26 around the roller 24 , and the roller 24 is installed on the outer wall of the connection frame 2 . The pull rod 26 passes through the center hole of the spring seat 22 , and the spring seat 22 is installed on the connecting frame 2 and can slide relative to the spring seat 22 . The compression cover 28 is fixed with the pull rod 26 . A spring 27 is installed between the pressing cover 28 and the spring seat 22 . As shown in FIG. 2 , the rocket filling connector 210 is fixed at the middle position of the connection frame 2 by the pulling rope mechanism.

A set of centering cylinders 4 are installed on the upper, lower, left and right sides of the docking frame 3 respectively. When the front end of the docking frame 3 is close to the rocket position, the four sets of cylinders installed on the docking frame 3 can move from the upper, lower, left , Clamp the rocket upper valve in the right four directions to achieve the center position of the connecting frame 2 and the upper valve, and the rocket filling connector 210 is installed in the middle of the connecting frame 2, so as to realize the connection between the rocket filling connector 210 and the upper valve. Position is centered.

The docking frame 3 and the carriage 9 are connected by four sets of swing arms 1 . The four groups of swing arms 1 are arranged in parallel, and both ends are connected to the carriage 9 and the docking frame 3 respectively through the slider assembly. The swing arm 1 includes a slider assembly and a support rod. Both ends of the support rod are connected to the carriage 9 through the slider assembly respectively. , Docking frame 3 is connected. The slider assembly is shown in Figure 4. The slider assembly includes a cross block 13, a slider seat 14, a pin shaft I11, and a pin shaft II12. The cross block 13 is installed at the end of the support rod. The cross block 13 is connected to the slider seat 14 through the mutually perpendicular pin shafts I11 and pin shafts II12. The mounting holes are matched, the slider seat 14 is installed on the docking frame 3 or the slider

on shelf 9. The left end of the swing arm 1 is connected with the support seat through the slider assembly. Under the action of external force, the docking frame 3 can swing relative to the carriage 9 through the coordinated control action of the four groups of swing arms 1 .

A main propulsion cylinder is installed on the base 7 to realize the forward and backward movement of the entire device above.

How the rocket filler connector 210 is aligned with the valve position works:

In the initial position, a certain distance is maintained between the rocket filling connector 210 and the valve. The main propulsion cylinder is retracted, leaving the rocket filling connector 210 in a position away from the valve. The centering cylinders 4 are retracted. Each support cylinder is extended so that the swing arm 1 is in the initial position. The rocket filling connector 210 is fixed at the middle position of the connection frame 2 through the pulling rope mechanism.

The main push cylinder is extended to push the carriage 9 to move to the left as shown in FIG. 1 . When the front end of the docking frame 3 is pressed against the surface of the rocket, it stops moving. Under the push of the advance and retreat cylinder, if the rocket swings in the left and right directions as shown in the figure, the right side of the docking frame 3 can always be in contact with the rocket.

Each centering cylinder 4 is extended, and the front end of the centering cylinder 4 is attached to the periphery of the rocket upper valve to keep the cylinder thrust unchanged, so that the relative position of the docking frame 3 and the rocket upper valve can always remain unchanged.

The auxiliary propulsion cylinder moves forward, which can push the rocket filling connector 210 to fit with the valve. When there is a difference in the positions of the two, especially when there is a small angular deviation, the position of the rocket filling connector 210 can be fine-tuned through the pull-rope mechanism, and finally the rocket filling connector 210 and the valve are connected by the connecting mechanism of the rocket filling connector 210. Together.

When the rocket filling connector 210 is disengaged from the valve, the steps are reversed to the above.

The parts of the present invention that are not described in detail belong to the well-known technology of those skilled in the art.

Claims (8)

1. An elastic clamping connector centering device, characterized in that it comprises a connecting frame assembly, a docking frame (3), several centering cylinders (4), a main propulsion cylinder, an auxiliary propulsion cylinder, and a swing arm (1) , carriage (9), guide rail (8), base (7); The guide rail (8) is installed on the base (7), the carriage (9) is installed on the guide rail (8), and the main propulsion cylinder drives the carriage (9) to move along the guide rail (8); The four corners of the docking frame (3) are respectively connected to the side surface of the carriage (9) through the swing arm (1), and the docking frame (3) swings relative to the carriage (9) through the swing arm (1); The device B is installed in the connecting frame assembly, the docking frame (3) cooperates with the sliding rail (21) on the connecting frame assembly through the support lugs on both sides of the frame, and the auxiliary propelling cylinder drives the connecting frame assembly to move along the sliding rail (21), moving The direction is consistent with the direction of the guide rail (8); several centering cylinders (4) are installed on the docking frame (3) to clamp the device A and adjust the position of the device A to align with the device B; The connecting frame assembly includes a sliding rail (21), a plurality of pulling rope mechanisms, and a connecting frame (2); the sliding rails (21) are installed on both sides of the connecting frame (2), and the pulling rope mechanism is installed on the outer wall of the connecting frame (2), For tensioning the device B installed in the connection frame (2); The pulling rope mechanism comprises a pressing cover (28), a spring (27), a pull rod (26), a wire rope (25), a roller (24), a roller seat (23), and a spring seat (22); one end of the wire rope (25) Connect with device B, the other end bypasses the roller (24) and connects with the pull rod (26), the roller (24) is installed on the outer wall of the connecting frame (2); the pull rod (26) passes through the 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 spring (27) The pull-down rod (26) slides relative to the spring seat (22). 2. An elastic clamping type connector centering device according to claim 1, characterized in that: it further comprises a lower support cylinder (5), the lower support cylinder (5) is installed on the side of the carriage (9), and the lower support cylinder (5) is mounted on the side of the carriage (9). The output shaft of the support cylinder (5) is in contact with the support rod of the swing arm (1), and the position of the swing arm (1) is adjusted from below. 3. An elastic clamping connector centering device according to claim 1 or 2, characterized in that: it further comprises a side support cylinder (6), and the side support cylinder (6) is installed on the side of the carriage (9) , the output shaft of the side support cylinder (6) is in contact with the support rod of the swing arm (1), and the position of the swing arm (1) is adjusted from the side. 4. An elastic clamping connector centering device according to claim 1, characterized in that: a centering cylinder (4) is respectively installed at the center of the four frames of the docking frame (3), and the centering cylinder The output shafts of (4) are respectively perpendicular to the frames of the docking frame (3), and the device A is clamped from four directions: up, down, left and right. 5. An elastic clamping type connector centering device according to claim 1, characterized in that: the swing arm (1) comprises a slider assembly and a support rod, and the two ends of the support rod are respectively connected with the slider assembly through the slider assembly. The carriage (9) and the docking frame (3) are connected. 6. The elastic clamping connector centering device according to claim 5, wherein the slider assembly comprises a cross block (13), a slider seat (14), a pin I (11) , Pin shaft II (12), the cross block (13) is installed at the end of the support rod, and the cross block (13) passes through the vertical pin shaft I (11), the pin shaft II (12) and the slider seat (14). The mounting holes are matched, and the slider seat (14) is mounted on the docking frame (3) or the sliding frame (9). 7. An elastic clamping connector centering device according to claim 1, characterized in that: the top surface of the connecting frame (2) is provided with two sets of pulling rope mechanisms, and the two sets of pulling rope mechanisms are related to the connecting frame The central axis of (2) is symmetrical; each group includes two pulling rope mechanisms arranged along the central axis of the connecting frame (2), and the wire ropes (25) in the two pulling rope mechanisms are stretched in opposite directions. 8. An elastic clamping connector centering device according to claim 7, characterized in that: a group of pulling rope mechanisms are respectively installed on both sides of the connecting frame (2), and each group includes two edge connecting In the pulling rope mechanism arranged on the central axis of the frame (2), the wire ropes (25) in the two pulling rope mechanisms are stretched in opposite directions.

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