CN111994311B - Rocket propellant filling butt joint system - Google Patents
Rocket propellant filling butt joint system Download PDFInfo
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- CN111994311B CN111994311B CN202010825947.1A CN202010825947A CN111994311B CN 111994311 B CN111994311 B CN 111994311B CN 202010825947 A CN202010825947 A CN 202010825947A CN 111994311 B CN111994311 B CN 111994311B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
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Abstract
The invention discloses a rocket propellant filling butt joint system, which comprises a base, a base and a connecting piece, wherein the base is fixedly connected to a mounting structure; the axes of the ports at the two ends of the filling pipeline are not coincident, all the filling pipelines are sequentially communicated, the adjacent ports of the adjacent filling pipelines are in rotary sealing connection, and the filling pipeline at the head end is arranged on the base and is communicated with a filling medium output pipeline; the butt joint component is arranged on the filling pipeline at the tail end and is used for butt joint with the filling port so as to enable the filling pipeline at the tail end to be communicated with the filling port; the rotating assemblies are arranged between the adjacent filling pipelines and used for driving the adjacent filling pipelines to rotate relatively, so that the butt joint assembly moves to the filling port to realize butt joint communication. The system can realize automatic filling and butt joint, and has simpler structure and simple and convenient operation.
Description
Technical Field
The invention belongs to the technical field of propellant filling, and particularly relates to a rocket propellant filling butt joint system.
Background
The automation degree of the active carrier rocket in the preparation process of a launching site is low, and particularly, a large amount of manual operation is still needed in many links such as filling before launching the rocket, state inspection before launching and the like. The development of the unattended filling technology can greatly improve the automatic test level of the rocket, and effectively change the technical situations of low work automation degree, more guarantee personnel and low operation efficiency of the rocket launching site. Through the automatic butt joint and the separation technology of the connector, the field operation of personnel can be effectively avoided, particularly after the conventional propellant liquid rocket connector falls off, when the rocket body fails, the connector needs to be quickly and automatically re-butted and the propellant is discharged, and the personnel safety is effectively guaranteed. The rocket propellant filling automatic butt joint and the separation technology can realize quick automatic butt joint and meet the requirement of quick launch of a carrier rocket.
The American space is taken as the world aerospace strong country, an arrow-perching butt joint technology taking rocket bodies as a mounting base frame is formed, an automatic butt joint device is mounted on the rocket bodies, a filling port and a filling-out connector are in relative static states in the butt joint and filling process, and centering and follow-up difficulties caused by shaking of the rocket bodies in the butt joint and filling process are avoided. The Russian aerospace strong country also forms a 'trestle' docking technology, has the advantages of simple and reliable docking and falling, short operation time and docking function after falling, but the core of the technology belongs to a rigid assembly technology, and has the disadvantages of poor environmental adaptability (only suitable for rockets with filling ports located at tail sections of the rocket bodies), high requirements on matching links of the rocket bodies, such as hoisting and placing, large volume and the like.
The general filling system is that a mechanical arm clamps a propellant filling pipeline and a filling and discharging connector to realize butt joint with a rocket, the mechanical arm is independently and separately designed with the filling pipeline and the filling and discharging connector, and propellant enters a rocket body through a special filling pipeline.
In the prior art, the charging and discharging connector needs a mechanical arm to provide acting force so as to realize the opening, activity and closing actions of the rocket charging valve. The mechanical arm has the defects of poor body rigidity, large tail end load, complex butt joint locking operation and large butt joint acting force.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a rocket propellant filling and butt joint system which can realize automatic filling and butt joint, and has the advantages of simpler structure and simple and convenient operation.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a rocket propellant filling docking system comprising:
the base is fixedly connected to the mounting structure;
the axes of the ports at the two ends of the filling pipeline are not coincident, all the filling pipelines are sequentially communicated, the adjacent ports of the adjacent filling pipelines are in rotary sealing connection, and the filling pipeline at the head end is arranged on the base and is communicated with a filling medium output pipeline;
the butt joint component is arranged on the filling pipeline at the tail end and is used for butt joint with the filling port so as to enable the filling pipeline at the tail end to be communicated with the filling port;
the rotating assemblies are arranged between the adjacent filling pipelines and used for driving the adjacent filling pipelines to rotate relatively, so that the butt joint assembly moves to the filling port to realize butt joint communication.
According to an embodiment of the present invention, the filling pipe comprises a moving assembly disposed on the base, and the filling pipe at the head end is disposed on the moving assembly and driven by the moving assembly to move.
According to an embodiment of the invention, the moving assembly comprises:
the sliding rail is arranged on the base;
the mounting seat is connected to the sliding rail in a sliding mode, and the filling pipeline at the head end of the mounting seat is connected to the mounting seat;
and the first driving device drives the mounting seat to slide on the sliding rail.
According to an embodiment of the invention, the docking assembly comprises a balance telescopic cylinder fixedly connected to the mounting structure, a telescopic rod of the balance telescopic cylinder is connected to the mounting seat, after the docking assembly is docked, the first driving device is disconnected from driving the mounting seat, and the mounting seat is supported by the balance telescopic cylinder.
According to an embodiment of the present invention, the rotating assembly includes a second driving device, and a first gear and a second gear that are engaged with each other, the first gear is disposed on an output shaft of the second driving device, and the second driving device and the second gear are respectively disposed on the adjacent filling pipes.
According to an embodiment of the present invention, the docking assembly includes:
the main body is hollow to form a channel, the first end of the main body is communicated with the filling pipeline at the tail end, and the second end of the main body is communicated with the filling port;
and the locking assembly is arranged on the main body and used for connecting and locking the main body and the filling port.
According to an embodiment of the invention, the docking assembly comprises a positioning assembly arranged on the main body, and the main body is aligned with the filling port through the positioning assembly during docking.
According to an embodiment of the invention, the positioning assembly comprises a sensor and/or a guide cone, the sensor is used for sensing the position of the filling port so as to move the main body to the position; the guide cone is inserted into a guide hole of the filling port when in butt joint so as to guide the main body to a position aligned with the filling port.
According to an embodiment of the invention, the locking assembly comprises:
the first connecting rod is provided with a first hinged part, the first connecting rod is hinged to the main body through the first hinged part, and a first end of the first connecting rod is provided with a clamping claw;
the first telescopic cylinder is hinged to the main body, and a telescopic rod of the first telescopic cylinder is hinged to the second end of the first connecting rod;
when the locking device is locked, the telescopic rod of the first telescopic cylinder extends to push the first connecting rod to rotate around a hinge point with the main body, so that the clamping claw is close to a clamping part of the filling port to be clamped and locked.
According to one embodiment of the invention, a closure assembly is included for sealing the opening at the second end of the body.
According to an embodiment of the invention, the occlusion assembly comprises:
a second connecting rod provided with a second hinge part, and hinged to the main body through the second hinge part;
the second telescopic cylinder is hinged to the main body, and a telescopic rod of the second telescopic cylinder is hinged to one end of the second connecting rod;
the blocking cover is fixedly connected to the other end of the second connecting rod;
and the telescopic rod of the second telescopic cylinder extends to push the second connecting rod to rotate around the hinged point of the second connecting rod and the main body, so that the blocking cover is closed by the cover towards the opening at the second end of the main body.
According to an embodiment of the invention, the device comprises a supporting arm, one end of the supporting arm is fixedly connected with the filling pipeline, the other end of the supporting arm is rotatably connected to the mounting seat through a rotating shaft, and the filling pipeline drives the supporting arm to rotate around the rotating shaft when rotating.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
(1) the base, the filling pipeline, the butt joint assembly and the rotating assembly are arranged in the embodiment of the invention, and the rotating assembly drives the filling pipeline to rotate so as to enable the butt joint assembly to move to the filling port to realize butt joint communication. The filling pipeline is used as a filling pipeline and a telescopic mechanical arm, the integrated design is realized, the structure is simpler, the bearing capacity of the filling pipeline as the mechanical arm is higher, the automatic filling butt joint can be realized, and the operation is simple and convenient.
(2) The filling pipe comprises the moving assembly, so that the filling pipe can move up and down along the arrow body direction to adjust the up-down position of the butt joint assembly, and the filling pipe is more adaptive and can adapt to the heights of filling ports of different rockets.
(3) The balance cylinder is included in the embodiment of the invention, after the butt joint assembly is in butt joint, the balance telescopic cylinder supports the mounting seat, the flexible up-and-down follow-up of the mounting seat can be realized when the arrow body sinks or slightly shakes by keeping the air pressure in the balance telescopic cylinder unchanged, so that the whole body has certain elasticity, and the first driving device, the filling pipeline and the butt joint assembly cannot be damaged.
(4) According to the embodiment of the invention, the positioning assembly comprises the sensor and/or the guide cone, so that the sensor can be used for preliminary positioning, and then the guide cone is used for accurate positioning, so that the whole positioning process is smoother and more accurate.
(5) The locking assembly comprises the first connecting rod and the first telescopic cylinder, and the first telescopic cylinder pushes the clamping claw on the first connecting rod to be clamped at the clamping position of the filling port, so that the locking rigidity is higher, and the operation is simpler and more convenient.
(6) The plugging component is included in the embodiment of the invention, so that when the filling pipeline is not filled with a medium, the plugging component is used for sealing, and impurities and dust are prevented from entering.
(7) The support arm is included in the embodiment of the invention, so that the filling pipeline can be supported, and the bearing capacity of the filling pipeline is improved.
Drawings
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings, in which:
FIG. 1 is an overall side view of a rocket propellant filling docking system of the present invention;
FIG. 2 is a partial schematic view of a rocket propellant filling docking system of the present invention;
FIG. 3 is an overall elevation view of a rocket propellant filling docking system of the present invention.
Description of reference numerals:
1: a base; 2: a filling pipeline; 3: a docking assembly; 4: a rotating assembly; 5: a slide rail; 6: a mounting seat; 7: balancing a telescopic cylinder; 8: a first gear; 9: a second gear; 10: a second driving device; 11: a main body; 12: a sensor; 13: a guide cone; 14: a first connecting rod; 15: a first telescoping cylinder; 16: a clamping claw; 17: a second connecting rod; 18: a second telescoping cylinder; 19: a blocking cover; 20: a support arm; 21: a rotating shaft; 22: an installation part; 23: a first hinge portion; 24: a second hinge portion; 25: a lifting motor; 26: a screw.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.
Referring to fig. 1 to 3, the core of the invention is to provide a rocket propellant filling and docking system, which includes a base 1, at least two filling pipelines 2, a docking assembly 3 and a plurality of rotating assemblies 4, all the filling pipelines 2 are sequentially communicated, adjacent ports of adjacent filling pipelines 2 are connected in a rotating and sealing manner, the filling pipeline 2 at the head end is arranged on the base 1 and is communicated with a filling medium output pipeline, the docking assembly 3 is arranged on the filling pipeline 2 at the tail end, and the rotating assemblies 4 are arranged between the adjacent filling pipelines 2 and are used for driving the adjacent filling pipelines 2 to rotate relatively so that the docking assembly 3 moves to the filling ports to realize docking communication.
The filling pipeline 2 is used as a filling pipeline and a telescopic mechanical arm, the integrated design is realized, the structure is simpler, the bearing capacity of the filling pipeline 2 as the mechanical arm is larger, the automatic filling butt joint can be realized, and the operation is simple and convenient.
The rocket propellant filling docking system of the present invention is described in further detail below:
the base 1 is a mounting plate, and the link joint is installed on mounting structure, and mounting structure this embodiment is rocket propellant filling tower lateral wall.
The filling pipeline 2 is a pipeline, the filling pipeline 2 can be directly formed by a section of complete pipeline or formed by splicing a plurality of pipelines, and the axes of the ports at two ends of the filling pipeline are not coincident so as to realize that the rotation around the axis of the port at one end causes the displacement of the other port. And adjacent ports of adjacent filling pipelines 2 are connected in a rotary sealing manner through bearings and rotary sealing rings. Referring to fig. 1, in the present embodiment, five filling pipes 2 are provided, wherein the head end and the tail end are both directly formed by a bent pipe, and the axes of the ports at the two ends of the bent pipe are 90 degrees; the three middle filling pipelines 2 are formed by splicing two sections of 90-degree bent pipes and one section of straight pipe, the two sections of bent pipes are respectively arranged at two ends of the straight pipe, and the outward ports of the two sections of bent pipes face opposite directions.
The base 1 is provided with a moving assembly, the filling pipelines 2 at the head end are arranged on the moving assembly, all the filling pipelines 2 can move up and down along the rocket body through the moving assembly so as to adjust the up-down position of the butt joint assembly 3, and the movable joint assembly is more adaptive and can adapt to the heights of filling ports of different rockets.
Specifically, the moving assembly comprises a sliding rail 5, a mounting seat 6 and a first driving device. Slide rail 5 is along vertical installation on 1 terminal surface of base, and is equipped with two, and mount pad 6 is through four slider sliding connection in slide rail 5, filling pipeline 2 fixed connection in mount pad 6 of head end. The first driving device drives the mounting seat 6 to slide on the sliding rail 5 so as to drive the filling pipeline 2 to move up and down.
The first driving device comprises a screw 26 and a lifting motor 25, two ends of the screw 26 are rotatably installed on one end surface of the base 1 through a bearing seat and are connected to the installation seat 6 in a penetrating and threaded manner; the lifting motor 25 is installed on the base 1, an output shaft of the lifting motor 25 is fixedly connected to one end of the screw 26, the lifting motor 25 rotates to drive the screw 26 to rotate, and the screw 26 rotates to drive the installation seat 6 to axially slide on the slide rail 5 along the rocket.
The device also comprises two balance telescopic cylinders 7 which can be air cylinders, oil cylinders and the like, the number of the air cylinders is two in the embodiment, the two balance telescopic cylinders 7 are fixedly connected on the mounting structure, telescopic rods of the two balance telescopic cylinders 7 are connected to the mounting seat 6, after the butt joint of the butt joint component 3 is completed, the first driving device is used for driving the mounting seat 6 to be disconnected, namely, the lifting motor 25 and the screw 26 are in a clutch state, the mounting seat 6 is supported by the balance telescopic cylinders 7, the air quantity in the balance telescopic cylinders 7 is kept unchanged, when arrow bodies sink or the arrow bodies slightly shake, the butt joint component 3, the filling pipeline 2 and the mounting seat 6 can vertically follow up on the slide rail 5, the balance telescopic cylinders 7 are arranged to enable the up-down follow-up to have certain elasticity, the air pressure in the balance telescopic cylinders 7 is adapted to the up-down follow-up to enable the mounting seat 6 to flexibly follow-up through the balance telescopic cylinders 7, the settlement flexible adjustment is realized, so that the first driving device, the filling pipeline 2 and the butt joint component 3 cannot be damaged.
One rotating assembly 4 is arranged between every two adjacent filling pipelines 2, and four rotating assemblies 4 are arranged in the embodiment. The rotating assembly 4 comprises a second driving device 10, a first gear 8 and a second gear 9 which are meshed with each other, the second driving device 10 and the second gear 9 are respectively arranged on the adjacent filling pipelines 2, the second gear 9 is sleeved and fixedly connected on the outer wall of each filling pipeline 2, the first gear 8 is arranged on an output shaft of the second driving device 10, and the filling pipelines 2 are enabled to rotate relative to the adjacent filling pipelines 2 through the second driving device 10, the first gear 8 and the second gear 9.
In this embodiment, the second driving device 10 is formed by sequentially connecting a rotating electrical machine, a clutch and a speed reducer, and the first gear 8 is sleeved on and fixedly connected to an output shaft of the speed reducer.
The docking assembly 3 is used for docking with the filling opening so that the filling pipe 2 at the tail end is communicated with the filling opening. Specifically, the butt joint component 3 comprises a main body 11, a positioning component and a locking component, the main body 11 is hollow to form a channel, the first end of the main body 11 is communicated with the filling pipeline 2 at the tail end, the second end of the main body 11 is communicated with the filling port, the second end of the main body 11 and the filling port are in butt joint sealing in an end face sealing mode, namely, an O-shaped sealing ring is added to a plane groove, and the butt joint acting force of the main body 11 and the filling port can be greatly reduced.
The locking assembly is arranged at the second end of the main body 11 and is used for connecting and locking the main body 11 with the filling port, and three locking assemblies are arranged uniformly along the circumference of the main body 11 in the embodiment. The positioning assembly is used to align the body 11 with the fill port when docked.
Specifically, the locking assembly comprises a first connecting rod 14 and a first telescopic cylinder 15, a first protruding hinge portion 23 is arranged on the first connecting rod 14, the first connecting rod 14 is hinged to the main body 11 through the first hinge portion 23, specifically, two corresponding lugs are arranged on the main body 11, the first hinge portion 23 is arranged between the two lugs, a pin shaft penetrates through the two lugs and the first hinge portion 23, and mutual rotation is achieved through the pin shaft. A first end of the first connecting rod 14 is provided with a clamping claw 16, one end of the first telescopic cylinder 15 is also hinged to the outer wall of the main body 11 through a corresponding lug and a corresponding pin, a telescopic rod of the first telescopic cylinder 15 is hinged to a second end of the first connecting rod 14, and the first telescopic cylinder 15 is an air cylinder in the embodiment.
During locking, the telescopic rod of the first telescopic cylinder 15 extends to push the first connecting rod 14, at this time, the telescopic rod of the first telescopic cylinder 15 rotates relatively at the hinge point with the first connecting rod 14, and the first connecting rod 14 rotates around the hinge point with the main body 11, so that the clamping claw 16 is close to the axis of the main body 11, namely close to the clamping part of the filling port to be clamped and locked. The first telescopic cylinder 15 provides pneumatic locking force, so that the main body 11 and the filling port are sealed by end faces, and abutting force can be effectively reduced.
Specifically, the positioning assembly includes a sensor 12 and a guide cone 13, the sensor 12 being used to sense the position of the fill port to which the body 11 is moved, the sensor 12 being a lidar module in this embodiment. The guide cone 13 is a tapered rod disposed on the end surface of the second end of the main body 11, and in this embodiment, two guide cones 13 are disposed, and the guide cones 13 are inserted into the corresponding guide holes of the filling port when being butted, so as to guide the main body 11 to a position completely aligned with the filling port. Carry out preliminary perception location through sensor 12, rethread guide cone 13 is supplementary direction with accurate positioning, makes whole location process more smooth accurate.
Further, a sealing assembly is included for sealing the opening at the second end of the body 11. When the filling pipeline 2 is not filled with filling media, the plugging component is used for sealing, and impurities and dust are prevented from entering.
Specifically, the plugging assembly comprises a second connecting rod 17, a second telescopic cylinder 18 and a plugging cover 19. The second connecting rod 17 is provided with a protruding second hinging portion 24, the second connecting rod 17 being hinged to the main body 11 by means of the second hinging portion 24, the second hinging portion 24 also realizing a hinging with the main body 11 by means of a corresponding lug and pin. One end of the second telescopic cylinder 18 is hinged to the outer wall of the main body 11, the telescopic rod of the second telescopic cylinder 18 is hinged to one end of the second connecting rod 17, and the blocking cover 19 is fixedly connected to the other end of the second connecting rod 17.
The telescopic rod of the second telescopic cylinder 18 is extended to push the second connecting rod 17 to rotate around the hinge point of the second connecting rod and the main body 11, so that the blocking cover 19 is closed to the opening of the second end of the main body 11.
Further, still include support arm 20, support arm 20 one end links firmly on the filling pipeline 2 outer wall adjacent with the filling pipeline 2 of head end, and the other end rotates through pivot 21 and connects in mount pad 6, and is concrete, the protrusion has an installation department 22 on the mount pad 6, and pivot 21 wears to establish simultaneously and rotates and connect in installation department 22 and support arm 20, and the filling pipeline 2 of pivot 21 and head end coincides rather than the rotation center pin of adjacent filling pipeline 2, drives support arm 20 and revolutes pivot 21 when filling pipeline 2 rotates. The support arm 20 makes it possible to support the filling pipe 2, increasing the load-bearing capacity of the filling pipe 2.
The working process of the present invention is further explained as follows:
during butt joint:
in the initial state, each filling pipeline 2 is tightly attached to the side wall of a rocket propellant filling tower, when the propellant is ready to be filled, after a control system sends an automatic butt joint instruction, firstly, a lifting motor 25 is started to drive the filling pipelines 2 to vertically move, so that a butt joint component 3 moves to the position with the same height as a rocket filling opening, meanwhile, a rotating motor drives each filling pipeline 2 to rotate and extend, so that the butt joint component 3 horizontally moves to be close to the filling opening, in the moving process of the filling pipelines 2, the position of the filling opening is detected in real time through a laser radar module, the working states of the lifting motor 25 and each rotating motor are controlled, so that the butt joint component 3 is initially aligned with the filling opening, at the moment, a second telescopic cylinder 18 is controlled to contract to open a sealing cover 19, then the rotating motor is controlled to enable a main body 11 to be further close to the filling opening until a second end of the main body 11 is in contact with the filling opening, and in the process, the guide cone 13 is inserted into the guide hole corresponding to the filling port, so that the main body 11 and the filling port are accurately positioned and centered. And then the first telescopic cylinder 15 is controlled to extend to enable the clamping claw 16 to approach to the clamping position of the filling opening until the clamping claw is clamped and locked.
After the butt joint assembly 3 is in butt joint with the filling port, the lifting motor 25 and the rotating motor are controlled to stop working and are switched to a clutch state, the mounting seat 6 and the filling pipeline 2 are supported by the balance telescopic cylinder 7, and flexible settlement adjustment of the whole system is achieved by means of the balance telescopic cylinder 7. Then the rocket ground gas supply system supplies gas to open a filling valve, the propellant enters a filling pipeline 2 through a filling medium output pipeline and finally enters the interior of the rocket storage tank through a filling port.
When the separation is carried out:
after filling, the rocket ground gas supply system supplies gas to close the filling valve, the control system sends out a dropping instruction, the first telescopic cylinder 15 contracts, the main body 11 and the filling opening are loosened, meanwhile, the second telescopic cylinder 18 extends to enable the blocking cover 19 to cover the second end opening of the main body 11, the filling pipeline 2 is controlled by the rotating motor to realize the separation of the filling opening, then the lifting motor 25 moves to the initial state, and then all motors are closed.
The automatic filling butt joint and separation based on the propellant filling pipeline 2 are realized, the integrated design of the filling pipeline 2 and the mechanical arm is realized, the filling pipeline 2 is used as a mechanical arm body to realize the automatic filling butt joint, the butt joint assembly 3 is integrated with the filling pipeline 2 and is used as a part of the mechanical arm, a remote control mode is adopted to replace manual work to complete dangerous work such as butt joint, withdrawing, separation and the like on site, an operator carries out remote control operation on the site through a man-machine interaction interface at the rear, and the automatic butt joint, separation and follow-up are realized through a control mode of an upper computer and a lower computer. The butt joint mode of the filling pipeline 2 and the filling port is optimized. The problems of poor mechanical arm rigidity, large tail end load, complex butt joint locking operation, large butt joint acting force and the like in the filling automatic butt joint process are integrally solved, and the current situation that the traditional manual operation mode is adopted for butt joint and separation of the existing carrier rocket filling and discharging connector and the rocket filling valve is changed.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (11)
1. A rocket propellant filling docking system, comprising:
the base is fixedly connected to the mounting structure;
the axes of the ports at the two ends of the filling pipeline are not coincident, all the filling pipelines are sequentially communicated, the adjacent ports of the adjacent filling pipelines are in rotary sealing connection, and the filling pipeline at the head end is arranged on the base and is communicated with a filling medium output pipeline;
the butt joint component is arranged on the filling pipeline at the tail end and is used for butt joint with the filling port so as to enable the filling pipeline at the tail end to be communicated with the filling port;
the rotating assemblies are arranged between the adjacent filling pipelines and are used for driving the adjacent filling pipelines to rotate relatively, so that the butt joint assembly moves to the filling port to realize butt joint communication;
the filling pipeline at the head end of the base is arranged on the moving assembly and is driven by the moving assembly to move;
all the filling pipelines can be moved up and down along the arrow body through the moving assembly so as to adjust the up-down position of the butt joint assembly.
2. A rocket propellant filling docking system as recited in claim 1, wherein said locomotion assembly comprises:
the sliding rail is arranged on the base;
the mounting seat is connected to the sliding rail in a sliding mode, and the filling pipeline at the head end of the mounting seat is connected to the mounting seat;
and the first driving device drives the mounting seat to slide on the sliding rail.
3. A rocket propellant filling and docking system as recited in claim 2, further comprising a balance telescopic cylinder fixedly attached to said mounting structure, wherein a telescopic rod of said balance telescopic cylinder is connected to said mounting base, and when said docking assembly is docked, said first driving means is disconnected from driving said mounting base, and said mounting base is supported by said balance telescopic cylinder.
4. A rocket propellant filling docking system as recited in claim 1, wherein said rotary assembly includes a second driving means, a first gear and a second gear in meshing engagement, said first gear being disposed on an output shaft of said second driving means, said second driving means and said second gear being disposed on adjacent ones of said filling conduits, respectively.
5. A rocket propellant filling docking system as recited in claim 1, wherein said docking assembly comprises:
the main body is hollow to form a channel, the first end of the main body is communicated with the filling pipeline at the tail end, and the second end of the main body is communicated with the filling port;
and the locking assembly is arranged on the main body and used for connecting and locking the main body and the filling port.
6. A rocket propellant filling docking system as recited in claim 5, wherein said docking assembly comprises a positioning assembly disposed in said body, said body being aligned with said filler neck by said positioning assembly during docking.
7. A rocket propellant filling docking system as recited in claim 6, wherein said positioning assembly comprises a sensor and a guide cone, said sensor for sensing the position of said filler neck to move said body thereto; the guide cone is inserted into a guide hole of the filling port when in butt joint so as to guide the main body to a position aligned with the filling port.
8. A rocket propellant priming docking system according to claim 5 wherein said locking assembly comprises:
the first connecting rod is provided with a first hinged part, the first connecting rod is hinged to the main body through the first hinged part, and a first end of the first connecting rod is provided with a clamping claw;
the first telescopic cylinder is hinged to the main body, and a telescopic rod of the first telescopic cylinder is hinged to the second end of the first connecting rod;
when the locking device is locked, the telescopic rod of the first telescopic cylinder extends to push the first connecting rod to rotate around a hinge point with the main body, so that the clamping claw is close to a clamping part of the filling port to be clamped and locked.
9. A rocket propellant filling docking system as recited in claim 5, including a closure assembly for sealing said opening at said body second end.
10. A rocket propellant filling docking system as recited in claim 9, wherein said blocking assembly comprises:
a second connecting rod provided with a second hinge part, and hinged to the main body through the second hinge part;
the second telescopic cylinder is hinged to the main body, and a telescopic rod of the second telescopic cylinder is hinged to one end of the second connecting rod;
the blocking cover is fixedly connected to the other end of the second connecting rod;
and the telescopic rod of the second telescopic cylinder extends to push the second connecting rod to rotate around the hinged point of the second connecting rod and the main body, so that the blocking cover is closed by the cover towards the opening at the second end of the main body.
11. A rocket propellant filling and docking system as recited in claim 2, further comprising a support arm, wherein one end of said support arm is fixedly attached to said filling conduit, and the other end of said support arm is pivotally connected to said mounting base via a pivot, and wherein rotation of said filling conduit causes said support arm to pivot about said pivot.
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| CN202010825947.1A CN111994311B (en) | 2020-08-17 | 2020-08-17 | Rocket propellant filling butt joint system |
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| CN202010825947.1A CN111994311B (en) | 2020-08-17 | 2020-08-17 | Rocket propellant filling butt joint system |
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| CN111994311B true CN111994311B (en) | 2021-12-07 |
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| CN113002807A (en) * | 2021-02-07 | 2021-06-22 | 上海交通大学 | Pipeline device for automatic filling of rocket propellant |
| CN113022900A (en) * | 2021-02-25 | 2021-06-25 | 上海交通大学 | Automatic filling robot structure of carrier rocket |
| CN116424588B (en) * | 2023-04-03 | 2024-01-23 | 蓝箭航天空间科技股份有限公司 | Multifunctional truss, rocket testing and launching device |
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|---|---|---|---|---|
| FR2639610B1 (en) * | 1988-11-29 | 1991-03-29 | Aerospatiale | DEVICE FOR FILLING CRYOGENIC PROPELLERS OF A LAUNCHER, WITH AUTOMATIC SEPARATION DURING TAKE-OFF |
| CN101398277B (en) * | 2008-11-06 | 2010-06-09 | 上海交通大学 | Robot system for implementing amphibious automatic butt joint and releasing for rocket |
| CN101398278A (en) * | 2008-11-06 | 2009-04-01 | 上海交通大学 | Stiffness variable multi-shaft docking mechanism for rocket |
| CN103879947B (en) * | 2014-03-19 | 2019-08-23 | 上海宇航系统工程研究所 | A kind of carrier rocket room temperature propellant, which adds, lets out connector and its application method |
| CN105277049B (en) * | 2015-10-27 | 2017-04-12 | 贵州航天天马机电科技有限公司 | Perpendicular positioning device for carrier rocket and use method of perpendicular positioning device |
| US9828117B2 (en) * | 2016-02-04 | 2017-11-28 | United Launch Alliance, L.L.C. | Tensioning apparatus and system for clamping joints |
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