CN113002807A - Pipeline device for automatic filling of rocket propellant - Google Patents
Pipeline device for automatic filling of rocket propellant Download PDFInfo
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- CN113002807A CN113002807A CN202110168047.9A CN202110168047A CN113002807A CN 113002807 A CN113002807 A CN 113002807A CN 202110168047 A CN202110168047 A CN 202110168047A CN 113002807 A CN113002807 A CN 113002807A
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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
Abstract
The invention discloses a pipeline device for automatically filling rocket propellant, which relates to the technical field of mechanical devices and comprises a ball screw nut mechanism, a sliding platform, a pipeline mechanical arm device and a filling and draining connector, wherein the ball screw nut mechanism is arranged on a tower; the lead screw mechanism is configured to drive the sliding platform to vertically move up and down; the first end of the pipeline mechanical arm device is fixedly arranged on the sliding platform; the second end of the pipeline mechanical arm device is fixedly connected with the charging and discharging connector; the pipe robot apparatus is configured to be able to adjust a horizontal position of the leak-in connector; the vent connector is configured to be capable of mating with or disengaging from a rocket body connector. The invention can not only meet the automatic butt joint and shedding under different working conditions and environments, but also has the advantages of simple and compact structure, convenient function realization and the like.
Description
Technical Field
The invention relates to the technical field of mechanical devices, in particular to a pipeline device for automatically filling rocket propellant.
Background
The rocket type filling system has the advantages that the rocket types in China are numerous, the adopted test and launch modes are different, the common test and launch modes comprise a three-horizontal mode, a three-vertical mode, a one-horizontal two-vertical mode and the like, and different test and launch modes have different requirements on a butt joint system and a filling system.
In the prior art, most of the butt joint and filling systems still adopt a manual butt joint mode, which consumes manpower and has personal safety hidden danger; with the continuous development of artificial intelligence and mechanical arm technology, how to realize the intellectualization of docking and filling systems has become a technical problem which needs to be solved by those skilled in the art increasingly.
Therefore, the technical personnel in the field are dedicated to develop a pipeline device for automatically filling the rocket propellant, which not only can meet the requirements of automatic butt joint and falling under different working conditions and environments, but also has the characteristics of simple and compact structure, convenient function realization and the like.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to solve the technical problems that the existing rocket propellant automatic butt joint and filling system cannot realize automatic butt joint and falling under different working conditions and environments, and has a complex structure, unreliable and unsafe.
In order to achieve the aim, the invention provides a pipeline device for automatically filling rocket propellant, which comprises a ball screw nut mechanism, a sliding platform, a pipeline mechanical arm device and a filling and draining connector,
the ball screw nut mechanism is arranged on the tower;
the ball screw and nut mechanism comprises a screw mechanism and a nut mechanism, and the screw mechanism is configured to drive the nut mechanism to vertically move up and down;
the sliding platform is fixedly arranged on the nut mechanism;
the first end of the pipeline mechanical arm device is fixedly arranged on the sliding platform; the second end of the pipeline mechanical arm device is fixedly connected with the charging and discharging connector;
the pipe robot apparatus is configured to be able to adjust a horizontal position of the leak-in connector;
the vent connector is configured to be capable of mating with or disengaging from a rocket body connector.
Further, the pipeline mechanical arm device comprises a mechanical arm, a rotary joint and a rotary driving device, wherein the mechanical arm comprises a first mechanical arm, a second mechanical arm, a third mechanical arm and a fourth mechanical arm; the rotary joint comprises a first rotary joint, a second rotary joint, a third rotary joint and a fourth rotary joint; the rotation driving device comprises a first rotation driving device, a second rotation driving device, a third rotation driving device and a fourth rotation driving device;
the swivel joint is configured to enable sealed rotation of an output end of the swivel joint relative to an input end of the swivel joint;
the first rotary driving device is configured to drive the output end of the first rotary joint to rotate relative to the input end of the first rotary joint;
the second rotary drive device is configured to drive the output end of the second revolute joint to rotate relative to the input end of the second revolute joint;
the third rotary drive device is configured to drive the output end of the third revolute joint to rotate relative to the input end of the third revolute joint;
the fourth rotary drive device is configured to drive the output end of the fourth revolute joint to rotate relative to the input end of the fourth revolute joint;
the input end of the first rotary joint is fixedly connected with the sliding platform, and the output end of the first rotary joint is connected with the input end of the first mechanical arm;
the input end of the second rotary joint is connected with the output end of the first mechanical arm, and the output end of the second rotary joint is connected with the input end of the second mechanical arm;
the input end of the third rotary joint is connected with the output end of the second mechanical arm, and the output end of the third rotary joint is connected with the input end of the third mechanical arm;
the input end of the fourth rotary joint is connected with the output end of the third mechanical arm, and the output end of the fourth rotary joint is connected with the input end of the fourth mechanical arm;
and the output end of the fourth mechanical arm is fixedly connected with the input end of the leakage adding connector.
Further, the rotary driving device comprises a rotary driving motor, a rotary clutch and a gear-chain transmission mechanism, the gear-chain transmission mechanism comprises an input gear, a transmission chain and an output gear, the output gear is sleeved on the periphery of the rotary joint, the transmission chain is connected with the input gear and the output gear, and the rotary clutch is respectively connected with the output end of the rotary driving motor and the input gear.
In the technical scheme, the rotary clutch can realize on or off of transmission from the rotary driving motor to the input gear according to requirements.
After the joint of the charging and discharging connector and the rocket body connector is completed, the rotating clutch is separated, so that the mechanical arm can swing together with the rocket body under the assistance of the rotary joint.
The lead screw mechanism comprises a lead screw, a lead screw driving motor and a lead screw clutch, and the lead screw clutch is respectively connected with the output end of the lead screw driving motor and the input end of the lead screw; and a piston rod of the first cylinder is connected with the sliding platform, and the first cylinder is installed on the tower.
In the technical scheme, after the pipeline device is in butt joint with the rocket body connector, the lead screw clutch is separated, the output end of the lead screw driving motor is disconnected from the transmission of the input end of the lead screw, and the gravity of the whole rocket propellant automatic filling pipeline device is balanced by depending on the air pressure in the first air cylinder, so that the flexible settlement of the pipeline device following the rocket body is realized.
Further, the vent connector comprises a locking device, a centering device and an in-place detection device, wherein the centering device is configured to enable the vent connector to be automatically centered with the rocket body connector; the in-place detection device is configured to be capable of detecting the distance of the plus connector relative to the rocket body connector and sending a locking allowing signal; the locking device is configured to lock the leaky connector with the rocket body connector after receiving the locking-allowing signal.
Furthermore, the locking device comprises a laser radar, a guide cone, a multi-dimensional force sensor and an inertial sensor, wherein the laser radar is arranged on the outer side surface of the leakage adding connector, and the inertial sensor is arranged on the laser radar;
the pitch angle of the lidar is configured to be adjustable; the laser radar is configured to acquire three-dimensional point cloud data in a detection scene, identify the rocket body connector from the three-dimensional point cloud data, and perform positioning and attitude estimation on the rocket body connector; the inertial sensor is configured to be able to obtain an angular velocity and a linear velocity of the lidar;
the upper part of the guide cone is a conical surface, the lower part of the guide cone is fixedly arranged on the front end surface of the leakage adding connector, and the lower part of the guide cone is provided with the multi-dimensional force sensor;
the guide cone is configured to be capable of interfacing with a guide hole of the rocket body connector; the multi-dimensional force sensor is configured to detect a force condition of the guide cone.
In the technical scheme, the laser radar is used as a main part, the guide cone is used as an auxiliary part, and the alignment and the positioning of the leakage adding connector and the rocket body connector are realized; the laser radar is arranged on the side face of the leakage adding connector, the pitching of the laser radar is controlled through a motor, so that three-dimensional point cloud data in a detection scene in front of the laser radar are obtained, the rocket body connector is identified from the three-dimensional point cloud data, and the rocket body connector is positioned and subjected to attitude estimation and then fed back to a control system; the inertial sensor (IMU) is arranged on the laser radar to estimate the angular velocity and the linear velocity of the laser radar, and the three-dimensional point cloud data are corrected through the angular velocity and the linear velocity of the laser radar to eliminate motion distortion; the guide cone is in butt joint with a guide hole of the rocket body connector, the stress condition of the guide cone fed back by the multi-dimensional force sensor is sent to the control system, and the control system controls the pipeline mechanical arm device to adjust the pose of the leakage connector.
Further, the in-place detection device includes a non-contact type travel switch provided on a front end surface of the leak-in connector, the non-contact type travel switch being configured to be able to detect a distance between a target plate of the rocket body connector and the non-contact type travel switch, the non-contact type travel switch being configured to issue the lock permission signal when the distance between the target plate of the rocket body connector and the non-contact type travel switch is smaller than a set value.
Further, the locking device comprises a locking piece, a locking motor and a locking air cylinder, the locking piece is rotatably arranged on the front end face of the leakage adding connector, and the locking piece is configured to be in a locking state between the leakage adding connector and the rocket body connector when the locking piece is arranged at a first angular displacement; the retaining member is configured to be in a disengaged state between the leak-up connector and the rocket body connector when the retaining member is disposed in a second angular displacement;
the locking piece is connected with the output end of the locking motor, and the locking motor is configured to drive the locking piece to rotate;
the retaining member is connected to a piston rod of the locking cylinder, and the locking cylinder is configured to enable the retaining member to be locked at the first angular displacement.
In the technical scheme, the first angular displacement is a turning angle when the locking piece rotates to lock the joint between the charging and discharging connector and the rocket body connector; the second angular displacement is a corner when the locking piece rotates to separate the leak connector and the rocket body connector, and the first angular displacement and the second angular displacement can be preset in a system or mechanically set by a locking mechanism; the locking piece adopts a dual-drive dual-safety structure, under a normal condition, the locking motor drives the locking piece to lock, then the locking motor stops rotating, the locking cylinder supplies air to maintain locking force, after rocket propellant filling is finished, the locking cylinder stops supplying air, and the locking motor drives the locking piece to unlock; if the locking motor is in failure, the locking cylinder can be adopted to drive the locking piece to rotate so as to realize locking or unlocking of the locking piece.
Further, add and let out the connector still including covering the mechanism, it is including covering cylinder, end cover swing arm to cover the mechanism, the end cover swing arm rotationally sets up add and let out connector lateral surface, the end cover sets up end cover swing arm one end, the end cover swing arm other end with the piston rod that covers the cylinder is connected, it is configured as can be through the drive to cover the cylinder makes the end cover keeps away from or covers add and let out connector front end face.
In the technical scheme, after the rocket propellant is filled, the cap adding air cylinder is driven to enable the end cover to cover the front end face of the cap adding connector and cover the tail end mechanical arm port after the cap adding connector is separated from the rocket body connector, so that the ejection of yellow smoke is reduced.
Furthermore, the number of the locking devices is more than or equal to 2, and the locking devices are uniformly distributed on the outer circumferential surface of the leakage adding connector.
Compared with the prior art, the implementation of the invention has at least the following beneficial technical effects:
(1) the technical scheme disclosed by the invention can meet the requirements of automatic butt joint and falling under different working conditions and environments, and can realize unattended filling of the carrier rocket.
(2) According to the technical scheme disclosed by the invention, the locking piece adopts a dual-drive dual-safety structure, the automatic filling system can follow the rocket body, the structure is stable, the reliability is high, and the filling safety of the carrier rocket is improved;
(3) the technical scheme disclosed by the invention has the advantages of simple and compact structure and convenience in function realization, and improves the filling efficiency of the carrier rocket.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic front view of a preferred embodiment of the present invention;
FIG. 2 is a schematic left side view of the embodiment of FIG. 1;
FIG. 3 is a schematic right view of the bleed-in connector of the embodiment of FIG. 1;
FIG. 4 is a schematic front view of the bleed-in connector of the embodiment of FIG. 1.
Wherein, 1-a ball screw nut mechanism, 2-a sliding platform, 3-a first air cylinder, 4-a first mechanical arm, 5-a second mechanical arm, 6-a third mechanical arm, 7-a fourth mechanical arm, 8-a first rotary joint, 9-a second rotary joint, 10-a third rotary joint, 11-a fourth rotary joint, 12-a first rotary driving device, 13-a second rotary driving device, 14-a third rotary driving device, 15-a fourth rotary driving device, 16-a charging and discharging connector, 17-a first locking piece, 18-a second locking piece, 19-a third locking piece, 20-a first locking motor, 21-a second locking motor, 22-a third locking motor, 23-a first guide cone and 24-a second guide cone, 25-a first multidimensional force sensor, 26-a second multidimensional force sensor, 27-a travel switch, 28-a laser radar, 29-a first locking cylinder, 30-a second locking cylinder, 31-a third locking cylinder, 32-an end cover and 33-a capping cylinder.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
In the description of the embodiments of the present application, it should be clear that the terms "center", "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", "side", "vertical", "horizontal", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the described devices or elements must have specific orientations or positional relationships, i.e., cannot be construed as limiting the embodiments of the present application; furthermore, the terms "first," "second," "third," "fourth," and the like are used merely to facilitate description or to simplify description, and do not indicate or imply importance.
As shown in fig. 1 and 2, the present embodiment provides a pipe device for rocket propellant automatic filling, comprising a ball screw nut mechanism 1, a sliding platform 2, a pipe robot device, a charging and discharging connector 16, a first cylinder 3,
the ball screw nut mechanism 1 is arranged on the tower;
the ball screw nut mechanism 1 comprises a screw mechanism and a nut mechanism, and the screw mechanism is configured to be capable of driving the nut mechanism to vertically move up and down; the screw mechanism comprises a screw, a screw driving motor and a screw clutch, and the screw clutch is respectively connected with the output end of the screw driving motor and the input end of the screw; a piston rod of the first cylinder 3 is connected with the sliding platform 2, and the sliding platform 2 is fixedly arranged on the nut mechanism; the first cylinder 3 is arranged on the tower;
the number of the first cylinders 3 is preferably 1 or 2 in the embodiment, the number is 2 as shown in fig. 1, and two first cylinders 3 are symmetrically arranged on the tower in parallel;
the first end of the pipeline mechanical arm device is fixedly arranged on the sliding platform 2; the second end of the pipeline mechanical arm device is fixedly connected with the charging and discharging connector 16;
the pipe robot apparatus is configured to be able to adjust the horizontal position of the bleed-off connector 16;
the pipeline mechanical arm device comprises mechanical arms, a rotary joint and a rotary driving device, wherein the number of the mechanical arms can be set according to specific working conditions, and the preferred embodiment of the pipeline mechanical arm device is 4 mechanical arms, and specifically comprises a first mechanical arm 4, a second mechanical arm 5, a third mechanical arm 6 and a fourth mechanical arm 7; correspondingly, the swivel joints comprise a first swivel joint 8, a second swivel joint 9, a third swivel joint 10 and a fourth swivel joint 11; and the rotation driving device comprises a first rotation driving device 12, a second rotation driving device 13, a third rotation driving device 14 and a fourth rotation driving device 15; the swivel joint is configured to enable sealed or unsealed rotation of an output of the swivel joint relative to an input of the swivel joint; when the rotary joint adopts a non-sealed rotating structure, the hose passing through the rotary joint adopts a structure or a material which is not easy to leak;
the rotary driving device comprises a rotary driving motor, a rotary clutch and a gear-chain transmission mechanism, wherein the gear-chain transmission mechanism comprises an input gear, a transmission chain and an output gear;
the first rotary drive means 12 is configured to be able to drive the output of the first swivel joint 8 in rotation relative to the input of the first swivel joint 8;
the second rotation driving means 13 is configured to be able to drive the output end of the second revolute joint 9 to rotate with respect to the input end of the second revolute joint 9;
the third rotary drive device 14 is configured to be able to drive the output of the third revolute joint 10 to rotate relative to the input of the third revolute joint 10;
the fourth rotation driving device 15 is configured to be able to drive the output end of the fourth revolute joint 11 to rotate relative to the input end of the fourth revolute joint 11;
the input end of the first rotary joint 8 is fixedly connected with the sliding platform 2, and the output end of the first rotary joint 8 is connected with the input end of the first mechanical arm 4;
the input end of the second rotary joint 9 is connected with the output end of the first mechanical arm 4, and the output end of the second rotary joint 9 is connected with the input end of the second mechanical arm 5;
the input end of the third rotary joint 10 is connected with the output end of the second mechanical arm 5, and the output end of the third rotary joint 10 is connected with the input end of the third mechanical arm 6;
the input end of the fourth rotary joint 11 is connected with the output end of the third mechanical arm 6, and the output end of the fourth rotary joint 11 is connected with the input end of the fourth mechanical arm 7;
the output end of the fourth mechanical arm 7 is fixedly connected with the input end of the charging and discharging connector 16;
the first end of the pipeline mechanical arm device is fixedly connected with the sliding platform 2 and is connected with one end of a flange on the tower through another pipeline, the other end of the flange is a metal hose for conveying propellant, four rotary joints are used as rotary joints of the pipeline mechanical arm device, the pose of the pipeline mechanical arm device is adjusted through a rotary driving device, and the second end of the pipeline mechanical arm device is conveyed to a connecting port on the rocket body;
the bleeder connector 16 is configured to be able to mate with or disengage from the rocket body connector.
The plus/minus connector 16 comprises a locking device, a centering device and an in-place detection device, wherein the centering device is configured to enable the plus/minus connector 16 and the rocket body connector to be automatically centered; the in-position detection means is configured to be able to detect the distance of the plus connector 16 relative to the rocket body joint and to send a lock-permitting signal; the locking device is configured to lock the bleeder connector 16 to the rocket body connector upon receipt of the lock enable signal.
The locking device comprises a laser radar 28, a guide cone, a multi-dimensional force sensor and an inertial sensor, wherein the laser radar 28 is arranged on the outer side surface of the leakage adding connector 16, and the inertial sensor is arranged on the laser radar 28;
the pitch angle of the laser radar 28 is configured to be adjustable; the laser radar 28 is configured to acquire three-dimensional point cloud data in a detection scene, identify a rocket body connector from the three-dimensional point cloud data, and perform positioning and attitude estimation on the rocket body connector; the inertial sensor is configured to be able to obtain the angular and linear velocities of the lidar 28;
the upper part of the guide cone is a conical surface, the lower part of the guide cone is fixedly arranged on the front end surface of the leakage connector 16, and the lower part of the guide cone is provided with a multi-dimensional force sensor; the guide cone is configured to be capable of being connected with a guide hole of the rocket body connector; the multi-dimensional force sensor is configured to detect a force condition of the guide cone.
The guide cones and the multi-dimensional force sensors are arranged in a matched manner in groups, the number of the guide cones can be set according to specific working conditions, and the preferred embodiment is 2; as shown in fig. 3 and 4, the guide cone includes a first guide cone 23 and a second guide cone 24; the multi-dimensional force sensor includes a first multi-dimensional force sensor 25 and a second multi-dimensional force sensor 26;
the reaching position detecting device includes a non-contact type travel switch 27, the non-contact type travel switch 27 is provided on a front end face of the charge and discharge connector 16, the non-contact type travel switch 27 is configured to be able to detect a distance between a target plate of the rocket body connector and the non-contact type travel switch 27, and the non-contact type travel switch 27 is configured to issue a lock permitting signal when the distance between the target plate of the rocket body connector and the non-contact type travel switch 27 is smaller than a set value. The set value in this embodiment is preferably 10mm to 15 mm.
The locking device comprises a locking piece, a locking motor and a locking cylinder, the locking piece is rotatably arranged on the front end surface of the leakage adding connector 16, and the locking piece is configured to be in a locking state between the leakage adding connector 16 and the rocket body connector when the locking piece is arranged at a first angular displacement; the retaining member is configured to be in a disengaged state between the bleeder connector 16 and the rocket body connector when the retaining member is disposed in the second angular displacement; the locking piece is connected with the output end of the locking motor, and the locking motor is configured to drive the locking piece to rotate; the locking member is connected with a piston rod of a locking cylinder, and the locking cylinder is configured to enable the locking member to be maintained at a first angular displacement; in order to lock reliably, the number of the locking devices is more than or equal to 2, the locking devices are uniformly distributed on the outer circumferential surface of the charging and discharging connector 16, in the embodiment, the number of the locking devices is preferably 3, so that the locking is reliable, and the structural complexity is not increased greatly; as shown in fig. 3 and 4, the locking members include a first locking member 17, a second locking member 18 and a third locking member 19 which are uniformly arranged, the locking motors include a first locking motor 20, a second locking motor 21 and a third locking motor 22 which are correspondingly arranged, and the locking cylinders include a first locking cylinder 29, a second locking cylinder 30 and a third locking cylinder 31 which are correspondingly arranged;
add and let out connector 16 still includes capping mechanism, capping mechanism includes adding the lid cylinder 33, end cover 32, the end cover swing arm rotationally sets up adding and letting out connector 16 lateral surface, end cover 32 sets up in end cover swing arm one end, the end cover swing arm other end is connected with the piston rod that adds lid cylinder 33, capping mechanism is configured to can make end cover 32 keep away from or cover and let out connector 16 front end face through drive capping cylinder 33, after rocket propellant filling, add and let out connector 16 and rocket body connector break away from the back, drive capping cylinder 33 makes end cover 32 cover and add and let out connector 16 front end face, cover terminal arm mouth, in order to reduce yellow smoke and spout.
In the embodiment, the rotary clutch can realize on or off of transmission from the rotary driving motor to the input gear under the control of the control system according to requirements; after the joint of the leakage connector 16 and the rocket body connector is completed, the rotary clutch is separated, so that the mechanical arm can swing together with the rocket body with the aid of the rotary joint.
After the pipeline device is in butt joint with the rocket body connector, the lead screw clutch is separated, the transmission between the output end of the lead screw driving motor and the input end of the lead screw is disconnected, the gravity of the whole rocket propellant automatic filling pipeline device is balanced by depending on the air pressure in the first air cylinder 3, and therefore flexible settlement of the pipeline device along with the rocket body is achieved.
In the centering scheme of the embodiment, the laser radar 28 is used as a main part and the guide cone is used as an auxiliary part, so that the centering and positioning of the leakage adding connector 16 and the rocket body connector are realized; the laser radar 28 is arranged on the side face of the leakage adding connector 16, the pitching of the laser radar 28 is controlled through a motor, so that three-dimensional point cloud data in a detection scene in front of the laser radar 28 are obtained, a rocket body connector is identified from the three-dimensional point cloud data, and the rocket body connector is positioned and attitude estimated and then fed back to the control system; the method comprises the steps that an inertial sensor (IMU) is arranged on a laser radar 28 to estimate the angular speed and the linear speed of the laser radar 28, and the three-dimensional point cloud data are corrected through the angular speed and the linear speed of the laser radar 28 to eliminate motion distortion; the guide cone is in butt joint with a guide hole of the rocket body connector, the stress condition of the guide cone fed back by the multi-dimensional force sensor is fed to the control system, and the position of the charging and discharging connector 16 is adjusted by controlling the pipeline mechanical arm device through the control system.
In the embodiment, the locking piece preferably adopts a dual-drive dual-safety structure, under a normal condition, the locking motor drives the locking piece to be locked, then the locking motor stops rotating, the locking cylinder supplies air to maintain locking force, after rocket propellant filling is finished, the locking cylinder stops supplying air, and the locking motor drives the locking piece to be unlocked; if the locking motor is in failure, the locking cylinder can be adopted to drive the locking piece to rotate so as to realize locking or unlocking of the locking piece.
One of the work flows of this embodiment is as follows: the ball screw nut mechanism 1 is fixed on the wall of the rocket launching tower, the sliding platform 2 drives the whole pipeline mechanical arm device to move in the vertical direction through the ball screw nut mechanism 1, and the pose of each mechanical arm of the pipeline mechanical arm device is adjusted through the rotary driving device; the leak connector 16 is arranged at the tail end of the pipeline mechanical arm device, and the laser radar 28 and the guide cone on the leak connector 16 are mainly used for realizing the centering and positioning of the leak connector 16 and the joint on the rocket body; after the centering and positioning are primarily finished, the pipeline mechanical arm device keeps the posture, and the pose of each mechanical arm is finely adjusted by utilizing the stress condition of the guide cone fed back by the multi-dimensional force sensor at the end part of the guide cone to realize the accurate butt joint of the leakage connector 16 and the rocket body connector; after the distance between the non-contact travel switch 27 and the target plate on the arrow body connector is reduced to a set value, the control system sends out a locking instruction, and the locking motor drives the locking piece to be locked with the arrow body connector. After locking, the three locking motors are locked and stop working, locking force is kept by air supply of the locking cylinder, the ball screw nut mechanism 1 and the motors of the rotary driving device stop working, the rotary clutch is separated, and the mechanical arms at all sections can enable the leakage adding connector 16 to swing together with the arrow body under the assistance of the rotary joint. After the propellant is injected, a lead screw clutch of the ball screw nut mechanism 1 is separated, and the gravity of the whole automatic filling system is balanced by the air pressure in the first air cylinder 3, so that the flexible settlement of the filling and discharging connector 16 along with the rocket body is realized. After the filling is completed and the add-and-drain connector 16 is separated from the arrow body connector, the end cover 32 is driven by the capping cylinder 33, so that the end cover 32 covers the front end face of the add-and-drain connector 16 and covers the end mechanical arm port to reduce the ejection of yellow smoke.
Through the application of the embodiment, the automatic butt joint and the dropping under different working conditions and environments can be met, the advantages of simple and compact structure, convenience in function realization and the like are achieved, human resources required by carrier rocket filling are reduced, the method is simple and convenient, the automation and the intellectualization of rocket filling are realized, the safety of rocket filling is improved, and the requirement of rapid test launching is met.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A pipeline device for automatically filling rocket propellant is characterized by comprising a ball screw nut mechanism, a sliding platform, a pipeline mechanical arm device and a filling and draining connector,
the ball screw nut mechanism is arranged on the tower;
the ball screw and nut mechanism comprises a screw mechanism and a nut mechanism, and the screw mechanism is configured to drive the nut mechanism to vertically move up and down;
the sliding platform is fixedly arranged on the nut mechanism;
the first end of the pipeline mechanical arm device is fixedly arranged on the sliding platform; the second end of the pipeline mechanical arm device is fixedly connected with the charging and discharging connector;
the pipe robot apparatus is configured to be able to adjust a horizontal position of the leak-in connector;
the vent connector is configured to be capable of mating with or disengaging from a rocket body connector.
2. The pipeline apparatus of claim 1, wherein the pipeline robot apparatus comprises a robot arm, a swivel joint, a rotary drive, the robot arm comprising a first robot arm, a second robot arm, a third robot arm, a fourth robot arm; the rotary joint comprises a first rotary joint, a second rotary joint, a third rotary joint and a fourth rotary joint; the rotation driving device comprises a first rotation driving device, a second rotation driving device, a third rotation driving device and a fourth rotation driving device;
the swivel joint is configured to enable sealed rotation of an output end of the swivel joint relative to an input end of the swivel joint;
the first rotary driving device is configured to drive the output end of the first rotary joint to rotate relative to the input end of the first rotary joint;
the second rotary drive device is configured to drive the output end of the second revolute joint to rotate relative to the input end of the second revolute joint;
the third rotary drive device is configured to drive the output end of the third revolute joint to rotate relative to the input end of the third revolute joint;
the fourth rotary drive device is configured to drive the output end of the fourth revolute joint to rotate relative to the input end of the fourth revolute joint;
the input end of the first rotary joint is fixedly connected with the sliding platform, and the output end of the first rotary joint is connected with the input end of the first mechanical arm;
the input end of the second rotary joint is connected with the output end of the first mechanical arm, and the output end of the second rotary joint is connected with the input end of the second mechanical arm;
the input end of the third rotary joint is connected with the output end of the second mechanical arm, and the output end of the third rotary joint is connected with the input end of the third mechanical arm;
the input end of the fourth rotary joint is connected with the output end of the third mechanical arm, and the output end of the fourth rotary joint is connected with the input end of the fourth mechanical arm;
and the output end of the fourth mechanical arm is fixedly connected with the input end of the leakage adding connector.
3. The pipeline apparatus according to claim 2, wherein the rotation driving device comprises a rotation driving motor, a rotation clutch, and a gear-chain transmission mechanism, the gear-chain transmission mechanism comprises an input gear, a transmission chain, and an output gear, the output gear is sleeved on the periphery of the swivel joint, the transmission chain connects the input gear and the output gear, and the rotation clutch connects the output end of the rotation driving motor and the input gear, respectively.
4. The plumbing device of claim 3, further comprising a first cylinder, the lead screw mechanism comprising a lead screw, a lead screw drive motor, a lead screw clutch, the lead screw clutch connecting an output of the lead screw drive motor and an input of the lead screw, respectively; and a piston rod of the first cylinder is connected with the sliding platform, and the first cylinder is installed on the tower.
5. The plumbing installation of claim 4, wherein the leak-up connector comprises a locking device, a centering device, an in-position detection device, the centering device configured to enable automatic centering of the leak-up connector with the rocket body connector; the in-place detection device is configured to be capable of detecting the distance of the plus connector relative to the rocket body connector and sending a locking allowing signal; the locking device is configured to lock the leaky connector with the rocket body connector after receiving the locking-allowing signal.
6. The plumbing installation of claim 5, wherein the locking device comprises a lidar, a guide cone, a multi-dimensional force sensor, an inertial sensor, the lidar mounted to an outside of the leak-in connector, the inertial sensor mounted to the lidar;
the pitch angle of the lidar is configured to be adjustable; the laser radar is configured to acquire three-dimensional point cloud data in a detection scene, identify the rocket body connector from the three-dimensional point cloud data, and perform positioning and attitude estimation on the rocket body connector; the inertial sensor is configured to be able to obtain an angular velocity and a linear velocity of the lidar;
the upper part of the guide cone is a conical surface, the lower part of the guide cone is fixedly arranged on the front end surface of the leakage adding connector, and the lower part of the guide cone is provided with the multi-dimensional force sensor;
the guide cone is configured to be capable of interfacing with a guide hole of the rocket body connector; the multi-dimensional force sensor is configured to detect a force condition of the guide cone.
7. The plumbing installation of claim 6, wherein the in-place detection device comprises a non-contact travel switch disposed at a front face of the fill-and-bleed connector, the non-contact travel switch configured to detect a distance between a target plate of the rocket body connector and the non-contact travel switch, the non-contact travel switch configured to issue the lock-enabling signal when the distance between the target plate of the rocket body connector and the non-contact travel switch is less than a set value.
8. The plumbing installation of claim 7, wherein the locking device comprises a locking member rotatably disposed on a front face of the leak-up connector, a locking motor, a locking cylinder, the locking member configured to be in a locked state between the leak-up connector and the rocket body connector when the locking member is disposed at the first angular displacement; the retaining member is configured to be in a disengaged state between the leak-up connector and the rocket body connector when the retaining member is disposed in a second angular displacement;
the locking piece is connected with the output end of the locking motor, and the locking motor is configured to drive the locking piece to rotate;
the retaining member is connected to a piston rod of the locking cylinder, and the locking cylinder is configured to enable the retaining member to be locked at the first angular displacement.
9. The plumbing device of claim 5, wherein the leak-in connector further comprises a capping mechanism including a capping cylinder, an end cap swing arm rotatably disposed on an outer side of the leak-in connector, the end cap disposed at one end of the end cap swing arm, the other end of the end cap swing arm connected to a piston rod of the capping cylinder, the capping mechanism configured to enable the end cap to move away from or cap a front face of the leak-in connector by driving the capping cylinder.
10. The plumbing installation of claim 8, wherein the number of said locking means is 2 or greater, said locking means being disposed evenly about the outside circumference of said leak-off connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110168047.9A CN113002807A (en) | 2021-02-07 | 2021-02-07 | Pipeline device for automatic filling of rocket propellant |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110168047.9A CN113002807A (en) | 2021-02-07 | 2021-02-07 | Pipeline device for automatic filling of rocket propellant |
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| CN113002807A true CN113002807A (en) | 2021-06-22 |
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| CN202110168047.9A Pending CN113002807A (en) | 2021-02-07 | 2021-02-07 | Pipeline device for automatic filling of rocket propellant |
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