CN115743631A - Automatic docking system and method for carrier rocket add-and-drop connectors - Google Patents
Automatic docking system and method for carrier rocket add-and-drop connectors Download PDFInfo
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- CN115743631A CN115743631A CN202211295632.6A CN202211295632A CN115743631A CN 115743631 A CN115743631 A CN 115743631A CN 202211295632 A CN202211295632 A CN 202211295632A CN 115743631 A CN115743631 A CN 115743631A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The invention provides an automatic butt joint system of a carrier rocket leakage adding connector, which comprises a butt joint device and a protection device, wherein the butt joint device comprises a butt joint device and a protection device; the ground part of the connector is arranged in a butt joint device which is arranged in the protective device; the butt joint device comprises a positioning module, a pose adjusting module, a locking module and a control module; the positioning module collects the spatial position information of the upper part of the add-and-drain connector arrow and the ground part; the position and posture of the ground part of the connector are adjusted by the position and posture adjusting module according to the spatial position information so as to be in butt joint with and separated from the upper part of the arrow, the connector is locked and unlocked by the locking module, and the connector shakes along with the arrow body in the filling process; the protector moves the connector ground part and the docking device to a designated position when docked, and retracts into the interior of the protector to protect when undocked. The invention realizes the unattended operation of the whole process of filling and discharging the propellant of the carrier rocket through the automatic butt joint and the automatic pushing and dropping of the filling and discharging connector.
Description
Technical Field
The invention belongs to the technical field of rocket filling, and particularly relates to an automatic butt joint system and method for a carrier rocket filling and discharging connector.
Background
The filling and discharging connector is a device for connecting a filling pipeline with a filling port of a carrier rocket so as to finish the filling of propellant to the rocket body storage tank. At present, the mode of manual butt joint, manual dropping or manual butt joint and automatic dropping is mainly adopted for the filling and discharging connector. The rocket propellant can be divided into a conventional propellant and a low-temperature propellant, the conventional propellant usually has toxicity (unsymmetrical dimethylhydrazine and dinitrogen tetroxide), and the low-temperature propellant can form an oxygen-enriched environment (liquid oxygen propellant) or a hydrogen-enriched environment (liquid hydrogen propellant) around a filling end due to the characteristics of low boiling point and volatility, so that the filling and discharging connector has certain potential safety hazards during manual butt joint and manual falling.
The invention discloses an automatic butt joint device and method for rectangular coordinate flexible non-contact connectors (CN 201811399661.0), and discloses an automatic butt joint device and method for rectangular coordinate flexible non-contact connectors in the process of aerospace launch technology and Liquefied Natural Gas (LNG) transportation. This scheme is solved to the artifical butt joint degree of difficulty of connector among fields such as carrier rocket launch system, LNG system of unloading ship big, intensity of labour is high, inefficiency, security are poor, nevertheless has following not enough: the protection of the connector is not considered, the weight balance of the connector and the filling pipeline after the butt joint is not considered, and the automatic falling off and the automatic butt joint again of the connector are not involved.
Disclosure of Invention
The invention solves the technical problems that: the system and the method overcome the defects in the prior art, and effectively improve the safety and reliability of the butt joint and falling process of the charging and discharging connector.
The technical solution of the invention is as follows:
an automatic butt joint system for a carrier rocket leakage adding connector comprises a leakage adding connector, a butt joint device and a protection device; the bleed-over connector comprises an arrow-top portion and a ground portion; the rocket upper part of the charging and discharging connector is arranged on the rocket propellant storage tank; the ground part of the leakage adding connector is arranged in a butting device, and the butting device is arranged in a protective device;
the butt joint device comprises a positioning module, a pose adjusting module, a locking module and a control module;
a positioning module: collecting the spatial position information of the arrow upper part and the ground part of the leakage connector;
a pose adjusting module: under the control of the control module, when the add-drain connector is butted, the position and the posture of the ground part of the add-drain connector are adjusted according to the spatial position information collected by the positioning module so as to enable the add-drain connector to be butted with the upper part of the arrow; adjusting the position and the posture of the ground part of the charging and discharging connector in the charging process to enable the charging and discharging connector to shake along with the arrow body; disengaging the floor portion of the leak-in connector from the upper portion of the arrow when the leak-in connector is disengaged;
locking the module: under the control of the control module, the floor part of the charging and discharging connector and the arrow part are locked after being butted, and the floor part of the charging and discharging connector and the arrow part are unlocked before being separated;
the protection device moves the ground part of the add-and-drain connector and the butt joint device to the designated position according to the spatial position information collected by the positioning module under the control of the control module when the add-and-drain connector is in butt joint, and withdraws the ground part of the add-and-drain connector and the butt joint device to the inside of the protection device for protection when the add-and-drain connector is separated.
Preferably, the positioning module comprises a visual sensor, a first position sensor, a second position sensor and a third position sensor, the visual sensor acquires the space position of the upper part of the leakage connector arrow through acquiring a target image arranged on the upper part of the leakage connector arrow, and the first position sensor, the second position sensor and the third position sensor are respectively used for acquiring the space position of the ground part of the leakage connector arrow along the axial direction of the upper part of the leakage connector arrow, along the vertical direction and along the tangential direction of the arrow body.
Preferably, the pose adjusting module comprises a suspender assembly, a balance executing mechanism, a butt joint executing mechanism and a force sensor;
the suspension rod assembly comprises a suspension rod and a suspension shaft, and the suspension shaft can slide along the suspension rod and is fixed at any position; the two ends of the hanging shaft are connected with the ground part of the pressure and discharge connector through pin shafts; the balance executing mechanism is connected with the hanging shaft, applies acting force in the vertical direction to the ground part of the charging and discharging connector through the hanging rod assembly, adjusts the position and the posture of the ground part of the charging and discharging connector in the vertical direction, and balances the gravity of the ground part of the charging and discharging connector and the gravity of the charging pipeline during charging; the butt joint executing mechanism comprises a plurality of rod pieces which work in a coordinated mode, and each rod piece is connected with the ground part of the leakage connector through a universal joint; the force sensor is used for acquiring acting force output by the balance actuating mechanism.
Preferably, the pose adjustment module further comprises a flexible stabilizing support, and the flexible stabilizing support is arranged between the rods of the docking execution mechanism and used for maintaining the stability of the posture of the ground part of the leak-in connector in the docking process.
Preferably, the protection device comprises a protection door, a guide rail, a protection actuating mechanism and a translation actuating mechanism;
the guide rail is used for mounting a butt joint device, and the butt joint device and the ground part of the leakage connector move along the guide rail under the action of the translation actuating mechanism;
the protection door is used for sealing the ground part of the charging and discharging connector and the butt joint device and is opened or closed under the action of the protection executing mechanism.
Preferably, the protection device further comprises a first travel switch and a second travel switch, the first travel switch is used for sending a protection door opening signal to the control system, and the second travel switch is used for sending a protection door closing signal to the control system.
Preferably, the ground part of the leakage adding connector is provided with a guide rod, and the upper part of the arrow is provided with a guide cone corresponding to the guide rod.
Preferably, the locking module comprises a first Hall sensor and a second Hall sensor, and the first Hall sensor is used for sending locking or unlocking signals of the ground part and the upper part of the arrow of the leakage connector to the control system; and the second Hall sensor is used for sending a butting or separating signal of the ground part of the leakage connector and the upper part of the arrow to the control system.
Preferably, the device further comprises a blowing device for continuously blowing nitrogen to the inner runner of the ground part of the leakage connector after the leakage connector is disconnected, so as to avoid icing or entering of redundant substances in the inner runner.
An automatic docking method for a carrier rocket charging and discharging connector comprises the following steps:
butt joint of the charging and discharging connectors:
after the control system receives the docking instruction, the control system controls the protection execution mechanism to open the protection door of the protection device; the first travel switch sends out a protective door opening signal, and the control system controls the translation actuating mechanism to integrally move the butting device and the ground part of the leakage adding connector to a specified position along the arrow body tangential direction according to the position information of the third position sensor; according to the spatial position of the upper part of the add-and-drain connector arrow collected by the vision sensor, the vertical position of the ground part of the add-and-drain connector collected by the second position sensor and the axial position of the ground part of the add-and-drain connector along the ground part collected by the first position sensor, the balance executing mechanism is controlled to adjust the vertical position and the posture of the ground part of the add-and-drain connector, the butt joint executing mechanism is further controlled to adjust the position and the posture of the ground part of the add-and-drain connector so that the guide rod of the ground part of the add-and-drain connector is inserted into the guide cone of the upper part of the add-and-drain connector, after the butt joint is completed, the second Hall sensor sends a butt joint completion signal to control the locking mechanism to lock, and the first Hall sensor sends a locking completion signal to complete the butt joint;
the charging and discharging connector is separated:
after the control system receives the separation instruction, the locking mechanism is controlled to be unlocked, the first Hall sensor sends an unlocking completion signal to control the butt-joint executing mechanism, the guide rod of the ground part of the adding and leaking connector is pulled out of the guide cone of the upper part of the adding and leaking connector, the second Hall sensor sends a separation completion signal, the butt-joint device and the ground part of the adding and leaking connector are integrally retracted into the protection device through the translation executing mechanism, the protection executing device closes the protection door, the second travel switch sends a protection door closing signal to complete separation, the blowing device performs blowing, and the next filling task is waited to be executed.
Compared with the prior art, the invention has the advantages that:
(1) According to the automatic docking system and method for the carrier rocket leakage adding connector, the docking device achieves automatic docking and automatic falling of the leakage adding connector through the positioning module, the pose adjusting module, the locking module and the control module, after docking, the gravity of the ground part of the leakage adding connector and the gravity of a pipeline are balanced through the balance executing mechanism of the pose adjusting module, meanwhile, the automatic protection and maintenance-free automatic docking of the leakage adding connector are achieved through the arrangement of the protection device and the blowing device, and the safety of rocket propellant filling is improved;
(2) The ground part of the connector of the automatic docking system of the loading and unloading connector of the carrier rocket is connected with the docking device through the universal joint and the pin shaft, and meanwhile, the stability of the air posture of the loading and unloading connector is maintained by the stabilizing support, so that the flexible automatic docking of the loading and unloading connector is realized, and the stability of the docking process is improved.
Drawings
FIG. 1 is a schematic view of an automatic docking system for a carrier rocket vent-to-fill connector according to the present invention;
FIG. 2 is a schematic view of a ground portion of the bleed-in connector of the present invention;
FIG. 3 is a schematic view of a boom assembly of the present invention;
FIG. 4 is a schematic view of a portion of the structure of the leak-up connector of the present invention;
FIG. 5 is a schematic view of the docking device of the present invention;
fig. 6 is a schematic structural view of the protection device of the present invention.
Detailed Description
The features and advantages of the present invention will become more apparent and apparent from the following detailed description of the invention.
An automatic docking system for a carrier rocket vent-in connector is shown in figure 1 and comprises a connector rocket upper part 1, a connector ground part 2, a docking device 3 and a protection device 4;
the upper part 1 of the connector rocket is arranged on a propellant storage tank of a carrier rocket; the connector ground part 2 is arranged in the butt joint device, and the connector ground part 2 is connected with the butt joint device 3 through a universal joint 6 and a pin shaft 5; the docking device 3 is installed in a protective device 4, the docking device 3 is connected with the protective device 4 through a slide rail 7, so that the docking device 3 can move freely along the guide direction (arrow tangential direction) of the slide rail 7; the guard 4 is mounted on the launch pad.
Specifically, as shown in fig. 2, the connector ground part 2 includes a boom assembly 21, a guide bar 26, a locking/unlocking mechanism 25, a connector ground part body 28, a nitrogen gas seal pipe 27, a visual sensor 22, a first hall sensor 23, and a second hall sensor 24.
Further, the boom assembly 21 is connected to the connector ground part body 27 through two pins, and the guide bar 26 is screwed to the connector ground part body 27. As shown in fig. 3, the boom assembly 21 includes a boom body 211 and a boom shaft 212. The hanger shaft 212 is slidable along the hanger body 211 and fixed at any position. The first Hall sensor 23 represents locking and unlocking states of the leakage connector; the second hall sensor 24 represents the butt joint state and the falling state of the charging and discharging connector.
Specifically, as shown in fig. 4, the connector upper portion 1 includes a guide cone 11, a connector upper portion body 12.
Further, as shown in fig. 5, the docking device 3 includes a docking actuator 32, a balance actuator 31, a first position sensor 33, a second position sensor 34, a flexible stabilizing support 35, and a force sensor 36. The docking actuator 32 is connected to the connector ground part body 27 by a universal joint 6; the balance actuator 31 is connected to the boom assembly 21 by a pin 5. The first position sensor 33 is indicative of a connector axial position, the second position sensor 34 is indicative of a connector vertical position;
further, as shown in fig. 6, the guard device includes a guard actuator 45, a guard door 44, a translation actuator 41, a third position sensor 42, a first travel switch 43, and a second travel switch 46. The third position sensor 42 is indicative of the connector's tangential position along the rocket; the first travel switch 43 represents the open state of the protective door 44; the second position switch 46 indicates the closed position of the guard door 44.
The automatic docking and automatic dropping control method for the carrier rocket leakage connector, which is realized by the automatic docking system for the carrier rocket leakage connector, comprises the following steps:
when the add-drop connector is automatically butted:
s101: under the action of electricity or gas as driving energy, the butt joint actuating mechanism 32 resets, the connector ground part 2 is tensioned, and the axial position of the connector ground part 2 is adjusted to 0 position; resetting the translation actuating mechanism 41, and adjusting the connector ground part 2 to 0 position along the arrow tangential position; resetting the balance actuating mechanism, and adjusting the vertical position of the ground part 2 of the connector to 0 position; the protection actuator 45 is reset to tighten the protection door.
S102: the protection actuator 45 in the protection device opens the protection door 44 under the action of electricity or gas as driving energy, and pushes out the docking device 3 and the connector ground part 2 integrally, and the first travel switch 43 sends out an opening signal of the protection door 44.
S103: according to the space position of the connector rocket upper part 1 acquired by the visual sensor 22, the position of the connector ground part 2 along the arrow body tangential direction acquired by the third position sensor 42 and the position of the connector ground part 2 in the vertical direction acquired by the second position sensor 34, the translation executing mechanism 41 adjusts the position of the connector ground part 2 along the arrow body tangential direction to a target position under the action of electricity or gas as driving energy, so that the difference between the connector ground part 2 and the connector rocket upper part 1 along the arrow body tangential direction is not more than +/-10 mm; the balance actuating mechanism 31 adjusts the vertical position of the ground part 2 of the connector to a target position under the action of electricity or gas as a driving energy source; so that the vertical positions of the hollow arrow of the connector ground part 2 and the connector arrow upper part 1 are different by no more than +/-10 mm;
s104: under the action of electricity or gas of 4 butting/falling cylinders of the butting actuating mechanism 32 as driving energy, the connector ground part 2 is pushed to gradually approach the connector arrow upper part 1, the guide rod 26 of the connector ground part 2 is inserted into the guide cone 11 of the connector arrow upper part 1, accurate positioning and butting of the connector ground part 2 and the connector arrow upper part 1 are achieved, the second Hall sensor 24 sends out a signal that the connector is butted, the first position sensor 33 displays the axial moving distance of the connector ground part 2 in real time, and the action states of the 4 butting/falling cylinders are fed back. In the butt joint process, the flexible stabilizing support 35 always keeps the aerial posture of the connector ground part 2 in the butt joint process stable, and the connector ground part is prevented from swinging in the butt joint process. The universal joint 6 and the pin shaft 5 between the connector ground part 2 and the butt joint device 3 can follow the twisting inclination of the space posture of the connector ground part 2 in three directions, ensure the smoothness of the butt joint process and avoid the scraping of the butt joint surface.
S105: the locking/unlocking mechanism 25 is driven to act by air supply, the connector ground part 2 is locked with the connector arrow part 1, and the first Hall sensor 23 sends a signal that the connector is locked well.
S106: the electric or gas driving energy sources of the translation actuating mechanism 41, the butt-joint actuating mechanism 33 and the balance actuating mechanism 31 are removed. When the control system monitors that the balance force fed back by the force sensor 36 is greater than 1.1f0, the balance mechanism 31 moves downwards along the vertical direction until the output balance force is 0.9f0-1.1f0; when the control system monitors that the balance force fed back by the force sensor 36 is less than 0.9f0, the balance mechanism 31 moves upwards along the vertical direction until the output balance force is 0.9f0-1.1f0. Through interfacing apparatus 3 and connector ground part 2 flexonics, the vertical direction position of real-time initiative adjustment is done according to output balancing force to balancing mechanism 31 for connector ground part 2 can freely follow the arrow body and rock or sink.
When the charging and discharging connector automatically falls off:
s201: the air supply is driven, the locking/unlocking mechanism 25 acts, the connector ground part 2 and the connector arrow upper part 1 are unlocked, and the first Hall sensor 23 sends a signal that the connector is unlocked.
S202: the butt joint actuating mechanism 33 is pulled to the connector ground part 2 to be separated from the connector arrow upper part 1 under the action of electricity or gas as driving energy, and the second Hall sensor 24 sends out a good connector falling signal.
S203: the balance actuator 31 adjusts the vertical position of the ground portion 2 of the connector to 0 position by using electricity or gas as a driving energy source. The protection actuator 45 retracts the docking device 3 and the connector ground part 2 as a whole under the action of electricity or gas as a driving energy source, and closes the protection door 44, and the second travel switch 46 sends out a protection door closing signal.
S204: the nitrogen is continuously blown off in the nitrogen gas seal pipe 27 and the inner runner of the ground part 2 of the connector, so that icing or excess entering in the sealing butt joint surface and the inner runner of the ground part 2 of the connector is avoided, and effective sealing cannot be formed or excess entering a rocket storage tank when automatic butt joint is performed again.
S205: when the connectors are butted again, the automatic butt joint process of the leakage and filling connectors is directly executed.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are not particularly limited to the specific examples described herein.
Claims (10)
1. An automatic butt joint system of a carrier rocket leakage adding connector is characterized by comprising a leakage adding connector, a butt joint device and a protection device; the bleed-over connector comprises an arrow-top portion and a ground portion; the upper part of the rocket of the charging and discharging connector is arranged on the rocket propellant storage tank; the ground part of the leakage adding connector is arranged in a butting device, and the butting device is arranged in a protective device;
the butt joint device comprises a positioning module, a pose adjusting module, a locking module and a control module;
a positioning module: collecting the spatial position information of the rocket upper part and the ground part of the leakage connector;
a pose adjusting module: under the control of the control module, the position and the posture of the ground part of the leakage connector are adjusted according to the spatial position information acquired by the positioning module when the leakage connector is butted so as to enable the leakage connector to be butted with the arrow part; adjusting the position and the posture of the ground part of the charging and discharging connector in the charging process to enable the charging and discharging connector to shake along with the arrow body; disengaging the floor portion of the leak-up connector from the upper portion of the arrow when the leak-up connector is disengaged;
locking the module: under the control of the control module, the floor part of the charging and discharging connector and the arrow part are locked after being butted, and the floor part of the charging and discharging connector and the arrow part are unlocked before being separated;
the protection device moves the ground part of the add-and-drain connector and the butt joint device to the designated position according to the spatial position information collected by the positioning module under the control of the control module when the add-and-drain connector is in butt joint, and withdraws the ground part of the add-and-drain connector and the butt joint device to the inside of the protection device for protection when the add-and-drain connector is separated.
2. The automatic docking system for carrier rocket vent-adding connectors according to claim 1, wherein the positioning module comprises a vision sensor, a first position sensor, a second position sensor and a third position sensor, the vision sensor acquires the spatial position of the upper part of the vent-adding connector through collecting a target image arranged on the upper part of the vent-adding connector, and the first position sensor, the second position sensor and the third position sensor are respectively used for collecting the spatial position of the ground part of the vent-adding connector along the axial direction of the upper part of the vent-adding connector, along the vertical direction and along the tangential direction of the rocket body.
3. The automatic docking system for launch vehicle leak-in connectors according to claim 2, wherein said pose adjustment module comprises a boom assembly, a balance actuator, a docking actuator and a force sensor;
the suspension rod assembly comprises a suspension rod and a suspension shaft, and the suspension shaft can slide along the suspension rod and is fixed at any position; the two ends of the hanging shaft are connected with the ground part of the pressure and discharge connector through pin shafts; the balance executing mechanism is connected with the hanging shaft, applies acting force in the vertical direction to the ground part of the charging and discharging connector through the hanging rod assembly, adjusts the position and the posture of the ground part of the charging and discharging connector in the vertical direction, and balances the gravity of the ground part of the charging and discharging connector and the gravity of the charging pipeline during charging; the butt joint executing mechanism comprises a plurality of rod pieces which work in a coordinated mode, and each rod piece is connected with the ground part of the leakage connector through a universal joint; the force sensor is used for acquiring acting force output by the balance actuating mechanism.
4. The automatic docking system for a launch vehicle leaky coupler according to claim 3, wherein said pose adjustment module further comprises a flexible stabilizing support disposed between the rods of the docking actuator for maintaining the ground portion of the leaky coupler stable during docking.
5. The automatic docking system for launch vehicle leak-in connectors according to claim 4, wherein said shielding means comprises a shielding door, a guide rail, a shielding actuator and a translation actuator;
the guide rail is used for installing a butting device, and the butting device and the ground part of the leakage connector move along the guide rail under the action of the translation executing mechanism;
the protection door is used for sealing the ground part of the charging and discharging connector and the butt joint device and is opened or closed under the action of the protection executing mechanism.
6. The automatic docking system for a launch vehicle leaky connector as claimed in claim 5, wherein said guard further includes a first travel switch and a second travel switch, a guard door open signal being sent to the control system through said first travel switch, and a guard door close signal being sent to the control system through said second travel switch.
7. The automatic docking system for carrier rocket vent-fill connectors according to claim 6, wherein the ground portion of the vent-fill connector is provided with guide rods, and the rocket upper portion is provided with corresponding guide cones.
8. The automatic docking system for carrier rocket fill-and-drain connectors according to claim 7, wherein said locking module comprises a first hall sensor and a second hall sensor, said first hall sensor is used for sending a locking or unlocking signal of the ground part of the fill-and-drain connector and the upper part of the rocket to the control system; and the second Hall sensor is used for sending a butting or separating signal of the ground part of the leakage connector and the upper part of the arrow to the control system.
9. The automatic docking system for a launch vehicle leaky connector as claimed in claim 8, further comprising means for continuously blowing nitrogen gas out of the inner flow path of the ground portion of the leaky connector after the leaky connector is disconnected, thereby preventing freezing of the inner flow path or entry of excess material.
10. A method for automatically docking a launch vehicle leaky connector, using the system for automatically docking a launch vehicle leaky connector as claimed in claim 9, comprising:
butt joint of the charging and discharging connectors:
after the control system receives the docking instruction, the control system controls the protection executing mechanism to open the protection door of the protection device; the first travel switch sends out a protective door opening signal, and the control system controls the translation actuating mechanism to integrally move the butting device and the ground part of the leakage adding connector to a specified position along the arrow body tangential direction according to the position information of the third position sensor; according to the spatial position of the upper part of the add-and-drain connector arrow collected by the vision sensor, the vertical position of the ground part of the add-and-drain connector collected by the second position sensor and the axial position of the ground part of the add-and-drain connector along the ground part collected by the first position sensor, the balance executing mechanism is controlled to adjust the vertical position and the posture of the ground part of the add-and-drain connector, the butt joint executing mechanism is further controlled to adjust the position and the posture of the ground part of the add-and-drain connector so that the guide rod of the ground part of the add-and-drain connector is inserted into the guide cone of the upper part of the add-and-drain connector, after the butt joint is completed, the second Hall sensor sends a butt joint completion signal to control the locking mechanism to lock, and the first Hall sensor sends a locking completion signal to complete the butt joint;
the charging and discharging connector is separated:
after the control system receives the separation instruction, the locking mechanism is controlled to be unlocked, the first Hall sensor sends an unlocking completion signal to control the docking execution mechanism, the guide rod of the ground part of the add-and-drain connector is pulled out of the guide cone of the upper part of the add-and-drain connector, the second Hall sensor sends a separation completion signal, the docking device and the ground part of the add-and-drain connector are integrally retracted into the protection device through the translation execution mechanism, the protection execution device closes the protection door, the second travel switch sends a protection door closing signal to complete separation, the blowing device blows, and the next filling task is waited to be executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211295632.6A CN115743631A (en) | 2022-10-21 | 2022-10-21 | Automatic docking system and method for carrier rocket add-and-drop connectors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211295632.6A CN115743631A (en) | 2022-10-21 | 2022-10-21 | Automatic docking system and method for carrier rocket add-and-drop connectors |
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| Publication Number | Publication Date |
|---|---|
| CN115743631A true CN115743631A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211295632.6A Pending CN115743631A (en) | 2022-10-21 | 2022-10-21 | Automatic docking system and method for carrier rocket add-and-drop connectors |
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| CN (1) | CN115743631A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117663916A (en) * | 2024-02-01 | 2024-03-08 | 江苏深蓝航天有限公司 | Rocket ground charging and discharging connector for liquid carrier rocket |
-
2022
- 2022-10-21 CN CN202211295632.6A patent/CN115743631A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117663916A (en) * | 2024-02-01 | 2024-03-08 | 江苏深蓝航天有限公司 | Rocket ground charging and discharging connector for liquid carrier rocket |
| CN117663916B (en) * | 2024-02-01 | 2024-06-04 | 江苏深蓝航天有限公司 | Rocket ground charging and discharging connector for liquid carrier rocket |
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