CN110294148A - A kind of auxiliary recovery system for carrier rocket recycling - Google Patents
A kind of auxiliary recovery system for carrier rocket recycling Download PDFInfo
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- CN110294148A CN110294148A CN201910316445.3A CN201910316445A CN110294148A CN 110294148 A CN110294148 A CN 110294148A CN 201910316445 A CN201910316445 A CN 201910316445A CN 110294148 A CN110294148 A CN 110294148A
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- side wall
- aperture
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- grade
- telescopic mounting
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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 present invention provides a kind of auxiliary recovery system for carrier rocket recycling, comprising: carrying platform, the side wall for being set to the carrying platform side and the connection carrying platform, the multiple telescopic mountings for being set to the side-wall outer side and the controller for controlling the telescopic mounting starting；Side wall part facing with each other is equipped with the multipair aperture to correspond to each other, and at least one of aperture that every a pair corresponds to each other is equipped with the telescopic mounting, and the extended length after the telescopic mounting starting is greater than the distance between corresponding two apertures.The auxiliary recovery system of the embodiment of the present invention can move it and be oriented to and limited, avoid it from occurring to turn on one's side or topple in landing mission, reduce the Gesture of rocket to be recycled, improve probability of recycling success before sub- grade landing to be recycled.
Description
Technical field
The present invention relates to rocket recovery technology fields more particularly to a kind of auxiliary for carrier rocket recycling to recycle system
System.
Background technique
Rocket recovery technology is a bright jewel in space technology field, is that the comprehensive of space technology strength embodies, because
This, also receives the very big concern of each spacefaring nation.The country there is no the liquid rocket recovery scheme for having been put into and using at present.
Many successes have carried out the recycling of rocket for the Space X company in the U.S., blue origin company.For example, Space X company exists
Rocket recovery technology scheme employed in its transmitting several times recently is: in rocket grade descent, passing through sustainer
Igniting, which is realized, slows down, while with the flight attitude of attitude control engine adjustment rocket grade, so that it is guaranteed that rocket is near vertical
Posture falls.When rocket grade in whereabouts is close to ground, the supporting leg in rounding state is opened, to keep rocket stable
(for example, ground or offshore platform) is supported on landing surface.
Specifically, retractable supporting leg is arranged in the bottom of rocket grade.During rocket flight, supporting leg can
To be in rounding state always.After the sub- level work of rocket terminates and separates with rocket body, sustainer shutdown, rocket grade is flown to pre-
Fixed launching site of settling in an area or fly back.When close to ground, ignition start, rocket slow down sustainer again.It is landing
Front support leg is unfolded and locks under the action of high pressure gas.Rocket grade is contacted to earth moment finally, is controlled by sustainer
Speed is reduced to 0, and the supporting leg by being unfolded is stood firm on recycling place or recycling ship.
The control requirement of the vertical recovery technology of this rocket grade, posture and speed when landing to rocket is very high, such as
The posture or speed control of fruit rocket grade landing are bad, it is likely that will cause toppling over or exploding for rocket, so as to cause rocket
Recycle utter failure.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of auxiliary recycling for carrier rocket recycling
System can move it and be oriented to and limited, avoid it that side occurs in landing mission before sub- grade landing to be recycled
It turns over or topples, reduce the Gesture of rocket to be recycled, improve probability of recycling success.
The present invention provides a kind of auxiliary recovery systems for carrier rocket recycling, comprising: carrying platform is set to institute
It states the side wall of carrying platform side and the connection carrying platform, be set to the multiple telescopic mountings and use of the side-wall outer side
In the controller for controlling the telescopic mounting starting；Side wall part facing with each other be equipped with it is multipair correspond to each other open
Hole, at least one of aperture that every a pair corresponds to each other is equipped with the telescopic mounting, after the telescopic mounting starting
Extended length is greater than the distance between corresponding two apertures；The controller is used for the sub- grade landing to be recycled in carrier rocket
When within to side wall outer end, the corresponding multiple telescopic mounting startings of control, so that the telescopic mounting can be stretched from this
The ipsilateral matched aperture of compression apparatus is stretched out to corresponding aperture to enter in corresponding aperture, thus multiple scalable dresses
It sets and circumferentially surrounds the rocket grade to be recycled, to carry out landing guiding and limit to the rocket grade to be recycled.
In one embodiment, the auxiliary recovery system further includes detector, and the detector is to be recycled for detecting
Rocket grade is along the first direction where gravity vertical in the first projected position of the carrying platform, and the controller is for basis
First projected position controls corresponding telescopic mounting elongation.
In one embodiment, the controller is used for according to the aperture line to correspond to each other along the first direction in institute
The second projected position of carrying platform and the relationship of first projected position are stated, corresponding telescopic mounting elongation is controlled；Its
In, second projection position of the controller control around first projected position and apart from first projected position recently
Set corresponding multiple telescopic mountings starting.
In one embodiment, the detector is also used to detect rocket grade lower end to be recycled and enters in the side wall
Depth, the controller the depth be greater than the aperture to the side wall outer end apart from when control it is described scalable
Device starting.
In one embodiment, the detector includes multiple cameras and the ranging that the side wall different location is arranged in
From instrument.
In one embodiment, the telescopic mounting is multi-stage cylinder；The multi-stage cylinder is including female cylinder barrel and each other
The multiple sub- cylinder barrels being set-located, mother's cylinder barrel constitute the fixed part of multi-stage cylinder, and the multiple sub- cylinder barrel constitutes multistage
The pars contractilis of cylinder, it is described mother cylinder barrel in be provided with gas generator；The gas generator pushes multi-stage cylinder after actuation
In the multiple sub- cylinder barrel elongation, and be crossed in two apertures corresponding with the multi-stage cylinder.
In one embodiment, the detector includes multiple cameras and the ranging that the side wall different location is arranged in
Instrument, the detector are used to detect the depth that rocket grade lower end surface to be recycled enters the side wall, and the controller is described
Depth be greater than the aperture to the side wall outer end apart from when the ignition of gas generator controlled by electric signal.
In one embodiment, the side wall includes the first side wall and third side wall facing with each other and facing with each other
Second sidewall and the 4th side wall；Wherein the both ends of the first side wall are separately connected the second sidewall and the 4th side wall
One end, the both ends of the third side wall are separately connected the other end of the second sidewall and the 4th side wall；Described first
Side wall and the third side wall are equipped with first group of aperture close to the position of outer end, and the second sidewall and the 4th side wall lean on
The position of nearly outer end is equipped with second group of aperture, wherein the shortest distance of first group of aperture away from the carrying platform is greater than institute
State the second group of maximum distance of aperture away from the carrying platform.
In one embodiment, the side wall further includes the aperture being uniformly arranged along it close to the carrying platform, wherein
The minimum range of the aperture of the first side wall and the third side wall to the carrying platform is greater than the second sidewall and institute
The aperture of the 4th side wall is stated to the maximum distance of the carrying platform.
In one embodiment, be equipped in the corresponding aperture of the aperture of multi-stage cylinder bit architecture of limiting, far from the mother
The sub- cylinder barrel of cylinder barrel is equipped with the fit structure for cooperating the position limiting structure and the guide frame for position limiting structure movement；Institute
After stating multi-stage cylinder starting, the position limiting structure is moved along the guide frame, is limited into the fit structure.
In one embodiment, the guide frame is the sliding slot for being disposed far from the sub- cylinder barrel of female cylinder barrel, the limit
Bit architecture is the protrusion being arranged in aperture corresponding with multi-stage cylinder, and the fit structure is that shape matches the protrusion
The sliding slot is arranged in for the extreme position of the protrusion sliding in recess, the recess；In the process of multi-stage cylinder elongation
In, it is described to protrude out into the sliding slot and slided along the sliding slot, it is described when the multi-stage cylinder is extended to extreme position
The recess is protruded out into, and is limited by the recess, avoids the multi-stage cylinder of elongation in the pressure by rocket grade to be recycled
Deviate from from corresponding aperture under power.
The embodiment of the present invention, the posture by using auxiliary recovery system, when can reduce to rocket landing significantly
It is required that rocket is avoided to topple in moment of landing, the success rate of rocket recycling is improved.
It is to be understood that above-mentioned general description and following specific embodiments are merely illustrative and illustrative, not
The range of the invention to be advocated can be limited.
Detailed description of the invention
Following attached drawing is part of specification of the invention, depicts example embodiments of the present invention, appended attached
Figure is used to illustrate the principle of the present invention together with the description of specification.
Fig. 1 is the auxiliary recovery system structural schematic diagram of the embodiment of the present invention.
Fig. 2 is that the controller of the embodiment of the present invention controls the schematic diagram of multiple telescopic mountings.
Fig. 3 a and 3b are support device, telescopic mounting and open-celled structure in the auxiliary recovery system of the embodiment of the present invention
With schematic diagram.
Fig. 4 is the attachment structure schematic diagram of the controller of the embodiment of the present invention, detector and telescopic mounting.
Fig. 5 is to illustrate after the rocket grade of the embodiment of the present invention recycles with the matched vertical view of the telescopic mounting of elongation state
Figure.
Fig. 6 is the multi-stage cylinder structural schematic diagram of the embodiment of the present invention.
Fig. 7 is the auxiliary recovery system structural schematic diagram for having corresponding side-wall hole height different of the embodiment of the present invention.
Fig. 8 is that the auxiliary recovery system of the embodiment of the present invention includes the structural schematic diagram of multiple groups supporting table.
Fig. 9 is that limit and guide frame position show in telescopic mounting in the auxiliary recovery system of the embodiment of the present invention
It is intended to.
Specific embodiment
The existing various exemplary embodiment that the present invention will be described in detail, the detailed description are not considered as to limit of the invention
System, and it is understood as the more detailed description to certain aspects of the invention, characteristic and embodiment.
Without departing substantially from the scope or spirit of the invention, the specific embodiment of description of the invention can be done more
Kind improvements and changes, this will be apparent to those skilled in the art.Other realities obtained by specification of the invention
Applying mode for technical personnel is apparent obtain.Present specification and embodiment are merely exemplary.
Existing liquid rocket recovery technology needs to increase in rocket grade such as 4 telescopic supporting legs, and
It is equipped with a set of high pressure gas actuation mechanism.Wherein, high pressure gas actuation mechanism is used in the close landing of rocket grade to be recycled
Supporting leg is unfolded when face, undoubtedly increases the complexity and construction weight of rocket system.
In rocket takeoff phase, these mechanisms added are the deadweights useless to rocket flight, reduce the delivery of rocket
Ability.In addition, using existing rocket recovery technology, it is necessary to the speed and appearance of rocket grade in rocket grade descent
State is accurately controlled, and so that rocket grade is reduced to 0 in instantaneous speed of contacting to earth, while posture keeps vertical.Similarly, in sea
When upper recycling rocket, other than requirement when the above-mentioned recycling rocket to ground, the requirement to sea situation is also relatively high.For example, being used for
The hull of rocket recycling cannot have swing by a relatively large margin when sub- grade rocket lands.
This application provides a kind of auxiliary recovery systems for carrier rocket recycling.Referring to Fig. 1 and Fig. 2, auxiliary recycling
System includes: carrying platform 1, the side wall 2 for being set to 1 side of carrying platform and connection carrying platform 1, is set to side wall 2
Multiple telescopic mountings 3 in outside and the controller 4 started for controlling telescopic mounting.The part facing with each other of side wall 2 is set
There is the multipair aperture 21 to correspond to each other, at least one of aperture that every a pair corresponds to each other is equipped with telescopic mounting 3, scalable
Extended length after device 3 starts is greater than the distance between corresponding two apertures.Controller 4 is used in carrier rocket wait return
When receiving sub- grade and droping within 2 outer end of side wall, the corresponding multiple telescopic mountings 3 of control start, thus telescopic mounting 3 from
It stretches out with the ipsilateral matched aperture of the telescopic mounting 3 to corresponding aperture (two apertures that dotted line connects i.e. in figure) to enter
Into corresponding aperture, so that multiple telescopic mountings 3 are fitted to each other, rocket to be recycled is circumferentially surrounded along the outer of sub- grade is recycled
Grade, to carry out landing guiding and limit to rocket grade to be recycled.
Auxiliary recovery system of the invention, before sub- grade landing to be recycled, by controller control telescopic mounting elongation
And be crossed among the corresponding aperture of side wall, landing guiding and limit can be carried out to sub- grade to be recycled, avoided unstable because landing
And rollover occurs or topples, it reduces to the recycling Gesture for recycling sub- grade, improves probability of recycling success.
In this application, carrying platform 1 can be fixed platform, be also possible to moveable platform.When carrying platform 1 is solid
When fixed platform, sub- grade to be recycled is pushed away above engine movements to carrying platform 1 by side, and by adjusting posture, with substantially perpendicular
Straight state is moved to carrying platform 1.When carrying platform 1 is moveable platform, receiving system can be equipped with (in real time
Receive the position signal that sub- grade to be recycled is passed back), independent navigation kinematic system, to pass through logical between sub- grade to be recycled
Letter, obtains the motion information of sub- grade to be recycled, and automatically move to rocket grade to be recycled in real time, to reduce to be recycled
The requirement of the crossrange maneuvering ability of sub- grade.
In addition, auxiliary recovery system can be set in recovery site.And preferably, auxiliary recovery system can be in recovery site
Interior autokinetic movement.For example, carrying platform 12 side of separate side wall (i.e. the downside in orientation shown in Fig. 1) setting wheeled construction and
The engine of driving wheel-type structure rotation, and recovery system is assisted to be equipped with independent navigation kinetic control system, thus by certainly
Leading shipping autocontrol system control engine driving auxiliary recovery system moves in recovery site.In addition, auxiliary recovery system
It can also be controlled by artificial remote control mode.
Referring to Fig. 3 a, for example, side wall 2 is located at carrying platform 1 far from recycling Ground or offshore platform (downside as shown in the figure
For ground or offshore platform position) side.For example, as shown in Figure 3a, side wall 2 is in carrying platform 1 close to outer peripheral
Position setting, and multiple support devices 5 are arranged in the outer edge of side wall 2, multiple telescopic mountings 3 can be filled by multiple supports respectively
Set 5 supports.For example, one end of telescopic mounting 3 is fixedly connected with support device 5 far from carrying platform side, the other end can be overlapped
In the aperture 21 of 2 side of side wall, and 21 line side of the prolonging direction of telescopic mounting 3 aperture corresponding with opposite side wall 2
To roughly the same, when ensuring its elongation, can accurately enter in aperture corresponding with above-mentioned aperture.
Specifically, as shown in Figure 3b, side wall outermost include except side wall 2 boss 20 outstanding, support device 5 set
In on the upper surface of boss 201.The height of 20 upper surface 201 of boss is less than the inside height of side wall 2, in boss upper surface
201 with form certain difference in height on the inside of side wall 2, the aperture 21 of 2 inside of side wall is located at the top of boss upper surface 201, thus
Telescopic mounting 3 set on 201 support device 5 of boss upper surface is arranged in pairs or groups with side opening 21 in side wall 2 just.
For example, support device 5 is connected by 2 boss upper surfaces 201 of bolt and side wall, and the structure of the other end with can stretch
Compression apparatus 3 is fitted to each other, to avoid about 3 telescopic mounting, double swerve, it is ensured that it is in elongation process along prolonging direction
Into in the aperture of corresponding side wall.
The aperture 21 of side wall 2 can be set in the position far from carrying platform 1.For example, multiple apertures 21 can be along side wall 2
It is uniformly distributed.These apertures 21 to correspond to each other are to be mentioned after the elongation of telescopic mounting 3 for the both ends of telescopic mounting 3
For carrying, so that the middle part of telescopic mounting 3 can be limited and be oriented to rocket grade to be recycled.Preferably, 2 edge of side wall
The section of vertical direction can be square, rectangle or other quadrilateral structures, thus simplify the structure of auxiliary recovery system,
Reduce production cost.
Controller 4 is mainly used for controlling the unlatching of telescopic mounting 3, recycles sub- grade to rocket to be formed on the inside of side wall 2
It surround, rocket grade is avoided to turn on one's side or topple.When telescopic mounting 3 is multi-stage cylinder structure described below, controller 4 can
To be electrically connected the ignition switch of gas generator, thus after energization is opened the light in igniting, gas generator can quickly will be multistage
The sub- cylinder barrel of cylinder is opened, and is crossed in the corresponding aperture of side wall.It, can will be more after completing to the recycling of rocket grade
Grade cylinder barrel resets to contraction state, and replaces gas generator, in case next time, recycling used.
Referring to fig. 4, auxiliary recovery system further includes detector 6.Detector 6 is for detecting rocket grade to be recycled along gravity
In the first projected position of carrying platform 1, controller 4 is used to be controlled according to the first projected position corresponding first direction where line
Telescopic mounting 3 extend.For example, detector 6 is used for position of the real-time detection rocket grade above carrying platform 1, and will
Detection signal is transferred to controller 4.Controller 4 is fallen on certain in side wall according to the detection signal of detector 6 under rocket grade
After depth, controls corresponding telescopic mounting 3 and open.
Generally, telescopic mounting 3 starts when rocket grade can descend to the lower section of 2 aperture 21 of side wall, avoids locating
Telescopic mounting 3 under elongation state hinders the whereabouts of rocket grade.In addition, the elongation of telescopic mounting 3 cannot be with rocket
The whereabouts of sub- grade interferes with each other.In embodiments herein, controller 4 passes through the first projected position information that detector 6 is sent,
It can control nearest apart from rocket grade several telescopic mountings 3 after starting elongation to start.After the recycling of rocket grade, erect
Histogram to perspective view the state such as Fig. 5 can be presented, thus decline rocket grade can enter these telescopic mountings 3 that
This stop zone formed, and rocket grade is limited in the movement of radial direction by the stop zone.
As shown in figure 5, in this embodiment, for example, two of them telescopic mounting 3 can be from two lateral confinements of rocket grade
Rocket grade movement processed, other two telescopic mounting 3 can limit the movement of rocket grade from the other two sides of rocket grade, from
And four telescopic mountings cooperated two-by-two can limit the front and rear, left and right movement of rocket grade.For example, when side wall 2 is along vertical
When the section in direction is rectangle or square, two groups of telescopic mountings 3 are respectively to be set to first group of opposite one of side wall 2
Telescopic mounting 3 and be set to the telescopic mounting 3 of one of second group of opposing sidewalls 2.After the elongation of telescopic mounting 3,
When vertical direction is watched, as shown in figure 5, two groups of telescopic mountings 3 are just sub by rocket from the outside of rocket grade radial direction
Grade is surrounded (for example, two groups of telescopic mounting areas encompassed are rectangle or square, wherein rectangular short side or pros
The side length of shape is greater than the diameter of rocket grade cross section).For example, in vertical direction, wherein one group of telescopic mounting 3 with it is another
Group telescopic mounting 3 offsets one from another (i.e. again vertical direction will not be interlaced with each other) when starting elongation, avoids telescopic mounting
Starting elongation process is interfered with each other or is hit.
For example, controller 4 can be according to corresponding to each other after controller 4 receives the projection signal of the detection of detector 6
21 line of aperture along the first direction of gravity vertical, in the second projected position of carrying platform 2, (information can be pre-stored in control
In device) with the relationship of the first projected position, control corresponding telescopic mounting 3 and extend.Wherein, the control of controller 4 is thrown first
Around shadow position and multiple telescopic mountings 3 corresponding to the second projected position of the first projected position of distance recently start.It can
The elongation of telescopic device 3, to prevent the rocket grade rollover of landing, is shown to prevent movement around rocket grade
So, the elongation movement of telescopic mounting 3 is unable to the whereabouts of window rocket grade.Therefore, when with joined together by telescopic mounting 3 pairs
When 21 line of aperture and the projection of rocket grade in vertical direction being answered not to have intersection, telescopic mounting 3 is in start-up course
Will not window rocket grade descending motion.In addition, second projection nearest by the rocket grade projection of selection distance decline
Corresponding telescopic mounting 3 can reduce the spacing distance of telescopic mounting 3 Yu rocket grade, thus effectively to landing
Rocket is limited, and rocket grade is avoided to overturn, and improves probability of recycling success.
For example, detector 6 is also used to detect the depth that rocket grade lower end to be recycled enters in side wall, controller 4 exists
The depth be greater than aperture 21 to side wall 2 outer end apart from when control telescopic mounting 3 start.The control of the embodiment of the present invention
Device avoids telescopic mounting by starting corresponding telescopic device when rocket grade lower end passes through height and position where aperture
The falling motion of stretching motion window rocket grade improves probability of recycling success.
For example, detector 6 may include multiple cameras that 2 different location of side wall is arranged in and ranging from instrument.By adopting
The rocket grade landed with the multiple cameras and rangefinder multi-angle observation for being set to 2 different location of side wall, can preferably examine
The drop-off positions of fire detecting arrow, so that controller can start corresponding telescopic mounting more acurrate, on schedule.
As shown in fig. 6, in one embodiment, telescopic mounting 3 is multi-stage cylinder.Multi-stage cylinder includes 30 He of female cylinder barrel
The multiple sub- cylinder barrels 31 being set-located each other, female cylinder barrel 30 constitute the fixed part of multi-stage cylinder, and multiple sub- cylinder barrels 31 constitute more
The pars contractilis of grade cylinder.Gas generator 32 is provided in female cylinder barrel 30.Gas generator 32 pushes multi-stage cylinder after actuation
In multiple sub- cylinder barrels 31 extend, and be crossed in two apertures 21 corresponding with multi-stage cylinder.The embodiment of the present invention uses
Multi-stage cylinder and gas generator, on the one hand, can by ignition switch be electrically connected controller, simply implement to combustion gas send out
The control of raw device, structure is simple, high reliablity；It on the other hand, can be quick by gas generator promotor site cylinder barrel mode
It realizes the starting of multi-stage cylinder and extends to its limit of sports record, even if still may be implemented pair when rocket decrease speed is very fast
The guiding and limit of rocket grade.
As previously mentioned, detector 6 includes the multiple cameras and rangefinder that 2 different location of side wall is arranged in, detection is stated
Device 6 is used to detect depth that rocket grade lower end surface to be recycled enters in side wall (for example, deep by camera and rangefinder detection
Degree), controller 4 depth be greater than aperture 21 to side wall 2 outer end apart from when the ignition of gas generator controlled by electric signal.
As previously mentioned, this method can interfere with the descending motion of rocket grade to avoid the starting of telescopic mounting 3.
As described above, gas generating unit is combustion gas when telescopic mounting 3 is the structure of multi-stage cylinder composition
Device.Controller 4 controls gas generator starting by electromagnetic switch.Specifically, the starting of multi-stage cylinder is executed in controller 4
When, power on signal can be sent to electromagnetic switch, so that electromagnetic switch generates magnetic force, make the power supply and the combustion that connect gas generator
Gas generator is connected, so that gas generator is lighted a fire after receipt of the current signal, generates bulk gas, multi-stage cylinder is pushed to beat
It opens.
Meanwhile selecting corresponding telescopic mounting 3 to open in order to facilitate controller 4, it can be successively to can stretch in controller 4
Compression apparatus, corresponding aperture and corresponding aperture are numbered in the projection of carrying platform 1 in the vertical direction.Detector 6 to
When controller 4 sends detection information (for example, corresponding aperture projection and rocket grade projection relation information) comprising testing result,
Controller 4 can directly select telescopic mounting 3 to be launched according to detection information.Specifically, when detector 6 is camera,
Camera can detecte all corresponding aperture lines and rocket grade in 1 projection information of carrying platform, so that controller 4 can choose
The starting of telescopic mounting corresponding to nearest aperture line is projected apart from rocket grade.
Referring to Fig. 7, for example, in one embodiment, side wall 2 include the first side wall facing with each other and third side wall (i.e.
Side wall facing with each other as shown in the figure) and second sidewall facing with each other and the 4th side wall it is (i.e. as shown in the figure facing with each other
Side wall).Wherein the both ends of the first side wall are separately connected one end of second sidewall and the 4th side wall, the both ends point of third side wall
Not Lian Jie second sidewall and the 4th side wall the other end.The first side wall and third side wall are equipped with first group close to the position of outer end
Aperture M1, second sidewall and the 4th side wall close to outer end position be equipped with second group of aperture M2, wherein first group of aperture M1 away from
The shortest distance of the carrying platform 1 is greater than the second group of maximum distance of aperture M2 away from carrying platform.First group is correspondingly arranged
The shortest distance of aperture to carrying platform 1 is the distance that carrying platform 1 is arrived in aperture lower end (close to 1 one end of carrying platform), equally,
Upper end (one end far from carrying platform) distance that the maximum distance of second group of aperture M2 to carrying platform 1 is second group of aperture M2
The distance of carrying platform 1.In this embodiment of the invention, by adjusting first group of aperture M1 with second group of aperture M2 vertical
Positional relationship on direction can occur to interfere to avoid the corresponding telescopic mounting of two groups of apertures or be hit in elongation process.
It should be noted that set on the aperture of the first side wall and the aperture distance for being set to third side wall in first group of aperture M1
The height of carrying platform 1 can be identical or different.In the case where telescopic mounting 3 is multi-stage cylinder, it is contemplated that sub- cylinder barrel is stretched
Having slight curves to 1 direction of carrying platform in growth process, (the distance between the first side wall and third side wall are larger when special
When), the aperture height of the first side wall can be slightly above opposite third side-wall hole height (multi-stage cylinder be set to the first side wall
Outside), so as to preferably ensure multi-stage cylinder elongation after enter the corresponding opening of third side wall within.In addition, same
Aperture height, shape on side wall can also be identical or different, and these simple deformations on the basis of application scheme, exist
Within the protection scope of this programme.
In one embodiment, side wall 2 further includes being uniformly arranged two groups close to the position of carrying platform 1 along it to correspond to each other
Aperture, the minimum range of the aperture that wherein the first side wall and the third side wall are correspondingly arranged to carrying platform 1 is greater than second
Maximum distance of the aperture of side wall and the 4th side wall to carrying platform 1.As previously mentioned, the first side wall and third side wall are flat to carrying
It opens in the lower end of aperture, second sidewall and the 4th side wall to the maximum distance of carrying platform 1 at it the position of the minimum range of platform 1
The upper end in hole, the embodiment of the present application can pass through cooperation by the way that aperture is further arranged close to the position of carrying platform 1 in side wall
The telescopic mounting 3 of aperture further limits the grading row of rocket to be recycled, so that sub- grade to be recycled be made more stably to land
On carrying platform 1.In addition, provide that opposing sidewalls correspond to the distance between aperture as previously mentioned, passing through, it can be to avoid different sides
To telescopic mounting occur in elongation process interfere or hit, thus progress one step improve auxiliary recovery system it is reliable
Property.
It further, can vertically, in side wall in order to further increase the stability after sub- grade landing to be recycled
Multilayer aperture is arranged to outside spacers, and (wherein, each layer of aperture is equipped with one group of telescopic mounting, and adjacent two layers aperture can be spaced
3-5 meters), so that the continuous starting of the telescopic mounting 3 by each group aperture that different height is arranged in, realizes the fire to landing
The continuous steerable of arrow grade to be recycled and multiple limit.In side wall 2 there is multilayer aperture (to be located at different apertures in vertical direction
It is upper that there is different height) in the case where, for example, along any layer aperture that 2 different height of side wall is arranged, telescopic mounting 3
It can only be extended in a direction of side wall 2, so that the side wall of the telescopic mounting and other direction that avoid the direction from extending is sent out
Raw interference.
As shown in figure 8, in order to ensure multiple groups aperture is arranged on the outside of side wall 2, lateral wall 2 needs accordingly to reserve supporting table
22,23,24, and corresponding 5 (not illustrated) of support device is set in supporting table.I.e. the supporting table 22,23,24 of outer wall can be along perpendicular
Histogram is arranged to interval, so that the aperture of telescopic mounting 3 and this corresponding layer can be respectively set in each layer of supporting table.
In this embodiment, further, there is previously described the first side wall, third side wall and second in side wall 2
In the case where side wall and the 4th side wall, controller 4 can control the aperture institute of opposite first, third side wall in one of adjacent layer
Corresponding telescopic mounting starting, and the aperture for controlling the second, the 4th side wall opposite in another layer of aperture is corresponding scalable
Device starting improves telescopic mounting and treats back so that controller is different by the direction of the telescopic mounting of control adjacent layer
Receive the stability of strutting system of sub- grade.
Referring to Fig. 9, for example, in one embodiment, position knot of limiting in aperture corresponding with the aperture of multi-stage cylinder is equipped with
Structure, the fit structure and leading for position limiting structure movement that the sub- cylinder barrel 33 of outermost far from mother's cylinder barrel 30 is equipped with cooperation position limiting structure
To structure.After multi-stage cylinder starting, position limiting structure is moved along guide frame, is limited into fit structure.Of the invention
Embodiment is arranged by the sub- cylinder barrel corresponding position in aperture setting position limiting structure, and after multi-stage cylinder elongation into aperture
Fit structure and guide frame, position limiting structure are engaged structure under the guiding of guide frame, the multistage gas after extending
The front end of cylinder is fixed with side wall.
In this embodiment, if side wall is relatively thin, the sub- cylinder in multi-stage cylinder is can be set in guide frame (for example, groove)
On cylinder 33, the position limiting structure in aperture moves along guide frame and enters among the fit structure of sub- cylinder barrel 33, realizes to sub- cylinder
The limit of cylinder 33, reduces cost.
Specifically, guide frame is the sliding slot for being disposed far from the sub- cylinder barrel 33 of female cylinder barrel 30, position limiting structure be set on
The protrusion being arranged in aperture corresponding with multi-stage cylinder, fit structure are the recess of shape matching protrusion.It is extended in multi-stage cylinder
After expansion, (for example, when multi-stage cylinder is unfolded, the position of sliding slot is downward, then convex for the protrusion that being positioned against of sliding slot is arranged in aperture
It rises and is set on the downside of aperture；Equally, when multi-stage cylinder is unfolded, upward, then protrusion is located on the upside of aperture, to ensure for the position of sliding slot
During multi-stage cylinder expansion, protrusion moves in sliding slot).Recess for fitting projection can be set sliding for protrusion in sliding slot
Dynamic extreme position, the position can be sub- cylinder barrel 33 in sliding extreme position of its sliding slot far from sub- 33 outer end of cylinder barrel.
During multi-stage cylinder extends and contacts corresponding aperture, sliding slot and along the chute interior cunning are protruded out into aperture
Dynamic, when multi-stage cylinder is extended to extreme position, protrusion is just into the recess being arranged on sub- cylinder barrel, so that multi-stage cylinder is limited
Position is fixed, deviates from from aperture under the lateral pressure by rocket grade to be recycled to avoid the multi-stage cylinder of elongation.This hair
The auxiliary recovery system of bright embodiment, by the way that protrusion is arranged on side-wall hole, sliding slot and fitting projection is arranged in sub- cylinder barrel
Recess can carry out quick positioning limit to it after multi-stage cylinder elongation, to improve the stabilization of auxiliary recovery system work
Property.
The embodiment of the present invention, the posture by using auxiliary recovery system, when can reduce to rocket landing significantly
It is required that rocket is avoided to topple in moment of landing, the success rate of rocket recycling is improved.
Enhancement rocket recovery device and system of the invention can cooperate the existing rocket using supporting leg supporting way, but this
The carrying platform of application for rocket grade recycling landing part and outside side wall telescopic mounting the starting time need
The opening action of supporting leg is correspondingly matched, i.e. the action process of auxiliary recovery system (only recycles sub- grade in rocket to be equipped with
When the part of supporting leg is located at below sidewall upper aperture, corresponding telescopic mounting just starts, and rocket recycles sub- grade still at this time
Do not land) and the space of each structure do not influence the opening of supporting leg, thus further increase rocket grade recycling success rate.
The foregoing is merely the schematical specific embodiments of the present invention, before not departing from conceptions and principles of the invention
It puts, the equivalent changes and modifications that any those skilled in the art is made should belong to the scope of protection of the invention.
Claims (11)
1. a kind of auxiliary recovery system for carrier rocket recycling characterized by comprising carrying platform, be set to it is described
The side wall of carrying platform side and the connection carrying platform is set to multiple telescopic mountings of the side-wall outer side and is used for
Control the controller of the telescopic mounting starting；
Side wall part facing with each other is equipped with the multipair aperture to correspond to each other, in the aperture that every a pair corresponds to each other at least
One is equipped with the telescopic mounting, and the extended length after the telescopic mounting starting is greater than between corresponding two apertures
Distance；
The controller is used for when the sub- grade to be recycled of carrier rocket is drop within side wall outer end, and control is corresponding multiple
Telescopic mounting starting, so that the telescopic mounting is stretched from the ipsilateral matched aperture of the telescopic mounting to corresponding aperture
Out to enter in corresponding aperture, so that multiple telescopic mountings circumferentially surround the rocket grade to be recycled, with
Landing guiding and limit are carried out to the rocket grade to be recycled.
2. carrier rocket according to claim 1 recycles platform, which is characterized in that further include detector, the detector is used for
Detect first projected position of the rocket grade to be recycled along the first direction where gravity vertical in the carrying platform, the control
Device, which is used to control corresponding telescopic mounting according to first projected position, to be extended.
3. carrier rocket according to claim 2 recycles platform, which is characterized in that the controller is used for what basis corresponded to each other
Aperture line is along the first direction in the second projected position of the carrying platform and the relationship of first projected position, control
Make corresponding telescopic mounting elongation；
Wherein, controller control around first projected position and apart from first projected position it is nearest second
Multiple telescopic mounting startings corresponding to projected position.
4. carrier rocket according to claim 2 recycles platform, which is characterized in that the detector is also used to detect fire to be recycled
Arrow grade lower end enters the depth in the side wall, and the controller is greater than outside the aperture to the side wall in the depth
End apart from when control telescopic mounting starting.
5. recycling platform according to carrier rocket described in Claims 2 or 3 or 4, which is characterized in that the detector includes setting
In multiple cameras of the side wall different location and ranging from instrument.
6. carrier rocket according to claim 1 recycles platform, which is characterized in that the telescopic mounting is multi-stage cylinder；Institute
Stating multi-stage cylinder includes female cylinder barrel and the multiple sub- cylinder barrels being set-located each other, and mother's cylinder barrel constitutes the fixation of multi-stage cylinder
Portion, the multiple sub- cylinder barrel constitute the pars contractilis of multi-stage cylinder, are provided with gas generator in mother's cylinder barrel；
The gas generator pushes the multiple sub- cylinder barrel elongation in multi-stage cylinder after actuation, and be crossed on it is described more
In corresponding two apertures of grade cylinder.
7. carrier rocket according to claim 6 recycles platform, which is characterized in that the detector includes being arranged in the side wall
The multiple cameras and rangefinder of different location, the detector is for detecting rocket grade lower end surface to be recycled into the side wall
Depth, the controller the depth be greater than the aperture to the side wall outer end apart from when pass through electric signal control
The ignition of gas generator.
8. carrier rocket according to claim 1 recycles platform, which is characterized in that the side wall includes the first side facing with each other
Wall and third side wall and second sidewall facing with each other and the 4th side wall；Wherein the both ends of the first side wall are separately connected
One end of the second sidewall and the 4th side wall, the both ends of the third side wall are separately connected the second sidewall and described
The other end of 4th side wall；
The first side wall and the third side wall are equipped with first group of aperture, the second sidewall and institute close to the position of outer end
State the 4th side wall close to outer end position be equipped with second group of aperture, wherein first group of aperture away from the carrying platform most
Short distance is greater than the maximum distance of second group of aperture away from the carrying platform.
9. carrier rocket according to claim 8 recycles platform, which is characterized in that the side wall further includes holding along it close to described
The aperture that carrying platform is uniformly arranged, wherein minimum of the aperture of the first side wall and the third side wall to the carrying platform
Maximum distance apart from the aperture greater than the second sidewall and the 4th side wall to the carrying platform.
10. recycling platforms according to the described in any item carrier rockets of claim 6-9, which is characterized in that be equipped with multi-stage cylinder
The corresponding aperture of aperture in limit bit architecture, the sub- cylinder barrel far from female cylinder barrel is equipped with the cooperation for cooperating the position limiting structure
Structure and the guide frame moved for the position limiting structure；After multi-stage cylinder starting, the position limiting structure is led described in
To structure motion, limited into the fit structure.
11. carrier rocket according to claim 10 recycles platform, which is characterized in that the guide frame is described to be disposed far from
The sliding slot of the sub- cylinder barrel of female cylinder barrel, the position limiting structure is the protrusion being arranged in aperture corresponding with multi-stage cylinder, described
Fit structure is the recess that shape matches the protrusion, and the sliding slot is arranged in for the limit position of the protrusion sliding in the recess
It sets；
It is described to protrude out into the sliding slot and slided along the sliding slot during multi-stage cylinder elongation, when described
It is described to protrude out into the recess when multi-stage cylinder is extended to extreme position, and limited by the recess, avoid the multistage of elongation
Cylinder is deviate from from corresponding aperture under the pressure by rocket grade to be recycled.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010794584.XA CN111994308B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for rocket recovery |
| CN202010795021.2A CN111994310B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for rocket recovery |
| CN201910316445.3A CN110294148B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for carrier rocket recovery |
| CN202010795015.7A CN111994309B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for carrier rocket recovery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910316445.3A CN110294148B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for carrier rocket recovery |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010795015.7A Division CN111994309B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for carrier rocket recovery |
| CN202010794584.XA Division CN111994308B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for rocket recovery |
| CN202010795021.2A Division CN111994310B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for rocket recovery |
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| CN110294148A true CN110294148A (en) | 2019-10-01 |
| CN110294148B CN110294148B (en) | 2020-10-16 |
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| CN202010794584.XA Active CN111994308B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for rocket recovery |
| CN202010795015.7A Active CN111994309B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for carrier rocket recovery |
| CN202010795021.2A Active CN111994310B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for rocket recovery |
| CN201910316445.3A Active CN110294148B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for carrier rocket recovery |
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| CN202010794584.XA Active CN111994308B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for rocket recovery |
| CN202010795015.7A Active CN111994309B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for carrier rocket recovery |
| CN202010795021.2A Active CN111994310B (en) | 2019-04-19 | 2019-04-19 | Auxiliary recovery system for rocket recovery |
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| CN111750744A (en) * | 2020-05-06 | 2020-10-09 | 蓝箭航天空间科技股份有限公司 | Rocket recovery device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111994309A (en) | 2020-11-27 |
| CN111994309B (en) | 2022-03-04 |
| CN111994310B (en) | 2022-03-04 |
| CN110294148B (en) | 2020-10-16 |
| CN111994310A (en) | 2020-11-27 |
| CN111994308A (en) | 2020-11-27 |
| CN111994308B (en) | 2022-03-04 |
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