CN111017269A - Large-span foldable reusable rocket landing buffer structure - Google Patents
Large-span foldable reusable rocket landing buffer structure Download PDFInfo
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- CN111017269A CN111017269A CN201911156853.3A CN201911156853A CN111017269A CN 111017269 A CN111017269 A CN 111017269A CN 201911156853 A CN201911156853 A CN 201911156853A CN 111017269 A CN111017269 A CN 111017269A
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- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
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Abstract
The invention relates to a large-span foldable reusable rocket landing buffer structure, which comprises: a main leg (1), two auxiliary legs (2) and a landing disc (3); the upper joint of one end of the main leg (1) and the upper joint of one end of each auxiliary leg (2) are connected with the mounting seat of the rocket body through joint bearings arranged on the upper joints and the lower joints respectively, and the joint bearings are arranged on the upper joints and the lower joints of the main leg (1) and the auxiliary legs (2); a rotating shaft is arranged on one side of the landing disc (3); the lower joint at the other end of the main leg (1) and the lower joint at the other end of each auxiliary leg (2) are connected to the same rotating shaft on the landing disc (3) through joint bearings arranged on the lower joints. The other side of the landing disc (3) is provided with a rubber buffer pad which can be in buffer contact with the ground when the rocket lands slowly.
Description
Technical Field
The invention relates to a large-span foldable reusable rocket landing buffer structure, and belongs to the technical field of mechanical combined bearing buffer devices with high light weight, high efficiency and good operability.
Background
The carrier rocket is used as a main tool for human beings to enter space, the high launching cost limits the development and utilization of space for human beings, and the disposable use of the carrier rocket is the main reason for high launching cost. Therefore, the repeated use of the carrier rocket has very important significance for reducing the launching cost and improving the capability of human entering space. For vertical round-trip reuse of the carrier rocket, the landing process is the last step of carrier rocket return and is also the key in the general scheme of the rocket vertical return technology. A large-span and foldable reusable rocket landing buffer structure is designed, the requirement of a carrier rocket for returning to a large span of stability can be met, a good landing impact environment of the carrier rocket can be provided, and the folding function optimizes the vertical round-trip comprehensive environment of the carrier rocket.
Landing buffer structures in the aerospace field are mostly concentrated in the design of moon or mars landers, and landing support spans provided by corresponding structures are small, so that the stability requirements of structures with low slenderness ratios, such as lunar climbers and mars, can be met only. For the landing stability of the carrier rocket with high slenderness ratio result, the conventional structural design of the span is difficult to meet. Meanwhile, in order to meet the requirement of good aerodynamic shape of the ascending section of the carrier rocket, the landing mechanism needs to have a folding deformation function, and the shape after folding is as small as possible, so that the additional resistance generated to the ascending section of the rocket is reduced. At present, most of the existing patents of related reusable carrier rocket landing buffer structures are conceptual scheme type or local small structure type designs, and the like, and detailed design contents aiming at the whole landing buffer mechanism scheme or design contents with large span and high folding deformation ratio are not provided.
Disclosure of Invention
The technical problem solved by the invention is as follows: the landing buffer structure overcomes the defects of the prior art, provides a large-span and foldable reusable rocket landing buffer structure, solves the contradiction that the whole aerodynamic appearance of the ascending section of the carrier rocket is small after the ascending section faces the landing mechanism and the span is large when the ascending section returns to the landing section and the landing mechanism is unfolded, simultaneously solves the requirement of high requirement of attitude control of the carrier rocket on the unfolding synchronism of four legs, greatly improves the whole bearing capacity of the landing buffer mechanism, and greatly improves the stability and reliability.
The technical scheme of the invention is as follows: a large-span, collapsible, reusable rocket landing buffer structure, comprising: a main leg (1), two auxiliary legs (2) and a landing disc (3); the upper joint at one end of the main leg (1) and the upper joint at one end of each auxiliary leg (2) are connected with the mounting seat of the rocket body through joint bearings arranged on the upper joints,
joint bearings are arranged on the upper joints and the lower joints of the main leg (1) and the auxiliary leg (2); a rotating shaft is arranged on one side of the landing disc (3); the lower joint at the other end of the main leg (1) and the lower joint at the other end of each auxiliary leg (2) are connected to the same rotating shaft on the landing disc (3) through joint bearings arranged on the lower joints.
The other side of the landing disc (3) is provided with a rubber buffer pad which can be in buffer contact with the ground when the rocket lands slowly.
Preferably, joint bearings are arranged on the upper joint and the lower joint of the main leg (1) and the auxiliary leg (2), and the motion form of the equivalent spherical hinge is realized through the matching connection form of the joint bearings and the connecting pins.
Preferably, the main leg (1) comprises: the device comprises a lower joint (1-1), a buffer leg (1-2), a section of leg (1-3), a section of leg (1-4), a section of leg (1-5), a section of leg (1-6), an upper joint (1-7), an aluminum honeycomb column (1-8), a shear block (1-9) and a limiting mechanism (1-10);
the lower joint (1-1) of main leg (1) is connected with landing disc (3), and upper joint (1-7) are used for being connected with the connecting seat that sets up on the rocket body, and lower joint (1-1) includes: the supporting section is connected with the connecting section; the supporting section is a cylindrical rod, the connecting section is provided with a hole capable of mounting a joint bearing, the joint bearing is arranged in the hole, a rotating shaft on the land disc (3) penetrates through the joint bearing, so that the joint bearing is matched with the rotating shaft on the landing disc (3) to realize the connection form of an equivalent spherical hinge;
aluminum honeycombs are filled in the buffering legs (1-2), and the filled aluminum honeycombs are in hollow cylinder shapes, so that buffering and energy absorption in the landing process of the reusable rocket are realized;
one end of the buffering leg (1-2) is connected with the lower joint (1-1); the other end of the buffering leg (1-2) is nested in one end of one section of leg (1-3);
the first section of leg (1-3) is of a hollow structure, the other end of the first section of leg (1-3) is nested in one end of the second section of leg (1-4), the other end of the second section of leg (1-4) is nested in one end of the third section of leg (1-5), and the other end of the third section of leg (1-5) is nested in one end of the fourth section of leg (1-6); the other ends of the four legs (1-6) are connected with upper joints (1-7);
an annular separation baffle is arranged in the first section of leg (1-3) and close to the second section of leg (1-4); the aluminum honeycomb column (1-8) is arranged in one section of leg (1-3), one end of the aluminum honeycomb column (1-8) props against the annular separation blade, the other end of the aluminum honeycomb column props against the buffer leg (1-2) and is embedded into the other end of the one section of leg (1-3), and the buffer leg (1-2) absorbs energy to the rocket body in the landing process;
preferably, two semicircular baffle rings are arranged at one end of each of the two legs (1-4), and the two semicircular baffle rings are fixed on the inner wall of the end head of one end of each of the two legs (1-4); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the two legs (1-4); the outer wall of the semicircular baffle ring is provided with a plurality of strip-shaped grooves along the circumferential direction, and one end of each of the two legs (1-4) is provided with a through groove corresponding to the position of the strip-shaped grooves; the shear resistant blocks (1-9) can penetrate through the through grooves formed in one ends of the two legs (1-4) and are inserted into the strip-shaped grooves in the corresponding semicircular baffle rings, the semicircular baffle rings are extruded inwards (not extruded inwards, but can be authored in the way that the strip-shaped groove internal thread holes are connected with the corresponding through holes of the shear resistant blocks through bolts, so that the position of the semicircular baffle rings in the two legs (1-4) is fixed, the other ends of the two legs (1-4) are restrained, and the other ends of the legs (1-3) are prevented from being separated from one ends of the two legs (1-4).
Preferably, one end of each of the three legs (1-5) is provided with two semicircular baffle rings which are fixed on the inner wall of the end head of one end of each of the three legs (1-5); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the three-section legs (1-5); a plurality of strip-shaped grooves are formed in the outer wall of the semicircular baffle ring along the circumferential direction, and through grooves corresponding to the strip-shaped grooves are formed in one ends of the three legs (1-5); the shear resistant blocks (1-9) can penetrate through the through grooves formed in one ends of the three-section legs (1-5) and are inserted into the strip-shaped grooves in the corresponding semicircular baffle rings, the semicircular baffle rings are extruded inwards (not extruded inwards, but can be authored in the way that the semicircular baffle rings are connected with the corresponding through holes of the shear resistant blocks through the bolt through the strip-shaped groove internal thread holes to realize the position fixation of the semicircular baffle rings in the three-section legs (1-5), so that the restraint on the other ends of the three-section legs (1-5) is formed, and the other ends of the two-section legs (1-4) are prevented from being separated from one ends of the three-section legs (1-5).
Preferably, two semicircular baffle rings are arranged at one end of each of the four legs (1-6), and the two semicircular baffle rings are fixed on the inner wall of the end head of one end of each of the four legs (1-6); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the four legs (1-6); the outer wall of the semicircular baffle ring is provided with a plurality of strip-shaped grooves along the circumferential direction, and one end of each of the four legs (1-6) is provided with a through groove corresponding to the position of the strip-shaped grooves; the shear resistant blocks (1-9) can penetrate through the through grooves formed in one ends of the four legs (1-6) and are inserted into the strip-shaped grooves in the corresponding semicircular baffle rings, the semicircular baffle rings are extruded inwards (not extruded inwards, but can be authored: the semicircular baffle rings are fixed in position inside the four legs (1-6) through the bolt connection between the strip-shaped groove internal thread holes and the corresponding through holes of the shear resistant blocks, so that the other ends of the four legs (1-6) are restrained, and the other ends of the three legs (1-5) are prevented from being separated from one ends of the four legs (1-6).
Preferably, one section of leg (1-3) is hollow cylindrical, the outer wall of one end connected with the two sections of legs (1-4) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow part of the one section of leg (1-3); the two grooves are symmetrical relative to the central axis of one section of the leg (1-3); one end of each of the two legs (1-4) is provided with a limiting device at the position corresponding to the two grooves, and after the leg (1-3) is completely extended out, the limiting device enters the groove to block the leg (1-3), so that the leg (1-3) is limited.
Preferably, the two legs (1-4) are hollow cylinders, the outer wall of one end connected with the three legs (1-5) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow parts of the two legs (1-4); the two grooves are symmetrical relative to the central axis of the two legs (1-4); and a limiting device is arranged at the position corresponding to the two grooves at one end of the three-section leg (1-5), and after the two-section leg (1-4) is completely extended out, the limiting device enters the groove to block the two-section leg (1-4), so that the two-section leg (1-4) is limited.
Preferably, the three legs (1-5) are hollow cylinders, the outer wall of one end connected with the four legs (1-6) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow parts of the three legs (1-5); the two grooves are symmetrical relative to the central axis of the three-section legs (1-5); and a limiting device is arranged at the position corresponding to the two grooves at one end of the three-section leg (1-5), and after the three-section leg (1-5) is completely extended out, the limiting device enters the groove to block the three-section leg (1-5), so that the limitation on the three-section leg (1-5) is realized.
Preferably, the strength of the aluminum honeycombs (1-8) is designed according to the landing impact load, the strength is higher than the conventional operation load of the landing legs on one hand, the aluminum honeycombs have the restraint effect between the conventional states of the buffering legs (1-2) and the legs (1-3), the strength is lower than the landing impact load of the landing legs on the other hand, and the aluminum honeycombs provide a plastic deformation energy absorption function to realize buffering energy absorption during landing impact. Except that the buffer legs (1-2) and one section of legs (1-3) are axially constrained by adopting aluminum honeycombs (1-8), other legs are all designed to be nested step by step to realize the telescopic function among the legs, and the shear resistant blocks (1-9) and the limiting devices (1-10) are additionally arranged to realize the axial limiting after the legs are unfolded.
Preferably, the first section of leg (1-3), the second section of leg (1-4), the third section of leg (1-5) and the fourth section of leg (1-6) are telescopic through nesting, an inner supporting lubricating ring (1-4-1) is arranged on the inner wall of the end head of each section of leg, the outer wall of the end head of the other end is connected with an outer supporting lubricating ring (1-4-2), the supporting lubricating rings (1-4-1) and the outer supporting lubricating rings (1-4-2) are made of polytetrafluoroethylene, so that the front and back supporting lubricating effect between any section of leg and the front and back sections of leg is realized, the telescopic guide function of each section of leg is realized, the telescopic resistance deviation among the sections of leg is reduced, and the consistency and the stability of the telescopic function of a product are improved.
Preferably, the limiting device is preferably a mortise lock (1-4-3), a shear block (1-9) is designed at the front end of the leg, a mortise lock window is formed at the rear end of the leg, and the mortise lock (1-4-3) is installed inside the mortise lock window. The mortise lock (1-4-3) is characterized in that a plurality of balls are arranged at the end part of the mortise lock head as shown in figure 5, so that the mortise lock head can roll and slide in a rolling manner in the upper leg before being locked, and the mortise lock head can extend out and be inserted into the locking groove of the upper leg after being unfolded and slid in place, so that the mortise lock can be fixedly restrained, and the integral impact resistance of the landing leg after being unfolded and locked during landing impact can be improved.
Preferably, the auxiliary leg (2) consists of an upper joint (2-1), an auxiliary leg main pipe (2-2) and a lower joint (2-3). The upper joint (2-1) is in threaded connection with one end of the auxiliary leg main pipe (2-2), and the lower joint (2-3) is in threaded connection with the other end of the auxiliary leg main pipe (2-2), so that the overall compression-resistant and tensile-resistant bidirectional bearing capacity of the joint and main pipe assembly is realized.
Preferably, the upper joint (2-1) adopts an eccentric design to realize the spatial connection of the two auxiliary legs (the spatial connection means that the lower joint (2-3) is connected with the landing disc, and the upper joint (2-1) is connected with the rocket body), and then the central lines of the rotating shafts of the two auxiliary legs are coaxial with the central connecting line of the rotating shaft mounting hole of the rocket body mounting seat, so that the adaptability of the landing legs to the lengths in the integral extension process is realized.
Preferably, the upper joint (2-1) and the lower joint (2-3) are matched by a joint bearing and a cylindrical pin, so that a good bearing environment with zero local bending moment at the upper joint and the lower joint of the auxiliary leg is realized.
Preferably, the landing disc (3) consists of a rubber buffer (3-1), a metal joint (3-2) and a connecting rotating shaft (3-3).
The rubber buffer cushion (3-1) is in a segment shape, one side of the segment is a plane and is connected with the metal joint (3-2), and the other side of the segment is an arc-shaped surface.
Metal joint (3-2) comprising: steel plates and support lugs; four support lugs arranged in parallel are arranged on one side of the steel plate, and the four support lugs arranged in parallel are numbered from one side to the other side; the support lug is triangular, and a through hole is formed in the middle of the support lug and can penetrate through the connecting rotating shaft (3-3); the through holes on the four support lugs arranged in parallel are coaxial; the part of the connecting rotating shaft (3-3) between the two support lugs (the second support lug and the third support lug) in the middle is connected with the lower joint (1-1) of the main leg (1) through a joint bearing of the lower joint (1-1);
the part of the connecting rotating shaft (3-3) positioned between the first supporting lug and the second supporting lug is connected with the lower joint (2-3) of the auxiliary leg (2) through a joint bearing on the lower joint (2-3) of one auxiliary leg (2), and the part of the connecting rotating shaft (3-3) positioned between the third supporting lug and the fourth supporting lug is connected with the lower joint (2-3) of the other auxiliary leg (2) through a joint bearing on the lower joint (2-3) of the other auxiliary leg (2);
preferably, the rubber buffer pad (3-1) is integrally formed by rubber and is connected with one side of the metal joint (3-2) through a gluing mode. The rubber buffer pad (3-1) is designed in a ball head and flat plate space transition geometric form, the ball head form optimizes the impact force to the landing surface in the landing process, the requirement on the landing field of the carrier rocket is reduced, the flat plate is in effective surface contact with the lower end plane of the metal joint (3-2), and the connecting strength between the flat plate and the metal joint in an adhesive form is improved. The connecting rotating shaft (3-3) is used for connecting the landing disc with the lower joint of the main leg and the lower joint of the auxiliary leg.
Compared with the prior art, the invention has the advantages that:
(1) the invention provides an integral design scheme of a mechanism capable of realizing large span in an unfolding state and small aerodynamic shape in a folding state for repeatedly using a carrier rocket return landing mechanism, not only can reduce the aerodynamic resistance introduced by the carrier rocket launching ascending section landing mechanism, but also can improve the stability of the carrier rocket in returning to landing, reduce the requirements of the carrier rocket return on attitude control and power regulation, and provide beneficial technical support for designing the integral scheme of repeatedly using the carrier rocket return.
(2) The invention adopts the design form of a mortise lock type locking bearing mechanism, and a ball structure is designed at the mortise lock head. The effective bearing effect of the locking structure when the carrier rocket returns to land is realized, and the effective resistance reduction effect of the mortise lock head in the unfolding process of the landing mechanism is also met. Meanwhile, the mortise lock is provided with a reset port, so that the repeated operation function of locking and unlocking the mortise lock to the land buffer mechanism can be realized, and the integral reusable performance of the landing mechanism is improved.
(3) The invention adopts a design scheme of a combined equivalent spherical hinge of a joint bearing and a connecting pin at the connecting part to realize the adjustability of the corresponding connecting position on a space angle, and simultaneously adopts a fine thread connection scheme at the two ends of the auxiliary leg and one end of the main leg to realize the adjustability of the corresponding position on the length, thereby realizing the adjustability of the landing buffer structure on the space position and the angle deviation of the corresponding connecting point of the rocket body, and improving the whole installation and debugging operability and adaptability of the landing buffer structure.
(4) According to the invention, the telescoping function of the main leg is realized by adopting a nested scheme on the main leg, and the polytetrafluoroethylene lubricating rings are respectively arranged at the two ends of each section of leg, so that the friction reduction in the telescoping process is realized, the influence of uncertainty of friction on the unfolding consistency of the four sets of landing buffer mechanisms is reduced, and the influence of the unfolding inconsistency of the landing buffer structures on the attitude of the carrier rocket in the unfolding process is reduced.
(5) The invention aims at a landing buffer structure for the vertical reciprocating of a reusable carrier rocket, can meet the requirement that the stability needs to be improved to expand a large span support against a landing structure when a high and slender rocket body structure of the rocket is landed, and also has the function of folding and furling so as to provide a good aerodynamic shape for a launching section of the rocket.
Drawings
FIG. 1 is a schematic view of a connection between a large-span foldable landing buffer structure and a rocket body
FIG. 2 is a schematic view of a large-span foldable landing pad structure in an unfolded state;
FIG. 3 is a schematic view of a large-span foldable landing pad structure in a collapsed state;
FIG. 4 is a schematic (right) and cross-sectional view (left) of the main leg components;
FIG. 5 is a functional schematic view of the mortise lock;
FIG. 6 is a schematic view of components of the mortise lock;
FIG. 7 is a schematic view of a portion of a two-legged leg;
FIG. 8 is a schematic view (left) and a sectional view (right) of the components of the secondary leg;
FIG. 9 is a schematic view of the landing disk components.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The invention relates to a large-span foldable reusable rocket landing buffer structure, which comprises: a main leg (1), two auxiliary legs (2) and a landing disc (3); the upper joint of one end of the main leg (1) and the upper joint of one end of each auxiliary leg (2) are connected with the mounting seat of the rocket body through joint bearings arranged on the upper joints and the lower joints respectively, and the joint bearings are arranged on the upper joints and the lower joints of the main leg (1) and the auxiliary legs (2); a rotating shaft is arranged on one side of the landing disc (3); the lower joint at the other end of the main leg (1) and the lower joint at the other end of each auxiliary leg (2) are connected to the same rotating shaft on the landing disc (3) through joint bearings arranged on the lower joints. As shown in fig. 9, a rubber cushion pad is arranged on the other side of the landing disk (3) and can be in cushion contact with the ground when the rocket lands slowly.
The invention solves the landing problem of the prior carrier rocket, and the main reason that the launch cost is high is that the carrier rocket is launched once and cannot be reused. In order to reduce the launching cost of the carrier rocket, the carrier rocket needs to be used for multiple times, and the carrier rocket returns to land correspondingly, so that the carrier rocket becomes a key technology for reusing the carrier rocket. As the carrier rocket is mostly of a high and long structure, in order to ensure that the carrier rocket safely returns to land, a landing buffer mechanism needs to be added on the structure of the traditional carrier rocket. As shown in figure 1, a landing buffer structure is arranged at each quadrant of the lower end of the rocket body, and the upper end of the buffer structure is connected with the corresponding joint of the rocket body. Through the landing buffer structure, the lifting of the carrier rocket return landing support structure can be realized, and the stability of the integral structure in return landing is improved. Meanwhile, a buffering energy-absorbing device is arranged in the landing buffering structure, so that the load environment of the carrier rocket returning to landing can be further improved.
As shown in fig. 2 and 3, a large-span foldable reusable rocket landing buffer structure is characterized by comprising: a main leg (1), two auxiliary legs (2) and a landing disc (3); the upper joint of one end of the main leg (1) and the upper joint of one end of each auxiliary leg (2) are connected with the mounting seat of the rocket body through joint bearings arranged on the upper joints. Joint bearings are arranged on the upper joints and the lower joints of the main leg (1) and the auxiliary leg (2); a rotating shaft is arranged on one side of the landing disc (3); the lower joint at the other end of the main leg (1) and the lower joint at the other end of each auxiliary leg (2) are connected to the same rotating shaft on the landing disc (3) through joint bearings arranged on the lower joints.
As shown in figure 4, the main leg (1) consists of a lower joint (1-1), a buffer leg (1-2), a leg (1-3), a leg (1-4), a leg (1-5), a leg (1-6), an upper joint (1-7), an aluminum honeycomb (1-8), a shear block (1-9) and a limiting mechanism (1-10). The lower joint (1-1) is used for connecting one end of the main leg (1) with the landing disc (3), the upper joint (1-7) is used for connecting the other end of the main leg (1) with the base on the rocket body, and joint bearings are arranged at the joints. Aluminum honeycombs are filled in the buffering legs (1-2), and the filled aluminum honeycombs are in hollow cylinder shapes, so that buffering and energy absorption in the landing process of the reusable rocket are realized; one end of the buffering leg (1-2) is connected with the lower joint (1-1); the other end of the buffering leg (1-2) is nested in one end of one section of leg (1-3);
the first section of leg (1-3) is of a hollow structure, the other end of the first section of leg (1-3) is nested in one end of the second section of leg (1-4), the other end of the second section of leg (1-4) is nested in one end of the third section of leg (1-5), and the other end of the third section of leg (1-5) is nested in one end of the fourth section of leg (1-6); the other ends of the four legs (1-6) are connected with upper joints (1-7);
an annular separation baffle is arranged in the first section of leg (1-3) and close to the second section of leg (1-4); the aluminum honeycomb column (1-8) is arranged in one section of leg (1-3), one end of the aluminum honeycomb column (1-8) props against the annular separation blade, the other end of the aluminum honeycomb column props against the buffer leg (1-2) and is embedded into the other end of the one section of leg (1-3), and the buffer leg (1-2) absorbs energy to the rocket body in the landing process;
one end of the second section of leg (1-4) is provided with two semicircular baffle rings which are fixed on the inner wall of the end head of one end of the second section of leg (1-4); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the two legs (1-4); the outer wall of the semicircular baffle ring is provided with a plurality of strip-shaped grooves along the circumferential direction, and one end of each of the two legs (1-4) is provided with a through groove corresponding to the position of the strip-shaped grooves; the shear resistant block (1-9) can penetrate through a through groove arranged at one end of the two-section leg (1-4) and is inserted into a strip-shaped groove on the corresponding semicircular baffle ring, and the strip-shaped groove is connected with the shear resistant block through a through hole through a bolt, so that the semicircular baffle ring is fixed in position inside the two-section leg (1-4), the restraint on the other end of the two-section leg (1-4) is formed, and the other end of the one-section leg (1-3) is prevented from being separated from one end of the two-section leg (1-4).
Two semicircular retaining rings are arranged at one end of the three-section legs (1-5) and fixed on the inner wall of the end head of one end of the three-section legs (1-5); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the three-section legs (1-5); a plurality of strip-shaped grooves are formed in the outer wall of the semicircular baffle ring along the circumferential direction, and through grooves corresponding to the strip-shaped grooves are formed in one ends of the three legs (1-5); the shear resistant block (1-9) can penetrate through a through groove arranged at one end of the three-section leg (1-5) and is inserted into a strip-shaped groove on the corresponding semicircular baffle ring, and the semicircular baffle ring is fixed at the position inside the three-section leg (1-5) through the bolt connection between the strip-shaped groove internal thread hole and the shear resistant block corresponding through hole, so that the restraint on the other end of the three-section leg (1-5) is formed, and the other end of the two-section leg (1-4) is prevented from being separated from one end of the three-section leg (1-5).
One end of each of the four legs (1-6) is provided with two semicircular baffle rings which are fixed on the inner wall of the end head of one end of each of the four legs (1-6); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the four legs (1-6); the outer wall of the semicircular baffle ring is provided with a plurality of strip-shaped grooves along the circumferential direction, and one end of each of the four legs (1-6) is provided with a through groove corresponding to the position of the strip-shaped grooves; the shear block (1-9) can penetrate through a through groove arranged at one end of the four-section leg (1-6) and is inserted into a strip-shaped groove on the corresponding semicircular baffle ring, and the semicircular baffle ring is fixed in position inside the four-section leg (1-6) through the bolt connection between the strip-shaped groove internal thread hole and the corresponding through hole of the shear block, so that the restraint on the other end of the four-section leg (1-6) is formed, and the other end of the three-section leg (1-5) is prevented from being separated from one end of the four-section leg (1-6).
The first section of leg (1-3) is hollow cylindrical, the outer wall of one end connected with the second section of leg (1-4) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow part of the first section of leg (1-3); the two grooves are symmetrical relative to the central axis of one section of the leg (1-3); and the positions of one end of the two legs (1-4) corresponding to the two grooves are provided with limiting devices (1-10), after one leg (1-3) is completely extended out, the limiting devices (1-10) enter the grooves to clamp the one leg (1-3), so that the limitation on the one leg (1-3) is realized.
The two legs (1-4) are hollow cylinders, the outer wall of one end connected with the three legs (1-5) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow parts of the two legs (1-4); the two grooves are symmetrical relative to the central axis of the two legs (1-4); and limiting devices (1-10) are arranged at positions corresponding to the two grooves at one end of the three-section leg (1-5), and after the two-section leg (1-4) is completely extended out, the limiting devices (1-10) enter the grooves to clamp the two-section leg (1-4), so that the two-section leg (1-4) is limited.
The three-section legs (1-5) are hollow cylinders, the outer wall of one end connected with the four-section legs (1-6) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow parts of the three-section legs (1-5); the two grooves are symmetrical relative to the central axis of the three-section legs (1-5); and limiting devices (1-10) are arranged at positions corresponding to the two grooves at one end of the three-section legs (1-5), and after the three-section legs (1-5) are completely extended out, the limiting devices (1-10) enter the grooves to clamp the three-section legs (1-5), so that the limitation on the three-section legs (1-5) is realized.
The strength of the aluminum honeycomb (1-8) is designed according to the landing impact load, the strength is higher than the conventional operation load of the landing leg on one hand, the aluminum honeycomb has the restraint effect between the conventional states of the buffering leg (1-2) and the section of leg (1-3), the strength is lower than the landing impact load of the landing leg on the other hand, and a plastic deformation system energy function is provided during landing impact to realize the buffering system energy. Except that the buffer legs (1-2) and one section of legs (1-3) are axially constrained by adopting aluminum honeycombs (1-8), other legs are all designed to be nested step by step to realize the telescopic function among the legs, and the shear resistant blocks (1-9) and the mortise locks (1-10) are additionally arranged to realize the axial limiting after the legs are unfolded.
The limiting devices (1-10) are designed based on the mortise lock idea, as shown in figure 5, two springs are used for simultaneously acting on the inner sides of the two limiting devices (1-10), and when the joint legs are not unfolded in place, the inner walls of the upper joint legs are used for applying external radial restraint to the limiting devices. When the leg is unfolded in place, the limiting device enters the clamping groove in the inner wall of the upper leg under the action of the spring, and the axial constraint between the leg and the upper leg is realized. The upper leg inner wall clamping groove and the current leg groove axially constrain the limiting devices (1-10) together, so that the expansion limiting effect of the landing buffer structure is realized, and the effective transmission of load among the legs in the landing impact process can also be realized.
As shown in fig. 6, the mortise lock type limiting device (1-10) is composed of 1 mortise lock head (1-11),12 balls (1-12), 12 ball limiting blocks (1-13) and 2 guide column heads (1-15). The mortise lock heads (1-11) are main locking and bearing functional parts and are used for limiting the position between the current leg and the upper section leg and transferring the load. 12 balls (1-12) are fixed on the outer side wall of the mortise lock head (1-11) through 12 ball limiting blocks (1-13). The balls (1-12) can further reduce the friction force between the mortise lock head and the inner wall of the upper section leg under the action of spring force, and improve the synchronism of the landing buffer structure in the unfolding process. The inner sides of the mortise lock heads (1-11) are connected with the guide column heads (1-15), so that the action environment of the corresponding connecting springs is improved. The mortise lock head is provided with a reset tool hole (1-14) to provide a tool installation operation interface, and the purpose of tightly pressing and placing the mortise lock through the tool is realized.
The strength of the aluminum honeycomb (1-8) is designed according to the landing impact load, the strength is higher than the conventional operation load of the landing leg on one hand, the aluminum honeycomb has the restraint effect between the conventional states of the buffering leg (1-2) and the section of leg (1-3), the strength is lower than the landing impact load of the landing leg on the other hand, and a plastic deformation system energy function is provided during landing impact to realize the buffering system energy. Except that the buffer legs (1-2) and one section of legs (1-3) are axially constrained by adopting aluminum honeycombs (1-8), other legs are all designed to be nested step by step to realize the telescopic function among the legs, and the shear resistant blocks (1-9) and the mortise locks (1-10) are additionally arranged to realize the axial limiting after the legs are unfolded.
As shown in figure 7, the legs (1-3), the legs (1-4), the legs (1-5) and the legs (1-6) are not only telescopic through nesting, but also drag reduction is realized through supporting the lubricating ring. Taking two legs (1-4) as an example, the inner supporting lubricating ring (1-4-1) is arranged on the inner wall of the end head at one end of the two legs, the outer wall of the end head at the other end and the outer supporting lubricating ring (1-4-2), the supporting lubricating ring (1-4-1) and the outer supporting lubricating ring (1-4-2) adopt polytetrafluoroethylene, so that the front and back supporting lubricating effect between any one leg and the front and back legs is realized, the telescopic guide function of each leg is realized, the telescopic resistance deviation among the legs is reduced, and the consistency and the stability of the telescopic function of the product are improved.
As shown in FIG. 8, the secondary leg (2) is composed of an upper joint (2-1), a secondary leg main pipe (2-2) and a lower joint (2-3). The upper joint (2-1) is in threaded connection with one end of the auxiliary leg main pipe (2-2), and the lower joint (2-3) is in threaded connection with the other end of the auxiliary leg main pipe (2-2), so that the overall compression-resistant and tensile-resistant bidirectional bearing capacity of the joint and main pipe assembly is realized. The upper joint (2-1) adopts an eccentric design to realize that the space of the central line of the rotating shaft corresponding to the joint of the upper ends of the two auxiliary legs and the rocket body is not only parallel to the ground, but also collinear, and the relative position between the two auxiliary legs is fixed in the unfolding and folding processes of the landing mechanism. The spherical hinge connection mode can avoid the transmission of bending moment at the connection part and improve the whole load environment of the structure.
Each joint of the landing buffer structure realizes equivalent small-angle spherical hinge through a joint bearing and a connecting pin. Taking the upper joint (2-1) of the auxiliary leg (2) as an example, as shown in figure 8. The upper joint (2-1) is provided with a cylindrical hole for installing the joint bearing (2-5). Two annular grooves are additionally formed in the cylindrical holes of the upper joint (2-1) at the corresponding positions on the two sides of the joint bearing (2-5) and used for installing limiting snap rings (2-7) so as to realize the position constraint of the joint bearing (2-5). The limiting mode of the limiting snap ring (2-7) improves the convenience of integral assembly and the operability of replacement of the joint bearing (2-4). After the joint bearing (2-5) is installed, the connecting pin (2-4) is inserted to realize the connection between the auxiliary leg and the arrow body base. One end of the connecting pin (2-4) is designed with a wider pin head, and the other end is designed with threads for connecting with the fastening nut (2-6) after connection. Because the inner ring and the outer ring of the joint bearing (2-5) have two spatial rotational degrees of freedom less than six degrees, and the connecting pin (2-4) and the inner ring of the joint bearing (2-5) have another rotational degree of freedom, an equivalent small-angle spherical hinge form is formed by the combined form of the joint bearing (2-5) and the connecting pin (2-4). Not only the bending moment load environment of junction has been avoided, moreover relative traditional ball pivot design form greatly reduced structure production and assembly degree of difficulty.
As shown in FIG. 8, the rubber buffer (3-1) is integrally formed of rubber and is connected to one side of the metal fitting (3-2) by means of an adhesive. The rubber buffer pad (3-1) is designed in a ball head and flat plate space transition geometric form, the ball head form optimizes the impact force to the landing surface in the landing process, the requirement on the landing field of the carrier rocket is reduced, the flat plate is in effective surface contact with the lower end plane of the metal joint (3-2), and the connecting strength between the flat plate and the metal joint in an adhesive form is improved. The connecting rotating shaft (3-3) is used for connecting the landing disc with the lower joint of the main leg and the lower joint of the auxiliary leg.
The invention preferably adopts a foldable large-span landing buffer structure which is realized by the combined connection of a telescopic main leg mechanism, an auxiliary leg structure and a landing disc through a joint bearing and a connecting pin, and simultaneously, the integral bearing reliability and the buffering and energy-absorbing functions of the landing buffer structure can be realized by the tenon lock type limiting structure in the main leg and the aluminum honeycomb buffer design when the landing buffer structure is unfolded. The main leg realizes the functions of extension, limitation and locking of each sub-section leg, and simultaneously, an internal and external lubrication support ring is designed to improve the consistency and stability of the landing leg in the extension process, and reduce the friction influence between the sub-legs at all levels in the extension process. Therefore, the design of the main leg stretching, limiting, lubricating and guiding, buffering and locking structure of the landing buffer structure and the design of the auxiliary leg and landing disc bearing optimization structure are basic units of the landing buffer structure.
When the landing leg is actually assembled, the two auxiliary legs (2) are respectively connected with the corresponding connecting parts of the rocket bodies, and the overall size of the auxiliary legs is adjusted according to the actual size tolerance of each part in a threaded connection mode of upper and lower joints of the auxiliary legs (2). After the overall size of the two auxiliary legs is adjusted, the two auxiliary legs are connected with the landing disc (3) so as to fix the overall space size of the landing legs. Then the main leg (1) is set to be in an unfolding and locking state, and the upper joint and the lower joint are respectively connected with the corresponding connection part of the arrow body and the landing disc. The upper joint is connected with the arrow body, and then the landing disc is connected with the landing disc through the adjustable functional adaptability of the lower joint thread. After the main leg (1), the auxiliary leg (2) and the landing disc (3) are connected, the main leg (3) is unlocked, and the folding and folding functions of the landing legs are realized.
The limiting devices (1-10) are installed before the main legs participate in the assembly of the integral buffer mechanism. After the limiting devices (1-10) are assembled according to the figure 6, a spring is arranged between the two limiting devices, and the spring is pressed through a tool hole by means of a tool and is placed in the main leg. And after the tool is placed in the corresponding operation opening, the tool is removed.
In the design process, the nesting relation of all sections of the main leg adopts a clearance nesting design, the diameter difference is controlled within 2-3 mm, and the accuracy guarantee capability of the existing corresponding structure in China is met. Through the installation of polytetrafluoroethylene ring, not only realize the antifriction between each section leg, also can realize providing whole rigidity through the clearance of polytetrafluoroethylene filling between each section leg moreover. The knuckle bearing adopts the turning angle capability of not more than 6 degrees of the common knuckle bearing in China, and meets the requirement that the integral accumulated deviation angle requirement of the landing buffer mechanism is less than 2 degrees. The corresponding mounting hole of the joint bearing adopts a base hole system to be matched with the standard required tolerance.
Based on the design scheme of the invention, the production and test work of corresponding real products is finished. The relative error of the unfolding time of the four sets of landing buffer mechanisms is less than 0.3 second, the corresponding buffer capacity can realize that the landing impact of the rocket body of the carrier rocket is less than 6 g, and the landing environment of the rocket body of the carrier rocket is greatly improved.
Claims (10)
1. A large-span, collapsible, reusable rocket landing cushioning structure, comprising: a main leg (1), two auxiliary legs (2) and a landing disc (3); the upper joint at one end of the main leg (1) and the upper joint at one end of each auxiliary leg (2) are connected with the mounting seat of the rocket body through joint bearings arranged on the upper joints,
joint bearings are arranged on the upper joints and the lower joints of the main leg (1) and the auxiliary leg (2); a rotating shaft is arranged on one side of the landing disc (3); the lower joint at the other end of the main leg (1) and the lower joint at the other end of each auxiliary leg (2) are connected to the same rotating shaft on the landing disc (3) through joint bearings arranged on the lower joints respectively
The other side of the landing disc (3) is provided with a rubber buffer pad which can be in buffer contact with the ground when the rocket lands slowly.
2. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 1, wherein: and joint bearings are respectively arranged on the upper joints and the lower joints of the main leg (1) and the auxiliary leg (2), and the motion form of the equivalent spherical hinge is realized through the matching connection form of the joint bearings and the connecting pins.
3. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 1 or 2, wherein: a main leg (1) comprising: the device comprises a lower joint (1-1), a buffer leg (1-2), a section of leg (1-3), a section of leg (1-4), a section of leg (1-5), a section of leg (1-6), an upper joint (1-7), an aluminum honeycomb column (1-8), a shear block (1-9) and a limiting mechanism (1-10);
the lower joint (1-1) of main leg (1) is connected with landing disc (3), and upper joint (1-7) are used for being connected with the connecting seat that sets up on the rocket body, and lower joint (1-1) includes: the supporting section is connected with the connecting section; the supporting section is a cylindrical rod, the connecting section is provided with a hole capable of mounting a joint bearing, the joint bearing is arranged in the hole, a rotating shaft on the land disc (3) penetrates through the joint bearing, so that the joint bearing is matched with the rotating shaft on the landing disc (3) to realize the connection form of an equivalent spherical hinge;
aluminum honeycombs are filled in the buffering legs (1-2), and the filled aluminum honeycombs are in hollow cylinder shapes, so that buffering and energy absorption in the landing process of the reusable rocket are realized;
one end of the buffering leg (1-2) is connected with the lower joint (1-1); the other end of the buffering leg (1-2) is nested in one end of one section of leg (1-3);
the first section of leg (1-3) is of a hollow structure, the other end of the first section of leg (1-3) is nested in one end of the second section of leg (1-4), the other end of the second section of leg (1-4) is nested in one end of the third section of leg (1-5), and the other end of the third section of leg (1-5) is nested in one end of the fourth section of leg (1-6); the other ends of the four legs (1-6) are connected with upper joints (1-7);
an annular separation baffle is arranged in the first section of leg (1-3) and close to the second section of leg (1-4); the aluminum honeycomb column (1-8) is installed in one section of leg (1-3), one end of the aluminum honeycomb column (1-8) props against the annular separation blade, the other end of the aluminum honeycomb column props against the other end of the buffering leg (1-2) embedded into one section of leg (1-3), and the buffering leg (1-2) absorbs energy to the rocket body in the landing process.
4. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 3, wherein: one end of the second section of leg (1-4) is provided with two semicircular baffle rings which are fixed on the inner wall of the end head of one end of the second section of leg (1-4); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the two legs (1-4); the outer wall of the semicircular baffle ring is provided with a plurality of strip-shaped grooves along the circumferential direction, and one end of each of the two legs (1-4) is provided with a through groove corresponding to the position of the strip-shaped grooves; the shear resistant blocks (1-9) can penetrate through the through grooves formed in one ends of the two legs (1-4) and are inserted into the strip-shaped grooves in the corresponding semicircular baffle rings, the semicircular baffle rings are extruded inwards (not extruded inwards, but can be authored in the way that the strip-shaped groove internal thread holes are connected with the corresponding through holes of the shear resistant blocks through bolts, so that the position of the semicircular baffle rings in the two legs (1-4) is fixed, the other ends of the two legs (1-4) are restrained, and the other ends of the legs (1-3) are prevented from being separated from one ends of the two legs (1-4).
5. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 3, wherein: two semicircular retaining rings are arranged at one end of the three-section legs (1-5) and fixed on the inner wall of the end head of one end of the three-section legs (1-5); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the three-section legs (1-5); a plurality of strip-shaped grooves are formed in the outer wall of the semicircular baffle ring along the circumferential direction, and through grooves corresponding to the strip-shaped grooves are formed in one ends of the three legs (1-5); the shear resistant blocks (1-9) can penetrate through the through grooves formed in one ends of the three-section legs (1-5) and are inserted into the strip-shaped grooves in the corresponding semicircular baffle rings, the semicircular baffle rings are extruded inwards (not extruded inwards, but can be authored in the way that the semicircular baffle rings are connected with the corresponding through holes of the shear resistant blocks through the bolt through the strip-shaped groove internal thread holes to realize the position fixation of the semicircular baffle rings in the three-section legs (1-5), so that the restraint on the other ends of the three-section legs (1-5) is formed, and the other ends of the two-section legs (1-4) are prevented from being separated from one ends of the three-section legs (1-5).
6. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 1, wherein: one end of each of the four legs (1-6) is provided with two semicircular baffle rings which are fixed on the inner wall of the end head of one end of each of the four legs (1-6); the two semicircular baffle rings form a circular baffle ring together, and the outer wall of the semicircular baffle ring is matched with the inner walls of the four legs (1-6); the outer wall of the semicircular baffle ring is provided with a plurality of strip-shaped grooves along the circumferential direction, and one end of each of the four legs (1-6) is provided with a through groove corresponding to the position of the strip-shaped grooves; the shear resistant blocks (1-9) can penetrate through the through grooves formed in one ends of the four legs (1-6) and are inserted into the strip-shaped grooves in the corresponding semicircular baffle rings, the semicircular baffle rings are extruded inwards (not extruded inwards, but can be authored: the semicircular baffle rings are fixed in position inside the four legs (1-6) through the bolt connection between the strip-shaped groove internal thread holes and the corresponding through holes of the shear resistant blocks, so that the other ends of the four legs (1-6) are restrained, and the other ends of the three legs (1-5) are prevented from being separated from one ends of the four legs (1-6).
7. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 1, wherein: the first section of leg (1-3) is hollow cylindrical, the outer wall of one end connected with the second section of leg (1-4) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow part of the first section of leg (1-3); the two grooves are symmetrical relative to the central axis of one section of the leg (1-3); one end of each of the two legs (1-4) is provided with a limiting device at the position corresponding to the two grooves, and after the leg (1-3) is completely extended out, the limiting device enters the groove to block the leg (1-3), so that the leg (1-3) is limited.
8. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 1, wherein: the two legs (1-4) are hollow cylinders, the outer wall of one end connected with the three legs (1-5) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow parts of the two legs (1-4); the two grooves are symmetrical relative to the central axis of the two legs (1-4); and a limiting device is arranged at the position corresponding to the two grooves at one end of the three-section leg (1-5), and after the two-section leg (1-4) is completely extended out, the limiting device enters the groove to block the two-section leg (1-4), so that the two-section leg (1-4) is limited.
9. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 1, wherein: the three-section legs (1-5) are hollow cylinders, the outer wall of one end connected with the four-section legs (1-6) is provided with an annular bulge which protrudes outwards along the radial direction, the annular bulge is provided with two grooves, and the bottoms of the grooves are communicated with the hollow parts of the three-section legs (1-5); the two grooves are symmetrical relative to the central axis of the three-section legs (1-5); and a limiting device is arranged at the position corresponding to the two grooves at one end of the three-section leg (1-5), and after the three-section leg (1-5) is completely extended out, the limiting device enters the groove to block the three-section leg (1-5), so that the limitation on the three-section leg (1-5) is realized.
10. A large-span, collapsible, reusable rocket landing buffer structure as claimed in claim 1, wherein: the strength of the aluminum honeycomb (1-8) is designed according to the landing impact load, the strength is higher than the conventional operation load of the landing leg on one hand, the aluminum honeycomb has the restraint effect between the conventional states of the buffering leg (1-2) and the leg (1-3), the strength is lower than the landing impact load of the landing leg on the other hand, the plastic deformation energy absorption function is provided during landing impact to realize the buffering energy absorption, except that the aluminum honeycomb (1-8) is adopted to axially restrain the buffering leg (1-2) and the leg (1-3), the rest legs are nested step by step to realize the telescopic function among the legs, and the shear resistant block (1-9) and the limiting device (1-10) are additionally arranged to realize the axial limiting after the legs are unfolded.
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| CN112027119A (en) * | 2020-08-10 | 2020-12-04 | 北京宇航系统工程研究所 | Reusable rocket landing leg collapse energy-absorbing bidirectional buffer |
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| CN113776394A (en) * | 2021-08-20 | 2021-12-10 | 北京精密机电控制设备研究所 | Arrow-spliced type adjustable mortise lock pressing and unlocking device and method |
| CN113758378A (en) * | 2021-08-30 | 2021-12-07 | 北京宇航系统工程研究所 | Variable-stiffness damping supporting mechanism for reusable rocket |
| CN113844679A (en) * | 2021-08-31 | 2021-12-28 | 北京宇航系统工程研究所 | Wide-angle multi-buffer deformation assembly landing supporting mechanism |
| CN113844679B (en) * | 2021-08-31 | 2024-02-09 | 北京宇航系统工程研究所 | Wide-angle multi-buffer deformation assembly landing supporting mechanism |
| CN114111462A (en) * | 2021-10-29 | 2022-03-01 | 北京宇航系统工程研究所 | High light landing buffer gear of used repeatedly carrier rocket |
| US11613386B1 (en) | 2022-03-30 | 2023-03-28 | Jalal Bolouri | Vertical landing apparatus and method |
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