CN112722332A - Carrier rocket and position and posture adjusting structure thereof - Google Patents
Carrier rocket and position and posture adjusting structure thereof Download PDFInfo
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- CN112722332A CN112722332A CN202110162301.4A CN202110162301A CN112722332A CN 112722332 A CN112722332 A CN 112722332A CN 202110162301 A CN202110162301 A CN 202110162301A CN 112722332 A CN112722332 A CN 112722332A
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- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000013461 design Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 3
- 229910000851 Alloy steel Inorganic materials 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 1
- 235000012633 Iberis amara Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
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- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
Abstract
The invention provides a carrier rocket with small transmission error, large motion rigidity and strong bearing capacity and a pose adjusting structure thereof. The posture adjusting structure of the carrier rocket comprises a rocket cabin body, wherein a first mounting hole is formed in the rocket cabin body; the mounting frame is arranged on the inner wall of the rocket cabin body and is positioned at the first mounting hole; the rudder shaft penetrates through the first mounting hole and then is rotatably connected to the mounting frame; and the driving mechanism is arranged on the rocket cabin body and drives the rudder shaft to rotate.
Description
Technical Field
The invention relates to the technical field of carrier rockets, in particular to a carrier rocket and a pose adjusting structure thereof.
Background
In the whole flight process from launching to entering space, the carrier rocket not only needs to control the self flight attitude and trajectory according to the ballistic requirements, but also deviates from the predetermined flight state under the influence of various interference forces and interference moments from the carrier rocket itself and the external environment. These all require the action of a flight control system, the task of which is to control the movement of the rocket's centre of mass and the rotation of the rocket about the centre of mass. The flight control system senses the motion of the rocket body through the sensor and controls the rocket body through the servo system, so that the design of the reliable servo system is very important for the carrier rocket.
Disclosure of Invention
Therefore, the invention aims to provide a carrier rocket with small transmission error, large motion rigidity and strong bearing capacity and a pose adjusting structure thereof.
The invention provides a posture adjusting structure of a carrier rocket, which comprises: the rocket cabin body is provided with a first mounting hole; the mounting frame is arranged on the inner wall of the rocket cabin body and is positioned at the first mounting hole; the rudder shaft penetrates through the first mounting hole and then is rotatably connected to the mounting frame; and the driving mechanism is arranged on the rocket cabin body and drives the rudder shaft to rotate.
Optionally, a second mounting hole is formed in the mounting frame, and the rudder shaft penetrates through the second mounting hole.
Optionally, a bearing is provided between the rudder shaft and the second mounting hole.
Optionally, the number of the bearings is two, an annular positioning protrusion is arranged on the inner wall of the second mounting hole, and the two bearings are respectively located on two sides of the annular positioning protrusion.
Optionally, the driving mechanism comprises a steering engine, the steering engine is arranged on the mounting frame, and the steering engine is connected with the steering shaft.
Optionally, the driving mechanism further comprises a controller and a driver, and the controller, the driver and the steering engine are connected in sequence.
Optionally, the mounting frames, the control surfaces and the control shafts are four groups arranged at intervals along the circumferential direction of the rocket cabin body, the number of the steering engines is four, one steering engine is arranged on each mounting frame, the number of the drivers is two, each driver controls two steering engines, and the two drivers are connected with the controller.
Optionally, the driving mechanism further comprises a power supply device connected with the steering engine.
Optionally, the rocket pod is located at the end of the launch vehicle.
The invention also provides a carrier rocket which comprises a pose adjusting structure, wherein the pose adjusting structure is the pose adjusting structure.
The technical scheme of the invention has the following advantages:
the rudder shaft is arranged on the mounting frame on the inner wall of the rocket cabin body, so that the bearing capacity of the rudder shaft is higher, and meanwhile, the control precision of the driving mechanism to the rudder shaft is higher. Therefore, the position and posture adjusting mechanism of the carrier rocket has the characteristics of small transmission error, large movement rigidity, strong bearing capacity and the like, and meets the requirement of carrier rocket movement control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a perspective view showing a posture adjustment structure of a launch vehicle of the present invention;
FIG. 2 is a schematic view of the rocket pod of the attitude adjusting structure of FIG. 1;
FIG. 3 is a schematic diagram of the mounting bracket of the attitude adjusting structure of FIG. 1;
FIG. 4 is a schematic diagram of a control surface of the attitude adjustment structure shown in FIG. 1;
FIG. 5 is a schematic view of the drive mechanism of the attitude adjustment arrangement of FIG. 1;
FIG. 6 shows a schematic cross-sectional view of the attitude adjustment arrangement of FIG. 1; and
fig. 7 shows an enlarged schematic view at a in fig. 6.
Description of reference numerals:
10. a rocket cabin; 11. a first mounting hole; 20. a mounting frame; 21. a second mounting hole; 22. an annular positioning bulge; 30. a control surface; 40. a rudder shaft; 50. a drive mechanism; 51. a steering engine; 52. a controller; 53. a driver; 54. a power supply device; 60. and a bearing.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 and 2, the posture adjustment structure of the launch vehicle of the present embodiment includes a rocket cabin 10, a mount 20, a control surface 30, a control shaft 40, and a driving mechanism 50. Wherein, the rocket cabin body 10 is provided with a first mounting hole 11. The mount 20 is disposed on the inner wall of the rocket pod 10 at the first mounting hole 11. The rudder surface 30 and the rudder shaft 40 are connected to each other, and the rudder shaft 40 is rotatably connected to the mounting bracket 20 after passing through the first mounting hole 11. The driving mechanism 50 is disposed on the rocket pod 10 and drives the rudder shaft 40 to rotate.
According to the technical scheme of the embodiment, the rudder shaft 40 is mounted on the mounting frame 20 on the inner wall of the rocket cabin 10, so that the bearing capacity of the rudder shaft 40 is higher, and the control precision of the driving mechanism 50 on the rudder shaft is higher. Therefore, the position and posture adjusting mechanism of the carrier rocket has the characteristics of small transmission error, large movement rigidity, strong bearing capacity and the like, and meets the requirement of carrier rocket movement control.
As shown in fig. 3, in the solution of the present embodiment, a second mounting hole 21 is provided on the mounting bracket 20, and the rudder shaft 40 is inserted into the second mounting hole 21. Specifically, the second mounting hole 21 penetrates the mounting bracket 20, and the rudder shaft 40 penetrates the first mounting hole 11 and the second mounting hole 21, respectively.
As shown in fig. 4, 6 and 7, in the present embodiment, a bearing 60 is provided between the rudder shaft 40 and the second mounting hole 21. Specifically, the inner ring of the bearing 60 is fixed to the rudder shaft 40, and the outer ring of the bearing 60 is fitted to the hole wall of the second mounting hole 21, so that the rudder shaft 40 can rotate in the second mounting hole 21.
As shown in fig. 4, 6 and 7, in the solution of the present embodiment, there are two bearings 60, an annular positioning protrusion 22 is disposed on an inner wall of the second mounting hole 21, and the two bearings 60 are respectively located at two sides of the annular positioning protrusion 22. Specifically, the two bearings 60 can enable the rudder shaft 40 to be fixed in two directions, and at the same time, the annular positioning boss 22 can position the positions of the two bearings 60.
As shown in fig. 5, in the technical solution of the present embodiment, the driving mechanism 50 includes a steering engine 51, the steering engine 51 is disposed on the mounting bracket 20, and the steering engine 51 is connected to the steering shaft 40. Specifically, a motor of the steering engine 51 is connected with the steering shaft 40, so that the steering engine 51 can drive the steering shaft 40 to rotate, the angle of the control surface 30 is changed, and the pose of the launch vehicle is controlled. Further, the driving mechanism 50 further includes a controller 52 and a driver 53, and the controller 52, the driver 53 and the steering engine 51 are connected in sequence. Specifically, the controller 52 is used for controlling the relation between the launch vehicle and the internal system and the control surface 30 and sending out a control signal, and the driver 53 is used for receiving the control signal of the controller 52 and enabling the steering engine 51 to execute corresponding actions.
As shown in fig. 1, in the solution of the present embodiment, the mount 20, the control surface 30, and the control shaft 40 are four sets spaced apart in the circumferential direction of the rocket pod 10. Wherein, steering wheel 51 is four, all is provided with a steering wheel 51 on every mounting bracket 20, and the driver 53 is two, and two steering wheel 51 of every driver 53 control, two drivers 53 all are connected with controller 52. Specifically, the number of the control surfaces 30 is four, and two control surfaces 30 are arranged at 90 degrees therebetween. Each control surface 30 is connected to a respective mounting bracket and four control surfaces 30 are controlled by four steering engines 51.
As shown in fig. 5, in the present embodiment, the driving mechanism 50 further includes a power supply device 54 connected to the steering engine 51. Preferably, the power supply device 54 in this embodiment is a servo battery.
Preferably, the rocket pod 10 is located at the end of the launch vehicle. Specifically, the launch vehicle in this embodiment is a four-stage rocket, with the rocket pod 10 located and configured.
The embodiment also provides a carrier rocket which comprises a pose adjusting structure, wherein the pose adjusting structure is the pose adjusting structure.
The specifications and the mounting manners of the respective components of the posture adjustment structure in the present embodiment will be described in detail below:
the structural design scheme for adjusting the posture of the carrier rocket comprises that the first-stage rear-section rocket cabin body 10 and the control surface 30 are made of aluminum alloy materials. The mounting bracket 20, the rudder shaft 40 and the lock nut are all made of alloy steel material. And the first-stage rear-section rocket cabin body 10, the mounting frame 20, the rudder shaft 40, the locking nut, the control surface 30, the driving structure and the accessory components are connected into a whole by bolts after being independently assembled.
As shown in fig. 1, the posture adjustment mechanism has four control surfaces 30, and each control surface 30 corresponds to one steering engine 51 and one mounting bracket 20. The mounting rack 20 is installed inside the first-stage rear rocket pod body 10. The steering engine 51 is correspondingly installed on the mounting frame 20. The servo battery, the controller 52 and the driver 53 are directly mounted on the first-stage rear-stage rocket cabin body 10 through bolts in a wall hanging manner.
As shown in fig. 2, the rocket cabin 10 at the rear stage of the first stage is cylindrical, and the mounting position of the rudder shaft 40 is provided with a first mounting hole 11. Various devices in the rocket cabin can be installed and maintained through the maintenance opening covers on the first-stage rear-stage rocket cabin body 10.
As shown in fig. 3, the mounting bracket 20 is integrally machined from an alloy steel plate, and a narrow lower portion is a launching platform fulcrum, so that the mounting bracket can bear the standing load of the whole rocket. The middle part is provided with a second mounting hole 21 for mounting the movement mechanism component. The wider part of the upper part is connected with the ring rib of the first-stage rear-section rocket cabin body 10, and the launching fulcrum concentrated force can be diffused.
As shown in fig. 4, the single set of kinematic mechanism components includes a rudder shaft 40, two lock nuts, a bearing 60, and a rudder surface 30. The whole arrow has four sets of motion mechanisms. The control shaft 40 is used for transmitting the torque of the steering engine 51 to the control surface 30, and the control surface 30 generates pneumatic force to control the flying attitude of the arrow body. The bearing 60 supports the rudder shaft 40, and a lock nut is used to fix the bearing 60.
As shown in fig. 5, the servo system component includes a servo battery, a controller 52, two drivers 53, and four steering engines 51. The servo battery supplies power for the whole servo system, the controller 52 controls the servo system to work according to the requirements of attitude control, the drivers 53 drive the steering engines 51 to rotate, and each driver 53 drives two steering engines 51. Each steering engine 51 drives a set of motion mechanisms.
As shown in fig. 6 and 7, it can be seen from the cross-sectional view that the bearings 60 are installed inside the mounting bracket 20, the rudder shaft 40 is installed inside the two bearings 60, and the torque of the steering engine 51 is transmitted to the rudder surface 30 through the rudder shaft 40.
In the embodiment, the diameter of the first-stage rear-stage rocket cabin body 10 is 1.4m, the height is 0.8m, the wall thickness is 5mm, the end frame thickness is 12mm, and the height and the width of the internal grid ribs are 15mm and 4 mm. The material of the first-stage rear-section rocket cabin body 10 is an aluminum alloy 2A14 forging which is machined and formed.
The rudder shaft 40 and the locking nut are made of alloy steel, the diameter of the rudder shaft 40 is 60mm, and the locking nut is M58 coarse threads.
The material of the control surface 30 is an aluminum alloy 2A14 plate, and the control surface is machined and formed, and the thickness gradually transits from 10mm at the root part to 3mm at the tip part.
And (4) processing each component and then carrying out final assembly.
First step assembly of the motion mechanism assembly: the four mounting brackets 20 are mounted on the inner wall of the first-stage rear-stage rocket cabin 10 at corresponding positions. Then, the eight bearings 60 are installed in the installation holes in the middle of the installation frame 20, the four rudder shafts 40 are installed in the bearings 60, the play of the bearings 60 is adjusted to a specified gap, and at this time, the bearings 60 are fixed by using lock nuts.
Assembling the servo system electrical equipment in the second step: first, a servo battery, a controller 52; the two drivers 53 are directly installed on the inner wall of the first-stage rear-stage rocket cabin body 10 through bolts, and then the four steering engines 51 are installed on the installation frame 20.
After the steps are completed, various instruments and equipment can be connected for debugging, and finally the maintenance opening cover on the first-stage rear-section rocket cabin body 10 is closed.
In an alternative embodiment, the number of the mounting bracket 20, the rudder shaft 40, the lock nut, the bearing 60, and the rudder surface 30 may be as described herein, or may be other numbers.
The technical scheme in the embodiment has the following typical characteristics: the design scheme of the carrier rocket pose adjusting mechanism mainly comprises ten components, and the mutual relation is clear. The instrument installation scheme of this embodiment has characteristics such as transmission error is little, the motion rigidity is big, bearing capacity is strong, instrument equipment is rationally distributed, through reasonable design servo system layout scheme, has satisfied carrier rocket motion control requirement.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A posture adjustment structure of a launch vehicle, comprising:
the rocket cabin body (10), wherein a first mounting hole (11) is formed in the rocket cabin body (10);
the mounting rack (20) is arranged on the inner wall of the rocket cabin body (10) and is positioned at the first mounting hole (11);
the rudder surface (30) and the rudder shaft (40) are connected with each other, and the rudder shaft (40) is rotatably connected to the mounting frame (20) after passing through the first mounting hole (11);
and the driving mechanism (50) is arranged on the rocket cabin body (10) and drives the rudder shaft (40) to rotate.
2. The posture adjusting structure according to claim 1, characterized in that a second mounting hole (21) is provided in the mounting bracket (20), and the rudder shaft (40) is inserted into the second mounting hole (21).
3. The attitude adjustment structure according to claim 2, characterized in that a bearing (60) is provided between the rudder shaft (40) and the second mounting hole (21).
4. A posture adjustment structure according to claim 3, characterized in that the number of the bearings (60) is two, an annular positioning projection (22) is provided on an inner wall of the second mounting hole (21), and the two bearings (60) are respectively located on both sides of the annular positioning projection (22).
5. The posture adjusting structure of claim 1, characterized in that the driving mechanism (50) comprises a steering engine (51), the steering engine (51) is arranged on the mounting frame (20), and the steering engine (51) is connected with the rudder shaft (40).
6. A posture adjustment structure as claimed in claim 5, characterized in that the drive mechanism (50) further comprises a controller (52) and a driver (53), the controller (52), the driver (53) and the steering engine (51) being connected in sequence.
7. The posture adjusting structure of claim 6, characterized in that the mounting bracket (20), the control surface (30) and the control shaft (40) are four groups arranged at intervals along the circumference of the rocket cabin body (10), wherein the number of the steering engines (51) is four, one steering engine (51) is arranged on each mounting bracket (20), the number of the drivers (53) is two, each driver (53) controls two steering engines (51), and the two drivers (53) are connected with the controller (52).
8. The posture adjustment structure according to claim 6, characterized in that the drive mechanism (50) further includes a power supply device (54) connected to the steering engine (51).
9. The attitude adjustment structure according to claim 1, characterized in that the rocket cabin (10) is located at a tip end of the launch vehicle.
10. A launch vehicle comprising an attitude adjustment structure, characterized in that the attitude adjustment structure is the attitude adjustment structure of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110162301.4A CN112722332A (en) | 2021-02-05 | 2021-02-05 | Carrier rocket and position and posture adjusting structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110162301.4A CN112722332A (en) | 2021-02-05 | 2021-02-05 | Carrier rocket and position and posture adjusting structure thereof |
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| Publication Number | Publication Date |
|---|---|
| CN112722332A true CN112722332A (en) | 2021-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110162301.4A Pending CN112722332A (en) | 2021-02-05 | 2021-02-05 | Carrier rocket and position and posture adjusting structure thereof |
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| CN (1) | CN112722332A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU95107196A (en) * | 1995-05-11 | 1996-08-20 | Государственное машиностроительное конструкторское бюро "Вымпел" | Rocket |
| RU2013117291A (en) * | 2013-04-17 | 2014-10-27 | Открытое акционерное общество "Военно-промышленная корпорация "Научно-производственное объединение машиностроения" | METHOD FOR STABILIZING MISSION MISSION UNDER UNDERWATER LAUNCH AND DEVICE FOR ITS IMPLEMENTATION |
| CN205034355U (en) * | 2015-10-12 | 2016-02-17 | 李爱兵 | Posture adjustment device is retrieved in rocket propulsion cabin |
| CN107985586A (en) * | 2017-12-29 | 2018-05-04 | 江苏方阔航空科技有限公司 | A kind of life-cycle pulp hub structure |
| CN111232189A (en) * | 2020-03-13 | 2020-06-05 | 中国航天空气动力技术研究院 | Aircraft steering engine mounting structure and assembling method |
| CN111516909A (en) * | 2020-04-30 | 2020-08-11 | 北京星际荣耀空间科技有限公司 | Rocket attitude control system |
| CN112304166A (en) * | 2020-10-26 | 2021-02-02 | 北京中科宇航技术有限公司 | Carrier rocket and recyclable one-stage thereof |
-
2021
- 2021-02-05 CN CN202110162301.4A patent/CN112722332A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU95107196A (en) * | 1995-05-11 | 1996-08-20 | Государственное машиностроительное конструкторское бюро "Вымпел" | Rocket |
| RU2013117291A (en) * | 2013-04-17 | 2014-10-27 | Открытое акционерное общество "Военно-промышленная корпорация "Научно-производственное объединение машиностроения" | METHOD FOR STABILIZING MISSION MISSION UNDER UNDERWATER LAUNCH AND DEVICE FOR ITS IMPLEMENTATION |
| CN205034355U (en) * | 2015-10-12 | 2016-02-17 | 李爱兵 | Posture adjustment device is retrieved in rocket propulsion cabin |
| CN107985586A (en) * | 2017-12-29 | 2018-05-04 | 江苏方阔航空科技有限公司 | A kind of life-cycle pulp hub structure |
| CN111232189A (en) * | 2020-03-13 | 2020-06-05 | 中国航天空气动力技术研究院 | Aircraft steering engine mounting structure and assembling method |
| CN111516909A (en) * | 2020-04-30 | 2020-08-11 | 北京星际荣耀空间科技有限公司 | Rocket attitude control system |
| CN112304166A (en) * | 2020-10-26 | 2021-02-02 | 北京中科宇航技术有限公司 | Carrier rocket and recyclable one-stage thereof |
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Application publication date: 20210430 |