CN114413689A - Rocket recovery system and recovery method - Google Patents
Rocket recovery system and recovery method Download PDFInfo
- Publication number
- CN114413689A CN114413689A CN202210197749.4A CN202210197749A CN114413689A CN 114413689 A CN114413689 A CN 114413689A CN 202210197749 A CN202210197749 A CN 202210197749A CN 114413689 A CN114413689 A CN 114413689A
- Authority
- CN
- China
- Prior art keywords
- platform
- rocket
- recovery
- sub
- clamping hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/32—Range-reducing or range-increasing arrangements; Fall-retarding means
- F42B10/48—Range-reducing, destabilising or braking arrangements, e.g. impact-braking arrangements; Fall-retarding means, e.g. balloons, rockets for braking or fall-retarding
-
- 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
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
Abstract
The invention discloses a rocket recovery system and a recovery method, wherein the recovery system comprises: a recovery tower; the recovery platform is fixedly arranged on the recovery tower and formed by splicing a plurality of sub-platforms, and the recovery platform has a folding state and an unfolding state; when the recovery platform is in a folding state, the plurality of sub-platforms surround at the center to form a clamping hole which can capture and hold the rocket to be recovered tightly so as to realize rocket recovery. When the rocket sublevel is descended to the set height, the posture of the rocket sublevel is continuously adjusted to align to the landing point, when the rocket sublevel is descended to the set capturing height, all the sub-platforms are folded to hold the rocket sublevel tightly, and then the recovery platform is locked, so that accidents caused by the rotation of the platform are prevented. The rocket recovery system provided by the invention does not use landing legs, but utilizes the recovery tower and the recovery platform, realizes high-precision vertical recovery of the rocket in a manner that each sub-platform holds the rocket sub-stage tightly, and has the advantages of stable recovery, high efficiency and small loss of carrying capacity.
Description
Technical Field
The invention relates to the technical field of rocket recovery, in particular to a rocket recovery system and a rocket recovery method.
Background
The rocket recovery technology is one of the leading-edge aerospace technologies which are disputed and researched by countries in the world at present, and is the comprehensive embodiment of the strength of the aerospace technology. The existing rocket recovery technology is as follows: in the process of rocket sublevel landing, the main engine is ignited to realize deceleration, meanwhile, the attitude control engine is used for adjusting the flight attitude of the rocket sublevel, and when the falling rocket sublevel is close to the ground, the landing legs in the folded state are opened, so that the rocket is stably supported on the landing surface.
The rocket recovery technology has the problem of large rocket carrying capacity loss, and because each rocket substage is at least provided with four landing legs, the size and the mass of the landing legs are designed to be large in order to ensure the stability of the rocket body during landing. However, during the launch phase of the rocket, these landing legs not only increase the load and the additional aerodynamic drag of the rocket, but also indirectly increase the energy and carrying capacity of the propellant, thereby severely compromising the carrying capacity of the rocket.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is the problem of carrying capacity loss caused by landing legs in the prior art, so that the rocket recovery system and the rocket recovery method for realizing high-precision vertical recovery of the rocket are provided by using the recovery tower and the recovery platform instead of using the landing legs and by using the manner that each sub-platform holds the rocket stage tightly, and the rocket recovery system and the rocket recovery method have the advantages of stable recovery, high efficiency and small carrying capacity loss.
To achieve the above object, in a first aspect, an embodiment of the present invention provides a rocket recovery system, including:
a recovery tower;
the recovery platform is fixedly arranged on the recovery tower and formed by splicing a plurality of sub-platforms, and the recovery platform has a folding state and an unfolding state;
when the recovery platform is in a closed state, the plurality of sub-platforms surround at the center to form a clamping hole capable of capturing and tightly holding the rocket to be recovered so as to realize rocket recovery; and when the recovery platform is in the unfolding state, all the sub-platforms are opened.
Optionally, the recycling platform comprises a first sub-platform and a second sub-platform, and the first sub-platform and the second sub-platform are spliced to form the recycling platform;
a first half clamping hole is formed in the middle position of the splicing edge of the first sub-platform, and a second half clamping hole is formed in the middle position of the splicing edge of the second sub-platform;
when the recovery platform is in a closed state, the first half clamping hole and the second half clamping hole are enclosed to form the clamping hole capable of capturing and tightly holding the rocket to be recovered.
Optionally, the first sub-platform and the second sub-platform are rotatably arranged at one side of the recovery tower; the rocket recovery system further comprises a servo system, and the servo system can drive the first sub-platform and the second sub-platform to rotate between the folding position and the unfolding position so as to realize folding or unfolding.
Optionally, the recovery tower comprises at least three bearing supports, and the bearing supports comprise a first bearing support and a second bearing support which are adjacent to each other;
the first sub-platform is rotatably and fixedly arranged on the first bearing support, and the second sub-platform is rotatably and fixedly arranged on the second bearing support.
Optionally, the servo system comprises:
a drive module including a power component and a drive shaft;
and one end of the transmission component is connected with the driving shaft, the other end of the transmission component is connected with the first sub-platform or the second sub-platform, and the power component drives the transmission component to rotate through the driving shaft so as to drive the first sub-platform and the second sub-platform to rotate.
Optionally, the power component is a servo motor or a torque motor or a servo cylinder.
Optionally, the first sub-platform and the second sub-platform include clamping arm supports arranged oppositely;
the clamping arm support comprises an upper chord member, a lower chord member, a plurality of vertical web members and inclined web members, wherein the vertical web members and the inclined web members are continuously connected between the upper chord member and the lower chord member in an N shape.
Optionally, concave semicircular arc edges are respectively arranged at the middle positions of the upper chord and the lower chord of the clamping arm support;
the vertical web member and the inclined web member which are connected between the upper semicircular arc edge and the lower semicircular arc edge of the first sub-platform form the first half clamping hole; and the vertical web member and the inclined web member which are connected between the upper semicircular arc edge and the lower semicircular arc edge of the second sub-platform form the second half clamping hole.
Optionally, the recovery column comprises:
four force bearing support columns distributed at four corners of the rectangular structure;
the frame beams are connected among the four bearing supports, and a plurality of groups of frame beams are arranged at intervals along the length direction of the bearing supports;
and the truss is connected between the at least two groups of frame beams.
In order to achieve the above object, in a second aspect, an embodiment of the present invention provides a rocket recovery method, using the above rocket recovery system, the rocket recovery method including the following steps:
the rocket sublevel and the rocket body enter a return orbit after being separated;
when the rocket sublevel enters the atmosphere again, controlling the rocket sublevel to decelerate for the first time;
when the rocket sublevel lands to a set height, controlling the rocket sublevel to decelerate for the second time until the deceleration is zero, and meanwhile continuously adjusting the posture of the rocket sublevel, aligning to a landing point and landing in a vertical posture;
when the rocket substages land to the set capture height, controlling each substage to start rotating, and closing the rocket substages which are tightly held and vertically landed on the recovery platform;
and locking the recovery platform.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. the rocket recovery system provided by the embodiment of the invention comprises a recovery tower and a recovery platform, wherein the recovery platform is fixedly arranged on the recovery tower and formed by splicing a plurality of sub-platforms, and the recovery platform has a folding state and an unfolding state; when the recovery platform is in a closed state, the plurality of sub-platforms surround at the center to form a clamping hole which can capture and hold tightly to fix a rocket to be recovered so as to realize rocket recovery; and when the recovery platform is in the unfolding state, all the sub-platforms are opened. The rocket recovery system provided by the invention does not use landing legs any more, but utilizes the recovery tower and the recovery platform, and realizes high-precision vertical recovery of the rocket in a manner that each sub-platform holds the rocket sub-stage tightly, thereby avoiding the problem of reduced carrying capacity caused by the quality of the landing legs, reducing the launching cost, improving the carrying capacity, and having the advantages of stable recovery and high efficiency.
2. In the embodiment of the invention, the first sub-platform and the second sub-platform capture the rocket sublevel slowly and vertically falling in the air through the clamping arm support until the rocket sublevel is suspended, and hold the fixed rocket tightly, so that the rocket is effectively prevented from falling or falling, and the rocket can land safely and stably. Simultaneously, this application still utilizes servo to die the recovery platform lock, avoids the platform to rotate and causes the accident, has further improved the security and the stability of retrieving.
3. The embodiment of the invention has the advantages that the large recovery platform has good buffering and anti-falling effects, the bearing capacity of the platform is larger through the design of the special structure of the platform, the recovery requirements of the medium and large rocket sublevels in the future can be met, and the application prospect is wide.
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 for a worker of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a rocket recovery system for recovering a rocket substage in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a detailed structure of the recycling platform in a closed state according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of the first sub-platform in an expanded position and the second sub-platform in a closed position according to the embodiment of the present invention;
FIG. 4 is a schematic diagram showing a front-to-back dynamic comparison of a second sub-platform with a reinforcing truss according to an embodiment of the present invention;
FIG. 5 is a schematic view of a servo linkage mechanism in an embodiment of the present invention with the recovery platform in an extended position;
FIG. 6 is a schematic view of a servo linkage driving the recovery platform to rotate 90 degrees according to an embodiment of the present invention;
FIG. 7 is a schematic view of a rocket substage in accordance with an embodiment of the present invention;
FIG. 8 is a schematic view of the entire landing trajectory of a rocket in accordance with an embodiment of the present invention;
FIG. 9 is a schematic flow chart illustrating an embodiment of a rocket recovery method according to an embodiment of the present invention;
reference numerals:
1. a recovery tower; 11. a bearing support; 12. a frame beam; 13. a truss;
2. a recovery platform; 21. a first sub-platform; 22. a second sub-platform; 23. a clamping hole; 231. a first half clamping hole; 232. a second half clamping hole;
201. an upper chord; 202. a lower chord; 203. a vertical web member; 204. a diagonal web member; 205. a cross beam; 206. reinforcing the truss;
210. rotating the shaft sleeve; 211. hinging points; 212. a rigid node;
220. clamping the arm support; 221. rotating the arm support;
3. a servo link mechanism; 31. a servo cylinder; 32. a piston rod; 33. rotating the connecting rod; 34. a connection point;
4. a rocket substage; 41. a grid rudder; 42. an engine; 43. a lateral thruster;
401. a stage section; 402. a storage tank; 403. a tail section;
5. and (4) landing the ground.
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 obtained by a worker skilled in the art without creative efforts based on the embodiments of the present invention, belong to 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; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases by a worker of ordinary skill 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.
The invention aims to solve the technical problem of the prior art that the landing leg causes the loss of carrying capacity, thereby providing a rocket recovery system and a rocket recovery method which realize high-precision vertical recovery of rocket stages by utilizing a recovery tower and a recovery platform and holding the rocket stages tightly by each sub-platform without using the landing leg, and the rocket recovery system and the rocket recovery method have the advantages of stable recovery, high efficiency and small loss of carrying capacity.
Example 1
As shown in fig. 1 to 8, the present embodiment provides a rocket recovery system including a recovery tower 1 and a recovery platform 2.
Specifically, in this embodiment, the recovery tower 1 is a tower structure, and is used to assist the operation of the recovery platform 2, the installation and debugging of equipment, and the detachment and hoisting of a rocket. The recovery tower 1 is a tower structure integrated by adopting upright columns, frame beams 12 and trusses 13, bears the force and moment in the rocket recovery process, and provides sufficient and stable supporting force for recovering the rocket stages 4.
For rocket stages 4 with larger mass and volume, the recovery tower 1 can be made of metal or high-strength composite materials and has better impact resistance. For rocket stages 4 with smaller weight and volume, the recovery tower 1 can also adopt a reinforced concrete frame beam and shear wall structure system, so that the material cost is reduced.
Alternatively, the recovery tower 1 may be fixed on land, or may be fixed to a vessel for offshore recovery.
Further, the recovery platform 2 is fixedly arranged on the recovery tower 1 and formed by splicing a plurality of sub-platforms, and the recovery platform 2 has a folding state and an unfolding state; when the recovery platform 2 is in a folded state, the plurality of sub-platforms surround at the center to form a clamping hole 23 which can capture and hold tightly to fix a rocket to be recovered so as to realize rocket recovery; when the recovery platform 2 is in the unfolding state, all the sub-platforms are opened.
The rocket recovery system that this embodiment provided no longer uses the landing leg, utilizes recovery tower 1 and recovery platform 2, through the mode of each sub-platform enclasping rocket sublevel 4, realizes the high accuracy vertical recovery of rocket sublevel 4, has avoided because the carrying capacity that the landing leg quality arouses descends the problem, has reduced the cost of launching, has improved the carrying capacity, and has the advantage that retrieve steadily, efficient.
In the embodiment, the recovery platform 2 is made of steel materials, can bear the vertical load of the rocket up to 300t, the transverse load is up to 50t, and the moment is up to 30000 kN.m.
Further, in this embodiment, the recycling platform 2 may be formed by splicing two or more sub-platforms. When the rocket is recovered by the rocket recovery system, the sub-platforms are folded towards the center, clamping holes 23 capable of capturing and holding and fixing the rocket to be recovered are formed in the center in an enclosing mode, the rocket is fixed through close fitting between the recovery platform 2 and the rocket, recovery of the rocket is achieved, holding force applied by the recovery platform 2 to the rocket is larger than the weight of the rocket, and falling of the rocket is avoided. When the rocket recovery system does not work, the recovery platform 2 is in an unfolded state, and each sub-platform moves to the periphery to be opened and moves to a set unfolded position to be restored.
Optionally, in this embodiment, the recycling platform 2 includes a first sub-platform 21 and a second sub-platform 22, and the first sub-platform 21 and the second sub-platform 22 are spliced to form the recycling platform 2; a first half clamping hole 231 is formed in the middle position of the splicing edge of the first sub-platform 21, and a second half clamping hole 232 is formed in the middle position of the splicing edge of the second sub-platform 22; when the recovery platform 2 is in a closed state, the first half clamping hole 231 and the second half clamping hole 232 are enclosed to form the clamping hole 23 which can capture and hold the rocket to be recovered.
In this embodiment, the recovery platform 2 is designed to be a two-piece symmetrical structure, and when the recovery platform 2 is in a folded state, the clamping hole 23 is located at the center of the whole recovery platform 2 and corresponds to the landing point 5 set on the ground or on the sea surface, so as to ensure that the recovery platform 2 can accurately capture the rocket.
Optionally, the first sub-platform 21 and the second sub-platform 22 are rotatably disposed at one side of the recovery tower 1; the rocket recovery system further comprises a servo system which can drive the first sub-platform 21 and the second sub-platform 22 to rotate between the folding position and the unfolding position so as to realize folding or unfolding.
Optionally, the servo system may further lock the first sub-platform 21 and the second sub-platform 22, for example, when the recovery platform 2 is in the closed state, the recovery platform 2 may be locked by the servo system, so as to avoid an accident caused by the rotation of the platform, and further improve the safety and stability of the recovery.
In this embodiment, the recovery platform 2 is in an unfolded state at ordinary times and in a folded state when the rocket is recovered. The upper part of the rocket is provided with a stage section 401, and the strength, rigidity and stability of the stage section 401 are better. Therefore, the position of the recovery platform 2 for holding the rocket is selected on the stage section 401, the servo system applies holding force to the first sub-platform 21 and the second sub-platform 22, and the rocket is held and fixed by the adhesion of the inner wall of the clamping hole 23 and the rocket.
Optionally, the recovery tower 1 comprises at least three force-bearing supports 11, and the force-bearing supports 11 comprise a first force-bearing support and a second force-bearing support which are adjacent to each other; the first sub-platform 21 is rotatably and fixedly arranged on the first bearing support, and the second sub-platform 22 is rotatably and fixedly arranged on the second bearing support.
Optionally, the servo system comprises a drive module and a transmission member. The driving module comprises a power component and a driving shaft; one end of the transmission part is connected with the driving shaft, the other end of the transmission part is connected with the first sub-platform 21 or the second sub-platform 22, and the power part drives the transmission part to rotate through the driving shaft, so that the first sub-platform 21 and the second sub-platform 22 are driven to rotate.
Optionally, the power component is a servo motor or a torque motor or a servo cylinder.
Alternatively, in an embodiment of this embodiment, the power component may be a servo motor or a torque motor, and the servo motor or the torque motor may drive the first sub-platform 21 or the second sub-platform 22 to rotate between 0 to 180 ° to achieve the folding or unfolding.
Alternatively, as shown in fig. 3, 5 and 6, in an embodiment of the present invention, the servo system includes a servo link mechanism 3, and the servo link mechanism 3 includes a servo cylinder 31, a piston rod 32 and a rotary link 33. The servo cylinder 31 serves as a power component, the piston rod 32 serves as a driving shaft, the rotary connecting rod 33 serves as a transmission component, a piston is arranged in the servo cylinder 31, and the piston rod 32 is connected between the piston and the rotary connecting rod 33. The servo cylinder 31 is connected with the rotary connecting rod 33 by a movable piston, the servo cylinder 31 drives the control piston rod 32 to do linear telescopic motion, so that the rotary connecting rod 33 is pushed to rotate, and the rotary connecting rod 33 further drives the platform to rotate, so that the folding or the opening is realized.
Optionally, the rotating link 33 is connected or hinged with the piston rod 32 through a ball pair, and the servo cylinder 31 drives the piston rod 32 to move telescopically, so that the rotating link 33 can rotate around a connection point 34 of the rotating link 33 and the piston rod 32, thereby driving the first sub-platform 21 and the second sub-platform 22 to rotate.
Optionally, in the above embodiment, there are two sets of servo systems, one set is used to drive the first sub-platform 21, and the other set is used to drive the second sub-platform 22. Each set of servo system comprises two servo link mechanisms 3, the two servo link mechanisms 3 sequentially work, one servo link mechanism 3 drives the first sub-platform 21 or the second sub-platform 22 to rotate 90 degrees, the other servo link mechanism 3 continuously drives the first sub-platform 21 or the second sub-platform 22 to rotate 90 degrees, and therefore the first sub-platform 21 and the second sub-platform 22 are driven to rotate 180 degrees to close and hold the rocket sub-stage 4.
In the above embodiments, the servo cylinder may be driven by gas, liquid, electricity or other energy source.
Optionally, the first sub-platform 21 and the second sub-platform 22 include opposite clamping arms 220, and the clamping arms 220 are respectively located at inner sides of the first sub-platform 21 and the second sub-platform 22. After the first sub-platform 21 and the second sub-platform 22 are folded, the two holding arms 220 hold and fix the rocket together. The clamping arm support 220 comprises an upper chord 201, a lower chord 202, a plurality of vertical web members 203 and oblique web members 204, wherein the vertical web members 203 and the oblique web members 204 are continuously connected between the upper chord 201 and the lower chord 202 in an N shape. The vertical web members 203 and the diagonal web members 204 are continuously connected between the upper chord 201 and the lower chord 202 in an N-shape, so that the structural stability of the clamping arm support 220 can be further improved.
In this embodiment, the upper chord 201 and the lower chord 202 are two transverse rods arranged in parallel at intervals, the interval distance between the two transverse rods is about one third of the length of the stage section 401, and the interval distance between the two transverse rods cannot be set too short, so as to ensure that the contact area is large enough to stabilize the rocket when the clamping arm clamps the stage section 401, but avoid that the clamping arm support 220 is too long and can clamp the storage tank 402 below the stage section 401, damage the rocket stage 4 or cause safety accidents.
In the embodiment of the invention, the first sub-platform 21 and the second sub-platform 22 capture the rocket sublevel 4 which slowly and vertically lands in the air until hovering through the clamping arm support 220, and clamp and hold the rocket tightly, so that the rocket is effectively prevented from falling or falling, and the rocket can land safely and stably.
Optionally, concave semicircular arc edges are respectively arranged at the middle positions of the upper chord 201 and the lower chord 202 of the clamping arm support 220; the vertical web member 203 and the diagonal web member 204 connected between the upper and lower semicircular arc edges of the first sub-platform 21 form the first half clamping hole 231; the second half clamping hole 232 is formed by the vertical web member 203 and the diagonal web member 204 which are connected between the upper and lower semicircular arc edges of the second sub-platform 22. After the first sub-platform 21 and the second sub-platform 22 are closed, the rocket is clamped in the clamping hole 23 formed by the first half-clamping hole 231 and the second half-clamping hole 232. The two semicircular arc sides of the upper chord 201, the vertical web member 203 and the diagonal web member 204 which are connected between the two semicircular arc sides of the upper chord 201, the two semicircular arc sides of the lower chord 202, and the vertical web member 203 and the diagonal web member 204 which are connected between the two semicircular arc sides of the lower chord 202 are respectively tightly attached to the rocket stages 401 to hold and fix the rocket stages 401 tightly.
Further, in this embodiment, the first sub-platform 21 and the second sub-platform 22 further include a rotary arm support 221 respectively, the rotary arm support 221 is adapted to be rotatably connected to the recovery tower 1, and the rotary arm support 221 is disposed opposite to the clamping arm support 220 and located at two outer sides of the first sub-platform 21 and the second sub-platform 22. The structure of the rotating arm support 221 is substantially the same as that of the clamping arm support 220, and the rotating arm support also includes an upper chord, a lower chord, and a vertical web member and an oblique web member which are continuously connected between the upper chord and the lower chord in an N-shape, and the difference is that the middle of the upper chord and the lower chord has no concave semicircular arc edge and is of a straight rod-shaped structure.
More specifically, the rotary arm support 221 is provided with a rotary shaft sleeve 210 on a side close to the recovery tower 1, and the rotary shaft sleeve 210 is rotatably connected with the force bearing support 11 of the recovery tower 1.
Alternatively, in an embodiment, the rotating shaft sleeve 210 may be formed by a vertical web member of the rotating arm support 221 near the recovery platform 2, the vertical web member is hollow, the force bearing strut 11 is provided with a rotating shaft, and the rotating shaft sleeve 210 is rotatably arranged on the rotating shaft and can be driven by the servo system to rotate.
Or, in another embodiment, no additional rotating shaft is provided, and the rotating shaft sleeve 210 is directly sleeved on the force bearing support post 11 and rotatably matched with the force bearing support post 11.
Optionally, one end of the transmission component is connected to the driving shaft, the other end of the transmission component is fixedly connected to the rotating shaft sleeve 210, and the driving module drives the transmission component to rotate through the driving shaft, so that the transmission component drives the rotating shaft sleeve 210 to rotate, and finally the first sub-platform 21 and the second sub-platform 22 are driven to rotate.
Optionally, in this embodiment, the first sub-platform 21 and the second sub-platform 22 adopt a bearing structure formed by beams, steel frames, trusses 13, and a combination thereof. The rotary arm support 221 and the clamping arm support 220 both adopt steel frames so as to meet the requirement for large load. The two ends of the rotating arm support 221 and the clamping arm support 220 are respectively connected into a whole through a cross beam 205, and the cross beam 205 comprises an upper cross beam and a lower cross beam. The four cross beams 205 of the first sub-platform 21 are connected and fixed into a whole through the reinforcing truss 206, and similarly, the four cross beams 205 of the second sub-platform 22 are also connected and fixed into a whole through the reinforcing truss 206, and the reinforcing truss 206 is of a frame-shaped structure and is connected to the middle position of the four cross beams 205, so that the structural strength of the first sub-platform 21 and the second sub-platform 22 is enhanced, and the stability is improved.
The embodiment of the invention has the advantages that the large recovery platform 2 is good in buffering and anti-falling effects, the bearing capacity of the platform is larger through the design of a special structure of the platform, the recovery requirements of the medium and large rocket stages 4 in the future can be met, and the application prospect is wide.
In this embodiment, the rotary arm support 221 is connected to the recovery tower 1 through a hinge point 211, and is connected to the servo system through a rigid node 212, where the rigid node 212 is a connection point between the transmission component and the rotary shaft sleeve 210, and the hinge point 211 is a connection point between the rotary arm support 221 and the force-bearing support 11.
Optionally, at least two hinge points 211 are located at the upper end and the lower end of the rotating shaft sleeve 210, the rigid node 212 is located between the two hinge points 211, and a stable bearing structure is formed by three points, so that the stability of connection between the recovery platform 2 and the recovery tower 1 is ensured. The load during rocket recovery is transmitted to the entire recovery tower 1 through the hinge points 211, and the frame beams 12 and the girders 13 that are in contact with the recovery platform 2. When the first sub-platform 21 and the second sub-platform 22 hold the rocket tightly, the servo system locks the two sub-platforms and the recovery tower 1, so that the recovery platform 2 and the rocket sub-stage 401 are locked, and the two sub-platforms are prevented from rotating to cause safety accidents.
Optionally, the recovery tower 1 in this embodiment includes a rectangular tower body composed of four force-bearing columns 11, frame beams 12, and trusses 13, and two adjacent force-bearing columns 11 are connected in a reinforcing manner by combining the frame beams 12 and the trusses 13. The four bearing supports 11 are distributed at four corner positions of the rectangular structure, and a spacious space is provided for the arrangement of equipment.
Optionally, the frame beam 12 is connected between the four force bearing support columns 11, and the four force bearing support columns 11 are connected into a whole through the arranged frame beam 12.
Optionally, a plurality of groups of frame beams 12 are arranged at intervals along the length direction of the bearing support 11, and the stability of the whole recovery tower 1 structure is further improved by the arranged plurality of groups of frame beams 12.
Optionally, the distance between two adjacent frame beams 12 is the same as the thickness of the recovery platform 2, and when the recovery platform 2 is in the closed state, the upper beam and the lower beam of the recovery platform 2 correspond to the two adjacent frame beams 12, respectively.
Optionally, the girders 13 are connected between at least two sets of frame beams 12, further enhancing the stability of the recovery tower 1.
Optionally, the recycling platform 2 is located at a middle upper position of the whole recycling tower 1, two frame beams 12 corresponding to an upper cross beam and a lower cross beam of the recycling tower 1 and the recycling platform 2 are set as a first frame beam and a second frame beam, the frame beam 12 located above the first frame beam is set as a third frame beam, the frame beam 12 located below the second frame beam is set as a fourth frame beam, and the truss 13 is at least connected between the third frame beam and the fourth frame beam, so that on one hand, the material cost is saved, and on the other hand, the impact of the load on the recycling tower 1 can be effectively relieved.
Optionally, at least two girders 13 are provided on four sides of the recovery tower 1, respectively. Alternatively, the girder 13 may be a vertical beam connected between two frame beams 12.
Alternatively, the trusses 13 may be a frame structure, and at least two groups of trusses 13 are connected between the frame beams 12 on the four circumferential sides of the recovery tower 1 in a cross shape.
Optionally, the truss 13 is connected between the topmost frame beam 12 and the bottommost frame beam 12, so as to improve the structural stability of the whole recovery tower 1, and simultaneously effectively reduce the interference of the truss 13 on other components in the recovery tower 1.
Optionally, a floor structure made of steel plate shells is provided on the frame beam 12 to form several platforms on the recovery tower 1 to provide a space for fixing rockets, personnel walking space and equipment installation space.
Optionally, in the embodiment of the present invention, the first sub-platform 21 and the second sub-platform 22 are respectively connected to the first bearing support and the second bearing support which are adjacent to each other, the first bearing support and the second bearing support are located on the long side of the rectangular recovery tower 1, so that the recovery platform 2 is also located on the long side of the recovery tower 1, and the arrangement makes the area of the recovery platform 2 as large as possible, and the recovery tower 1 can also play a role in blocking wind.
Further, in this embodiment, when the recycling platform 2 is in the unfolded state, the first sub-platform 21 and the second sub-platform 22 rotate to two short sides of the recycling tower 1, so as to achieve the storage and return of the first sub-platform 21 and the second sub-platform 22. At this time, the first sub-platform 21 and the second sub-platform 22 are locked in the deployed position by the servo system.
When the rocket needs to be recovered, the servo system unlocks and controls the first sub platform 21 and the second sub platform 22 to respectively rotate 180 degrees towards the center so as to rotate to the folding position to hold the rocket stage 4 tightly, at the moment, the first sub platform 21 and the second sub platform 22 are locked at the folding position through the servo system, and after the rocket is successfully lifted by the lifting device, the first sub platform 21 and the second sub platform 22 rotate to the unfolding position. In this embodiment, the servo system may be installed in the floor equipment room corresponding to the recovery tower 1.
In this embodiment, the rocket substage 4 structure is mainly divided into three sections: tail section 403, tank 402 and stage section 401, rocket motor 42 or booster, propellant supply system and its thrust vector control system and thermal protection system are installed in tail section 403, grid rudder 41 and side thruster 43 (i.e. RCS nozzle) are installed outside stage section 401, and tank 402 carries propellant.
Alternatively, a plurality of grid rudders 41 are provided at intervals in the circumferential direction of the stage section 401. Preferably, the grid rudders 41 are four. When the rocket substage 4 lands on the recovery platform 2, the four grid rudders 41 are horizontally unfolded, the grid rudders 41 can be clamped and hung on the recovery platform 2, the rocket is recovered and fixed together in a hanging and holding mode, the double-insurance effect is achieved, and the phenomena that the rocket falls and topples are prevented.
In the embodiment, the recovery of the rocket is realized through the cooperation of the holding force of the recovery platform 2 and the rocket and the hanging force of the grid rudder 41 and the recovery platform 2, the grid rudder 41 and the recovery platform 2 can share part of the load, the damage to the suspended grid rudder 41 caused by the large rocket load can be prevented, and the grid rudder 41 can share part of the load, so that the holding force of the recovery platform 2 can be properly reduced, and the damage to the structure caused by the overlarge holding force can be avoided. In this embodiment, the holding force mainly comes from the driving force and the rotation torque of the servo motor or the torque motor or the servo cylinder.
Optionally, in this embodiment, the rocket recovery system further includes a control system, and the control system mainly includes a return reentry control system and an attitude control system.
Specifically, in this embodiment, the rocket attitude control process is as follows:
firstly, the rocket substage 4 adopts an attitude control general scheme of 'inertial measurement + GPS + rocket-borne computer + RCS reaction control system + grid rudder 41+ engine 42', wherein the engine 42 is a thrust vector engine, and the RCS controls the attitude by the direct acting force of inert gas carried by a high-pressure gas cylinder and jet flow of a jet pipe. The sub-stage re-entry is preceded by the RCS and the engine 42 completing the sub-stage rapid tip-over and landing site 5 targeting.
The attitude adjustment in the atmosphere mainly adopts the grid rudder 41, and is in charge of the attitude control of three channels and six degrees of freedom (pitching, yawing and rolling) of the sublevel by taking the grid rudder as a common attitude control strategy with the RCS reaction control system and the thrust vector of the engine 42 as an auxiliary strategy. And then the grid rudder 41 is unfolded after entering the atmosphere, and attitude stabilization and pneumatic deceleration are performed by using aerodynamic force. The sub-level return track and the recovery landing realize attitude control of reentry and landing and fast alignment of the landing point 5 through the grid rudder 41 and a plurality of thrust vector engines.
In addition, in the embodiment, the rocket return reentry control process is as follows:
in the landing descending stage of the rocket substage 4, the reentry process of the reentry into dense atmosphere needs to consider dynamic pressure, heat flow, overload and the like, the process is controlled by the deceleration of the main engine 42, and the guidance and control of the substage are realized by a GNC system. The control system needs to ensure that the arrow body accurately reaches the pre-designated landing site 5 and soft lands vertically with precise attitude. In the embodiment, the high-precision vertical recovery landing is realized on the recovery platform 2 by utilizing the controllable thrust deceleration principle, the grid rudder 41 and the RCS attitude control technology, and the carrying capacity loss caused by the quality of the landing legs is avoided.
Example 2
As shown in fig. 1 to 9, the present embodiment provides a rocket recovery method, which uses the rocket recovery system in the first embodiment, and as shown in fig. 9, the rocket recovery method includes the following steps:
s1, separating the rocket substage 4 from the rocket body and then entering a return orbit;
s2, controlling the rocket sublevel 4 to decelerate for the first time when the rocket sublevel 4 enters the atmosphere again;
s3, when the rocket substage 4 lands to a set height, controlling the rocket substage 4 to decelerate for the second time until the deceleration is zero, and simultaneously continuously adjusting the posture of the rocket substage 4, aligning to a landing point 5 and landing in a vertical posture;
s4, when the rocket substages 4 land to the set capture height, controlling each substage to start rotating, closing the rocket substages 4 which are tightly held and vertically landed on the recovery platform 2;
and S5, locking the recovery platform 2.
Specifically, in this embodiment, the rocket recovery method is as follows:
the rocket substage 4 recovery starts from the separation of the first-stage rocket and the second-stage rocket, firstly, the substage is subjected to inertia boosting, and during the period, the rocket completion grid rudder 41 is unfolded; after the sub-level is lifted and returned, the sub-level enters the atmosphere again, when the distance from the landing surface is about 70KM, the deceleration engine 42 starts to ignite for the first time to reversely push, at this time, the sub-level descends and decelerates with the tail part facing downwards, and the descending speed is decelerated to subsonic speed; when the rocket substage 4 lands to the height of about 4km, the deceleration engine 42 is ignited again, the substage also decelerates downwards in a tail part manner, and meanwhile, the substage posture is continuously adjusted to aim at the landing point 5 set on the ground until the substage speed is reduced to zero; when the rocket substage 4 descends to a set capturing height, the recovery platform 2 receives a starting instruction through the command control communication system, starts to operate in advance, controls the first substage 21 and the second substage 22 to adjust to preset positions until the rocket slowly and vertically lands on the recovery platform 2, then the recovery platform 2 holds the rocket tightly, and finally the servo system locks the recovery platform 2 to prevent accidents caused by rotation of the recovery platform 2.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Variations and modifications in other variations may occur to those skilled in the art based upon the foregoing 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 rocket recovery system comprising:
a recovery column (1);
the recovery platform (2) is fixedly arranged on the recovery tower (1) and formed by splicing a plurality of sub-platforms, and the recovery platform (2) has a folding state and an unfolding state;
when the recovery platform (2) is in a folding state, the plurality of sub-platforms surround at the center to form a clamping hole (23) capable of capturing and tightly holding the rocket to be recovered so as to realize rocket recovery.
2. A rocket recovery system according to claim 1 wherein said recovery platform (2) comprises a first sub-platform (21) and a second sub-platform (22), said first sub-platform (21) and second sub-platform (22) being spliced to form said recovery platform (2);
a first half clamping hole (231) is formed in the middle position of the splicing edge of the first sub platform (21), and a second half clamping hole (232) is formed in the middle position of the splicing edge of the second sub platform (22);
when the recovery platform (2) is in a closed state, the first half clamping hole (231) and the second half clamping hole (232) are enclosed to form the clamping hole (23) capable of capturing and holding the rocket to be recovered.
3. A rocket recovery system according to claim 2 wherein said first and second sub-platforms (21, 22) are rotatably arranged at one side of said recovery tower (1);
the rocket recovery system further comprises a servo system which can drive the first sub-platform (21) and the second sub-platform (22) to rotate between the folding position and the unfolding position.
4. A rocket recovery system according to claim 2 wherein said recovery tower (1) comprises at least three messenger struts (11), said messenger struts (11) comprising adjacent first and second messenger struts;
the first sub-platform (21) is rotatably and fixedly arranged on the first bearing support, and the second sub-platform (22) is rotatably and fixedly arranged on the second bearing support.
5. A rocket recovery system as recited in claim 3, wherein said servo system comprises:
a drive module including a power component and a drive shaft;
one end of the transmission component is connected with the driving shaft, and the other end of the transmission component is connected with the first sub-platform (21) or the second sub-platform (22);
the power component drives the transmission component to rotate through the driving shaft, so that the first sub-platform (21) and the second sub-platform (22) are driven to rotate.
6. A rocket recovery system according to claim 5 wherein said power unit is a servo motor or a torque motor or a servo cylinder.
7. A rocket recovery system according to any one of claims 2 to 6 wherein said first and second sub-platforms (21, 22) comprise oppositely disposed gripper arms (220);
the clamping arm support (220) comprises an upper chord member (201), a lower chord member (202), a plurality of vertical web members (203) and inclined web members (204), and the vertical web members (203) and the inclined web members (204) are continuously connected between the upper chord member (201) and the lower chord member (202) in an N shape.
8. A rocket recovery system according to claim 7 wherein the middle positions of said upper chord (201) and lower chord (202) are respectively provided with an inward-concave semicircular arc edge;
the vertical web member (203) and the inclined web member (204) which are connected between the upper semicircular arc edge and the lower semicircular arc edge of the first sub-platform (21) form the first half clamping hole (231);
the vertical web member (203) and the inclined web member (204) which are connected between the upper semicircular arc edge and the lower semicircular arc edge of the second sub-platform (22) form the second half clamping hole (232).
9. A rocket recovery system according to any one of claims 1 to 6 wherein said recovery tower (1) comprises:
four bearing supporting columns (11) are distributed at four corners of the rectangular structure;
the frame beams (12) are connected among the four bearing supports (11), and a plurality of groups of frame beams (12) are arranged at intervals along the length direction of the bearing supports (11);
and the truss (13) is connected between the at least two groups of frame beams (12).
10. A rocket recovery method using the rocket recovery system according to any one of claims 1 to 9, said method comprising the steps of:
the rocket sublevel (4) and the rocket body enter a return orbit after being separated;
when the rocket substage (4) enters the atmosphere again, controlling the rocket substage (4) to decelerate for the first time;
when the rocket substage (4) descends to a set height, controlling the rocket substage (4) to decelerate for the second time until the deceleration is zero, and simultaneously continuously adjusting the posture of the rocket substage (4), aligning to a landing point (5) and descending in a vertical posture;
when the rocket substages (4) land to a set capture height, controlling each substage to start rotating, and closing the rocket substages (4) which are tightly held and vertically landed on the recovery platform (2);
locking the recovery platform (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210197749.4A CN114413689A (en) | 2022-03-02 | 2022-03-02 | Rocket recovery system and recovery method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210197749.4A CN114413689A (en) | 2022-03-02 | 2022-03-02 | Rocket recovery system and recovery method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114413689A true CN114413689A (en) | 2022-04-29 |
Family
ID=81261126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210197749.4A Pending CN114413689A (en) | 2022-03-02 | 2022-03-02 | Rocket recovery system and recovery method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114413689A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116424588A (en) * | 2023-04-03 | 2023-07-14 | 蓝箭航天空间科技股份有限公司 | Multifunctional truss, rocket testing and launching device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160311556A1 (en) * | 2015-04-27 | 2016-10-27 | N. Eric Knudsen | Rocket landing systems |
| CN107649854A (en) * | 2017-11-14 | 2018-02-02 | 合肥工业大学 | It is a kind of to encircle arm fixture for the processing of ITER vacuum chambers |
| CN109436384A (en) * | 2018-12-04 | 2019-03-08 | 燕山大学 | Manipulator for rocket recycling |
| CN208813523U (en) * | 2018-08-20 | 2019-05-03 | 北京工业大学 | Modified carrier rocket grade recovery system based on marine active capture platform |
| CN109911253A (en) * | 2019-04-12 | 2019-06-21 | 黄海忠 | With reusing ground capture recyclable device and arrow controllable recovery method |
| CN109987257A (en) * | 2018-12-27 | 2019-07-09 | 蓝箭航天空间科技股份有限公司 | Rocket recovery system |
| CN111256544A (en) * | 2020-05-06 | 2020-06-09 | 蓝箭航天空间科技股份有限公司 | Rocket recovery device and liquid rocket |
| CN216694671U (en) * | 2022-03-02 | 2022-06-07 | 北京星际荣耀科技有限责任公司 | Rocket recovery system |
-
2022
- 2022-03-02 CN CN202210197749.4A patent/CN114413689A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160311556A1 (en) * | 2015-04-27 | 2016-10-27 | N. Eric Knudsen | Rocket landing systems |
| CN107649854A (en) * | 2017-11-14 | 2018-02-02 | 合肥工业大学 | It is a kind of to encircle arm fixture for the processing of ITER vacuum chambers |
| CN208813523U (en) * | 2018-08-20 | 2019-05-03 | 北京工业大学 | Modified carrier rocket grade recovery system based on marine active capture platform |
| CN109436384A (en) * | 2018-12-04 | 2019-03-08 | 燕山大学 | Manipulator for rocket recycling |
| CN109987257A (en) * | 2018-12-27 | 2019-07-09 | 蓝箭航天空间科技股份有限公司 | Rocket recovery system |
| CN109911253A (en) * | 2019-04-12 | 2019-06-21 | 黄海忠 | With reusing ground capture recyclable device and arrow controllable recovery method |
| CN111256544A (en) * | 2020-05-06 | 2020-06-09 | 蓝箭航天空间科技股份有限公司 | Rocket recovery device and liquid rocket |
| CN216694671U (en) * | 2022-03-02 | 2022-06-07 | 北京星际荣耀科技有限责任公司 | Rocket recovery system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116424588A (en) * | 2023-04-03 | 2023-07-14 | 蓝箭航天空间科技股份有限公司 | Multifunctional truss, rocket testing and launching device |
| CN116424588B (en) * | 2023-04-03 | 2024-01-23 | 蓝箭航天空间科技股份有限公司 | Multifunctional truss, rocket testing and launching device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104058105B (en) | One utilizes the power-actuated deep space Solar sail spacecraft of solar light pressure | |
| US9120583B1 (en) | Space solar array architecture for ultra-high power applications | |
| CN1120113C (en) | Payload carry and launch system | |
| JP5817739B2 (en) | Rocket launch system and support device | |
| CN216694671U (en) | Rocket recovery system | |
| AU2011264627B2 (en) | Mobile aircraft recovery system | |
| CN113353293A (en) | Carrier rocket sublevel recovery landing system and method | |
| EP3166221B1 (en) | Solar panel assembly and method for deploying solar panel assembly | |
| JPH10505560A (en) | Reusable launch platform and reusable spacecraft | |
| CN109855480B (en) | Solid carrier rocket sub-level recovery structure and ballistic trajectory-lifting type reentry spacecraft | |
| CN114413689A (en) | Rocket recovery system and recovery method | |
| CN110487131B (en) | Grid rudder unfolding and locking mechanism for aerospace transport vehicle | |
| CN110450983B (en) | Agile satellite configuration | |
| CN111189364A (en) | Rocket sublevel recovery method and system | |
| CN109659661A (en) | A kind of rope bar stretching type annular deployable antenna mechanism | |
| CN113439364B (en) | Inflatable antenna | |
| CN111216930A (en) | Rocket sublevel landing recovery system and method | |
| CN113309227B (en) | Moon cabin body structure system combining mechanical expansion and inflation expansion and method | |
| CN113022840A (en) | Flexible variant airship for recycling fairing of carrier rocket and recycling method | |
| CN111721166A (en) | Carrier rocket upper-level recovery system and method and carrier rocket recovery system | |
| CN116465263A (en) | Recyclable rocket and recycling deceleration method thereof | |
| CN217818382U (en) | Movable ground rocket recovery system | |
| CN215591035U (en) | Carrier rocket sublevel recovery landing system | |
| CN116605422B (en) | Lifting device for satellite solar wing and satellite | |
| WO2023282757A1 (en) | Wind turbine tower installation apparatus and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |