CN114701664A

CN114701664A - Deformable and recyclable push-type arrow machine assembly aerial launching system

Info

Publication number: CN114701664A
Application number: CN202210133161.2A
Authority: CN
Inventors: 李腾; 王福德; 肖歆昕; 张陈安; 李文皓
Original assignee: Guangdong Aerospace Science And Technology Research Institute; Institute of Mechanics of CAS
Current assignee: Guangdong Aerospace Science And Technology Research Institute; Institute of Mechanics of CAS
Priority date: 2022-02-11
Filing date: 2022-02-11
Publication date: 2022-07-05

Abstract

The invention discloses a deformable and recyclable push-type arrow machine assembly aerial launching system, which is characterized in that: the first channel roller set and the second channel roller set are used for fixing the cylindrical surface of the rocket, and the third channel roller set is used for fixing the aircraft wing; the first channel link mechanism (4) and the second channel link mechanism (6) adopt standard configurations, and the third channel link mechanism (8) adopts non-standard configurations; the bases of four supporting legs of the landing buffer device (10) integrating the cabin door and the buffering supporting leg functions are pyramid-shaped, and an aircraft nose cone is fixed. The invention can quickly adapt to the complex shape change of the surface of the push-type arrow unit assembly through the multi-parallelogram connecting rod pod deformation mechanism and the elastic rolling launching channel according to the radial change of the push-type arrow unit assembly, and can realize the construction of a large-angle inclined rolling channel and the construction of a horizontal launching channel due to the very low friction coefficient of the elastic rolling launching channel.

Description

Deformable and recyclable push-type arrow machine assembly aerial launching system

Technical Field

The invention belongs to the technical field of aerial emission systems, and particularly relates to a deformable and recyclable push-type rocket engine assembly aerial emission system.

Background

The air launching platform technology is a technology for launching aircrafts (collectively referred to as payloads) such as a carrier rocket, a satellite or an unmanned aerial vehicle in the air by using an air launching platform, and is a research hotspot in the field of aerospace at present. The air launching technology can make up for the shortage of a launching center or geography in the country or province and the deficiency caused by the influence of the environment, has the characteristics of rapidity, maneuverability, flexibility and the like required by quick response of space launching, is the most potential quick launching mode, and is increasingly valued by the large space countries.

At present, the deformable and recyclable push-type rocket machine assembly aerial launching system is unprecedented.

The difficulty lies in that: the object to be emitted is not a conventional single body but a combined body, the combined body is a heterostructural body formed by combining more than two kinds of objects, and the emission channel required by the heterostructural body is changed along with the heterostructural body, but the conventional emission channel cannot adapt to the emission requirement of the combined body. The first reason is that the deformation of the cabin body cannot be realized by the traditional method. The reason why the cabin body cannot deform is that the launching channel does not have elastic deformation performance, the traditional method adopts foam as the launching channel, a groove with the shape is formed by drawing a groove with the shape by the foam to draw a groove with the shape, a rocket or an aircraft is hung from the sky, the aircraft or the rocket is hung on the groove, the aircraft or the rocket is vertically launched downwards by the action of gravity against the gravity acceleration, and the launching cabin body made of the foam material does not have elastic deformation performance because the foam does not have elasticity and cannot change along with the change of the shape of a launched body; the second reason is that the traditional method adopts sliding friction and large friction force for the launching channel: the prior art launching channels all adopt sliding friction, and due to the relatively large sliding friction coefficient, when the surface of the launched body is a special-shaped surface and the launching angle is not limited to vertical launching but obliquely upward launching or horizontal launching, for example, if the launched body is obliquely upward launching at 45 degrees, the launched body can be held back due to the generation of a transverse component force and the sliding friction.

Disclosure of Invention

The invention provides a deformable and recyclable push-type arrow unit assembly aerial launching system for solving the problems in the prior art, and aims to solve the problems that the aerial push-type arrow unit assembly launching cannot be realized and an aerial push-type arrow unit assembly launching channel cannot be constructed in the traditional method.

The invention provides the following technical scheme for solving the technical problems:

a deformable and recoverable push-type rocket machine assembly aerial launching system comprises a nacelle 60, a push-type rolling channel machine body deformation subsystem in the nacelle 60, a landing multi-stage buffer subsystem hinged to the lower end of the push-type rolling channel machine body deformation subsystem, an encapsulation subsystem enclosing the push-type rolling channel machine body deformation subsystem, and a floating launching subsystem on the ground;

the push-type rolling channel body deformation subsystem comprises a load cabin 1 at the top, a push-type arrow machine assembly 5 below the load cabin 1, a first channel roller supporting structure 3 attached to the push-type arrow machine assembly 5 and a first channel roller group thereof, a second channel roller supporting structure 7 and a second channel roller group thereof, and a third channel roller supporting structure 9 and a third channel roller group thereof; each channel roller group consists of rollers 69 of each channel; the landing multi-stage buffer subsystem comprises a landing buffer device 10 integrating functions of a cabin door and a buffer supporting leg; the method is characterized in that:

the first channel roller set and the second channel roller set are used for fixing the cylindrical surface of the rocket, and the third channel roller set is used for fixing the aircraft wing; the first channel link mechanism 4 and the second channel link mechanism (6) adopt standard configurations, and the third channel link mechanism 8 adopts a non-standard configuration; the bases of the four legs of the landing buffer device 10 integrating the cabin door and the buffering leg functions are pyramid-shaped, and the aircraft nose cone is fixed.

The third channel roller group is used for fixing aircraft wings, and specifically comprises: the third channel roller supporting structure 9 is formed by mutually pressing the wings of the aircraft 22 by two pushing-type arrow unit assembly wing top roller supports 12 and two pushing-type arrow unit assembly wing bottom roller supports 13, and a plurality of rollers 69 tightly hold the upper and lower surfaces of the wings of the aircraft 22 so as to ensure the safety and stability of hanging and launching of the pushing-type arrow unit assembly 5; and a third channel rocket roller support I34 and a third channel rocket roller support II 35 are further arranged, and are used for holding the cylindrical surface of the rocket 18 when the rocket 18 reaches a third launching channel during launching and ensuring the safety and stability of the push-type rocket assembly 5 during launching.

The third channel link mechanism 8 adopts a non-standard configuration, and specifically comprises the following steps: the difference between the third channel link mechanism 8 and the standard configuration is that the rollers 69 in each channel of the first channel link mechanism 4 and the second channel link mechanism 6 together form a cylindrical surface, the size and the diameter of the cylindrical surface depend on the size and the diameter of the rocket 18 in the combination, and the cylindrical surface is tangent to the outer surface of the rocket 18 of the push-type rocket combination 5, so that the establishment and the firm contact of a rolling channel are realized; the rollers 69 in the third channel link mechanism 8 jointly form a wing surface, the size and the shape of the wing surface depend on the size and the diameter of the wing, and the wing surface is tangent to the outer surface of the wing of the aircraft 22 of the push-type rocket assembly 5, so that the establishment of a rolling channel and firm contact are realized.

The bases of the four legs of the landing buffer device 10 integrating the functions of the cabin door and the buffer leg are pyramid-shaped, and the aircraft nose cone is fixed, specifically: the landing buffer device 10 integrating the cabin door and the buffer leg functions is provided with arc-shaped slotted holes 54 on the leg supports 44, the shape and the size of the arc-shaped slotted holes depend on the shape and the size of an aircraft nose cone 55 of the push-type arrow unit assembly 5, the locking function of the push-type arrow unit assembly 5 can be completed, and the hanging safety of the push-type arrow unit assembly 5 in a nacelle 60 is improved.

The rolling channel body deformation subsystem comprises: the multi-parallelogram pod link deformation mechanism is used for constructing an aerial launching rolling channel, and a pod rope system driving device matched with the multi-parallelogram pod link deformation mechanism is as follows:

the multi-parallelogram pod connecting rod deformation mechanism comprises a load cabin 1, a synchronous shock absorber 2, a first channel roller supporting structure 3, a first channel connecting rod mechanism 4, a push-type rocket machine assembly 5, a second channel connecting rod mechanism 6, a second channel roller supporting structure 7, a third channel connecting rod mechanism 8, a third channel roller supporting structure 9, a landing buffer device 10 integrating functions of launching, opening a cabin door and the like, a load cabin bottom ring 15, a first channel bottom ring 17, a second channel bottom ring 20, a third channel bottom ring 21, a steel wire rope 33, a pod rolling curtain cloth 56 and the like. The load compartment 1 is fixedly arranged at the upper part of a load compartment bottom ring 15 through bolts, a plurality of hinge points of a first channel connecting rod mechanism 4 are hinged with a plurality of hinge points at the bottom of the load compartment bottom ring 15, a first channel roller supporting structure 3 is fixedly arranged on a first channel roller supporting rod 25 of the first channel connecting rod mechanism 4, a plurality of hinge points of a first channel bottom ring 17 are hinged with a plurality of hinge points of the first channel connecting rod mechanism 4, and a first launching channel supported by a plurality of rollers based on deformation of a plurality of parallelogram mechanisms is formed; a plurality of hinge points of the second channel connecting rod mechanism 6 are hinged with a plurality of hinge points at the bottom of the first channel bottom ring 17, the second channel roller supporting structure 7 is fixedly arranged on a second channel roller supporting rod 30 of the second channel connecting rod mechanism 6, a plurality of hinge points of the second channel bottom ring 20 are hinged with a plurality of hinge points of the second channel connecting rod mechanism 6, and a second launching channel supported by a plurality of rollers based on the deformation of a plurality of parallelogram mechanisms is formed; a plurality of hinge points of the third channel connecting rod mechanism 8 are hinged with a plurality of hinge points at the bottom of the second channel bottom ring 20, a third channel roller supporting structure 9 is fixedly arranged on a third channel rocket roller supporting rod 38 on the third channel connecting rod mechanism 8, a plurality of hinge points of the third channel bottom ring 21 are hinged with a plurality of hinge points of the third channel connecting rod mechanism 8, and a third launching channel based on multi-parallelogram mechanism deformation multi-roller support is formed; the first, second and third launching channels jointly form a rolling channel body deformation system of the launching system;

the pod roping drive device comprises: and the steel wire ropes 33 are uniformly distributed in the pod 60, one end of each steel wire rope 33 extends into the load cabin 1 and is connected with a steel wire rope telescopic mechanism in the load cabin 1, and the other end of each steel wire rope 33 is fixedly arranged on the locker 52 on the third channel bottom ring 21 to form a mechanism deformation rope system driving system of the aerial launching system.

The landing multistage buffering subsystem comprises a plurality of hinged points of a landing buffering device 10 with functions of opening the cabin door and the like, wherein the hinged points are hinged and arranged on a plurality of hinged points at the bottom of a third channel bottom ring 21, a plurality of synchronous shock absorbers 2 are uniformly arranged at the bottom of a load cabin bottom ring 15, and the landing buffering device 10 with functions of opening the cabin door and the like and the synchronous shock absorbers 2 are matched with each other to form a landing buffering system of a launching system;

the landing buffer device 10 integrating functions of launching, cabin door opening and the like comprises four single-leg structures of a multifunctional landing buffer system. Each multifunctional landing buffer system single-leg structure is hinged to the third channel bottom ring 21 of the nacelle 60 through a two-way damper fixing pin II and a damping support leg fixing pin, and the multifunctional landing buffer system single-leg structures are mutually spliced into a conical shape in pairs, so that the nacelle 60 is in a packaged and hanging state of the push-type rocket assembly 5; when the four multifunctional landing buffer system single-leg structures are in a petal-shaped opening state, the pod 60 is respectively in a state that the push-type rocket assembly 5 is to be launched, a launching state of the push-type rocket assembly 5 or a landing buffer state of the pod 60 according to different postures and tasks of the pod 60.

The landing buffer device 10 integrating functions of launching, cabin door opening and the like is composed of four single-leg structures of a multifunctional landing buffer system, wherein each single-leg structure of the multifunctional landing buffer system comprises a cabin door 41, a damping supporting leg 42, a supporting leg support 44, a bidirectional damper 43, a locking clamping band 53 and the like. The multifunctional landing buffer system single-leg structure comprises a damping support leg 42, a bidirectional damper 43, a support leg support 44 and a cabin door 41, wherein the damping support leg 42 is hinged to the support leg on a third channel bottom ring 21 through a damping support leg fixing pin, one end of the bidirectional damper 43 is hinged to the support leg on the third channel bottom ring 21 through a bidirectional damper fixing pin II, the other end of the bidirectional damper is hinged to the support leg of the damping support leg 42 through a bidirectional damper fixing pin I, the support leg support 44 is hinged to the bottom of the damping support leg 42 through a support leg support fixing pin, and the cabin door 41 is fixedly mounted on the damping support leg 42 through a bolt, so that the multifunctional landing buffer system single-leg structure can complete a landing damping function and can complete a closing and opening function of the cabin door 41, and a locking clamping belt 53 is fixedly mounted at a corresponding position on the inner upper portion of the damping support leg 42 through a bolt and is used for locking the multifunctional landing buffer system single-leg structure.

The bidirectional shock absorber 43 comprises a first spring locking pin 49, a bidirectional shock absorber inner cylinder 48, a tension and compression telescopic spring 47, a second spring locking pin 45, a bidirectional shock absorber outer cylinder 46 and the like. The two-way shock absorber 43 can provide a locking pressing force of a single-leg structure of the multifunctional landing buffer system in a compressed state and a landing buffering pressing force of the single-leg structure of the multifunctional landing buffer system in a stretched state, so that two-way shock absorption is realized.

The landing buffer device 10 integrating functions of launching, cabin door opening and the like is further provided with a contact sensor 50, the contact sensor 50 is fixedly arranged on a contact sensor fixing plate 51 on a third channel bottom ring 21, a steel wire rope 33 penetrates through a through hole on the contact sensor fixing plate 51 and is fixedly arranged on a locker 52, the locker 52 penetrates through two through holes of the third channel bottom ring 21, when a damping leg 42 is in a locking state, the cabin door 41 is not opened, because the steel wire rope 33 is in a tightening state, a locking clamping band 53 is locked with the locker 52, the locker 52 does not touch the contact sensor 51, at the moment, the push-type rocket assembly 5 is in a closed hanging state in the cabin, when a command signal for opening the cabin door 41 is received, the steel wire rope 33 is loosened, the locking clamping band 53 is separated from the locker 52 under the driving of elastic potential energy of a bidirectional damper 43, and the damping leg 42 is released, at the moment, the push-type rocket assembly 5 is opened by the cabin door 41 to be launched, when the steel wire rope 33 is tightened again, if all the lockers 52 are in contact with the contact sensors 50, it is indicated that all the cabin doors 41 are opened, at the moment, a launch instruction of the push-type rocket assembly 5 is sent out, the push-type rocket assembly 5 is launched along a launch channel, and the contact sensors 50 can monitor each state of the landing buffer device integrating the functions of launching, cabin door opening and the like in real time, so that the launch safety and reliability are improved, and early warning can be performed on dangerous conditions such as the launching of the cabin doors 41 which are not opened.

The packaging subsystem includes pod roller shade fabric that can be folded and deformed adaptively according to task and pod height, pod roller shade fabric extended state 56 is applied in a pod 60 hanging and launching attitude, and pod roller shade fabric compressed state 57 is applied in a pod 60 landing buffer state. One end of the pod rolling curtain cloth is fixedly arranged at the bottom of the load cabin bottom ring 15, the other end of the pod rolling curtain cloth is fixedly arranged at the top of the third channel bottom ring 21, and the pod rolling curtain cloth, the load cabin 1 and the landing buffer device 10 integrating launching and cabin door opening functions form a packaging subsystem of a launching system together.

The first channel link mechanism 4 comprises a first channel upper inner link 23, a first channel upper outer link 24, a first channel roller support rod 25, a first channel lower inner link 26, a first channel lower outer link 27, a first channel bottom ring 17 and the like. One end of the inner connecting rod 23 on the first channel is hinged with an inner hinge point at the bottom of the load cabin bottom ring 15 through a pin shaft, and the other end of the inner connecting rod is hinged with an inner hinge point of the roller supporting rod 25 of the first channel through a pin shaft; one end of an outer connecting rod 24 on the first channel is hinged with an outer hinge point at the bottom of the load cabin bottom ring 15 through a pin shaft, and the other end of the outer connecting rod is hinged with an outer hinge point of a roller supporting rod 25 of the first channel through a pin shaft; one end of the first channel lower inner connecting rod 26 is hinged with an inner hinge point of the first channel roller supporting rod 25 through a pin shaft, and the other end of the first channel lower inner connecting rod is hinged with an inner hinge point of the first channel bottom ring 17 through a pin shaft; one end of the first channel lower outer connecting rod 27 is hinged with the outer hinge point of the first channel roller supporting rod 25 through a pin shaft, and the other end of the first channel lower outer connecting rod is hinged with the outer hinge point of the first channel bottom ring 17 through a pin shaft. The first channel link mechanism 4 is constructed by the above connections.

The second channel link mechanism 6 comprises a second channel upper inner link 28, a second channel upper outer link 29, a second channel roller support rod 30, a second channel lower inner link 31, a second channel lower outer link 32, a second channel bottom ring 20 and the like. One end of the second channel upper inner connecting rod 28 is hinged with an inner hinge point at the bottom of the first channel bottom ring 17 through a pin shaft, and the other end is hinged with an inner hinge point of the second channel roller supporting rod 30 through a pin shaft; one end of the second channel upper outer connecting rod 29 is hinged with the outer hinge point at the bottom of the first channel bottom ring 17 through a pin shaft, and the other end is hinged with the outer hinge point of the second channel roller supporting rod 30 through a pin shaft; one end of the second channel lower inner connecting rod 31 is hinged with the inner hinge point of the second channel roller supporting rod 30 through a pin shaft, and the other end is hinged with the inner hinge point of the second channel bottom ring 20 through a pin shaft; one end of the second channel lower outer connecting rod 32 is hinged with the outer hinge point of the second channel roller supporting rod 30 through a pin shaft, and the other end is hinged with the outer hinge point of the second channel bottom ring 20 through a pin shaft. The second channel link mechanism 6 is thus constructed by the above connections.

The third channel connecting rod mechanism 8 comprises a third channel upper inner connecting rod 36, a third channel upper outer connecting rod 37, a third channel roller supporting rod 38, a third channel lower inner connecting rod 39, a third channel lower outer connecting rod 40, a third channel bottom ring 21 and the like. One end of an inner connecting rod 36 on the third channel is hinged with an inner hinge point at the bottom of the second channel bottom ring 20 through a pin shaft, and the other end of the inner connecting rod is hinged with an inner hinge point of a third channel roller supporting rod 38 through a pin shaft; one end of an outer connecting rod 37 on the third channel is hinged with an outer hinged point at the bottom of the second channel bottom ring 20 through a pin shaft, and the other end of the outer connecting rod is hinged with an outer hinged point of a third channel roller supporting rod 38 through a pin shaft; one end of a lower inner connecting rod 39 of the third channel is hinged with an inner hinge point of a roller supporting rod 38 of the third channel through a pin shaft, and the other end of the lower inner connecting rod is hinged with an inner hinge point of a bottom ring 21 of the third channel through a pin shaft; one end of the third channel lower outer connecting rod 40 is hinged with the outer hinge point of the third channel roller supporting rod 38 through a pin shaft, and the other end is hinged with the outer hinge point of the third channel bottom ring 21 through a pin shaft. The third channel link mechanism 8 is constructed by the above connections.

Each upper connecting rod is arranged singly, the lower connecting rods are arranged in a double mode, and the upper connecting rods can be embedded into double arrangement gaps of the lower connecting rods, so that the deformation angle of the mechanism is greatly improved, and the interference condition of the upper connecting rods and the lower connecting rods is avoided; as shown in figures 4, 5, 6 and 7, the inner and outer connecting rods are arranged in a parallelogram mode, the inner and outer connecting rods are arc-shaped connecting rods with certain angles, obtuse angle surfaces of the arc-shaped connecting rods are oppositely arranged, so that the deformation angle of the mechanism is greatly improved, the interference situation of the left and right connecting rods is avoided, and meanwhile, the deformation collision mechanical limitation can be realized by reasonably designing the angle.

The first channel roller supporting structure 3 is formed by uniformly distributing four first channel roller supports 16, and is respectively and fixedly installed on the four first channel roller supporting rods 25, and a plurality of rollers 69 of the first channel roller supporting structure tightly hold the cylindrical surface of the rocket 18, so that the hanging and launching safety and stability of the push-type rocket assembly 5 are ensured; the second channel roller supporting structure 7 is formed by uniformly distributing four second channel roller supports 19, and is respectively and fixedly arranged on the four second channel roller supporting rods 30, and a plurality of rollers 69 of the second channel roller supporting structure tightly hold the cylindrical surface of the rocket 18, so that the hanging and launching safety and stability of the push-type rocket assembly 5 are ensured; the third channel roller supporting structure 9 is formed by mutually pressing the wings of the aircraft 22 by two pushing-type arrow unit assembly wing top roller supports 12 and two pushing-type arrow unit assembly wing bottom roller supports 13, and a plurality of rollers 69 tightly hold the upper and lower surfaces of the wings of the aircraft 22 so as to ensure the safety and stability of hanging and launching of the pushing-type arrow unit assembly 5; and a third channel rocket roller support I34 and a third channel rocket roller support II 35 are further arranged, and are used for holding the cylindrical surface of the rocket 18 when the rocket 18 reaches a third launching channel during launching and ensuring the safety and stability of the push-type rocket assembly 5 during launching.

The first channel roller support 16, the second channel roller support 19, the first third channel rocket roller support 34, the second third channel rocket roller support 35, the top roller support 12 and the bottom roller support 13 of the push-type rocket assembly wing respectively comprise a roller support connecting rod 63, a roller support plate 64, a fixing rod 65, an elastic telescopic rod 66, a roller support seat 67, a roller support shaft 68, a roller 69 and the like. Wherein a plurality of gyro wheels 69 pass through gyro wheel back shaft 68 and install on a plurality of gyro wheel supporting seats 67, a plurality of gyro wheel supporting seats 67 fixed mounting are in the one end of elasticity telescopic link 66, the other end of elasticity telescopic link 66 passes through elastic support element embedding dead lever 65, thereby realize elastic expansion and contraction deformation, dead lever 65 evenly distributed is in the cylindrical inboard of gyro wheel backup pad 64, the cylindrical axis of its flexible deformation extension line directional gyro wheel backup pad 64, this axis is aircraft centroid axis too, the cylindrical outside fixed mounting of gyro wheel backup pad 64 is on gyro wheel support connecting rod 63, it is relevant with gyro wheel support connecting rod 53 angle and aircraft shape, select different angles according to aircraft different shapes and diameters.

The above-ground floating distribution subsystem comprises: a dispensing platform 62, a buoyant balloon with parachute 58, and a pod-hanging mechanism 59; the top of the load cabin 1 of the pod 60 is provided with a floating air ball 58 with a parachute and a pod hanging mechanism 59 to form a complete floating launching system, when the pod is launched on the ground, every two of the supporting leg supports 44 are mutually contacted to form a pyramid structure, the pod launching locking block 61 on the ground and the launching platform 62 can be effectively locked, the ground locking and launching of the pod can be realized by adjusting the position of the pod launching locking block 61, and meanwhile, the whole pod 60 can be vertically placed on the horizontal ground due to the fact that the pyramid bottom structure is different from other conical bottom cabin bodies.

Advantageous effects of the invention

The invention adopts non-standard configuration for fixing the wings of the aircraft by arranging the third channel roller group of the push-type arrow machine assembly, fixing the nose cone of the aircraft by adopting the base of four buffer supporting legs in a pyramid shape, and combining the body deformation subsystem of the push-type rolling channel, the landing multi-stage buffer subsystem, the packaging subsystem and the floating launching subsystem to achieve the following effects: compared with the traditional sliding launching channel, the elastic rolling launching channel based on the push-type rocket assembly and the multi-parallelogram connecting rod pod deformation mechanism have the advantages that:

1) the friction between the pushing arrow assembly and the launching channel can be reduced, the outer surface of the pushing arrow assembly is better protected, and launching is smoother;

2) the device can adapt to the complex shape change of the surface of the pushing arrow assembly, can realize the reliable contact of the launching channel and the pushing arrow assembly at any time, and improves the launching safety.

3) Compared with the traditional sliding launching channel, the friction coefficient is very low, so that the construction of a rolling vertical launching channel can be realized, the construction of a large-angle oblique rolling channel and the construction of a horizontal launching channel can also be realized, and the device is suitable for different launching working conditions.

Drawings

FIG. 1 is a diagram of the whole launching system of the push arrow assembly of the present invention;

FIG. 2 is a bottom view of the launching system of the push-push arrow assembly of the present invention;

FIG. 3 is a side view of the launch system of the push-type arrow assembly of the present invention;

FIG. 4 is a view of the first channel linkage mechanism of the launching system of the push-push arrow assembly according to the present invention;

FIG. 5 is a view of the second channel linkage mechanism of the launching system of the push arrow assembly according to the present invention;

FIG. 6 is a schematic view of a third channel roller support assembly of the launch system of the push type arrow assembly of the present invention;

FIG. 7 is a schematic diagram of a third channel link mechanism of the launching system of the push type arrow machine assembly according to the present invention;

FIG. 8 is a view of the landing gear assembly of the present invention with integrated launching, hatch opening, etc. functions;

FIG. 9 is a schematic view of a bi-directional shock absorber assembly of the landing pad assembly of the present invention;

FIG. 10 is a schematic view of a landing gear of the present invention in a locked state;

FIG. 11 is an internal view of the landing gear of the present invention in a locked state;

FIG. 12 is an inside view of the landing gear with the aircraft nose cone locked;

FIG. 13 is a bottom view of the landing gear assembly locking aircraft nose cone;

FIG. 14 is a diagram of the pod launch pre-launch state of the push-type rocket assembly launching system of the present invention;

FIG. 15 is a schematic view of the launch state of the pod of the launch system of the push-type rocket assembly in accordance with the present invention;

FIG. 16 is a diagram illustrating the landing state of the pod of the launch system of the push-type rocket assembly in accordance with the present invention;

FIG. 17 is a schematic view of the pod being latched to the dispensing platform prior to dispensing in accordance with the present invention;

FIG. 18 is a view showing the structure of the roller support according to the present invention.

Wherein, 1, a load cabin; 2. a synchronous damper; 3. a first channel roller support structure; 4. a first channel linkage; 5. a push arrow assembly; 6. a second channel linkage; 7. a second channel roller support structure; 8. a third channel linkage; 9. a third channel roller support structure; 10. the landing buffer device integrates functions of launching, cabin door opening and the like; 11. a supporting rod is arranged on the wing of the push-type rocket assembly; 12. the top roller of the wing of the push-type rocket assembly is supported; 13. the bottom roller of the wing of the push arrow unit assembly is supported; 14. a supporting rod is arranged on the wing of the push-type rocket assembly; 15. a load bay bottom ring; 16. A first channel roller support; 17. a first channel bottom ring; 18. a rocket; 19. a second channel roller support; 20. a second channel bottom ring; 21. a third channel bottom ring; 22. an aircraft; 23. an inner connecting rod is arranged on the first channel; 24. an outer connecting rod is arranged on the first channel; 25. a first channel roller support bar; 26. a first channel lower inner connecting rod; 27. a first channel lower outer link; 28. the inner connecting rod is arranged on the second channel; 29. an outer connecting rod is arranged on the second channel; 30. a second channel roller support bar; 31. a second channel lower inner connecting rod; 32. a second channel lower outer connecting rod; 33. a wire rope; 34. a third channel rocket roller support I; 35. a third channel rocket roller support II; 36. the third channel is provided with an inner connecting rod; 37. the third channel is provided with an outer connecting rod; 38. a third channel rocket roller supporting rod; 39. a third channel lower inner connecting rod; 40. a third channel lower outer connecting rod; 41. A cabin door; 42. a shock-absorbing leg; 43. a bi-directional shock absorber; 44. a support leg support; 45. a second spring locking pin; 46. a bidirectional damper outer cylinder; 47. pulling and pressing the telescopic spring; 48. a bidirectional damper inner cylinder; 49. a first spring locking pin; 50. a contact sensor; 51. a contact sensing fixing plate; 52. a locker; 53. locking the clamping belt; 54. aircraft nose cone locking surfaces; 55. an aircraft nose cone; 56. pod roll fabric (in tension); 57. pod roll fabric (compressed state); 58. a floating balloon with a parachute; 59. a pod suspension mechanism; 60. a nacelle; 61. the pod releases the locking block; 62. a release platform; 63. the roller supports the connecting rod; 64. a roller support plate; 65. fixing the rod; 66. an elastic telescopic rod; 67. a roller supporting seat; 68. A roller supporting shaft; 69. and a roller.

Detailed Description

Design principle of the invention

1. The design principle of the multi-parallelogram connecting rod pod deformation mechanism is as follows: 1) the inner connecting rod and the outer connecting rod are arranged in a parallelogram mode, the inner connecting rod and the outer connecting rod are arc-shaped connecting rods with certain angles, and obtuse angle surfaces of the arc-shaped connecting rods are oppositely arranged, so that the deformation angle of the mechanism is greatly improved, the interference condition of the left connecting rod and the right connecting rod is avoided, and the mechanical limit of deformation collision can be realized by reasonably designing the angle; 2) the upper connecting rod is arranged singly, the lower connecting rod is arranged doubly, and the lower connecting rod is arranged doubly, so that the gap can be embedded into the upper connecting rod, the deformation angle of the mechanism is greatly improved, and the interference situation of the upper connecting rod and the lower connecting rod is avoided. 3) The pod deformation driving device in the load cabin drives the mechanism deformation driving rope to lift, so that the multi-parallelogram connecting rod pod deformation mechanism is driven to deform, building and deformation of a pod roller launching channel are realized, integral deformation and maintenance of a pod body are realized, and fixing and maintenance of a push-type arrow machine assembly and an arrow machine assembly are realized, so that lifting of the driving rope is realized through deformation of the driving mechanism, deformation and maintenance of the body, building and deformation of a rolling launching channel and fixing and maintenance of the push-type arrow machine assembly and the arrow machine assembly are realized; 4) the push-type arrow unit assembly and the arrow unit assembly are packaged in the hanging cabin through the rolling curtain type sealing cloth and the cabin door and can change along with the multi-parallelogram connecting rod hanging cabin deformation mechanism, and the hanging cabin body deformation following is realized while the package shielding of the push-type arrow unit assembly and the arrow unit assembly is realized.

2. The design principle of the launching channel based on the rolling friction and deformation mechanism is as follows: the plurality of rollers are attached to the deformation mechanism, the elastic devices are arranged in the rollers, and a launching channel is formed for the rollers by the parallelogram mechanism, so that the pushing arrow machine assembly and the arrow machine assembly roll and slide out along the launching channel; compare prior art: the rocket or the aircraft is hung from the sky, a groove with the shape is formed by using foam, the aircraft or the rocket is hung on the groove, and the rocket or the aircraft is vertically launched downwards by the action of gravity and the acceleration of gravity. The invention uses the rollers to change sliding friction into rolling friction, and the rollers can also be constructed according to different shapes of a push-type arrow machine assembly and an arrow machine assembly; meanwhile, the rolling channel can be sent obliquely at a large angle due to small friction force, and only vertical sending is carried out before, for example, if the rolling channel is sent obliquely at 45 degrees, the rolling channel can be held due to sliding friction.

Based on the principle, the invention designs a deformable and recyclable push-type arrow machine assembly aerial launching system.

A transformable and retrievable push-push rocket assembly aerial launching system is shown in fig. 1, 3, 6, 15 and 17, and comprises a nacelle 60, a push-push rolling channel body deformation subsystem in the nacelle 60, a landing multi-stage buffer subsystem hinged at the lower end of the push-push rolling channel body deformation subsystem, a packaging subsystem enclosing the push-push rolling channel body deformation subsystem, and a floating launching subsystem on the ground;

as shown in fig. 1, 2, 3, 4, 5, 6 and 7, the first and second passage roller sets are used for fixing a cylindrical surface of a rocket, and the third passage roller set is used for fixing an aircraft wing; the first channel link mechanism 4 and the second channel link mechanism (6) adopt standard configurations, and the third channel link mechanism 8 adopts a non-standard configuration; the bases of the four legs of the landing buffer device 10 integrating the cabin door and the buffering leg functions are pyramid-shaped, and the aircraft nose cone is fixed.

As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, and fig. 7, the third channel roller set is used for fixing an aircraft wing, specifically: the third channel roller supporting structure 9 is formed by mutually pressing the wings of the aircraft 22 by two pushing-type arrow unit assembly wing top roller supports 12 and two pushing-type arrow unit assembly wing bottom roller supports 13, and a plurality of rollers 69 tightly hold the upper and lower surfaces of the wings of the aircraft 22 so as to ensure the safety and stability of hanging and launching of the pushing-type arrow unit assembly 5; and a third channel rocket roller support I34 and a third channel rocket roller support II 35 are further arranged, and are used for holding the cylindrical surface of the rocket 18 when the rocket 18 reaches a third launching channel during launching and ensuring the safety and stability of the push-type rocket assembly 5 during launching.

As shown in fig. 1, 2, 3, 4, 5, 6, and 7, the third channel linkage 8 adopts a non-standard configuration, specifically: the difference between the third channel link mechanism 8 and the standard configuration is that the rollers 69 in each channel of the first channel link mechanism 4 and the second channel link mechanism 6 together form a cylindrical surface, the size and the diameter of the cylindrical surface depend on the size and the diameter of the rocket 18 in the combination, and the cylindrical surface is tangent to the outer surface of the rocket 18 of the push-type rocket combination 5, so that the establishment and the firm contact of a rolling channel are realized; the rollers 69 in the third channel link mechanism 8 jointly form a wing surface, the size and the shape of the wing surface depend on the size and the diameter of the wing, and the wing surface is tangent to the outer surface of the wing of the aircraft 22 of the push-type rocket assembly 5, so that the establishment of a rolling channel and firm contact are realized.

As shown in fig. 11, 12 and 13, the bases of the four legs of the landing gear 10 integrating the functions of the cabin door and the buffer leg are pyramid-shaped, and fix the nose cone of the aircraft, specifically: the landing buffer device 10 with integrated hatch and buffer leg functions has arc-shaped slotted holes 54 on the leg supports 44, the shape and size of the arc-shaped slotted holes depend on the shape and size of the aircraft nose cone 55 of the push-type arrow unit assembly 5, the locking function of the push-type arrow unit assembly 5 can be completed, and the hanging safety of the push-type arrow unit assembly 5 in the gondola 60 is improved.

As shown in fig. 8, 9, 10, 11, 12 and 13, the landing multi-stage buffer subsystem comprises a landing buffer device 10 with functions of opening the cabin door and the like, wherein a plurality of hinge points of the landing buffer device are hinged and installed on a plurality of hinge points at the bottom of a third channel bottom ring 21, a plurality of synchronous dampers 2 are uniformly distributed and installed at the bottom of a load cabin bottom ring 15, and the landing buffer device 10 with functions of opening the cabin door and the like and the synchronous dampers 2 are mutually matched to form a landing buffer system of a launching system together;

The landing buffer device 10 integrating the functions of launching, opening the cabin door and the like is further provided with a contact sensor 50, the contact sensor 50 is fixedly arranged on a contact sensor fixing plate 51 on a third channel bottom ring 21, a steel wire rope 33 penetrates through a through hole on the contact sensor fixing plate 51 and is fixedly arranged on a locker 52, the locker 52 penetrates through two through holes of the third channel bottom ring 21, when a damping supporting leg 42 is in a locking state, the cabin door 41 is not opened, because the steel wire rope 33 is in a tightening state, a locking clamping belt 53 is locked with the locker 52, the locker 52 does not touch the contact sensor 51, at the moment, a push-type rocket assembly 5 is in a closed hanging state in the cabin, when a command signal for opening the cabin door 41 is received, the steel wire rope 33 is loosened, the locking clamping belt 53 is separated from the locker 52 under the driving of the elastic potential energy of a bidirectional damper 43, and the damping supporting leg 42 is released, at the moment, the push-type rocket assembly 5 is opened by the cabin door 41 to be launched, when the steel wire rope 33 is tightened again, if all the lockers 52 are in contact with the contact sensors 50, it is indicated that all the cabin doors 41 are opened, at the moment, a launch instruction of the push-type rocket assembly 5 is sent out, the push-type rocket assembly 5 is launched along a launch channel, and the contact sensors 50 can monitor each state of the landing buffer device integrating the functions of launching, cabin door opening and the like in real time, so that the launch safety and reliability are improved, and early warning can be performed on dangerous conditions such as the launching of the cabin doors 41 which are not opened.

As shown in fig. 3 and 4, the first channel link mechanism 4 includes a first channel upper inner link 23, a first channel upper outer link 24, a first channel roller support rod 25, a first channel lower inner link 26, a first channel lower outer link 27, a first channel bottom ring 17, and the like. One end of the inner connecting rod 23 on the first channel is hinged with an inner hinge point at the bottom of the load cabin bottom ring 15 through a pin shaft, and the other end of the inner connecting rod is hinged with an inner hinge point of the roller supporting rod 25 of the first channel through a pin shaft; one end of an outer connecting rod 24 on the first channel is hinged with an outer hinged point at the bottom of the load cabin bottom ring 15 through a pin shaft, and the other end of the outer connecting rod is hinged with an outer hinged point of a first channel roller supporting rod 25 through a pin shaft; one end of the first channel lower inner connecting rod 26 is hinged with the inner hinge point of the first channel roller supporting rod 25 through a pin shaft, and the other end is hinged with the inner hinge point of the first channel bottom ring 17 through a pin shaft; one end of the first channel lower outer connecting rod 27 is hinged with the outer hinge point of the first channel roller supporting rod 25 through a pin shaft, and the other end of the first channel lower outer connecting rod is hinged with the outer hinge point of the first channel bottom ring 17 through a pin shaft. The first channel link mechanism 4 is constructed by the above connections.

As shown in fig. 3 and 5, the second channel link mechanism 6 includes a second channel upper inner link 28, a second channel upper outer link 29, a second channel roller support rod 30, a second channel lower inner link 31, a second channel lower outer link 32, a second channel bottom ring 20, and the like. One end of the second channel upper inner connecting rod 28 is hinged with an inner hinge point at the bottom of the first channel bottom ring 17 through a pin shaft, and the other end is hinged with an inner hinge point of the second channel roller supporting rod 30 through a pin shaft; one end of the second channel upper outer connecting rod 29 is hinged with the outer hinge point at the bottom of the first channel bottom ring 17 through a pin shaft, and the other end is hinged with the outer hinge point of the second channel roller supporting rod 30 through a pin shaft; one end of the second channel lower inner connecting rod 31 is hinged with the inner hinge point of the second channel roller supporting rod 30 through a pin shaft, and the other end is hinged with the inner hinge point of the second channel bottom ring 20 through a pin shaft; one end of the second channel lower outer connecting rod 32 is hinged with the outer hinge point of the second channel roller supporting rod 30 through a pin shaft, and the other end is hinged with the outer hinge point of the second channel bottom ring 20 through a pin shaft. The second channel link mechanism 6 is thus constructed by the above connections.

As shown in fig. 3, 6 and 7, the third channel link mechanism 8 includes a third channel upper inner link 36, a third channel upper outer link 37, a third channel roller support rod 38, a third channel lower inner link 39, a third channel lower outer link 40, a third channel bottom ring 21, and the like. One end of an inner connecting rod 36 on the third channel is hinged with an inner hinge point at the bottom of the second channel bottom ring 20 through a pin shaft, and the other end of the inner connecting rod is hinged with an inner hinge point of a third channel roller supporting rod 38 through a pin shaft; one end of an outer connecting rod 37 on the third channel is hinged with an outer hinged point at the bottom of the second channel bottom ring 20 through a pin shaft, and the other end of the outer connecting rod is hinged with an outer hinged point of a third channel roller supporting rod 38 through a pin shaft; one end of a lower inner connecting rod 39 of the third channel is hinged with an inner hinge point of a roller supporting rod 38 of the third channel through a pin shaft, and the other end of the lower inner connecting rod is hinged with an inner hinge point of a bottom ring 21 of the third channel through a pin shaft; one end of the third channel lower outer connecting rod 40 is hinged with the outer hinge point of the third channel roller supporting rod 38 through a pin shaft, and the other end is hinged with the outer hinge point of the third channel bottom ring 21 through a pin shaft. The third channel link mechanism 8 is constructed by the above connections.

As shown in fig. 4, 5, 6 and 7, each upper connecting rod is arranged in a single way, each lower connecting rod is arranged in a double way, and the double arrangement gap of the lower connecting rods can be embedded into the upper connecting rods, so that the deformation angle of the mechanism is greatly improved, and the interference condition of the upper connecting rods and the lower connecting rods is avoided; as shown in figures 4, 5, 6 and 7, the inner and outer connecting rods are arranged in a parallelogram mode, the inner and outer connecting rods are arc-shaped connecting rods with certain angles, obtuse angle surfaces of the arc-shaped connecting rods are oppositely arranged, so that the deformation angle of the mechanism is greatly improved, the interference situation of the left and right connecting rods is avoided, and meanwhile, the deformation collision mechanical limitation can be realized by reasonably designing the angle.

As shown in fig. 1, 2, 3, 4, 5, 6 and 7, the first channel roller support structure 3 is formed by four first channel roller supports 16, which are uniformly distributed and fixedly mounted on the four first channel roller support rods 25, respectively, and a plurality of rollers 69 thereof tightly hold the cylindrical surface of the rocket 18, so as to ensure the safety and stability of hanging and launching of the push-type rocket assembly 5; the second channel roller supporting structure 7 is formed by uniformly distributing four second channel roller supports 19, and is respectively and fixedly arranged on the four second channel roller supporting rods 30, and a plurality of rollers 69 of the second channel roller supporting structure tightly hold the cylindrical surface of the rocket 18, so that the hanging and launching safety and stability of the push-type rocket assembly 5 are ensured; the third channel roller supporting structure 9 is formed by mutually pressing the wings of the aircraft 22 by two pushing-type arrow unit assembly wing top roller supports 12 and two pushing-type arrow unit assembly wing bottom roller supports 13, and a plurality of rollers 69 tightly hold the upper and lower surfaces of the wings of the aircraft 22 so as to ensure the safety and stability of hanging and launching of the pushing-type arrow unit assembly 5; and a third channel rocket roller support I34 and a third channel rocket roller support II 35 are further arranged, and are used for tightly holding the cylindrical surface of the rocket 18 when the rocket 18 reaches the third launching channel during launching, and ensuring the safety and stability of the push-type rocket assembly 5 during launching.

As shown in fig. 18, the first channel roller support 16, the second channel roller support 19, the first third channel rocket roller support 34, the second third channel rocket roller support 35, the top roller support 12 and the bottom roller support 13 of the push-type rocket assembly wing respectively include a roller support link 63, a roller support plate 64, a fixing rod 65, an elastic telescopic rod 66, a roller support seat 67, a roller support shaft 68 and a roller 69. Wherein a plurality of gyro wheels 69 pass through gyro wheel back shaft 68 and install on a plurality of gyro wheel supporting seats 67, a plurality of gyro wheel supporting seats 67 fixed mounting are in the one end of elasticity telescopic link 66, the other end of elasticity telescopic link 66 passes through elastic support element embedding dead lever 65, thereby realize elastic expansion and contraction deformation, dead lever 65 evenly distributed is in the cylindrical inboard of gyro wheel backup pad 64, the cylindrical axis of its flexible deformation extension line directional gyro wheel backup pad 64, this axis is aircraft centroid axis too, the cylindrical outside fixed mounting of gyro wheel backup pad 64 is on gyro wheel support connecting rod 63, it is relevant with gyro wheel support connecting rod 53 angle and aircraft shape, select different angles according to aircraft different shapes and diameters.

As shown in fig. 14, 15, 16 and 17, the above-ground floating emission subsystem includes: a dispensing platform 62, a buoyant balloon with parachute 58, and a pod-hanging mechanism 59; the top of the load cabin 1 of the pod 60 is provided with a floating air ball 58 with a parachute and a pod hanging mechanism 59 to form a complete floating launching system, when the pod is launched on the ground, every two of the supporting leg supports 44 are mutually contacted to form a pyramid structure, the pod launching locking block 61 on the ground and the launching platform 62 can be effectively locked, the ground locking and launching of the pod can be realized by adjusting the position of the pod launching locking block 61, and meanwhile, the whole pod 60 can be vertically placed on the horizontal ground due to the fact that the pyramid bottom structure is different from other conical bottom cabin bodies.

Embodiment 1, length setting of each channel connecting rod of rolling channel body deformation subsystem ____ of the invention

As shown in fig. 1, 2, 3, 4, 5, 6 and 7, the first channel link mechanism 4 and the second channel link mechanism 6 of the push-push arrow assembly aerial launching system adopt a standard configuration, the third channel link mechanism 8 adopts a non-standard configuration, the length of the upper layer link in each channel of the first channel link mechanism 4 and the second channel link mechanism 6 is consistent, the length of the lower layer link in each channel of the first channel link mechanism 4 and the second channel link mechanism 6 is consistent, that is, the length of the first path upper inner link 23 is the same as the length of the first path upper outer link 24, the length of the first path lower inner link 26 is the same as the length of the first path lower outer link 27, the length of the second path upper inner link 28 is the same as the length of the second path upper outer link 29, and the length of the second path lower inner link 31 is the same as the length of the first path lower outer link 32. The third channel linkage 8 differs from the standard configuration in that its rollers 69 press not against the fuselage of the aircraft 22, but against the upper and lower surfaces of the wing of the aircraft 22.

Example 2 Angle of arc tangent plane of roller support Link and roller support seat of each channel

The angle A between the roller support connecting rod 63 and the arc tangent plane of the roller support seat 67 in the first channel connecting rod mechanism 4 and the second channel connecting rod mechanism 6 of the push-push arrow machine assembly is 90 degrees. An angle A between an upper roller support connecting rod 11 in the third channel connecting rod mechanism 8 of the push-type rocket assembly and the plane of the wing is an acute angle, and the size of the angle is determined by the angle between the upper surface of the wing and the plane of the wing. The angle C between the lower roller support link 14 and the horizontal plane of the wing in the third channel link mechanism 8 of the push-type rocket assembly is an acute angle, and the size of the acute angle depends on the angle between the upper surface of the wing and the horizontal plane of the wing. The gravity center axis of the push-push type assembly is matched with the central axis of the cabin body of the nacelle 60, the rollers 69 in each channel of the first channel connecting rod mechanism 4 and the second channel connecting rod mechanism 6 jointly form a cylindrical surface (the size and the diameter of the cylindrical surface depend on the size and the diameter of the rocket 18 in the assembly) and are tangent to the outer surface of the rocket 18 of the push-push type rocket assembly 5, so that the establishment and the firm contact of the rolling channel are realized, and the rollers 69 in the third channel connecting rod mechanism 8 jointly form an airfoil surface (the size and the shape depend on the size and the diameter of the airfoil) and are tangent to the outer surface of the airfoil 22 of the aircraft 22 of the push-push type rocket assembly 5, so that the establishment and the firm contact of the rolling channel are realized. Since the roller 69 can elastically expand and contract within a certain range along with the elastic expansion rod 66, it can adapt to the small shape change and diameter change of the surface of the pushing arrow machine assembly 5, and if the surface shape and diameter of the pushing arrow machine assembly 5 have large changes, it is necessary to control the lifting and lowering of the mechanism deformation wire rope 33 to adjust the link mechanism change of each channel to respond.

The above description is not meant to be limiting, it being noted that: it will be apparent to those skilled in the art that various changes, modifications, additions and substitutions can be made without departing from the true scope of the invention, and these improvements and modifications should also be construed as within the scope of the invention.

Claims

1. A deformable and recoverable push-type rocket assembly aerial launching system comprises a nacelle (60), a push-type rolling channel body deformation subsystem in the nacelle (60), a landing multi-stage buffer subsystem hinged to the lower end of the push-type rolling channel body deformation subsystem, a packaging subsystem enclosing the push-type rolling channel body deformation subsystem, and a floating launching subsystem on the ground;

the push-type rolling channel body deformation subsystem comprises a load cabin (1) at the top, a push-type arrow machine assembly (5) below the load cabin (1), a first channel roller supporting structure (3) attached to the push-type arrow machine assembly (5) and a first channel roller group thereof, a second channel roller supporting structure (7) and a second channel roller group thereof, a third channel roller supporting structure (9) and a third channel roller group thereof; each channel roller group consists of rollers (69) of each channel; the landing multi-stage buffer subsystem comprises a landing buffer device (10) integrating functions of a cabin door and a buffer supporting leg;

the method is characterized in that:

the first channel roller set and the second channel roller set are used for fixing the cylindrical surface of the rocket, and the third channel roller set is used for fixing the aircraft wing; the first channel link mechanism (4) and the second channel link mechanism (6) adopt standard configurations, and the third channel link mechanism (8) adopts non-standard configurations; the bases of four supporting legs of the landing buffer device (10) integrating the cabin door and the buffering supporting leg functions are pyramid-shaped, and an aircraft nose cone is fixed.

2. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 1, wherein: the third channel roller group is used for fixing aircraft wings, and specifically comprises: the third channel roller supporting structure (9) is formed by mutually pressing wings of the aircraft (22) through two pushing-type arrow unit assembly wing top roller supports (12) and two pushing-type arrow unit assembly wing bottom roller supports (13), and a plurality of rollers (69) tightly hold the upper surface and the lower surface of the wings of the aircraft (22) to ensure the safety and the stability of hanging and launching of the pushing-type arrow unit assembly (5); and a third channel rocket roller support I (34) and a third channel rocket roller support II (35) are further arranged and used for holding the cylindrical surface of the rocket (18) tightly when the rocket (18) reaches a third launching channel during launching and ensuring the safety and stability of the push-type rocket assembly (5) during launching.

3. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 1, wherein: the third channel connecting rod mechanism (8) adopts a nonstandard configuration, and specifically comprises the following steps: the third channel link mechanism (8) is different from the standard configuration in that each channel inner roller (69) in the first channel link mechanism (4) and the second channel link mechanism (6) jointly form a cylindrical surface, the size and the diameter of the cylindrical surface depend on the size and the diameter of the rocket (18) in the combination, and the cylindrical surface is tangent to the outer surface of the rocket (18) of the push-type rocket combination (5) to realize the establishment and firm contact of a rolling channel; the rollers (69) in the third channel link mechanism (8) jointly form an airfoil surface, the size and the shape of the airfoil surface depend on the size and the diameter of the airfoil, and the size and the shape of the airfoil surface are tangent to the outer surface of the airfoil of the aircraft (22) of the push-type rocket assembly (5), so that the establishment of a rolling channel and firm contact are realized.

4. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 1, wherein: the base of four landing buffer devices (10) integrating the functions of the cabin door and the buffer supporting legs is pyramid-shaped, and the aircraft nose cone is fixed, specifically: arc-shaped slotted holes (54) are formed in supporting leg supports (44) of the landing buffering device (10) integrating the cabin door and the buffering supporting leg functions, the shape and the size of the arc-shaped slotted holes depend on the shape and the size of an aircraft nose cone (55) of the push-type arrow machine assembly (5), the locking function of the push-type arrow machine assembly (5) can be completed, and the hanging safety of the push-type arrow machine assembly (5) in a nacelle (60) is improved.

5. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 1, wherein: the rolling channel body deformation subsystem comprises: the multi-parallelogram pod link deformation mechanism is used for constructing an aerial launching rolling channel, and a pod rope system driving device matched with the multi-parallelogram pod link deformation mechanism is as follows:

the multi-parallelogram pod linkage deformation mechanism includes: the device comprises a load cabin (1), a synchronous shock absorber (2), a first channel roller supporting structure (3), a first channel connecting rod mechanism (4), a push-type rocket machine assembly (5), a second channel connecting rod mechanism (6), a second channel roller supporting structure (7), a third channel connecting rod mechanism (8), a third channel roller supporting structure (9), a landing buffer device (10) integrating launching and cabin door opening functions, a load cabin bottom ring (15), a first channel bottom ring (17), a second channel bottom ring (20), a third channel bottom ring (21), a steel wire rope (33) and a pod rolling curtain cloth (56); the load cabin (1) is fixedly arranged at the upper part of a load cabin bottom ring (15) through bolts, a plurality of hinge points of a first channel connecting rod mechanism (4) are hinged with a plurality of hinge points at the bottom of the load cabin bottom ring (15), a first channel roller supporting structure (3) is fixedly arranged on a first channel roller supporting rod (25) of the first channel connecting rod mechanism (4), a plurality of hinge points of a first channel bottom ring (17) are hinged with a plurality of hinge points of the first channel connecting rod mechanism (4), and a first launching channel supported by a plurality of rollers based on deformation of a plurality of parallelogram mechanisms is formed; a plurality of hinge points of the second channel connecting rod mechanism (6) are hinged with a plurality of hinge points at the bottom of the first channel bottom ring (17), a second channel roller supporting structure (7) is fixedly arranged on a second channel roller supporting rod (30) of the second channel connecting rod mechanism (6), a plurality of hinge points of the second channel bottom ring (20) are hinged with a plurality of hinge points of the second channel connecting rod mechanism (6), and a second launching channel supported by a plurality of rollers based on the deformation of a plurality of parallelogram mechanisms is formed; a plurality of hinge points of a third channel connecting rod mechanism (8) are hinged with a plurality of hinge points at the bottom of a second channel bottom ring (20), a third channel roller supporting structure (9) is fixedly arranged on a third channel roller supporting rod (38) of the third channel connecting rod mechanism (8), a plurality of hinge points of a third channel bottom ring (21) are hinged with a plurality of hinge points of the third channel connecting rod mechanism (8), and a third transmitting channel supported by a plurality of rollers based on deformation of a plurality of parallelogram mechanisms is formed; the first, second and third launching channels jointly form a rolling channel body deformation system of the launching system;

the pod roping drive device comprises: and the steel wire ropes (33) are uniformly distributed in the nacelle (60), one end of each steel wire rope (33) extends into the load cabin (1) and is connected with a steel wire rope telescopic mechanism in the load cabin (1), and the other end of each steel wire rope (33) is fixedly arranged on a locker (52) on the third channel bottom ring (21), so that a mechanism deformation rope system driving system of the aerial launching system is formed.

6. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 1, wherein: the landing multi-stage buffering subsystem comprises: the landing buffer device (10) integrating the launching and cabin door opening functions and the synchronous shock absorbers (2), a plurality of hinged points of the buffer device are hinged to a plurality of hinged points at the bottom of a third channel bottom ring (21), a plurality of synchronous shock absorbers (2) are uniformly arranged at the bottom of a load cabin bottom ring (15), and the landing buffer device (10) integrating the launching and cabin door opening functions and the synchronous shock absorbers (2) are matched with each other to jointly form a landing buffer subsystem of the launching system;

the landing buffer device (10) integrating functions of launching, cabin door opening and the like comprises four multifunctional landing buffer system single-leg structures; each multifunctional landing buffer system single-leg structure is hinged to a third channel bottom ring (21) of the nacelle (60) through a two-way damper fixing pin II and a damping support leg fixing pin respectively, and the multifunctional landing buffer system single-leg structures are spliced in pairs to form a conical shape, and the nacelle (60) is in a packaging and hanging state of the backpack rocket assembly (5); when the single-leg structures of the four multifunctional landing buffer systems are in a petal-shaped opening state, the pod (60) is respectively in a to-be-launched state of the backpack rocket assembly (5), a launched state of the backpack rocket assembly (5) or a landing buffer state of the pod (60) according to different postures and tasks of the pod (60);

the multifunctional landing buffer system single-leg structure comprises a cabin door (41), a shock absorption supporting leg (42), a supporting leg support (44), a bidirectional shock absorber (43) and a locking clamping belt (53); wherein, the shock absorption supporting leg (42) is hinged and installed on a support lug on the third channel bottom ring (21) through a shock absorption supporting leg fixing pin, one end of the bidirectional shock absorber (43) is hinged and installed on the support lug on the third channel bottom ring (21) through a bidirectional shock absorber fixing pin II, the other end is hinged on a lug of the shock absorption supporting leg (42) through a bidirectional shock absorber fixing pin I, a supporting leg support 44 is hinged at the bottom of the shock absorption supporting leg (42) through a supporting leg support fixing pin I, a cabin door (41) is fixedly arranged on the shock absorption supporting leg (42) through a bolt, therefore, the single-leg structure of the multifunctional landing buffer system can complete the landing shock absorption function and can complete the closing and opening functions of the cabin door (41), and the locking clamping belt (53) is fixedly arranged at the corresponding position of the upper part of the inner side of the shock absorption supporting leg (42) through a bolt and is used for locking the single-leg structure of the multifunctional landing buffer system;

the bidirectional shock absorber (43) comprises a first spring locking pin (49), a bidirectional shock absorber inner cylinder (48), a tension and compression telescopic spring (47), a second spring locking pin (45) and a bidirectional shock absorber outer cylinder (46); the bidirectional shock absorber (43) can provide locking pressing force of a single-leg structure of the multifunctional landing buffer system in a compressed state and can also provide landing buffering and tensioning force of the single-leg structure of the multifunctional landing buffer system in a stretched state, so that bidirectional shock absorption is realized;

the landing buffer device (10) integrating the functions of launching, opening the cabin door and the like is further provided with a contact sensor (50), the contact sensor (50) is fixedly arranged on a contact sensor fixing plate (51) on a third channel bottom ring (21), a steel wire rope (33) penetrates through holes in the contact sensor fixing plate (51) and is fixedly arranged on a locker (52), the locker (52) penetrates through two through holes in the third channel bottom ring (21), when the shock absorption supporting leg (42) is in a locking state, the cabin door (41) is not opened, because the steel wire rope (33) is in a tightening state, the locking clamping belt (53) is locked with the locker (52), the locker (52) does not touch the contact sensor (51), at the moment, the backpack rocket assembly (5) is in a closed hanging state in the cabin, when an instruction signal for opening the cabin door (41) is received, the steel wire rope (33) is loosened, and the locking clamping belt (53) is separated from the locker (52) under the driving of the elastic potential energy of the bidirectional shock absorber (43), and (3) releasing the damping support legs 42, wherein the cabin door 41 is in a state to be launched when the backpack rocket assembly (5) is opened, when the steel wire rope 33 is tightened again, if all the lockers (52) are in contact with the contact sensors (50), all the cabin doors 41 are opened, a launching instruction of the backpack rocket assembly (5) is sent out at the moment, the backpack rocket assembly (5) is launched along a launching channel, and the contact sensors (50) can monitor each state of the landing buffer device integrating the launching, the cabin door opening and other functions in real time, so that the launching safety and reliability are improved, and early warning can be carried out on dangerous conditions such as the launching of the cabin door (41) which is not opened.

7. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 1, wherein: the packaging subsystem comprises a nacelle roller shutter cloth which can be folded and deformed adaptively according to different tasks and the heights of the nacelles, wherein the nacelle roller shutter cloth is in a stretching state (56) under the hanging and launching postures of the nacelle (60), and the nacelle roller shutter cloth is in a compressing state (57) under the landing and buffering states of the nacelle (60); one end of the nacelle roller blind cloth is fixedly arranged at the bottom of the load cabin bottom ring (15), the other end of the nacelle roller blind cloth is fixedly arranged at the top of the third channel bottom ring (21), and the nacelle roller blind cloth, the load cabin (1) and the landing buffer device (10) integrating launching and cabin door opening functions form an encapsulation subsystem of a launching system together.

8. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 5, wherein:

the first channel connecting rod mechanism (4) comprises a first channel upper inner connecting rod 23, a first channel upper outer connecting rod (24), a first channel roller supporting rod (25), a first channel lower inner connecting rod (26), a first channel lower outer connecting rod (27) and a first channel bottom ring (17); one end of an inner connecting rod (23) on the first channel is hinged with an inner hinge point at the bottom of the load cabin bottom ring (15) through a pin shaft, and the other end of the inner connecting rod is hinged with an inner hinge point of a roller supporting rod (25) of the first channel through a pin shaft; one end of an outer connecting rod (24) on the first channel is hinged with an outer hinge point at the bottom of the load cabin bottom ring (15) through a pin shaft, and the other end of the outer connecting rod is hinged with an outer hinge point of a roller supporting rod (25) of the first channel through a pin shaft; one end of a first channel lower inner connecting rod (26) is hinged with an inner hinge point of a first channel roller supporting rod (25) through a pin shaft, and the other end of the first channel lower inner connecting rod is hinged with an inner hinge point of a first channel bottom ring (17) through a pin shaft; one end of a first channel lower outer connecting rod (27) is hinged with an outer hinge point of a first channel roller supporting rod (25) through a pin shaft, the other end of the first channel lower outer connecting rod is hinged with an outer hinge point of a first channel bottom ring (17) through a pin shaft, and a first channel connecting rod mechanism (4) is constructed through the connection;

the second channel connecting rod mechanism (6) comprises a second channel upper inner connecting rod (28), a second channel upper outer connecting rod (29), a second channel roller supporting rod (30), a second channel lower inner connecting rod (31), a second channel lower outer connecting rod (32), a second channel bottom ring (20) and the like, wherein one end of the second channel upper inner connecting rod (28) is hinged to an inner hinge point at the bottom of the first channel bottom ring (17) through a pin shaft, and the other end of the second channel upper inner connecting rod is hinged to an inner hinge point of the second channel roller supporting rod (30) through a pin shaft; one end of an upper outer connecting rod (29) of the second channel is hinged with an outer hinge point at the bottom of the first channel bottom ring (17) through a pin shaft, and the other end of the upper outer connecting rod is hinged with an outer hinge point of a roller supporting rod (30) of the second channel through a pin shaft; one end of a second channel lower inner connecting rod (31) is hinged with an inner hinge point of a second channel roller supporting rod (30) through a pin shaft, and the other end of the second channel lower inner connecting rod is hinged with an inner hinge point of a second channel bottom ring (20) through a pin shaft; one end of a second channel lower outer connecting rod (32) is hinged with an outer hinge point of a second channel roller supporting rod (30) through a pin shaft, the other end of the second channel lower outer connecting rod is hinged with an outer hinge point of a second channel bottom ring (20) through a pin shaft, and a second channel connecting rod mechanism (6) is constructed through the connection;

the third channel connecting rod mechanism (8) comprises a third channel upper inner connecting rod (36), a third channel upper outer connecting rod (37), a third channel roller supporting rod (38), a third channel lower inner connecting rod (39), a third channel lower outer connecting rod (40) and a third channel bottom ring (21); one end of an inner connecting rod (36) on the third channel is hinged with an inner hinge point at the bottom of the second channel bottom ring (20) through a pin shaft, and the other end of the inner connecting rod is hinged with an inner hinge point of a third channel roller supporting rod (38) through a pin shaft; one end of an outer connecting rod (37) on the third channel is hinged with an outer hinged point at the bottom of the second channel bottom ring (20) through a pin shaft, and the other end of the outer connecting rod is hinged with an outer hinged point of a third channel roller supporting rod (38) through a pin shaft; one end of an inner connecting rod (39) under the third channel is hinged with an inner hinge point of a roller supporting rod (38) of the third channel through a pin shaft, and the other end of the inner connecting rod is hinged with an inner hinge point of a bottom ring (21) of the third channel through a pin shaft; one end of an outer connecting rod (40) under the third channel is hinged with an outer hinge point of a roller supporting rod (38) of the third channel through a pin shaft, the other end of the outer connecting rod is hinged with an outer hinge point of a bottom ring (21) of the third channel through a pin shaft, and a third channel connecting rod mechanism (8) is constructed through the connection;

each upper connecting rod is arranged singly, the lower connecting rods are arranged in a double mode, and the upper connecting rods can be embedded into double arrangement gaps of the lower connecting rods, so that the deformation angle of the mechanism is greatly improved, and the interference condition of the upper connecting rods and the lower connecting rods is avoided; adopt parallelogram to arrange between each inside and outside connecting rod, inside and outside connecting rod is the arc connecting rod that has certain angle to take the blunt angular surface subtend of arc connecting rod to place, thereby improve mechanism deformation angle greatly, about avoiding the connecting rod emergence interference situation, reasonable design angle can realize simultaneously that deformation collision machinery is spacing.

9. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 1, wherein:

the first channel roller supporting structure (3) is formed by uniformly distributing four first channel roller supports (16) and is respectively and fixedly arranged on the four first channel roller supporting rods (25), and a plurality of rollers (69) tightly hold the cylindrical surface of the rocket (18) to ensure the safety and stability of hanging and launching of the push-type rocket assembly (5); the second channel roller supporting structure (7) is formed by uniformly distributing four second channel roller supports (19) and is respectively and fixedly arranged on the four second channel roller supporting rods (30), and a plurality of rollers (69) tightly hold the cylindrical surface of the rocket (18) to ensure the safety and stability of hanging and launching of the push-type rocket assembly (5); the third channel roller supporting structure (9) is formed by mutually pressing the wings of the aircraft (22) through two push-type arrow unit assembly wing top roller supports (12) and two push-type arrow unit assembly wing bottom roller supports (13), and a plurality of rollers (69) tightly hold the upper surface and the lower surface of the wings of the aircraft (22) to ensure the safety and the stability of hanging and launching of the push-type arrow unit assembly (5); in addition, a third channel rocket roller support I (34) and a third channel rocket roller support II (35) are arranged, and are used for holding the cylindrical surface of the rocket (18) tightly when the rocket (18) reaches a third launching channel during launching and ensuring the safety and stability of the push-type rocket assembly (5) during launching;

the first channel roller support (16), the second channel roller support (19), the third channel rocket roller support I34, the third channel rocket roller support II 35, the push-type rocket assembly wing top roller support (12) and the push-type rocket assembly wing bottom roller support (13) respectively comprise a roller support connecting rod (63), a roller support plate (64), a fixing rod (65), an elastic telescopic rod (66), a roller support seat (67), a roller support shaft (68) and a roller (69); wherein a plurality of gyro wheels (69) are installed on a plurality of gyro wheel supporting seats (67) through gyro wheel back shaft (68), a plurality of gyro wheel supporting seats (67) fixed mounting are in the one end of elasticity telescopic link (66), the other end of elasticity telescopic link (66) passes through elastic support component embedding dead lever (65), thereby realize elastic expansion deformation, dead lever (65) evenly distributed is in the cylindrical inboard of gyro wheel backup pad (64), its flexible deformation extension line point to gyro wheel backup pad (64) cylindrical axis, this axis is aircraft centroid axis, gyro wheel backup pad (64) cylindrical outside fixed mounting is on gyro wheel support connecting rod (63), it is relevant with gyro wheel support connecting rod (53) angle and aircraft shape, select different angles according to aircraft different shapes and diameter.

10. A transformable and retrievable top-pushing arrow assembly aerial launching system as claimed in claim 1, wherein: the above-ground floating distribution subsystem comprises: a dispensing platform (62), a floating balloon with parachute (58), and a pod-hanging mechanism (59); when the multifunctional landing buffer system is used for ground distribution, every two supporting leg supports (44) of the single-leg structure of the multifunctional landing buffer system are in mutual contact to form a pyramid structure, effective locking can be achieved between the ground and a nacelle distribution locking block (61) on a launching platform (62), ground locking and distribution of the nacelle can be achieved by adjusting the position of the distribution locking block (61), and meanwhile due to the fact that the pyramid bottom structure is different from other conical bottom cabin bodies, the whole nacelle (60) can be vertically placed on the horizontal ground.