CN115523806A - Resistance rudder and hanging cable recovery integrated mechanism and recovery method - Google Patents
Resistance rudder and hanging cable recovery integrated mechanism and recovery method Download PDFInfo
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- CN115523806A CN115523806A CN202211188661.2A CN202211188661A CN115523806A CN 115523806 A CN115523806 A CN 115523806A CN 202211188661 A CN202211188661 A CN 202211188661A CN 115523806 A CN115523806 A CN 115523806A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 124
- 238000011084 recovery Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001174 ascending effect Effects 0.000 claims abstract description 6
- 239000000725 suspension Substances 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 8
- 238000004064 recycling Methods 0.000 claims description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 3
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- 230000003139 buffering effect Effects 0.000 abstract description 2
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- 238000010586 diagram Methods 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 description 2
- 235000015842 Hesperis Nutrition 0.000 description 2
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- 239000003350 kerosene Substances 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
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- 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
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Abstract
A resistance rudder and hanging cable recovery integrated mechanism and recovery method, the mechanism includes arrow structure attachment, resistance rudder assembly, hanging cable mechanism assembly, servo actuator; the arrow structure accessory is arranged on the outer arrow structure and used for rotatably connecting the resistance rudder assembly with the outer arrow structure and limiting the servo actuator; the resistance rudder assembly is used as a pneumatic rudder in the rocket recovery process and provides an accommodating space for the cable hanging mechanism assembly; the rocket body is tightly attached to an external rocket body structure in the ascending section of the rocket; the cable hanging mechanism assembly is used for hanging an external recovery part in the rocket recovery process; the servo actuator is used for driving the resistance rudder assembly to unfold. The recovery method uses the rocket mounted lanyard mechanism and the ground/offshore net system recovery platform to recover the repeatedly used rocket, meets the requirement of absorbing and buffering the landing impact mainly through the ground/offshore net system recovery platform, simplifies the scale, weight and complexity of the rocket mounted mechanism, and reduces the loss of carrying capacity.
Description
Technical Field
The invention relates to a resistance rudder and suspension cable recovery integrated mechanism and a recovery method, which can be used for performing aerodynamic control by using the resistance rudder in the process of recycling a rocket and using a suspension cable mechanism to hang a damming recovery device on the ground in the landing stage so as to realize rocket recovery.
Background
The repeated use is an important way for the carrier rocket to enter the space with low cost and flights, and is an inevitable trend of technical development. Especially, the requirement of space station operation makes the number of times of transmission further increase, faces the demand that reduces the transmission cost, promotes operation efficiency. The rocket one-sub-level reuse technology can effectively support the reduction of launching cost and the improvement of operation efficiency. Meanwhile, the consumption of rocket production resources can be reduced, the influence of remains on the marine environment is reduced, and the environmental protection development concept is met. On the basis of mastering the key reuse technologies such as thrust adjustment and reuse of liquid oxygen kerosene/liquid oxygen methane and the like of rocket engines, accurate attitude control in the recycling process of the reused rockets and terminal landing recycling in the landing stage need to be realized.
The precise attitude control in the rocket recovery process can use modes of engine swing, an attitude control engine, pneumatic rudder pneumatic control and the like, and the pneumatic rudder control has the advantages of long working time, low energy requirement, controllable whole process and the like. Compared with a grid rudder and a plane rudder, the resistance rudder has the advantages of high supersonic speed efficiency, large resistance coefficient, easy attachment of the appearance to the surface of a rocket, capability of being integrally designed with other mechanisms and the like. The control surface of the resistance rudder is arranged on the outer surface of the rocket and needs to bear large pneumatic heating, the external environment is severe, a resistance rudder mechanism is needed, the control surface of the resistance rudder is driven to control the attitude of the rocket, and key driving energy can be protected.
The recovery and reuse of the rocket are realized, and the terminal landing recovery in the landing stage of the land platform or the offshore platform must be completed. The landing leg type landing buffer mechanism can increase the touchdown span of the rocket, improve the landing stability and absorb and buffer the landing impact. The landing leg type landing buffer mechanism is generally arranged at the tail section of the rocket and is unfolded before landing, so that the weight and the volume of the landing leg type landing buffer mechanism are large, and the carrying capacity is greatly lost. Except for using the landing leg type landing buffer mechanism, the rocket is provided with a rope hanging mechanism and a ground/sea net system recovery platform, buffer force is provided through a stop rope and a buffer device on the ground/sea net system recovery platform, the rocket is provided with the corresponding rope hanging mechanism, and when the rocket is about to land, the rope hanging mechanism is unfolded and hung on the ground net system to realize the deceleration and recovery of the rocket. When the bottom surface of the rocket engine is a certain distance away from the surface of the rope of the net system, the ground net system recovery system dynamically contracts the rope to enable the rope to be close to the rocket body according to the posture of the rocket body, when the rocket body penetrates through the surface of the rope, the rope is hooked by the arresting rod of the rope hanging mechanism of the rocket body, and the rope and the buffer device start to work for a certain distance of buffer stroke, so that rocket body capture is completed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: overcomes the defects of the prior art, and solves the problems of control and recovery in the process of recycling the rocket repeatedly.
The purpose of the invention is realized by the following technical scheme:
a resistance rudder and hanging cable recovery integrated mechanism comprises an arrow structure accessory, a resistance rudder component, a hanging cable mechanism component and a servo actuator;
the arrow body structure accessory is arranged on the outer arrow body structure and is used for rotationally connecting the resistance rudder assembly with the outer arrow body structure and limiting the servo actuator;
the resistance rudder assembly is used as a pneumatic rudder in the rocket recovery process and provides an accommodating space for the cable hanging mechanism assembly; the rocket body is tightly attached to an external rocket body structure in the ascending section of the rocket;
the cable hanging mechanism assembly is used for hanging an external recovery part in the rocket recovery process;
the servo actuator is used for driving the resistance rudder assembly to unfold.
Preferably, the servo actuator is arranged in the outer arrow body structure, and the connecting rod transmission mode drives the resistance rudder assembly to move.
Preferably, the arrow structure accessory comprises a rudder base, a rudder rotating shaft, a servo actuator base and a servo actuator limiting support, wherein the rudder base is installed on the outer surface of the outer arrow structure in pairs, and provides an installation base for the resistance rudder assembly; the rudder rotating shaft is connected with the rudder base and provides a rotating shaft for unfolding and rotating for the resistance rudder assembly; the servo actuator base is arranged in the outer arrow body structure and provides an installation basis for the servo actuator; the servo actuator limiting support is used for limiting the servo actuator.
Preferably, the servo actuator limiting support is an anchor ear-shaped support, and can limit the displacement of the servo actuator in directions except the axial direction.
Preferably, the resistance rudder assembly comprises a rudder body, a heat-proof shell, a connecting rod, a first pin shaft and a second pin shaft;
the inner molded surface of the rudder body is matched with the outer surface of the external arrow body structure, and the heat-proof shell is attached to the outer surface of the rudder body;
two ends of the connecting rod are respectively connected with the servo actuator and the rudder body through a first pin shaft and a second pin shaft.
Preferably, the profile surface in the rudder body is provided with a plurality of grooves for accommodating the suspension cable mechanism assembly.
Preferably, the heat shield is replaceable after the rocket is completely recovered.
Preferably, the servo actuator can drive the rudder body of the resistance rudder assembly to rotate through the connecting rod, so that an included angle between the rudder body and the outer surface of the external arrow body structure is changed, and the pneumatic control effect is achieved.
Preferably, the servo actuator can be shortened, and the rudder body of the resistance rudder assembly is driven to be folded, so that the unfolding angle of the rudder body is reduced.
Preferably, the cable hanging mechanism assembly comprises a blocking rod, a blocking hook, a connecting pin, a rotating shaft, a switching flange, a rack actuator and a locking mechanism; the arresting rod is a strip-shaped part, one end of the arresting rod is connected with the arresting hook through two connecting pins, the other end of the arresting rod is of a fork-shaped structure, and the arresting rod is connected with the resistance rudder body through two rotating shafts; the square end of one end of the rotating shaft is inserted into the square hole of the adapter flange, the adapter flange is connected with the rudder body of the resistance rudder assembly, the arresting bar, the rotating shaft and the adapter flange are connected into a whole, and the arresting bar can rotate around the rotating shaft to be unfolded under the driving of the rack actuator; the other end of the rotating shaft is provided with a gear characteristic and is matched with a rack actuator arranged on the rudder body, when the rack actuator works, the rotating shaft is driven to rotate, so that the arresting bar is driven to rotate around the rotating shaft, the arresting bar is unfolded, and after the arresting bar is unfolded in place, a spring pin of the locking mechanism is inserted into a hole in the corresponding position of the arresting bar, so that the arresting bar is locked.
A recovery method based on a resistance rudder and a hanging rope adopts the mechanism to recover, and comprises the following steps:
when the rocket is recovered and meets a first preset condition, a rudder body of the resistance rudder assembly is unfolded to be used as an air rudder to carry out flight control;
when the rocket is recovered and meets a second preset condition, the arresting rod and the arresting hook of the cable hanging mechanism assembly extend out for hanging an external recovery component to realize recovery.
A recovery carrier based on resistance rudders and hanging ropes comprises a carrier body and the mechanism:
the mechanism is mounted on the carrier body for recycling the carrier body.
A recovery system based on a resistance rudder and a hanging rope comprises a recovery net and the mechanism:
the mechanism is arranged on a carrier needing to be recovered; the recovery net is arranged on the ground or an offshore platform; in the carrier recovery process, the recovery net is hung by the mechanism to realize carrier recovery.
Compared with the prior art, the invention has the following beneficial effects:
(1) The rocket is recycled by using the rocket mounted lanyard mechanism and the ground/offshore net system recovery platform, the requirement of absorbing and buffering landing impact is mainly met by the ground/offshore net system recovery platform, the scale, the weight and the complexity of the rocket mounted mechanism are simplified, and the loss of carrying capacity is reduced.
(2) The design mode that the resistance rudder and the cable hanging mechanism are integrated is adopted, the design mode that the pneumatic rudder and the cable hanging mechanism are respectively arranged is changed, connecting points of the pneumatic rudder, the cable hanging mechanism and the rocket body structure are reduced, bulges caused by the arrangement of the pneumatic rudder and the cable hanging mechanism outside the rocket body structure are reduced, and the influence on the aerodynamic appearance of the rocket is reduced.
(3) Through the arrow body structure by the casing, the rudder base, the cooperation of rudder pivot and resistance rudder subassembly, install servo actuator inside the casing, effectively protected key driving energy, realized the drive to the resistance rudder through connecting rod and rudder pivot to main structure and the connecting rod behind one's back, lanyard mechanism subassembly etc. of resistance rudder have formed effectively and have sheltered from and protected through heat proof shell, have realized utilizing the pneumatic control of resistance rudder to the arrow body gesture.
(4) The cable hanging mechanism assembly is arranged on the inner profile of the resistance rudder body through the groove, and the integrated design of the cable hanging mechanism and the resistance rudder assembly is realized. The arresting rod of the cable hanging mechanism is embedded in the resistance rudder, the length of the arresting rod of the cable hanging mechanism is reduced by utilizing the resistance rudder structure, and an independent mounting structure of the cable hanging mechanism and a stress force transmission structure of a rocket cabin section are reduced. And (4) unfolding the cable hanging mechanism at the final landing stage to realize the recovery of the net system of the rocket.
(5) The heat-proof shell on the outer surface of the resistance rudder protects the resistance rudder body and the hanging cable mechanism, and the heat-proof shell can be replaced after being recycled at every time, so that the heat-proof design difficulty of the resistance rudder body is reduced, and the main structure of the resistance rudder can be reused.
(6) By the method of integrally designing the pneumatic rudder and the cable hanging mechanism, external force borne by the pneumatic rudder and the cable hanging mechanism is transmitted to the arrow body structure through the same connecting point, the structural design difficulty is reduced, and structural weight gain caused by bearing force transmission of the pneumatic rudder and the cable hanging mechanism by the arrow body structure is reduced. The integrated design reduces the requirement on the installation space of the two mechanisms, and the integrated design of the force transmission path reduces the structural weight.
Drawings
Fig. 1 is a schematic diagram of the composition of the resistance rudder and suspension cable recovery integrated mechanism, wherein fig. 1a is a schematic diagram of a resistance rudder folding state, a resistance rudder unfolding state and a suspension cable mechanism unfolding state, fig. 1b is a position of the resistance rudder and suspension cable recovery integrated mechanism on a rocket, and fig. 1c is a main body composition of the resistance rudder and suspension cable recovery integrated mechanism;
FIG. 2 is a first schematic view of an arrow structure attachment;
FIG. 3 is a second schematic view of the arrow structure attachment;
fig. 4 is a schematic view of the resistance rudder assembly, wherein fig. 4a is a schematic view of a closed state and an open state of the resistance rudder, and fig. 4b is a schematic view of a resistance rudder assembly main body;
fig. 5 is a schematic composition diagram of a resistance rudder assembly, wherein fig. 5a is a rudder body, a heat shield case, a connecting rod, a first pin, fig. 5b is an inner surface and an outer surface of the rudder body, and fig. 5c is a connecting rod, a second pin, and a heat shield case;
fig. 6 is a schematic view of the components of the hitch mechanism, wherein fig. 6a is a schematic view of an arresting bar, an arresting hook, a connecting pin, a rotating shaft, an adapter flange, a rack actuator and a locking mechanism which form the hitch mechanism components, and fig. 6b is a schematic view of the arresting hook, the connecting pin, the rotating shaft and the adapter flange in detail;
FIG. 7 is a schematic view of a lanyard mechanism assembly;
FIG. 8 is a schematic view of the deployment process of the lanyard mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The utility model provides a resistance rudder and hang cable recovery integration mechanism, technical scheme includes:
the precise attitude control in the rocket recovery process can use modes of engine swing, an attitude control engine, pneumatic rudder pneumatic control and the like, and the pneumatic rudder control has the advantages of long working time, low energy requirement, controllable whole process and the like. Compared with a grid rudder and a plane rudder, the resistance rudder has the advantages of high supersonic speed efficiency, large resistance coefficient, easy attachment of the appearance to the surface of a rocket, capability of being integrally designed with other mechanisms and the like. The control surface of the resistance rudder is arranged on the outer surface of the rocket and faces the external severe environment, the control surface of the resistance rudder can be driven to control the attitude of the rocket, and key driving energy can be protected.
The recovery and the reuse of the rocket are realized, and the terminal landing recovery at the landing stage of the land platform or the offshore platform can be realized. The landing leg type landing buffer mechanism can increase the touchdown span of the rocket, improve the landing stability and absorb and buffer the landing impact. The landing leg type landing buffer mechanism is generally arranged at the tail section of the rocket and is unfolded before landing, so that the weight and the volume of the landing leg type landing buffer mechanism are large, and the carrying capacity is greatly lost. According to the invention, a mode of hanging cable mechanisms on the rocket and a ground/offshore net system recovery platform is adopted, a buffer force is provided through the arresting cables and the buffer devices on the ground/offshore net system recovery platform, the rocket is provided with the corresponding hanging cable mechanisms, and when the rocket is about to land, the hanging cable mechanisms are unfolded and hung on the ground net system, so that the deceleration and recovery of the rocket are realized. When the bottom surface of the rocket engine is a certain distance away from the surface of the rope of the net system, the ground net system recovery system dynamically contracts the rope to enable the rope to be close to the rocket body according to the posture of the rocket body, when the rocket body penetrates through the surface of the rope, the rope is hooked by the arresting rod of the rope hanging mechanism of the rocket body, and the rope and the buffer device start to work for a certain distance of buffer stroke, so that rocket body capture is completed.
The invention relates to a resistance rudder and suspension cable recovery integrated mechanism, which is used for performing aerodynamic control by using the resistance rudder in the process of repeatedly using rockets and suspending a suspension cable mechanism on a blocking recovery device on the ground in the landing stage to realize rocket recovery.
On the basis of guaranteeing the pneumatic appearance and flight safety of a rocket ascending section, a resistance rudder mechanism for pneumatic control and a suspension cable mechanism for landing recovery are integrally designed, the transmission mode of the resistance rudder is designed, a servo actuator is arranged inside a rocket body cabin section structure, the resistance rudder is driven to move in a connecting rod transmission mode, severe external environments such as pneumatic heating and the like are overcome, and the purpose of protecting precision equipment such as the servo actuator is achieved. The arresting rod of the cable hanging mechanism is embedded inside the resistance rudder, the two mechanisms are integrally designed, the length of the arresting rod of the cable hanging mechanism is reduced by utilizing the structure of the resistance rudder, an independent mounting structure of the cable hanging mechanism and a stress force transmission structure of a rocket cabin section are reduced, the cable hanging mechanism is protected by a heat-proof shell on the outer surface of the resistance rudder, the cable hanging mechanism is unfolded in a final landing section, and the recovery of a net system of the rocket is realized.
More specifically:
the utility model provides a resistance rudder and hang integration mechanism is retrieved to cable which characterized in that: comprises an arrow structure accessory 1, a resistance rudder component 2, a cable hanging mechanism component 3 and a servo actuator 4, as shown in figure 1.
Fig. 2 and 3 show arrow-shaped structural accessories, which are composed of a rudder base 1-1, a rudder rotating shaft 1-2, a servo actuator base 1-3 and a servo actuator limiting support 1-4.
The rudder bases are mounted in pairs and coaxially on the outer surface of the shell structure and have a shaft hole feature, providing a mounting base for the resistance rudder assembly. The rudder rotating shaft penetrates into the shaft hole of the rudder base, and is connected with the rudder base through bolts, so that the rotating shaft for unfolding and rotating is provided for the resistance rudder assembly. The servo actuator base has been installed to shells inner wall, provides the basis of installation for servo actuator to transmit the load that servo actuator bore to shell structure, the spacing support of servo actuator is staple bolt form support, can restrict the displacement of servo actuator except the direction of axial, provides the basis of servo actuator installation and work with the cooperation of servo actuator base. The servo actuator receives the command of the control system and provides power for resisting the movement of the rudder assembly.
Fig. 4 and 5 show a resistance rudder assembly, which is composed of a rudder body 2-1, a heat-proof shell 2-2, a connecting rod 2-3, a first pin shaft 2-4 and a second pin shaft 2-5. The inner profile of the rudder body is a cylindrical surface with the diameter equal to that of the outer surface of the shell, and the rocket ascending section can be attached to the outer surface of the rocket shell, so that aerodynamic interference is reduced, and resistance and interference to rocket ascending section parting are reduced. The profile surface in the rudder body is provided with a plurality of grooves for accommodating the cable hanging mechanism assembly, installing the connecting rod and the like. The heat-proof shell is a thin shell-shaped part made of heat-proof materials and is attached to the outer surface of the rudder body. The resistance rudder plays the effect of pneumatic control rudder face at rocket reentry in-process, and its surface can form serious pneumatic heating, need to use heat protection material to make the heat protection shell structure play and prevent thermal-insulated effect, and the rocket is accomplished and is retrieved the back, can be more convenient change heat protection shell structure. The two ends of the connecting rod are respectively connected with the servo actuator and the rudder body through the first pin shaft and the second pin shaft, the servo actuator can drive the resistance rudder to rotate through the connecting rod, the included angle between the resistance rudder and the rocket shell is changed, and the pneumatic control effect is achieved. The servo actuator extends to drive the connecting rod to move and the resistance rudder to unfold, so that the unfolding angle of the resistance rudder is increased. The servo actuator is shortened, the connecting rod is driven to move, the resistance rudder is folded, and the unfolding angle of the resistance rudder is reduced.
Fig. 6 and 7 show a hanging cable mechanism assembly, which consists of a blocking rod 3-1, a blocking hook 3-2, a connecting pin 3-3, a rotating shaft 3-4, an adapter flange 3-5, a rack actuator 3-6 and a locking mechanism 3-7. The arresting rod is a strip-shaped part, one end of the arresting rod is connected with the arresting hook through two connecting pins, and the arresting rod is an execution component which is contacted with the ground recovery net system and is used for hanging the rope net to realize rocket deceleration and rocket capture. The other end of the arresting rod is of a fork-shaped structure, two rotating shafts are connected with a resistance rudder body, the square end of one end of each rotating shaft is inserted into the square hole of the adapter flange, the adapter flange is connected with the rudder body through screws, the arresting rod, the rotating shafts and the adapter flange are connected into a whole, and the arresting rod can be driven by the rack actuator to rotate around the rotating shafts to be unfolded. The other end of the rotating shaft is provided with a gear characteristic and is matched with a linear rack actuator arranged on the rudder body, when the rack actuator works, the rack moves downwards to drive the rotating shaft to rotate, so that the arresting bar is driven to rotate around the rotating shaft, the arresting bar is unfolded, and after the arresting bar is unfolded for 180 degrees, the spring pin of the locking mechanism is inserted into the hole in the corresponding position of the arresting bar, so that the arresting bar is locked. Fig. 8 illustrates the deployment of the lanyard mechanism.
After the rope hanging mechanism is unfolded, the resistance rudders and the arresting rods are combined into a whole to form a recovery mechanism matched with the ground net system recovery device together, the ground net system is hung through the arresting hooks, and the ropes and the buffer devices start to work for a certain distance of buffer stroke to finish arrow body capture.
When the rudder body and the heat-proof shell are assembled, the rudder body and the heat-proof shell are firstly attached and bonded into a whole, and the cable hanging mechanism assembly is assembled in the resistance rudder body. The arresting bar and the arresting hook are connected through two connecting pins, the arresting bar is arranged in a groove of the rudder body, the rotating shaft penetrates through the rudder body and the arresting bar from two sides of the arresting bar inwards in sequence, one end of a square head is inwards, one end of a gear tooth is outwards, a square hole of the adapter flange is matched with the end of the rotating shaft, and the adapter flange is connected with the rudder body through a screw. And the rack actuator is arranged in the grooves at the two sides of the rudder body by using screws, and the position of the rack actuator is adjusted to ensure that the rack of the rack actuator is matched and coordinated with the gear teeth of the rotating shaft. The locking mechanism is mounted in a groove at the end of the rudder body by using a screw.
And then the arrow body structure accessory is installed. The rudder base is in pairs, coaxial arrangement on the shell structure surface, at shells inner wall installation servo actuator base to installation servo actuator, cup joint servo actuator on servo actuator with servo actuator spacing support, and be connected with the casing at its lateral wall.
And finally, installing the resistance rudder assembly on the rudder base, penetrating the rudder rotating shaft into the shaft hole of the rudder base, and connecting the resistance rudder assembly with the rudder base by using a bolt to provide the rotating shaft for unfolding and rotating the resistance rudder assembly. The two ends of the connecting rod are respectively connected with the servo actuator and the rudder body through the first pin shaft and the second pin shaft, and then the servo actuator can drive the resistance rudder to rotate through the connecting rod.
A recovery method based on a resistance rudder and a hanging rope adopts the mechanism to recover, and comprises the following steps:
when the rocket is recovered and meets a first preset condition, a rudder body of the resistance rudder assembly is unfolded to be used as an air rudder to carry out flight control;
when the rocket is recovered and meets a second preset condition, the arresting rod and the arresting hook of the cable hanging mechanism assembly extend out for hanging an external recovery component to realize recovery.
A recovery carrier based on resistance rudders and hanging ropes comprises a carrier body and the mechanism:
the mechanism is mounted on the carrier body for recycling the carrier body.
A recovery system based on a resistance rudder and a hanging rope comprises a recovery net and the mechanism:
the mechanism is arranged on a carrier needing to be recovered; the recovery net is arranged on the ground or an offshore platform; in the carrier recovery process, the recovery net is hung by the mechanism to realize carrier recovery.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (13)
1. A resistance rudder and hanging cable recovery integrated mechanism is characterized by comprising an arrow structure accessory, a resistance rudder component, a hanging cable mechanism component and a servo actuator;
the arrow structure accessory is arranged on the outer arrow structure and used for rotatably connecting the resistance rudder assembly with the outer arrow structure and limiting the servo actuator;
the resistance rudder assembly is used as a pneumatic rudder in the rocket recovery process and provides an accommodating space for the cable hanging mechanism assembly; the rocket body is tightly attached to an external rocket body structure in the ascending section of the rocket;
the cable hanging mechanism assembly is used for hanging an external recovery part in the rocket recovery process;
the servo actuator is used for driving the resistance rudder assembly to unfold.
2. The mechanism of claim 1, wherein the servo actuator is mounted within an outer arrow structure, and the linkage drives movement of the resistance rudder assembly.
3. The mechanism of claim 1, wherein said arrow structure attachments comprise rudder bases, rudder spindles, servo actuator bases, servo actuator limit brackets, the rudder bases being mounted in pairs on the outer surface of the outer arrow structure providing a mounting base for the resistance rudder assembly; the rudder rotating shaft is connected with the rudder base and provides a rotating shaft for unfolding and rotating for the resistance rudder assembly; the servo actuator base is arranged in the outer arrow body structure and provides an installation basis for the servo actuator; the servo actuator limiting support is used for limiting the servo actuator.
4. The mechanism of claim 3, wherein the servo actuator limiting bracket is a hoop-shaped bracket that limits displacement of the servo actuator in directions other than the axial direction.
5. The mechanism of claim 1, wherein the resistance rudder assembly comprises a rudder body, a heat shield, a link, a first pin, a second pin;
the inner molded surface of the rudder body is matched with the outer surface of the external arrow body structure, and the heat-proof shell is attached to the outer surface of the rudder body;
two ends of the connecting rod are respectively connected with the servo actuator and the rudder body through a first pin shaft and a second pin shaft.
6. The mechanism of claim 5, wherein the rudder body inner profile is configured with a plurality of grooves for receiving a hitch mechanism assembly.
7. The mechanism of claim 5, wherein the heat shield is replaceable after the rocket is completely recovered.
8. The mechanism of claim 1, wherein the servo actuator is configured to drive the rudder body of the resistance rudder assembly to rotate via a linkage to change an angle between the rudder body and an outer surface of the outer arrow structure for pneumatic control.
9. The mechanism of claim 1 wherein the servo actuator is further capable of being shortened to drive the rudder body of the resistance rudder assembly toward a stowed position, thereby reducing the rudder body deployment angle.
10. The mechanism of claim 1, wherein the lanyard mechanism assembly comprises a check rod, a check hook, a connecting pin, a spindle, an adapter flange, a rack actuator, a locking mechanism; the arresting rod is a strip-shaped part, one end of the arresting rod is connected with the arresting hook through two connecting pins, the other end of the arresting rod is of a fork-shaped structure, and the arresting rod is connected with the resistance rudder body through two rotating shafts; the square end of one end of the rotating shaft is inserted into the square hole of the adapter flange, the adapter flange is connected with the rudder body of the resistance rudder assembly, the arresting bar, the rotating shaft and the adapter flange are connected into a whole, and the arresting bar can rotate around the rotating shaft to unfold under the driving of the rack actuator; the other end of the rotating shaft is provided with a gear characteristic and is matched with a rack actuator arranged on the rudder body, the rack actuator drives the rotating shaft to rotate when working, so that the arresting bar is driven to rotate around the rotating shaft, the arresting bar is unfolded, and after the arresting bar is unfolded in place, a spring pin of the locking mechanism is inserted into a hole in the corresponding position of the arresting bar, so that the arresting bar is locked.
11. A recovery method based on a resistance rudder and a suspension cable, which is characterized in that the recovery is carried out by adopting the mechanism of any one of claims 1 to 10, and comprises the following steps:
when the rocket is recovered and meets a first preset condition, a rudder body of the resistance rudder assembly is unfolded to be used as an air rudder to carry out flight control;
when the rocket is recovered and meets a second preset condition, the arresting rod and the arresting hook of the cable hanging mechanism assembly extend out for hanging an external recovery component to realize recovery.
12. A recovery vehicle based on drag rudders and suspension cables, comprising a vehicle body and a mechanism according to any one of claims 1 to 10:
the mechanism is mounted on the carrier body for recycling the carrier body.
13. A recovery system based on drag rudders and rigging, characterized by comprising a recovery net and the mechanism of any one of claims 1 to 10:
the mechanism is arranged on a carrier needing to be recovered; the recovery net is arranged on the ground or an offshore platform;
in the carrier recovery process, the recovery net is hung by the mechanism to realize carrier recovery.
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| CN202211188661.2A CN115523806A (en) | 2022-09-28 | 2022-09-28 | Resistance rudder and hanging cable recovery integrated mechanism and recovery method |
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| CN202211188661.2A CN115523806A (en) | 2022-09-28 | 2022-09-28 | Resistance rudder and hanging cable recovery integrated mechanism and recovery method |
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