CN116605423B - Landing leg structure for vertical rocket recovery - Google Patents
Landing leg structure for vertical rocket recovery Download PDFInfo
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- CN116605423B CN116605423B CN202310529247.1A CN202310529247A CN116605423B CN 116605423 B CN116605423 B CN 116605423B CN 202310529247 A CN202310529247 A CN 202310529247A CN 116605423 B CN116605423 B CN 116605423B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
Abstract
The invention belongs to the technical field of design of spacecraft structure mechanisms, and particularly relates to a landing leg structure for vertical recovery of a rocket, which comprises the following components: the telescopic arms are distributed along the circumferential direction of the rocket body, one end of each telescopic arm is hinged with the rocket body, the other end of each telescopic arm touches the ground, and each telescopic arm can extend and retract along the axial direction of the telescopic arm; the expansion push rod, one end of the expansion push rod is arranged on the rocket body and can extend and retract along the axial direction of the expansion push rod; the other end of the expansion push rod is hinged with the telescopic arm and is used for driving the expansion and the retraction of the telescopic arm; under the driving action of the unfolding push rod, the telescopic arm can slide outwards from a first direction and can slide inwards and move back to the first direction. The landing leg structure has the advantages of few driving mechanisms, short unfolding stroke and high reliability.
Description
Technical Field
The invention belongs to the technical field of design of spacecraft structure mechanisms, and particularly relates to a landing leg structure for vertical recovery of a rocket.
Background
The vertical take-off and landing reusable carrier rocket is based on a mature carrier rocket technology, a landing device is additionally arranged, vertical recovery of the carrier rocket can be achieved, the recovered carrier rocket can be rapidly put into the next launch after simple maintenance and propellant supplementation, and therefore the reuse of the carrier rocket is achieved, the single flight cost of the carrier rocket can be greatly reduced due to the vertical take-off and landing reusable carrier rocket, and the vertical take-off and landing reusable carrier rocket is an important direction of development of space carrier rockets. The landing mechanism is a key and core component for vertical landing and recovery of the carrier rocket, provides support for stable landing of the carrier rocket on a recovery plane, and is retracted before the next launch, so that the carrier rocket can be reused.
At present, most of rocket vertical recovery landing devices at home and abroad are of foldable and telescopic leg structures, but have the following defects: 1) The active mechanisms are too many, the whole system is complex, the reliability is poor, the starting of each active mechanism has a stricter sequence, if a certain device does not complete corresponding operation in a time sequence, the action of the next time sequence can be influenced, and even the failure of the whole unfolding process can be caused; 2) The landing leg is turned from a vertical upward state to a downward state by about 45 degrees, the rotation angle is overlarge, the travel is longer, the required time is longer, and the reliability and the stability in the turning process are reduced due to the lengthening of the time.
Disclosure of Invention
In order to solve the above problems, to simplify the overall structure of the landing leg so that the stability and reliability of the landing leg structure are increased, the present invention provides a landing leg structure for vertical recovery of a rocket, comprising:
the telescopic arms are distributed along the circumferential direction of the rocket body, one end of each telescopic arm is hinged with the rocket body, the other end of each telescopic arm touches the ground, and each telescopic arm can extend and retract along the axial direction of the telescopic arm;
the expansion push rod, one end of the expansion push rod is arranged on the rocket body and can extend and retract along the axial direction of the expansion push rod; the other end of the expansion push rod is hinged with the telescopic arm and is used for driving the expansion and the retraction of the telescopic arm;
under the driving action of the unfolding push rod, the telescopic arm can slide outwards from a first direction and can slide inwards and move back to the first direction.
According to the landing leg structure for vertical recovery of the rocket, the telescopic arm comprises a plurality of stages of first sleeves, a sliding groove is formed in the first sleeve close to the rocket body end, and a sliding block is arranged in the sliding groove; the unfolding push rod comprises a multistage second sleeve, and the second sleeve deviating from the rocket body end is hinged with the sliding block.
According to the landing leg structure for vertical rocket recovery, the first sleeve and the second sleeve are driven by the pneumatic driver or the hydraulic driver or the electromagnetic driver which are arranged inside to complete telescopic movement.
According to the landing leg structure for vertical rocket recovery, the telescopic arm adopts the first hydraulic cylinder, the unfolding push rod adopts the second hydraulic cylinder, a sliding groove is formed in one side, close to a rocket body, of the first hydraulic cylinder, and a sliding block is arranged in the sliding groove; one end of the second hydraulic cylinder, which is away from the rocket body, is hinged with the sliding block.
According to the landing leg structure for vertical rocket recovery provided by the invention, the angle of the telescopic arm which is inclined and outwards slipped and unfolded from the first direction is between 30 degrees and 60 degrees.
According to the landing leg structure for vertical recovery of the rocket, the landing foot pad is arranged at the ground contact end of the telescopic arm, at least two flexible inhaul cables are connected to the landing foot pad and used for forming traction in opposite directions, one ends of the flexible inhaul cables, which deviate from the landing foot pad, are connected to the rocket body, and the flexible inhaul cables are used for limiting the sliding quantity of the telescopic arm when the telescopic arm is unfolded.
According to the landing leg structure for vertical recovery of the rocket, the rocket body is provided with the inhaul cable storage boxes along the circumferential direction, the inhaul cable storage boxes are arranged between two adjacent telescopic arms at intervals, and one end of each flexible inhaul cable, which is away from the landing foot pad, is connected in each inhaul cable storage box.
According to the landing leg structure for vertical recovery of the rocket, provided by the invention, the guy cable storage box is internally provided with the hoisting mechanism for controlling the release and winding of the flexible guy cable.
According to the landing leg structure for vertical recovery of the rocket, the buffer is arranged between the ground contact end of the telescopic arm and the landing foot pad, and the buffer is connected with the telescopic arm and the landing foot pad through the flange plate.
According to the landing leg structure for vertical recovery of the rocket, provided by the invention, the bottom of the landing foot pad is provided with the hydraulic supporting legs, the rocket body is provided with the position balance sensor, and the position balance sensor is connected with the hydraulic supporting legs and used for controlling the lifting of the hydraulic supporting legs.
The invention has the beneficial effects that:
the driving mechanism of the landing leg structure for vertical recovery of the rocket provided by the invention only comprises the telescopic arm and the unfolding push rod, when the rocket is landed vertically, the telescopic arm is driven to unfold by the unfolding push rod, and meanwhile, the telescopic arm stretches along the axial direction to realize the unfolding of the landing leg structure, so that the vertical recovery of the rocket is completed, and the telescopic arm and the unfolding push rod do not need to be controlled according to strict time sequence, so that the robustness and the reliability of the system are improved.
When the expansion push rod drives the expansion arm to expand, the expansion arm is inclined outwards from a first direction (such as a vertical direction) to be expanded in a sliding manner instead of being expanded in a turnover manner, so that the expansion angle of the landing leg structure is small, the stroke is short, the time consumption is short, and the stability and the reliability of the landing leg structure in the expansion process are greatly improved.
When the expansion push rod drives the telescopic arm to retract, one end of the expansion push rod is arranged on the rocket body, the other end of the expansion push rod is hinged with the telescopic arm through a hinge point, the expansion push rod can have radial and tangential constraint effects on the telescopic arm in the retracted state of the telescopic arm, and the expansion push rod is matched with the telescopic arm under the hinge point of the rocket body to fix the telescopic arm without a special compression release device, so that the integral structure is simplified, and the integral reliability is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions in the related art, the drawings used in the description of the embodiments or the related art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a landing leg structure for vertical rocket recovery in an unfolded state;
FIG. 2 is a schematic view of a landing leg structure for vertical rocket recovery in a collapsed state;
FIG. 3 is a first perspective partial magnified view of the landing leg structure for vertical rocket recovery provided by the present invention in a deployed state, in which the connection relationship of the deployment ram and the telescoping arm is shown;
fig. 4 is a second perspective partial enlarged view of the landing leg structure for vertical rocket recovery according to the present invention in a connection relationship between the deployment push rod and the telescopic arm in a deployed state.
Reference numerals: 1. a telescoping arm; 2. unfolding the push rod; 3. a chute; 4. a slide block; 5. a buffer; 6. landing foot pads; 7. a guy cable storage box; 8. a flexible inhaul cable.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center," "upper," "lower," "vertical," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The landing leg structure for vertical recovery of rocket provided by the invention is described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of a landing leg structure for vertical recovery of a rocket in an unfolded state, as can be seen from the figure, four landing leg structures (only three are shown in the figure) are circumferentially arranged on the vertical recovery rocket, and the landing leg structures comprise: the telescopic arm 1 and the unfolding push rod 2 can extend and retract along the axial direction of the telescopic arm 1 and the unfolding push rod 2, and the unfolding push rod 2 drives the telescopic arm 1 to unfold outwards in the unfolding state of the landing leg structure.
One end of the telescopic arm 1 is connected with the rocket body through a hinge point, the telescopic arm 1 can rotate around the hinge point, and the other end of the telescopic arm 1 is a ground contact end for contacting with the ground to provide support; a buffer 5 and a landing foot pad 6 are sequentially connected to one side of the ground contact end of the telescopic arm 1, and are used for buffering impact force generated at the moment of rocket landing and enabling the rocket to stably land; at least two flexible inhaul cables 8 are connected to each landing foot pad 6 to form traction in opposite directions, the other ends of the flexible inhaul cables 8 are connected to inhaul cable storage boxes 7 arranged on rocket bodies, and each flexible inhaul cable 8 shares one inhaul cable storage box 7 with one flexible inhaul cable 8 on the adjacent landing foot pad 6; the flexible stay rope 8 is pulled out from the stay rope storage box 7 in the unfolding state of the landing leg structure, so that tension generated in the landing process is provided, the sliding amount of the telescopic arm 1 is limited, and the stability of the landing leg structure is ensured.
One end of the unfolding push rod 2 is arranged on the rocket body, can be fixed in the rocket body, and the other end of the unfolding push rod is hinged with the telescopic arm 1 and is used for driving the telescopic arm 1 to outwards slide and unfold, so that the unfolding state of the landing leg structure is shown in figure 1.
The telescopic arm 1 is connected with the rocket body by a hinge joint, the unfolding push rod 2 is fixedly connected with the rocket body, the unfolding push rod 2 is connected with the telescopic arm 1 by a hinge joint, and the landing foot pad 6 is connected with the rocket body by a flexible stay rope 8, so that the landing leg structure is of a statically determinate structure in an unfolding state and a folding state, and all rod pieces, connecting joints and stay ropes in the system bear only tension or compression force and do not bear bending moment. The same structure has stronger tension/compression capacity than bending moment capacity under the general condition, so that the structure efficiency of all structural members in the system is high, namely the structure can be designed to be lighter in weight and smaller in volume under the condition of bearing the same load.
Fig. 2 is a schematic structural view of a landing leg structure for vertical recovery of a rocket in a folded state, and it can be intuitively known from the figure that when the landing leg structure is fully folded, the unfolding push rod 2 can retract into the rocket body, and simultaneously drives the telescopic arm 1 to retract inwards to a first direction, which can be a vertical direction, so that the telescopic arm is clung to the rocket body; because the unfolding push rod 2 is always connected with the telescopic arm 1 through the hinge point, the unfolding push rod 2 can generate radial and tangential constraint action on the telescopic arm 1 in the folded state of the landing leg structure, and the telescopic arm 1 is fixed under the cooperation action of the hinge points of the telescopic arm 1 and the rocket body, so that a special compression release device is not needed; as the telescoping arm 1 is retracted inwardly, the flexible cable 8 on the landing foot pad 6 retracts into the cable receiving box 7.
Fig. 3 and fig. 4 are respectively a first view angle partial enlarged view and a second view angle partial enlarged view of a connection relationship between an unfolding push rod 2 and a telescopic arm 1 of a landing leg structure for vertical rocket recovery in an unfolding state, and a manner of hinged connection between the telescopic arm 1 and the unfolding push rod 2 is provided, and can be intuitively known in the drawing, a T-shaped chute 3 is arranged on the telescopic arm 1, a sliding block 4 is arranged inside the telescopic arm, the sliding block 4 can move along the chute 3, the unfolding push rod 2 is connected with the sliding block 4 through a hinge point and can mutually rotate, so that the unfolding and the folding of the telescopic arm 1 are driven.
In order to better understand the above technical solution, the following describes in detail the various embodiments of the landing leg structure for vertical recovery of the rocket.
According to an embodiment of an aspect of the present invention, referring to fig. 1 to 4, there is provided a landing leg structure for vertical recovery of a rocket, comprising:
the telescopic arms 1 are distributed along the circumferential direction of the rocket body, one end of each telescopic arm 1 is hinged with the rocket body, the other end of each telescopic arm 1 touches the ground, and each telescopic arm 1 can axially extend and retract along the telescopic arm;
the unfolding push rod 2, one end of the unfolding push rod 2 is arranged on the rocket body and can extend and retract along the axial direction of the rocket body; the other end of the unfolding push rod 2 is hinged with the telescopic arm 1 and is used for driving the unfolding and folding of the telescopic arm 1;
under the driving action of the unfolding push rod 2, the telescopic arm 1 can slide outwards from a first direction and can slide inwards and move back to the first direction, and the first direction can be a vertical direction, so that the telescopic arm 1 is tightly attached to a rocket body in a landing leg structure folding state.
At present, the vertical recovery of the main stream carrier rocket mainly completes the vertical landing of the rocket through the landing leg which can be unfolded, but the existing landing leg structure active structure for the vertical recovery of the rocket is too many and generally comprises a compression release device, an auxiliary unfolding mechanism, a telescopic arm and the like, wherein the compression release device is used for locking the whole landing leg mechanism and releasing before unfolding, the auxiliary unfolding mechanism is a small push rod for pushing the landing leg to pass through a dead point to prevent clamping stagnation, and the telescopic arm is a main supporting structure, can shrink and rotate around a hinge point with the rocket body, so that the whole structure is changed from an unfolded state to a folded state. Because there are many active mechanisms, if one active mechanism fails, the landing leg cannot be successfully unfolded, and the actuation of each active mechanism has a stricter sequence, the sequence is that the compression release device releases the landing leg, the auxiliary unfolding mechanism pushes the landing leg to pass through a dead point, and the telescopic arm stretches and unfolds, the control system needs to precisely control according to the time sequence, if a certain device does not complete corresponding operation in the time sequence, the action of the next time sequence is affected, and finally the failure of the whole unfolding process of the landing leg is also caused.
In addition, when the landing leg is unfolded, the landing leg is turned from a vertical and upward state to a downward state by about 45 degrees, the rotation angle of the landing leg is overlarge in the process, the stroke is longer, the required time is longer, and the reliability and the stability are reduced due to the lengthening of the time.
In order to solve the problems that existing rocket landing legs are too many in driving mechanisms and too long in unfolding stroke, the landing leg structure for rocket vertical recovery provided by the embodiment reduces the number of driving mechanisms, the whole landing leg structure only comprises two driving mechanisms of a telescopic arm 1 and an unfolding push rod 2, the telescopic arm 1 is driven to be unfolded through the unfolding push rod 2 so as to realize the unfolding of the landing leg structure, and strict time sequence control is not needed for the telescopic arm 1 and the unfolding push rod 2 in the unfolding process of the landing legs, so that the robustness and the reliability of a system are improved. Further, when the landing leg structure is unfolded, the unfolding push rod 2 drives the telescopic arm 1 to outwards slide and unfold instead of being in a turnover mode, so that the unfolding stroke is shortened, the time consumption during unfolding is reduced, and the reliability and stability of the landing leg structure during unfolding are greatly improved.
When the rocket lands vertically, the unfolding process of the landing leg structure is as follows: the expansion push rod 2 and the telescopic arm 1 are stretched step by step along the axial direction of the expansion push rod, no sequence can be carried out simultaneously when the expansion push rod 2 and the telescopic arm 1 are stretched, and the telescopic arm 1 is driven to slide outwards for expansion in an inclined mode along with the stretching of the expansion push rod 2. After the rocket is vertically landed, the rocket is hoisted and placed at a station supported by the body, the unfolding push rod 2 and the telescopic arm 1 are gradually contracted along the axial direction of the rocket, and the unfolding process is the same as that of the unfolding process, so that no sequence requirement exists at the moment, and the landing leg structure after being folded can be reused.
According to the landing leg structure for vertical rocket recovery provided in this embodiment, referring to fig. 3 to fig. 4, a specific structural form is provided that can realize extension and contraction of the telescopic arm 1 and the deployment push rod 2: the telescopic arm 1 comprises a multistage first sleeve, a sliding groove 3 is formed in the first sleeve close to the rocket body end, and a sliding block 4 is arranged in the sliding groove 3; the unfolding push rod 2 comprises a multi-stage second sleeve, and the second sleeve facing away from the rocket body end is hinged with the sliding block 4.
The telescopic arm 1 can be a three-stage sleeve, a T-shaped chute 3 can be arranged on the first-stage sleeve (a sleeve close to the rocket body end), and the second-stage sleeve and the third-stage sleeve can perform telescopic movement; the unfolding push rod 2 can also be a three-stage sleeve, the first-stage sleeve is fixed in the rocket, the second-stage sleeve and the third-stage sleeve can perform telescopic movement, and the end part of the third-stage sleeve is hinged with the sliding block 4 in the T-shaped sliding groove 3.
Of course, it will be understood that the number of stages of the sleeve used for the telescopic arm 1 and the deployment rod 2 may be set according to practical situations, and the T-shaped chute 3 and the slide block 4 on the telescopic arm 1 may be replaced by other structures that only provide sliding along the axial direction of the telescopic arm 1.
According to the landing leg structure for vertical rocket recovery provided by the embodiment, the multistage first sleeve and the multistage second sleeve are driven by the internally arranged pneumatic driver or hydraulic driver or electromagnetic driver to complete telescopic movement.
According to the landing leg structure for vertical rocket recovery provided by the embodiment, another specific structural form capable of realizing extension and contraction of the telescopic arm 1 and the unfolding push rod 2 is provided: the telescopic arm 1 adopts a first hydraulic cylinder, the unfolding push rod 2 adopts a second hydraulic cylinder, one side of the first hydraulic cylinder, which is close to the rocket body, is provided with a chute 3, and a sliding block 4 is arranged in the chute 3; one end of the second hydraulic cylinder, which is away from the rocket body, is hinged with the sliding block 4.
The telescopic arm 1 and the unfolding push rod 2 adopt the form of a hydraulic cylinder, so that the structure is simple, an additional telescopic driver is not needed, the movement is stable in the unfolding or telescoping process of the landing leg structure, the working is reliable, the stable reliability of the rocket in vertical landing is improved, and stable support is provided for the rocket in vertical landing.
According to the landing leg structure for vertical recovery of rocket provided in this embodiment, referring to fig. 1, the angle of the telescopic arm 1 which is extended by sliding obliquely outward in the first direction is between 30 ° and 60 °.
The initial position of the telescopic boom 1 is vertically close to a rocket body, in the unfolding process of the landing leg structure, the telescopic boom 1 starts from vertical downward to an angle of 30-60 degrees below the inclined downward, the angle of the whole unfolding process is small, the stroke is short, the time consumption is short, and therefore the reliability and the stability are greatly improved.
According to the landing leg structure for vertical rocket recovery provided by the embodiment, the landing end of the telescopic arm 1 is provided with the landing foot pad 6, at least two flexible inhaul cables 8 are connected to the landing foot pad 6 and used for forming traction in opposite directions, one end of each flexible inhaul cable 8, deviating from the landing foot pad 6, is connected to a rocket body, and is used for limiting the sliding amount of the telescopic arm 1 when being unfolded through the flexible inhaul cable 8.
Specifically, the landing foot pad 6 and the telescopic arm 1 are fixedly connected through a flange, and cannot move relatively, so that in order to enable the landing foot pad 6 to provide stable support for the whole body after the landing leg structure is unfolded, the landing foot pad 6 is ensured to be horizontally placed on the ground at the moment, and a certain inclination angle exists when the landing foot pad 6 and the telescopic arm 1 are connected, and referring to fig. 2. The landing foot pad 6 is further provided with a connecting hole for connecting the flexible inhaul cables 8, specifically, the left side and the right side of the landing foot pad 6 are respectively connected with at least one flexible inhaul cable 8 to form a group of opposite forces, and the slippage of the landing leg structure is limited under the traction action of the flexible inhaul cables 8, so that the stability and the reliability of the whole system are ensured. The flexible inhaul cable 8 is made of high-strength synthetic fibers, or other high-strength flexible materials or chains made of metal, so that the strength is high enough to bear enough pulling pressure.
According to the landing leg structure for vertical rocket recovery provided by the embodiment, the rocket body is provided with the cable storage box 7 along the circumferential direction, and the cable storage box 7 is arranged between two adjacent telescopic arms 1 at intervals, and one end of the flexible cable 8, deviating from the landing foot pad 6, is connected in the cable storage box 7.
Specifically, the flexible cables 8 are received in the cable receiving boxes 7, and each flexible cable 8 shares one cable receiving box 7 with one flexible cable 8 on its adjacent landing leg, see fig. 1-2. When the landing leg structure is unfolded, the flexible stay rope 8 is pulled out of the stay rope storage box 7 to provide tension; when the landing leg structure is collapsed, the flexible cable 8 is retracted into the cable storage box 7, winding one revolution around the rocket body.
According to the landing leg structure for vertical rocket recovery provided by the embodiment, a winding mechanism is arranged in the guy cable storage box 7 and used for controlling release and winding of the flexible guy cable 8.
The flexible inhaul cable 8 is wound on the roller, is folded and stored in the inhaul cable storage box 7, and is controlled by the winding mechanism to automatically complete the release and winding of the flexible inhaul cable 8 in order to improve the automation of the flexible inhaul cable 8 in the release and tightening process.
Of course, the flexible cable 8 can also be folded into the cable storage box 7 by manual operation after being released, for example, a hand rocker for controlling the rotation of the flexible cable 8 can be connected to the roller, and the flexible cable 8 can be contracted into the cable storage box 7 by manually rocking the hand rocker.
According to the landing leg structure for vertical rocket recovery provided by the embodiment, the buffer 5 is arranged between the ground contact end of the telescopic arm 1 and the landing foot pad 6, and the buffer 5 is connected with the telescopic arm 1 and the landing foot pad 6 through the flange plates, so that the buffer 5 cannot move relative to the telescopic arm 1 and the landing foot pad 6.
By arranging the buffer 5, huge impact force generated in the moment of rocket landing can be buffered, the buffer 5 can adopt a reusable gas/liquid buffer 5 or a spring buffer 5, can also adopt an aluminum honeycomb buffer 5 which cannot be reused, and can also adopt a combination of the above multiple buffering modes.
According to the landing leg structure for vertical recovery of the rocket, which is provided by the embodiment, the bottom of the landing foot pad 6 is provided with the hydraulic supporting legs, the rocket body is provided with the position balance sensor, and the position balance sensor is connected with the hydraulic supporting legs and used for controlling the lifting of the hydraulic supporting legs.
When the rocket is launched or landed, the rocket is usually selected in a place with flat and open topography and stable geological structure, but the topography is not completely guaranteed to be flat, so that the rocket can incline and deviate, and the integral stability is not facilitated.
When the landing leg structure provided by the embodiment is utilized for rocket vertical recovery, the process of unfolding the landing leg structure comprises the following steps: the telescopic arm 1 and the unfolding push rod 2 are stretched step by step, the two processes are not necessarily sequential and can be simultaneously carried out, in the stretching process of the telescopic arm 1 and the unfolding push rod 2, the sliding block 4 on the telescopic arm 1 slides in the T-shaped sliding groove 3, the landing foot pad 6 drives the flexible stay rope 8 to stretch out of the stay rope storage box 7, and after the telescopic arm 1 and the unfolding push rod 2 are stretched in place, the flexible stay rope 8 is stretched to the longest length simultaneously and provides the tensile force generated in the landing process.
In the unfolding process of the landing leg structure, the landing leg structure is unfolded from vertical downwards to the periphery, and the landing leg structure has the advantages of small unfolding angle, short unfolding stroke and short required time; the extension of the telescopic boom 1 and the sliding of the telescopic boom 1 are controlled by two mechanisms respectively and are not mutually coupled, the extension of the telescopic boom 1 is controlled by an internal pneumatic/hydraulic driver or an electromagnetic driver or a hydraulic cylinder of the telescopic boom 1, the sliding of the telescopic boom 1 is driven by the extension of the unfolding push rod 2, the extension of the unfolding push rod 2 can be controlled by the pneumatic/hydraulic driver or the electromagnetic driver or the hydraulic cylinder, the sequence of the two mechanisms does not need to be strictly controlled, the robustness and the reliability of the system are improved, the unfolding push rod 2 is always connected with the telescopic boom 1 in the folding and unfolding states and the unfolding process, the sliding amount of the telescopic boom 1 in the unfolding process is ensured to be controllable, and the telescopic boom 1 is fixed in an auxiliary mode in the folding state. In addition, replace landing leg shell through flexible cable 8, be convenient for accomodate in cable receiver 7 under landing leg structure draws in the state, have light in weight, flexibility and easily buckle, occupy advantage small.
It should be noted that the application of the landing leg structure is not limited to vertical recovery of rockets, but can be applied to vertical landing of other spacecrafts (such as lunar probes, mars probes, manned spacecraft).
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A landing leg structure for vertical recovery of a rocket, comprising:
the telescopic arm (1) is distributed along the circumferential direction of the rocket body, one end of the telescopic arm (1) is hinged with the rocket body, the other end of the telescopic arm (1) contacts the ground, and the telescopic arm (1) can axially extend and retract along the telescopic arm;
the unfolding push rod (2), one end of the unfolding push rod (2) is arranged on the rocket body and can extend and retract along the axial direction of the rocket body; the other end of the unfolding push rod (2) is hinged with the telescopic arm (1) and is used for driving the unfolding and the folding of the telescopic arm (1);
under the driving action of the unfolding push rod (2), the telescopic arm (1) can slide outwards from a first direction and can slide inwards to move back to the first direction;
the landing foot pad (6) is arranged at the ground contact end of the telescopic arm (1), the landing foot pad (6) is fixedly connected with the telescopic arm (1) through a flange, and an inclination angle exists when the landing foot pad (6) is connected with the telescopic arm (1), so that the landing foot pad (6) is horizontally arranged on the ground after the landing leg structure is unfolded;
the left side and the right side of the landing foot pad (6) are respectively connected with at least one flexible stay rope (8) for forming traction in opposite directions, and one end, deviating from the landing foot pad (6), of the flexible stay rope (8) is connected to a rocket body;
a guy cable storage box (7) is arranged on the rocket body along the circumferential direction, the guy cable storage boxes (7) are arranged between two adjacent telescopic arms (1) at intervals, and one end of the flexible guy cable (8) deviating from the landing foot pad (6) is connected in the guy cable storage box (7);
when the landing leg structure is unfolded, the flexible stay rope (8) is pulled out of the stay rope storage box (7) to provide tension; when the landing leg structure is folded, the flexible stay rope (8) is retracted into the stay rope storage box (7) and is wound around the rocket body for one circle.
2. Landing leg structure for vertical recovery of rockets according to claim 1, characterized in that the telescopic arm (1) comprises a multi-stage first sleeve, a chute (3) is arranged on the first sleeve close to the rocket body end, and a sliding block (4) is arranged in the chute (3); the unfolding push rod (2) comprises a multistage second sleeve, and the second sleeve deviating from the rocket body end is hinged with the sliding block (4).
3. A landing leg structure for vertical recovery of a rocket according to claim 2, wherein the multiple stages of the first sleeve and the multiple stages of the second sleeve are driven by internally disposed pneumatic or hydraulic or electromagnetic drives to perform telescoping movements.
4. Landing leg structure for vertical recovery of rocket according to claim 1, characterized in that the telescopic arm (1) adopts a first hydraulic cylinder, the deployment push rod (2) adopts a second hydraulic cylinder, a chute (3) is arranged on one side of the first hydraulic cylinder close to the rocket body, and a sliding block (4) is arranged in the chute (3); one end of the second hydraulic cylinder, which is away from the rocket body, is hinged with the sliding block (4).
5. Landing leg structure for vertical recovery of rockets according to claim 1, characterized in that the angle of deployment of the telescopic arm (1) by the first direction inclined outward slip is comprised between 30 ° -60 °.
6. Landing leg structure for vertical recovery of rockets according to claim 1, characterized in that a winding mechanism is provided in the guy cable housing box (7) for controlling the release and winding of the flexible guy cable (8).
7. Landing leg structure for vertical recovery of rockets according to claim 1, characterized in that a buffer (5) is arranged between the ground contact end of the telescopic arm (1) and the landing foot pad (6), and the buffer (5) is connected with the telescopic arm (1) and the landing foot pad (6) through flanges.
8. Landing leg structure for vertical recovery of rockets according to claim 1, characterized in that the bottom of the landing foot pad (6) is provided with hydraulic support feet, the rocket body is provided with a position balance sensor, and the position balance sensor is connected with the hydraulic support feet for controlling the lifting of the hydraulic support feet.
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| CN202310529247.1A CN116605423B (en) | 2023-05-11 | 2023-05-11 | Landing leg structure for vertical rocket recovery |
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