CN209535508U - Recyclable device for space launch vehicle - Google Patents

Abstract

The utility model provides a kind of recyclable device for space launch vehicle.Recyclable device includes removable recycling platform, actuation mechanism, auxiliary support structure and the controller opened or closed for controlling the actuation mechanism.Wherein the moveable platform is movably arranged within rocket recycling place range, the auxiliary support structure is set to the moveable platform, and the actuation mechanism is after unlatching for driving the auxiliary support structure to execute the Auxiliary support to rocket to be recycled.The recyclable device of the utility model automatically can carry out Auxiliary support to the rocket to be recycled of landing, avoid toppling over and turning on one's side for rocket to be recycled, improve the success rate of rocket recycling.

Description

Recyclable device for space launch vehicle

Technical field

The utility model relates to rocket recovery technology field more particularly to a kind of recyclable devices for space launch vehicle.

Background technique

Rocket recovery technology is a bright jewel in space technology field, is that the comprehensive of space technology strength embodies, because This, also receives the very big concern of each spacefaring nation.The country there is no the liquid rocket recovery scheme for having been put into and using at present. Many successes have carried out the recycling of rocket for the Space X company in the U.S., blue origin company.For example, Space X company exists Rocket recovery technology scheme employed in its transmitting several times recently is: in rocket grade descent, passing through sustainer Igniting, which is realized, slows down, while with the flight attitude of attitude control engine adjustment rocket grade, so that it is guaranteed that rocket is near vertical Posture falls.When rocket grade in whereabouts is close to ground, the supporting leg in rounding state is opened, to keep rocket stable (for example, ground or offshore platform) is supported on landing surface.

Specifically, retractable supporting leg is arranged in the bottom of rocket grade.During rocket flight, supporting leg can To be in rounding state always.After the sub- level work of rocket terminates and separates with rocket body, sustainer shutdown, rocket grade is flown to pre- Fixed launching site of settling in an area or fly back.When close to ground, ignition start, rocket slow down sustainer again.It is landing Front support leg is unfolded and locks under the action of high pressure gas.Rocket grade is contacted to earth moment finally, is controlled by sustainer Speed is reduced to 0, and the supporting leg by being unfolded is stood firm on recycling place or recycling ship.

The control requirement of the vertical recovery technology of this rocket grade, posture and speed when landing to rocket is very high, such as The posture or speed control of fruit rocket grade landing are bad, it is likely that will cause toppling over or exploding for rocket, so as to cause rocket Recycle utter failure.

Utility model content

The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of recycling dress for space launch vehicle Set, can rocket contact platform before or moment, to rocket carry out Auxiliary support, thus avoid rocket topple over and side It turns over, improves the success rate of rocket recycling.

The utility model provides a kind of recyclable device for space launch vehicle, which is characterized in that including moving back It is closed flat platform, actuation mechanism, auxiliary support structure and the controller opened or closed for controlling the actuation mechanism；Wherein institute It states moveable platform to be movably arranged within rocket recycling place range, the auxiliary support structure is set to described removable Moving platform, the actuation mechanism is after unlatching for driving the auxiliary support structure to execute the auxiliary branch to rocket to be recycled Support.

In one embodiment, the auxiliary support structure includes support member and clamp structure；The wherein support portion One end of part is movably disposed in the side of the moveable platform, and the other end is stretched to the direction far from the moveable platform Out；The clamp structure is set to separate described moveable platform one end of the support member, and the clamp structure is used for Rocket to be recycled clamps rocket to be recycled when droping to the moveable platform.

In one embodiment, the moveable platform includes along the guide rail being arranged in juxtaposition, and the actuation mechanism includes solid Surely it is set to the motor of the moveable platform, the controller includes the solenoid valve for controlling electric power switch；The support Component is set to the guide rail by sliding block, and the motor starts described to drive after the solenoid valve receives electric signal Support member is moved along the guide rail, so that the clamp structure executes the clamping to rocket to be recycled.

In one embodiment, the support construction including first group of support construction and is set to first group of support knot First clamping member of structure, second group of support construction and the second clamping piece set on second group of support construction；The sliding block Including the first sliding block and the second sliding block；One end of first group of support construction is set to the guide rail by first sliding block, And one end of second group of support construction is set to the guide rail by second sliding block；The motor is for driving described the One group of support construction and second group of support construction be close to each other or movement away from each other, and in described first clamping member and When second clamping piece is close to each other, the Auxiliary support to rocket to be recycled is formed.

In one embodiment, the side or top surface of first sliding block are equipped with rack structure, and the actuation mechanism is also wrapped The gear for being fixedly installed on the machine shaft is included, the gear is engaged each other with the rack structure, thus in the gear When rotating with the motor, first sliding block is slided by the rack structure in the guide rail.

In one embodiment, described first clamping member and second clamping piece are the arcuate structure to match each other, and It is mutually locked when described first clamping member and second clamping piece are in contact with each other.

In one embodiment, two ends of described first clamping member and two ends of second clamping piece are that This connected structure, and described first clamping member and second clamping piece are plugged and fixed each other after end contacts, it will be wait return Two clamping pieces that receipts rocket is limited to grafting each other are formed by among arcuate structure.

In one embodiment, the guide rail includes that the interior sliding pair that guide rail forms in one pair is formed with a pair of of outer guide Outer sliding pair；First group of support member is slided by interior sliding pair, and second group of support member is sliding by outer sliding pair It is dynamic；Wherein, described first clamping member and second clamping piece are fixed rope or fixing lock, thus in first supporting element and After second supporting element moves towards each other and interlocks, landing is locked in the rocket to be recycled of the moveable platform.

In one embodiment, first group of support member sets gradually multiple first clamping member, institute along its length State second group of support construction and set gradually multiple second clamping pieces for matching the multiple first clamping member along its length, with Multiple tracks fixed point is formed on the length direction of rocket to be recycled.

In one embodiment, pass through screw structure, worm gear structure or connecting rod between the motor and the sliding block Structure connection, is changed into sliding of the sliding block in guide rail for the motor.

The recyclable device of the embodiments of the present invention, Gesture when can reduce to rocket landing significantly, keeps away Exempt from rocket to topple in moment of landing, improves the success rate of rocket recycling.

It is to be understood that above-mentioned general description and following specific embodiments are merely illustrative and illustrative, not The range to be advocated of the utility model can be limited.

Detailed description of the invention

Following attached drawing is the part of specification of the utility model, and the example for depicting the utility model is implemented Example, appended attached drawing are used to illustrate the principles of the present invention together with the description of specification.

Fig. 1 is the block diagram of the rocket recovery system of the utility model embodiment.

Fig. 2-3 is the structural schematic diagram of the recyclable device of the utility model embodiment.

Fig. 4 is that the rotation of engine is changed by a kind of of the utility model embodiment by gear and rack drive mode The structural schematic diagram of the linear movement of clamping piece.

Fig. 5-6 is the structural schematic diagram of the recyclable device of the utility model embodiment.

Specific embodiment

The various exemplary embodiment of the utility model is now described in detail, which is not considered as practical to this Novel limitation, and it is understood as the more detailed description of some aspects to the utility model, characteristic and embodiment.

It, can be to the specific implementation of the utility model specification without departing substantially from the scope of the utility model or spirit Mode does a variety of improvements and changes, this will be apparent to those skilled in the art.By the specification of the utility model Obtained other embodiments are apparent obtain for technical personnel.Present specification and embodiment are only exemplary 's.

Existing liquid rocket recovery technology needs to increase in rocket grade such as 4 telescopic supporting legs, and It is equipped with a set of high pressure gas actuation mechanism.Wherein, high pressure gas actuation mechanism is used in the close landing of rocket grade to be recycled Supporting leg is unfolded when face, undoubtedly increases the complexity and construction weight of rocket system.

In rocket takeoff phase, these mechanisms added are clearly the deadweight useless to rocket flight, reduce rocket Carrying capacity.In addition, using existing rocket recovery technology, it is necessary to the speed of rocket grade in rocket grade descent It is accurately controlled with posture, and so that rocket grade is reduced to 0 in instantaneous speed of contacting to earth, while posture keeps vertical.Similarly, When at sea recycling rocket, other than requirement when the above-mentioned recycling rocket to ground, the requirement to sea situation is also relatively high.For example, Hull for rocket recycling cannot have swing by a relatively large margin when sub- grade rocket lands.

In the section Example of the utility model, only space launch vehicle is replaced to have been described in detail with rocket, but this It is convenient just for the sake of description, it is not intended to limitation the utility model, space launch vehicle also includes with each compared with big L/D ratio Class aircraft, those skilled in the art cannot be restricted explanation to this.

Referring to Fig. 1, rocket recovery system provided by the utility model includes detecting module 100, control module 200 and executes Module 300.Wherein the detecting module 100 is used to receive position and the state of flight information of rocket to be recycled；The control mould Block 200 is used for when the position and state of flight information meet recycling condition, is controlled the execution module 300 and is executed to described The auxiliary of rocket to be recycled recycles.The rocket recovery system of the utility model, can be according to the state of flight of rocket to be recycled, certainly Row matchingly adjusts position and the state of execution module, is treated back with being automatically realized in the recycling place belonging to execution module The reclaimer operation of rocket is received, to improve the probability of success of rocket recycling.

The setting for example, detecting module 100, control module 200 can be separated from each other with execution module 300.For example, visiting It surveys module 100 and control module 200 is set to ground recovery control center, execution module 300 is set to rocket recovery zone.It visits After survey module 100 receives rocket flight information, signal can be transmitted to control module 200, be set to rocket recovery area Domain execution module 300 receives the control signal that control module 200 is sent by the signal receiver of its configuration, and executes corresponding Assist reclaimer operation.Alternatively, detecting module 100 is separated from each other and sets with the control module 200 and execution module 300 being wholely set It sets, i.e., detecting module 100 is set to ground signal and receives center, to receive the flight signal for returning to rocket, control module 200 Rocket recovery zone is integrally provided to execution module 300.In the case, far from the detecting module of rocket recovery zone The 100 rocket flight information that can will be detected, are sent to control module 200, and control module 200 controls execution module 300 and holds Row recycles the auxiliary of rocket to be recycled.

In addition, detecting module 100, control module 200 and execution module 300 can be wholely set, i.e. detecting module 100 It is set in execution module 100 with control module 200, to be moved synchronously with execution module 300, to further improve rocket The degree of automation of recovery system.For example, detecting module 100 may include signal receiver, control module 200 can be to be electrically connected The microprocessor of signal receiver is connect, execution module 300 is mechanical-assisted support construction.

In one embodiment, the control module 200 is for presetting recycling condition.The control module 200 is described When position and state of flight information meet the default recycling condition, Xiang Suoshu execution module 300 sends recovery command.It is described to hold Row module 300 is executed and is recycled to the auxiliary of the rocket to be recycled after receiving the recovery command.For example, control module The threshold range that multiple parameters in rocket removal process can be preset in 200, in these recycling parameters when within threshold range, Control module 200 controls execution module 300 and carries out to the auxiliary recovery operation for returning to rocket.Conversely, control module 200 is in rocket When flight information and default recycling condition are not inconsistent, i.e., any operation is not executed.

For example, detecting module 100 can be in recovery time, real-time continuous sounding rocket flight information, and in real time will be fiery Flight information is compared with default recycling condition, to execute corresponding operation.In the case, it presets in recycling condition Threshold parameter (for example, position, flight attitude and speed of rocket grade to be recycled) of setting etc. can be and time correlation Function, control module 200 exist according to the rocket grade flight information of real-time reception with each parameter in corresponding default recycling condition The range at the moment compares, and executes subsequent operation.

In one embodiment, it is ensured that first condition that rocket grade successfully recycles is: the default recycling condition packet The relative position for including rocket to be recycled and the execution module 300 can be recycled in range.Ensure what rocket grade successfully recycled Second condition is: flight attitude and flying speed of the rocket to be recycled when apart from ground first distance, which meet recycling, to be wanted It asks.

It nearby (is returned for example, the execution module 300 of rocket recovery system or rocket recovery system can be deployed in recovery site End nearby with block motion available to execute recovery zone), execution module 300 can in recovery zone flexible motion. After the separation of the sub- grade of rocket one, gravity fall is leaned on, and after the certain altitude of whereabouts, passes through main engine ignition reduction of speed.In order to Enough ensure the recycling of the sub- grade of rocket one, the drop zone of a sub- grade must be in recovery zone.Rocket grade i.e. to be recycled with hold (range, which is also included within the sub- grade of rocket one, can lean on it before landing in recyclable range for the relative position of row module 300 Lateral motion capability is moved to the top of recyclable range, and therefore, while a sub grade rocket has lateral ability, this can be returned It receives projected area of the range on ground and is greater than the area that region can be recycled in the ground moved for execution module).

Equally, with the whereabouts of rocket grade to be recycled, and ground recovery zone is moved closer to, the posture of the sub- grade of rocket one Its final recycling state should be moved closer to, and (close to ground, the other side keeps vertical far from ground as far as possible for sustainer side State).For example, the angle of axis and gravity direction is not more than 30 degree in the case where above-mentioned first distance is less than 500 meters. Further, when with ground distance drops within 100 meters rocket to be recycled, which is not more than 10 degree.To be recycled When rocket and ground distance are dropped within 50 meters, which is not more than 3 degree, when ensuring that rocket grade to be recycled has enough Between adjust to final recycling state.In addition, the sub- grade of rocket one, in recycling moment, speed is reduced to and execution module 300 as far as possible The degree of rocket part will not be damaged when contact impact.And preferably, rocket grade to be recycled speed with execution module 300 The moment of contact is reduced to 0.

In one embodiment, for example, execution module 300 can flexibly move in the recovery zone of ground, and in order to hold Row module 300 can carry out Auxiliary support to rocket to be recycled, and rocket grade to be recycled should move to execution mould before recycling The surface of block 300.The control module 200 crosses according to the executable module 300 and the longest of the rocket to be recycled (cross and refer to rocket motion to be recycled to the surface of execution module) distance calculates the recyclable range of rocket grade, wherein longest The distance that crosses refers to before rocket grade to be recycled landing, and execution module 300 and rocket grade to be recycled are crossed speed with maximum Move to the distance that (surface that rocket grade to be recycled is located at execution module) pass through along recovery zone that crosses each other.Wherein institute State projected position of the executable module 300 with the rocket grade to be recycled on ground be greater than longest cross apart from when, it is to be recycled Rocket is not in the recyclable range.Executable module 300 is at a distance from the rocket to be recycled is between the projection on ground Less than or equal to the longest cross apart from when, the sub- grade of rocket to be recycled is in recyclable range.And consider fire to be recycled Arrow grade grade may need to carry out pose adjustment above execution module, it is preferable that executable module 300 with it is described to be recycled Distance of the rocket between the projection on ground is less than the longest and crosses distance, thus for execution module and rocket grade to be recycled Pose adjustment and rocket grade execution module landing and execution module auxiliary recycling movement provide it is enough when Between.

It should be noted that if rocket grade to be recycled can not drop to recovery zone, for example, even if starting traversing hair When motivation can not also drop to recovery zone, the auxiliary that the recovery system of the utility model embodiment can not carry out rocket grade is returned It receives.

The rocket recovery system of the utility model embodiment, by according to rocket to be recycled and execution module it is opposite away from From, with a distance from the maximum speed, ground recovery zone and the longest that move cross each other, can accurately judge the recyclable of rocket Property, so that sub- grade rocket is avoided to be unsatisfactory for recycling when requiring, damage when avoiding recycling rocket by force to recovery system.

In one embodiment, 100 pieces of mould of the detection is for detecting flight attitude and the flight of the rocket to be recycled Speed, and in the first distance when within 500 meters, the flight attitude of the rocket to be recycled meets the tail of rocket engine Portion is close to earth surface, and head is far from earth surface, and the vertical component of the flying speed is less than 10 meter per seconds.First away from When from less than 10 meters, the vertical component of the flying speed of sub- grade to be recycled is less than 1 meter per second.The embodiments of the present invention pass through Flight attitude and speed of the sub- grade rocket apart from ground certain distance when are further detected, the success of rocket recycling can be improved Rate avoids rocket from toppling or crash.

In one embodiment, the control module 200 is used for according to the rocket to be recycled and the execution module 300 Relative position, the flying speed and heading of the rocket to be recycled, calculate the execution module 300 movement velocity and The direction of motion, and control the execution module 300 and transported in opposite directions with the movement velocity and the direction of motion with the rocket to be recycled It is dynamic.For example, detecting module 100 can be calculated in real time with the flying speed of real-time detection rocket to be recycled, heading and position The movement velocity and the direction of motion of execution module 300, from before rocket grade to be recycled landing, execution module 300 can be moved To the underface of rocket grade.

In this embodiment, control module 200 can be divided into coarse adjustment to the control of 300 movement velocity of execution module and direction Stage and accurate adjustment stage.In coarse tuning stage, for example, in sub- grade rocket apart from ground farther out (for example, in sub- grade rocket apart from ground 500 meters or more) when, control module 200 can according to the horizontal movement direction of sub- grade rocket, control execution module 300 along with this The opposite direction of horizontal movement direction is towards sub- grade rocket motion to be recycled.At this stage, control module 200 need not be to execution mould The direction of motion and speed of block accurately adjust in real time, therefore, reduce required data processing amount, improve the fortune of control module Speed is calculated, the energy consumption that rocket grade frequently turns to is also avoided.For example, at this stage, detecting module 100 can be with space-number The direction of motion and speed of one second son grade rocket of second detection, the direction of motion and sub- grade fire of the control module 200 in execution module 300 Arrow direction difference less (for example, line substantially on the same line or angle is within 20 degree) when, without change execution mould The current direction of motion of block.

In the accurate adjustment stage, for example, as sub- grade rocket moves closer to ground (for example, in sub- grade rocket apart from 300 meters of ground Within) when, control module can adjust execution according to the current location and ground level project motion direction of sub- grade rocket in real time The direction of motion of module 300, so that it is guaranteed that at any time, the movement of the direction of motion of execution module 300 and rocket to be recycled Point-blank, and control module 200 can be according to the floor projection of execution module 300 and sub- grade rocket for the line in direction Relative distance be gradually reduced and reduce the movement velocity of execution module 300, to ensure that sub- grade rocket accurately drops to execution mould Near collection centre on block 300.

In this embodiment, if execution module 300 and sub- grade rocket cross, the two vertical direction still have it is larger away from When from (i.e. in intersection, execution module reaching ground recovery point prior to sub- grade rocket), execution module 300 can be in sub- grade rocket Underface fix, and it is zero that sub- grade rocket, which adjusts its lateral velocity, so that sub- grade rocket slowly falls to execution module 300. Such case can reserve more time adjustment oneself states to execution module, sub- grade rocket, to further decrease rocket Recovery difficult.

For example, in order to make execution module 300 prior to sub- grade rocket motion to be recycled to recovery zone, detecting module 100 is used In the position of real-time detection rocket to be recycled, movement velocity and flight attitude, control module 200 can be according to position, movement speed Degree and flight attitude information, adjust the movement of the execution module to and directional velocity, with ensure execution module 300 can to The recovery position of ground recovery zone is moved to before recycling rocket, and after adjusting its posture, pending treat is waited to recycle fire The Auxiliary support of arrow.

Referring to fig. 2, in one embodiment, execution module 300 can be recyclable device.Specifically, recyclable device can be with It opens including removable recycling platform 301, actuation mechanism 302, auxiliary support structure 303 and for controlling actuation mechanism 302 Or the controller closed.Wherein the moveable platform 301 is set within the recovery zone of ground, initial position can to Near the predetermined landing place for recycling sub- grade rocket, to reduce the move distance of execution module 300, it is ensured that moveable platform 301 It is moved to the underface of the sub- grade rocket of return as soon as possible.The auxiliary support structure 303 is set to the moveable platform 301, the actuation mechanism 302 is after unlatching for driving the auxiliary support structure 303 to execute the auxiliary to rocket to be recycled Support.The recyclable device of the utility model embodiment can be opened automatically by the received electric signal of controller and make motivation Structure avoids rocket to be recycled in descent so that auxiliary support structure execution be driven to assist recycling to rocket to be recycled It topples, and then improves the probability of igneous function recycling.

For example, moveable platform 301 is equipped with engine and wheeled construction driven by the engine, it is closed flat so as to move back to The wheeled construction driving moveable platform 301 that platform 301 can be set to one side by engine driving is transported in recovery zone It is dynamic.For example, moveable platform can be after the information by receiving Beidou, the navigation system such as GPS in the final position of emitting area It is accurately controlled by the vehicle control system of moveable platform 301.

For example, anchor structure can be set in the close ground side of moveable platform 301, moved in moveable platform 301 When to recovery position, the ground of (piercing) below is entered by its anchor structure, it is avoided to move in the horizontal direction It is dynamic.Specifically, anchor structure can be the scalable electric drill structure for being fixed at 301 lower section of moveable platform, removable flat After the movement in place of platform 301, electric drill can high speed rotation driven by the motor, pierce ground depths and supported.Preferably, may be used 4-10 electric drill support construction can be evenly arranged below mobile platform 301, to further increase the steady of moveable platform 301 It is qualitative.The auxiliary support structure 303 is fixedly installed on the moveable platform 301, and the actuation mechanism 302 is for receiving The recovery command that control module 200 is started, and after receiving recovery command signal, drive the auxiliary support structure 303 to hold Auxiliary support of the row to rocket to be recycled.

As shown in figure 3, in one embodiment, for example, the surface of the moveable platform 301 include along first direction simultaneously Column are arranged in the first guide rail 3011 of moveable platform 301.One end of two support constructions 303 is slidably disposed on guide rail In 3011, the other end is equipped with clamping piece 3031.Two support constructions 303 can be led under the action of actuation mechanism 302 along first Rail movement, thus each other set on two clamping pieces 3031 of the support construction other end when two support constructions 303 are close to each other Fasten the clamping realized to rocket grade.

For example, the first guide rail 3011 may include sliding slot, one end of support construction 303 is fixedly connected with sliding block, and sliding block is matched It is placed in sliding slot, in effect of the sliding block by power in the horizontal direction, support construction can be driven to transport along the first guide rail 3011 It is dynamic.In order to further increase stability of the support construction 303 on guide rail, two medial surfaces of sliding slot include the cooperation of indent Portion, and sliding slot bottom surface may include the auxiliary section of protrusion, sliding block includes positioned at the protrusion of its two sides and in lower surface Recess portion, so that the auxiliary section of two indents is inserted by the protruding portion of its two sides, and inner fovea part enters the protrusion of sliding slot bottom surface, Realize that sliding slot and stablizing for sliding block cooperate.Those skilled in the art can be with, and the inner fovea part and protrusion of sliding slot and sliding block can also be with It exchanges each other or the two may include the fit structure of more indents and evagination, further increase sliding block and sliding slot cooperates Stability, thus improve support construction to return rocket support stability.In addition, in order to improve the flexible of sliding block movement Property, sliding pearl or coating lubricant etc. can be set in the contact portion of sliding slot and sliding block.

Referring to fig. 4, actuation mechanism 302 may include the gear 3022 of motor 3021, the cooperation rotation of motor 3021, sliding block The rack gear for cooperating with gear 3022 can be set in 3032 lateral surface.For example, controller may include solenoid valve, solenoid valve It can control motor 3021 when being powered to open, and can control the closing of motor 3021 when power is off.The energization of solenoid valve and disconnected Electric signal can be sent by ground control system, can also be by the above-mentioned control module of recyclable device according to rocket to be recycled and fire The relative positional relationship of arrow recyclable device is voluntarily sent.Wherein, engine 3021 is fixedly installed on moveable platform 301, and sends out The shaft of motivation 3021 can be approximately perpendicular to moveable platform 301.The radial direction of gear 3022 can with where rack gear Surface is vertical, in the case where the side of sliding block is equipped with rack gear, the side of the radial direction of gear 3022 perpendicular to sliding block 3022 If (rack gear of sliding block is located at top surface, and the gear 3022 that engine 3021 drives can be engaged biography with rack gear from the surface of rack gear It is dynamic), and gear 3022 is engaged with rack gear.As shown, gear 3022 drives when driven by engine gear is rotated along the direction S1 S2 is moved sliding block 3032 equipped with rack gear along above-mentioned first guide rail 3011 in the horizontal direction.For example, existing in two support constructions 303 It can be precisely the position that two clamping pieces 3031 are engaged each other when the limit of sports record position of sliding block 3032 when moving toward one another, from And rocket grade is limited on moveable platform by the clamping piece being engaged each other.

In this embodiment, after the power switch of motor 3021 is opened by solenoid valve, pass through the rotation of motor 3021 And the transmission of transmission mechanism, motor 3021 is changed into sliding of the support construction 303 on the first guide rail 3011, and can With when supporting element 303 moves to the extreme position for clamping rocket to be recycled, engine 3021 can voluntarily stop operating.Example Such as, sensor can be set in the limit clip position on guide rail of sliding block 3032, to touch sensor in sliding block 3032 When, sensor will pass to solenoid valve by signal in place, so that solenoid valve closes the power supply of motor 3021.For example, two clamping pieces 3031 also can be set pressure sensor for clamping the inside of rocket to be recycled, so that the pressure in pressure sensor reaches one After definite value, solenoid valve closes the energizing source of motor 3021, to avoid clamping piece to damaging on the outside of rocket.

For example, may be turbine and worm machine by the mechanism for being converted to movement of the sliding block along the first guide rail of engine Structure, screw mechanism, crank mechanism, cam mechanism or chain transminssion mechanism etc..

In this embodiment, for example, as shown in figure 5, clamping piece 3031 connects moveable platform by rod-like members 3033 301 sides, wherein when two rod-like members 3033 are moved along the first guide rail 3011, clamping piece 3031 is driven to press from both sides to another Gripping member 3031 moves, and realizes the Auxiliary support to rocket by the outer surface of contact shoe grade rocket.For example, each clamping piece 3031 be the semi arch structure (diameter that its diameter can be greater than rocket grade) that can match rocket grade periphery, at two the When one clamping piece is moved in place, the part of clamping rocket periphery constitutes the fixation circular arc of matching rocket periphery.This is practical new The enhancement rocket recovery device of type embodiment can will be drop to removable by moving toward one another for two clamping pieces from the two sides of rocket The rocket of moving platform is fixed, it is avoided to topple in landing.

For instance, it is preferred that two clamping pieces 3031 are the arcuate structure to match each other, and one of clamping piece 3031 Arcuate structure is equipped with the inner hole along its circumferential direction, two a quarter segmental arcs of the arcuate structure of another clamping piece 3031 Size and shape matches corresponding inner hole respectively, thus when two first clamping member 3031 move towards each other, one of them The clamping end of clamping piece can be goed deep into the inner hole of another clamping end, and sub- grade rocket is limited within two clamping ends. For example, two clamping piece sizes can greater than rocket diameter, for example, being 2-10 times of rocket diameter, thus reduced rocket The required precision that sub- grade is landed on moveable platform improves the success rate of rocket grade recycling.

As shown in fig. 6, in this embodiment, for example, rod-like members 3033 can be multiple in the fixation of its length direction interval Clamping piece 3031, thus when rod-like members 3033 drive clamping piece 3031 to move towards each other, it can be to rocket grade along axis The multiple groups clamping that interval is formed to direction, improves stability of the rocket grade on moveable platform.

In this embodiment, for example, a surface of moveable platform 301 may include being arranged in parallel along first direction Two pairs of guide rails, wherein a pair of guide rails in inside forms interior sliding pair, a pair of guide rails in outside constitutes outer sliding pair.Example If a pair of of clamping piece 3031 can be used for along interior sliding secondary motion, another pair clamping piece 3031 can be along outer sliding secondary motion.Example Such as, a pair of of clamping piece 3031 can be fixing lock or fixed rope, and another pair clamping piece 3031 can be fixing lock or fixed rope, Two pairs of clamping pieces 3031 move toward one another, and continue to move along former direction after crossing, so that fixing lock or fixed rope can will be sub Grade rocket fastens.Since fixing lock and fixed rope have the performance of changeability, using this structure, led inside and outside first pair Rail and spaced second pair of interior outer guide can have biggish distance, to can have bigger general in rope movement Rate locks the sub- grade rocket for dropping to moveable platform, and since the dimensional instability of rope can be preferably according to falling rocket Posture and position provide appropriate tensile force, improve the rocket recycling probability of success.

As previously mentioned, along the rod-like members 3033 of interior sliding pair sliding and 3033 edge of rod-like members of outer sliding pair sliding Multiple fixing locks or fixed rope can be respectively set in length direction, to pass through when rocket grade drop to moveable platform Along the multiple groups fixing lock or fixed rope of drive its length direction setting of rod-like members 3033 of interior sliding secondary motion and along outer cunning The multiple groups fixing lock or fixed rope that the rod-like members of dynamic secondary motion drive its length direction to be arranged, can be along the axial direction of rocket grade Direction forms multiple tracks bondage, so that it is guaranteed that rocket grade stablizes recycling on moveable platform.

In one embodiment, for example, the surface of the moveable platform 301 includes being arranged in parallel at institute along first direction The first guide rail 3011 for stating moveable platform 301 and the second guide rail for being arranged in parallel at the moveable platform in a second direction. The actuation mechanism 302 includes the motor 3021 for being set to the moveable platform 301.The support construction 303 includes first Clamping piece and the second clamping piece, described first clamping member and second clamping piece are used to clamp the middle part of the rocket to be recycled More than.First clamping member described in two of them passes through rod-like members in the first guide rail respectively, and two first clamping member exist It is spaced each other on the first direction, under the drive of the motor 3021, two described first clamping member are in rod-like members It is moved towards each other under drive, in said first direction, fire to be recycled described in the sandwich from the rocket to be recycled Arrow.Two second clamping pieces pass through rod-like members in the second guide rail respectively, and two second clamping pieces are in institute It states and is spaced each other in second direction, under the drive of the motor, rod-like members drive two second clamping pieces phase each other To movement, in this second direction, rocket to be recycled described in the sandwich from the rocket to be recycled.For example, two Second clamping piece is different in the clip position of the axial direction of rocket from two first clamping member, thus by rocket grade shape At multipoint clamping in the axial direction, the reliability of rocket grade recycling is improved.

As previously mentioned, two first clamping member can be the semicircle to match each other, arcuate structure, and the end of the two can be with For the structure plugged together each other.Two the second clamping pieces can be the semicircle to match each other, arcuate structure, and the end of the two can be with For the structure plugged together each other.

In this embodiment, for example, the rod-like members that two first clamping member are fixedly connected are set to the one of the first guide rail End can drive first clamping member to move along the rail under horizontal applied force.Equally, two the second clamping pieces are fixedly connected One end that rod-like members are set to the second guide rail can move under the action of horizontal applied force along the second guide rail.For example, horizontal make It can firmly be realized by motor mate gear rackwork, synchronous belt mechanism or screw structure.Wherein, gear and rack teeth mechanism, Motor can be changed into linear motion of the rod-like members in guide rail by synchronous belt mechanism or screw body.

It should be noted that the starting of the actuation mechanism (such as engine) of the utility model, it both can be by receiving fire The enabling signal of arrow recovery control system starts, and can also start taking human as the mode that long-range control engine is powered.For example, starting After rotation, limit of sports record position is at least to execute the position effectively clamped to rocket to be recycled to machine.That is, hair Motivation need to only receive Auxiliary support enabling signal, and clamping piece can be driven to execute the clamping to rocket to be recycled when rotated. For example, that is, (clamping piece is to rocket-shaped to be recycled for the slide block movement of driven by engine to extreme position after clamping piece movement in place At the position of stable holding) after, engine can stop operating.For example, sensor is arranged in extreme position, in slide block movement to pole When extreme position, contact sensor, so that sensor will pass to solenoid valve by signal in place, solenoid valve closes the power supply electricity of engine Road, thus engine stall.

The embodiments of the present invention, the posture by using recyclable device, when can reduce to rocket landing significantly It is required that rocket is avoided to topple in moment of landing, the success rate of rocket recycling is improved.

The recyclable device and system of the utility model can cooperate the existing rocket using supporting leg supporting way, but can The rocket grade for opening supporting leg is matched to the partial response for rocket recycling landing of mobile platform, to further increase example The success rate recycled such as rocket grade.

The above descriptions are merely exemplary embodiments of the present utility model, in the design that does not depart from the utility model and Under the premise of principle, the equivalent changes and modifications that any those skilled in the art is made should belong to the utility model guarantor The range of shield.

Claims (10)

1. a kind of recyclable device for space launch vehicle, which is characterized in that including removable recycling platform, actuation mechanism, auxiliary The controller for helping support construction and being opened or closed for controlling the actuation mechanism；

Wherein the moveable platform is movably arranged within rocket recycling place range, the auxiliary support structure setting In the moveable platform, the actuation mechanism is after unlatching for driving the auxiliary support structure to execute to rocket to be recycled Auxiliary support.

2. recyclable device according to claim 1, which is characterized in that the auxiliary support structure includes support member and folder Hold structure；Wherein one end of the support member is movably disposed in the side of the moveable platform, and the other end is to separate The direction of the moveable platform is stretched out；The clamp structure is set to the separate moveable platform one of the support member End, and the clamp structure is for clamping rocket to be recycled when rocket to be recycled drop to the moveable platform.

3. recyclable device according to claim 2, which is characterized in that the moveable platform includes leading along what is be arranged in juxtaposition Rail, the actuation mechanism include the motor for being fixedly installed on the moveable platform, and the controller includes control motor power The solenoid valve of switch；The support member is set to the guide rail by sliding block, and the motor receives electricity in the solenoid valve Start after signal to drive the support member to move along the guide rail, so that the clamp structure is executed to rocket to be recycled Clamping.

4. recyclable device according to claim 3, which is characterized in that the support construction include first group of support construction with And first clamping member set on first group of support construction, second group of support construction and be set to second group of support construction The second clamping piece；The sliding block includes the first sliding block and the second sliding block；One end of first group of support construction passes through described First sliding block is set to the guide rail, and one end of second group of support construction is set to the guide rail by second sliding block；

The motor is close to each other or away from each other for driving first group of support construction and second group of support construction Movement form the auxiliary branch to rocket to be recycled and in described first clamping member and second clamping piece close to each other Support.

5. recyclable device according to claim 4, which is characterized in that the side or top surface of first sliding block are equipped with rack gear Structure, the actuation mechanism further include the gear for being fixedly installed on the machine shaft, the gear and the rack structure that This occlusion, so that first sliding block is by the rack structure in the guide rail when the gear is rotated with the motor Sliding.

6. recyclable device according to claim 4 or 5, which is characterized in that described first clamping member and second clamping Part is the arcuate structure to match each other, and is mutually locked when described first clamping member and second clamping piece are in contact with each other.

7. recyclable device according to claim 6, which is characterized in that two ends of described first clamping member and described Two ends of two clamping pieces are connected structure each other, and described first clamping member and second clamping piece are used for grafting each other It is fixed, two clamping pieces that rocket to be recycled is limited to grafting each other are formed by among arcuate structure.

8. recyclable device according to claim 4, which is characterized in that the guide rail includes the interior cunning that guide rail forms in one pair The outer sliding pair of dynamic secondary and a pair of of outer guide composition；First group of support member is slided by interior sliding pair, and described second group Support member is slided by outer sliding pair；Wherein, described first clamping member and second clamping piece are fixed rope or fixing lock, After moving towards each other and interlocking in first group of support construction and second group of support construction, it will land in described The rocket to be recycled of moveable platform is locked.

9. recyclable device according to claim 4, which is characterized in that first group of support member is along its length successively Multiple first clamping member are set, and second group of support construction sets gradually the multiple first clamping member of matching along its length Multiple second clamping pieces, on the length direction of rocket to be recycled formed multiple tracks fixed point.

10. recyclable device according to claim 3, which is characterized in that pass through lead screw between the motor and the sliding block Structure, worm gear structure or link mechanism connection, are changed into cunning of the sliding block in guide rail for the motor It is dynamic.