CN216745742U

CN216745742U - Servo control propeller recovery rocket system

Info

Publication number: CN216745742U
Application number: CN202220505300.5U
Authority: CN
Inventors: 薛子旺; 王英诚; 明爱珍
Original assignee: Beijing Zhongke Aerospace Technology Co Ltd
Current assignee: Beijing Zhongke Aerospace Technology Co Ltd
Priority date: 2022-03-08
Filing date: 2022-03-08
Publication date: 2022-06-14
Anticipated expiration: 2032-03-08

Abstract

The application provides a rocket system is retrieved to servo control screw, this system sets up the top at the arrow body, and this system includes: the propeller control device comprises a propeller, a propeller rotation control device, a blade extension control device and an angle inclination control device; the propeller is connected to the propeller rotation control device, and the propeller rotation control device is arranged at the top of the arrow body; the propeller is arranged at the edge of the turntable; the propeller comprises a plurality of blades, and the angle inclination control device and the blade extension control device are arranged on the turntable and are connected with the blades; the side part of the rocket body is provided with a containing groove, and the blades are contained in the containing groove when the rocket ascends; and under the rocket recovery state, the blade extension control device drives the blades to move out of the accommodating groove. The rocket attitude correction device realizes change of the flight direction of the rocket, corrects the attitude of the rocket, lands at a point and meets normal recovery.

Description

Servo control propeller recovery rocket system

Technical Field

The application relates to the technical field of rocket recovery, in particular to a servo control propeller recovery rocket system.

Background

At present, liquid fuel is often used for supplying an engine to a recovery rocket, and a control system is used for changing the direction of an engine nozzle so as to recover the rocket. The method for recovering the rocket has the defects that: too many pipeline systems of engine are comparatively complicated, and the design process is loaded down with trivial details, and the liquid pipeline is more, and the commonality is not strong, causes the wasting of resources and the security coefficient is low, and design cycle time is long.

In addition, there are several problems with the recovery rocket systems currently in use that need to be improved and enhanced:

first, in terms of direction: the rocket nozzle direction is fixed. Only one high-speed fluid flows out, the direction is controlled according to the swing angle range of the engine, a single rocket cannot be controlled according to requirements, and the whole rocket needs to be controlled in a matching way, so that the system complexity is high.

Second, in terms of number and complexity of installations: thrust direction changes, need at rocket body surface mounting rocket engine, can accomplish thrust direction change's control requirement through system cooperation control, consequently need arrange in each direction, longitudinal arrangement, horizontal arrangement, wait the multi-direction rocket engine of arranging to influence the cooperation that the structure arranged space and solenoid valve, increase equipment and weight, increase unsafe factor.

Thirdly, in the aspect of a mounting attitude and orbit control system: the attitude and orbit control system needs to control the gas cylinder, the pipeline and the valve to complete the attitude control of the rocket. In the arrow body limited space, supporting equipment such as gas cylinders, pipelines, valves and the like needs to be arranged. Particularly, the process of welding or connecting a pipeline system is uncertain, the safety factor of the whole rocket is reduced, meanwhile, the arrangement of the pipeline and the gas cylinder influences the matching arrangement space of the electromagnetic valve, the equipment amount is increased, and unsafe factors are increased.

Fourth, in terms of process requirements: the number of the installation parts is large, and the pipeline arrangement and the installation process are complex. The utilization rate of the rocket is low, the randomness of the structural failure is high, and the safety is difficult to guarantee.

Fifth, fuel side: the fuel is carried more, the weight and the space of the storage box are increased, the volume and the mass of the rocket body are increased, and the recycling difficulty is increased.

Therefore, how to provide a recovery rocket system which reduces the volume of the whole rocket, realizes the change of the flight direction of the rocket, corrects the posture of the rocket, lands at a point and meets the requirement of normal recovery is a technical problem which still needs to be solved at present.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a servo control screw recovery rocket system reduces the volume of whole rocket, realizes that the rocket flight direction changes, revises the rocket gesture, and the landing arrives the point, satisfies normal recovery.

To achieve the above object, the present application provides a servo-controlled propeller recovery rocket system disposed at the top of a rocket body, the system comprising: the propeller control device comprises a propeller, a propeller rotation control device, a blade extension control device and an angle inclination control device; the propeller is connected to the propeller rotation control device, and the propeller rotation control device is arranged at the top of the arrow body; the propeller comprises a plurality of blades, and the angle inclination control device and the blade extension control device are arranged on the turntable and are connected with the blades; the side part of the rocket body is provided with a containing groove, and the blades are contained in the containing groove in the rocket ascending state; and in the rocket recovery state, the blade extension control device drives the blades to move out of the accommodating groove.

The above, wherein the propeller rotation control device comprises a servo motor, a turntable, and a rotating base; the propeller is arranged at the edge of the rotary disc; servo motor fixes the top of the arrow body, the tip of rotatory foundation column with servo motor's output fixed connection, rotatory foundation column is kept away from servo motor's one end with carousel fixed connection, servo motor rotates, drives rotatory foundation column with the carousel rotates, the carousel drives the screw rotates.

As above, the blade extension control device includes a telescopic screw mechanism, a blade connection spherical control mechanism and a base, the telescopic screw mechanism is arranged above the turntable along the diameter direction of the turntable, one end of the telescopic screw mechanism is connected with the rotary base column, and the other end of the telescopic screw mechanism is rotatably connected with the blade connection spherical control mechanism; the blade connecting spherical control mechanism is rotatably connected to the base; the base is fixed on the edge of the turntable; the blade is connected with the blade connecting spherical control mechanism.

The angle and inclination control device is connected with the telescopic screw rod mechanism, the end part of the telescopic screw rod mechanism far away from the rotary base column is connected with the control block, and the control block is connected with the blade connecting spherical control mechanism.

The blade connecting spherical control mechanism is rotatably connected to the base through a universal ball mechanism.

The blade connecting spherical control mechanism is provided with a spherical groove, and the base is fixed with a universal ball which is rotatably connected in the spherical groove.

As above, the control block has a slot, a cross bar is fixed on the inner wall of the slot, the blade connecting spherical control mechanism has a limiting through groove, and the cross bar is connected in the limiting through groove of the blade connecting spherical control mechanism in a limiting manner.

As above, wherein, telescopic screw mechanism includes telescopic screw, nut piece and telescopic screw sleeve, nut piece fixed connection be in telescopic screw sleeve, telescopic screw sets up in the telescopic screw sleeve, and with nut piece threaded connection, telescopic screw keeps away from the end connection control block of rotatory foundation column.

As above, wherein the angular tilt control means comprises a drive motor, a drive gear and a driven gear; the driven gear is sleeved on the outer wall of the telescopic screw rod mechanism, the driving gear is meshed with the driven gear and is connected with the driving motor.

As above, wherein the driving gear and the driving motor are disposed below the driven gear, and the driving motor is connected to the battery through a cable.

The beneficial effect that this application realized is as follows:

(1) the propeller opening and closing control device realizes the opening and closing of the propeller through a simple servo control structure; the angle inclination control device realizes the adjustment of the blade angle, realizes the recovery of the rocket, can effectively shorten the operation time in the manufacturing and installation processes of the recovery rocket system, reduces the assembly difficulty, and improves the connection efficiency and reliability.

(2) The angle inclination control device can realize multi-directional control, change the flight direction of the rocket by changing the angle of the propeller, and realize the function of correcting the posture of the rocket, thereby realizing the control of landing at a point and meeting the requirement of normal recovery.

(3) This application realizes the adjustment of blade angle through adopting universal ball mechanism for the adjustment of blade angle is convenient nimble more.

(4) This application installing component is small in quantity, and the piping arrangement and mounting process are simple, and rocket structure trouble randomness is little, and the security is high, in the aspect of the fuel: less fuel is carried, the weight of the rocket and the space of the storage box are reduced, the size and the mass of the rocket body are reduced, and the recycling difficulty is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.

Fig. 1 is a schematic structural diagram of a servo-controlled propeller recovery rocket system connected with a rocket body according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a servo-controlled propeller recovery rocket system according to an embodiment of the present application.

FIG. 3 is a schematic structural view of a blade extension control device and an angular pitch control device according to an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a control block according to an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a blade attachment spherical control mechanism according to an embodiment of the present application.

Fig. 6 is a schematic view illustrating the opening of the propeller according to the embodiment of the present application.

Reference numerals: 1-a propeller; 2-propeller rotation control means; 3-a blade extension control device; 4-angular tilt control means; 5-a universal ball mechanism; 6-a storage groove; 11-a first blade; 12-a second blade; 13-a third blade; 14-a fourth blade; 21-a control mechanism housing; 22-a turntable; 23-rotating the base pillar; 31-a telescopic screw mechanism; 32-blade connection spherical control mechanism; 33-a base; 35-a control block; 41-driven gear; 42-a drive gear; 43-an active motor; 44-a cable; 100-servo control of a propeller recovery rocket system; 200-arrow body; 300-a flight engine; 311-telescopic screw sleeve; 312-a telescopic screw; 321-limiting through grooves; 322-ball groove; 331-a fixing bar; 332-a first fixing plate; 333-a second fixing plate; 351-slotting; 352-cross bar; 3211-a first limit end; 3212-a second limit end.

Detailed Description

The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

As shown in fig. 1 to 6, the present application provides a servo-controlled propeller recovery rocket system 100, which is disposed on the top of a rocket body 200, and a flying motor 300 is disposed on the bottom of the rocket body 200, wherein the flying motor 300 provides lift force for rocket ascent, and the servo-controlled propeller recovery rocket system 100 comprises: a propeller 1, a propeller rotation control device 2, a blade extension control device 3, and an angle tilt control device 4; the propeller 1 is connected to the propeller rotation control device 2, and the propeller rotation control device 2 is arranged at the top of the arrow body 200; the propeller 1 comprises a plurality of blades, and the angle inclination control device 4 and the blade extension control device 3 are arranged on the propeller rotation control device 2 and are connected with the blades; the side of the arrow body 200 is provided with a receiving groove 6.

In the rocket ascending state, the blades are accommodated in the accommodating grooves 6 on the side portions of the rocket body 200, so that the propeller 1 does not generate resistance during the rocket ascending process, thereby facilitating the rocket ascending. Under the rocket recovery state, the blade extension control device 3 drives the blades to move out of the accommodating groove 6, so that the propeller 1 is opened, the angle inclination control device 4 adjusts the blade angle to be in a proper angle, the propeller rotation control device 2 is started to drive the propeller 1 to rotate at a high speed, lift force is provided for the rocket body 200, flight lift force is provided for rocket recovery, and whole rocket recovery is realized.

As shown in fig. 2, the propeller rotation control device 2 includes a servo motor, a turntable 22, and a rotating base 23; the propeller 1 is arranged at the edge of the turntable 22; servo motor fixes the top at arrow body 200, servo motor connects servo control system, servo motor and servo control system set up in control mechanism casing 21, control mechanism casing 21 fixes the top at arrow body 200, the tip of rotatory base pillar 23 and servo motor's output fixed connection, servo motor rotates and drives rotatory base pillar 23 and rotate, the center of rotatory base pillar 23 has the through-hole, servo motor's one end and carousel 22 and the 3 fixed connection of blade extension controlling means are kept away from to rotatory base pillar 23, carousel 22 parallel arrangement in arrow body 200's top, servo motor rotates, drive rotatory base pillar 23 and carousel 22, and the blade extension controlling means 3 of carousel 22 top rotates, carousel 22 drives screw 1 and rotates.

As shown in fig. 2, the blade extension control device 3 includes a telescopic screw mechanism 31, a blade connection spherical control mechanism 32 and a base 33, the telescopic screw mechanism 31 is arranged above the turntable 22 along the diameter direction of the turntable 22, one end of the telescopic screw mechanism 31 is connected with the rotary base column 23, and the other end is rotatably connected with the blade connection spherical control mechanism 32; the blade connecting spherical control mechanism 32 is rotatably connected to the base 33; the base 33 is fixed at the edge of the turntable 22; the blade is connected with the blade connecting spherical control mechanism 32, the blade is fixed at one end of the blade connecting spherical control mechanism 32 far away from the telescopic screw rod mechanism 31, and the blade connecting spherical control mechanism 32 are arranged in the same plane.

As shown in fig. 2, the rotating base 23 is located in the center of the rotating disc 22, the number of the telescopic screw mechanisms 31 is four, the ends of the four telescopic screw mechanisms 31 are all connected to the rotating base 23, the four telescopic screw mechanisms 31 are evenly spaced, one end of each telescopic screw mechanism 31, which is far away from the rotating base 23, is connected with a blade connection spherical control mechanism 32 and a base 33, and each blade connection spherical control mechanism 32 is connected with a blade.

As shown in fig. 2 and 3, the blade connection ball control mechanism 32 is rotatably connected to a base 33 via a universal ball mechanism 5, and the base 33 is fixed at an edge position of the upper surface of the turntable 22. The blade connection spherical control mechanism 32 has a ball groove 322, a universal ball is fixed on the base 33 through a fixing rod 331, the universal ball is rotatably connected in the ball groove 322, and a rotary bearing is arranged between the universal ball and the ball groove 322.

As shown in fig. 2 and 3, the base 33 includes a first fixing plate 332 and a second fixing plate 333, the first fixing plate 332 and the second fixing plate 333 are arranged in parallel and spaced apart, a universal ball is fixedly connected between the first fixing plate 332 and the second fixing plate 333 through a fixing rod 331, the universal ball is a spherical structure, and the universal ball is used for realizing the rotational connection between the base 33 and the blade connection spherical control mechanism 32, so as to ensure that the blade connection spherical control mechanism 32 can rotate around the universal ball in a YZ plane and also can rotate around the universal ball in an XZ plane, thereby ensuring that the opening of the blade and the adjustment operation of the blade angle can be realized.

When the propeller 1 needs to be opened, the servo control motor connected with the telescopic screw rod mechanism 31 is started, the servo control motor drives the telescopic screw rod mechanism 31 to contract, the telescopic screw rod mechanism 31 contracts and then drives the blade connecting spherical control mechanism 32 to rotate around the universal ball fixed on the base 33, the bottom of the blade connecting spherical control mechanism 32 rotates towards the outside of the accommodating groove 6, and therefore the blades are driven to rotate towards the outside of the accommodating groove 6, and the blades of the propeller 1 are opened.

As shown in fig. 3 to 5, the control block 35 has a slot 351, a cross bar 352 is fixed on the inner wall of the slot 351, connecting arms are arranged on two sides of the slot 351, the cross bar 352 is fixedly connected between the connecting arms, the cross bar 352 is parallel to the direction of the fixing rod 331, the cross bar 352 is connected with the blade connection spherical control mechanism 32, the cross bar 352 is used for driving the blade connection spherical control mechanism 32 to rotate, and in the rotation and rotation process of the blade connection spherical control mechanism 32, the slot 351 enables the control block 35 not to generate interference on the rotation of the blade connection spherical control mechanism 32.

Specifically, as shown in fig. 3 to 5, the blade connecting spherical control mechanism 32 has a limiting through groove 321, the cross bar 352 is connected in the limiting through groove 321 of the blade connecting spherical control mechanism 32 in a limiting manner, and the limiting through groove 321 has a first limiting end portion 3211 and a second limiting end portion 3212. The length, shape and position of the limiting through groove 321 are set according to actual conditions, so that when the blade connecting spherical control mechanism 32 is in a vertical state, that is, the blade is in a storage state, the cross rod 352 is located at the first limiting end portion 3211; when the vanes are in the open position, crossbar 352 is located at second limit end 3212.

As shown in fig. 5, the limiting through groove 321 is formed at one side of the ball groove 322 and is inclined. The blade 11 is parallel to the length direction of the blade connection spherical control mechanism 32, the blade 11 is fixed at one end of the blade connection spherical control mechanism 32 far away from the limit through groove 321, and the blade connection spherical control mechanism 32 can drive the blade 11 to rotate.

As shown in fig. 2 and 3, the tilt angle control device 4 is connected to the telescopic screw mechanism 31, the end of the telescopic screw mechanism 31 far away from the rotating base column 23 is connected to a control block 35, the control block 35 is connected to the blade connecting spherical control mechanism 32, and the control block 35 is used for controlling the rotation of the blade connecting spherical control mechanism 32.

As shown in fig. 2, the telescopic screw mechanism 31 includes a telescopic screw 312, a nut block (not shown in the figure) and a telescopic screw sleeve 311, the nut block is fixedly connected in the telescopic screw sleeve 311, the nut block and the telescopic screw sleeve 311 are coaxially arranged, the telescopic screw 312 is arranged in the telescopic sleeve, the nut block has a threaded hole, the telescopic screw 312 extends into the threaded hole of the nut block to be in threaded connection with the nut block, and the end of the telescopic screw 312 far away from the rotary base column 23 is connected with the control block 35.

The telescopic principle of the telescopic screw mechanism 31 of the present application is: when the telescopic screw 312 is rotated in the nut block, the position of the nut block along the longitudinal direction of the telescopic screw sleeve 311 is not moved, and the position of the telescopic screw 312 along the longitudinal direction of the telescopic screw sleeve 311 is changed, that is, the telescopic screw mechanism 31 is contracted. After the telescopic screw rod mechanism 31 is contracted, the control block 35 is driven to move towards (or away from) the position of the telescopic screw rod sleeve 311, and the blade connecting spherical control mechanism 32 is driven to rotate, so that the blade is opened.

As a specific embodiment of the present invention, a rotation driving motor is fixedly connected to an end of the telescopic screw 312 far from the control block 35, the rotation driving motor drives the telescopic screw 312 to rotate, the telescopic screw 312 rotates in the nut block, and the nut block is fixed with respect to the telescopic screw sleeve 311, so that the telescopic screw 312 moves along the length direction of the telescopic screw sleeve 311, that is, the length of the telescopic screw 312 extending out of the telescopic screw sleeve 311 changes, thereby realizing contraction of the telescopic screw 312, and driving the control block 35 to move to a position close to (or far from) the telescopic screw sleeve 311. As another embodiment of the present invention, the nut block may be connected to a rotation driving motor, and the rotation driving motor drives the nut block to rotate in the telescopic screw sleeve 311, so that the nut block drives the telescopic screw 312 to move along the length direction of the telescopic screw sleeve 311.

When the blades need to be opened, the telescopic screw 312 is contracted, the telescopic screw 312 drives the control block 35 to move to a position close to the telescopic screw sleeve 311, the cross rod 352 gradually moves from the first limiting end portion 3211 to the second limiting end portion 3212, and the blade connecting spherical control mechanism 32 rotates around the universal ball under the drawing action of the cross rod 352; the blade attachment spherical control mechanism 32 rotates from the vertical state to the horizontal state. After the blade connection spherical control mechanism 32 rotates to the horizontal state, the blade is driven to open to the horizontal state.

For explanation, a rectangular coordinate system is established at the center point of the universal ball, and the axis direction of the crossbar 352 is taken as the X axis, and the direction perpendicular to the axis direction of the crossbar 352 is taken as the Y axis; the Z axis is taken perpendicular to the XY plane. The blade connecting ball control mechanism 32 rotates around the universal ball in the YZ plane under the pulling action of the cross bar 352. The opening of the blade is realized after the blade connecting spherical control mechanism 32 rotates 90 degrees around the X-axis direction.

As shown in fig. 2, the angular tilt control device 4 includes a driving motor 43, a driving gear 42, and a driven gear 41; the driven gear 41 is sleeved on the outer wall of the telescopic screw rod mechanism 31, the driving gear 42 is meshed with the driven gear 41, and the driving gear 42 is connected with the driving motor 43. The driving gear 42 and the driving motor 43 are disposed below the driven gear 41, and the driving motor 43 is connected to the battery through a cable 44. The cable 44 is used to transfer the battery power to the servo or active motor 43 to provide power delivery. Preferably, the battery is disposed within the control mechanism housing 21.

As a specific embodiment of the utility model, the control principle of the blade inclination angle adjustment is as follows: after the driving motor 43 is started, the driving gear 42 is driven to rotate, the driving gear 42 drives the driven gear 41 to rotate, the driven gear 41 drives the telescopic screw rod mechanism 31 fixedly connected with the driven gear to rotate after rotating, the telescopic screw rod mechanism 31 drives the control block 35 to rotate, the control block 35 drives the blade connecting spherical control mechanism 32 to rotate around a universal ball, specifically, the control block 35 drives the blade connecting spherical control mechanism 32 to rotate around a Y axis and rotate in an XZ plane, and after the blade connecting spherical control mechanism 32 rotates, the blade connecting spherical control mechanism drives the blade in the same plane to incline for a certain angle, so that the angle of the blade is changed, the change of the lift force of the rocket is realized by controlling the angle change of the blade, the change of the flight direction of the rocket is realized, and the posture of the rocket is corrected.

As shown in fig. 2 and 6, in the state where the propeller 1 is opened, the propeller 1 includes a first blade 11, a second blade 12, a third blade 13, and a fourth blade 14, and the first blade 11, the second blade 12, the third blade 13, and the fourth blade 14 are all in the unfolded state perpendicular to the arrow body 200. When the rotary disk 22 rotates, the first blade 11, the second blade 12, the third blade 13 and the fourth blade 14, the blade extension control device 3 and the angle tilt control device 4 are integrally rotated.

As shown in fig. 6, the receiving groove 6 is a concave groove recessed inward along the length direction of the arrow body 200, and the receiving groove 6 conveniently receives the propeller 1.

The beneficial effect that this application realized is as follows:

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A servo-controlled propeller recovery rocket system, the system being disposed at the top of a rocket body, the system comprising: the propeller control device comprises a propeller, a propeller rotation control device, a blade extension control device and an angle inclination control device;

the propeller is connected to the propeller rotation control device, and the propeller rotation control device is arranged at the top of the arrow body;

the angle inclination control device and the blade extension control device are arranged on the propeller rotation control device and are connected with the propeller;

a containing groove is formed in the side portion of the rocket body, and the propeller is contained in the containing groove in a rocket ascending state; in a rocket recovery state, the blade extension control device drives the propeller to move out of the accommodating groove, and the propeller comprises a plurality of blades.

2. A servo-controlled propeller recovery rocket system according to claim 1 wherein said propeller rotation control means comprises a servo motor, a turntable and a rotating base; the propeller is arranged at the edge of the rotary disc; servo motor fixes the top of the arrow body, the tip of rotatory foundation column with servo motor's output fixed connection, rotatory foundation column is kept away from servo motor's one end with carousel fixed connection, servo motor rotates, drives rotatory foundation column with the carousel rotates, the carousel drives the screw rotates.

3. The servo-controlled propeller recovery rocket system of claim 2 wherein the blade extension control means comprises a telescopic screw mechanism, a blade connection spherical control mechanism and a base, the telescopic screw mechanism is disposed above the turntable along the diameter direction of the turntable, one end of the telescopic screw mechanism is connected with the rotating base column, and the other end is rotatably connected with the blade connection spherical control mechanism; the blade connecting spherical control mechanism is rotatably connected to the base; the base is fixed on the edge of the turntable; the blade is connected with the blade connecting spherical control mechanism.

4. A servo-controlled propeller recovery rocket system according to claim 3 wherein said angular tilt control device is connected to said telescopic screw mechanism, the end of said telescopic screw mechanism remote from said rotating base being connected to a control block, said control block being connected to said blade attachment spherical control mechanism.

5. A servo-controlled propeller recovery rocket system as recited in claim 3, wherein said blade attachment sphere control mechanism is pivotally attached to said base by a universal ball mechanism.

6. A servo controlled propeller recovery rocket system as in claim 5 wherein said blade attachment spherical control mechanism has a ball slot, and a universal ball is secured to said base, said universal ball being rotatably connected within said ball slot.

7. The servo-controlled propeller recovery rocket system of claim 4 wherein the control block has a slot, a cross bar is fixed to the inner wall of the slot, the blade attachment spherical control mechanism has a limiting through slot, and the cross bar is connected in the limiting through slot of the blade attachment spherical control mechanism in a limiting way.

8. The servo-controlled propeller recovery rocket system of claim 3 wherein the telescopic screw mechanism comprises a telescopic screw, a nut block and a telescopic screw sleeve, the nut block is fixedly connected in the telescopic screw sleeve, the telescopic screw is arranged in the telescopic screw sleeve and is in threaded connection with the nut block, and the end of the telescopic screw, which is far away from the rotating base column, is connected with a control block.

9. The servo-controlled propeller recovery rocket system of claim 4 wherein the angular tilt control means comprises a drive motor, a drive gear and a driven gear; the driven gear is sleeved on the outer wall of the telescopic screw rod mechanism, the driving gear is meshed with the driven gear and is connected with the driving motor.

10. A servo-controlled propeller recovery rocket system according to claim 9 wherein said drive gear and said drive motor are disposed below said driven gear, said drive motor being connected to a battery by a cable.