Water rocket structure for vertical autonomous recovery

Abstract

The application relates to a water rocket structure for vertical autonomous recovery, which comprises a head cone part, an attitude control part coaxially connected with the head cone part, a water storage main body part coaxially connected with the attitude control part, a main nozzle part connected with the water storage main body part, a control unit and an altimeter; the control unit is arranged in the head cone part; the altimeter is arranged at the bottom of the water storage main body part; an electrical circuit pipeline is connected between the head cone part, the attitude control part and the main nozzle part, and the control unit is connected with the attitude control part, the main nozzle part and the altimeter through the electrical circuit pipeline; a water supply pipeline is connected between the attitude control part and the main nozzle part. The water rocket is safe and reliable, the test condition construction is simple, and the test data is reliable.

Description

Technical Field

[0001] This invention relates to the field of aircraft design, and more particularly to a water rocket structure for vertical autonomous recovery. Background Technology

[0002] Most current launch vehicles employ a multi-stage design, jettisoning the completed first and second stages during flight. The debris from each stage burns up in the atmosphere or falls to Earth, making them single-use only. This is a major reason for the persistently high cost of space launches. In the overall cost, rocket engines account for approximately 54.3% of the total launch mission cost, the rocket body structure approximately 23.6%, the electrical system approximately 8%, valves, piping, and actuators approximately 8.1%, pyrotechnics such as ignition and interstage separation approximately 5.3%, and propellant approximately 0.7%. Currently, the cost of a single-use launch vehicle for low Earth orbit launches is approximately $3 million per ton. Such high launch costs make it difficult to meet the needs of large-scale space development, significantly impacting the scale and efficiency of human space exploration. For example, the Falcon 9 rocket, currently the cheapest rocket in the world, costs approximately $50 million, while its propellant costs only $200,000. Therefore, if rockets could be recovered and reused after simple repairs, launch costs could be significantly reduced. Furthermore, recovering rockets can ensure the safety of people and property on the ground, preventing rocket debris from falling into residential areas and damaging property or even injuring people. If low-cost reusable rockets can eventually be developed, it also means that satellites that are much cheaper than they are now can be designed, without having to spend a lot of resources to ensure their long-term operational status.

[0003] Autonomous rocket recovery missions typically require multiple engine ignitions and controllable thrust to bring the rocket to a specified position and velocity state in order to meet the recovery conditions. Therefore, liquid rocket engines are the best choice. However, due to safety and cost issues associated with conducting experiments with liquid rocket engines, the conditions for conducting relevant practical verifications of autonomous liquid rocket recovery are quite stringent and costly. Summary of the Invention

[0004] The purpose of this invention is to provide a water rocket structure for vertical autonomous recovery, providing a low-risk, low-cost, and highly reliable experimental platform for verifying control, recovery, and other related technologies in autonomous rocket recovery missions.

[0005] To achieve the above-mentioned objectives, the present invention provides a water rocket structure for vertical autonomous recovery, comprising: a nose cone portion, an attitude control portion coaxially connected to the nose cone portion, a water storage body portion coaxially connected to the attitude control portion, a main nozzle portion connected to the water storage body portion, a control unit, and an altimeter;

[0006] The control unit is disposed inside the head cone portion;

[0007] The altimeter is located at the bottom of the main water storage unit;

[0008] An electrical wiring conduit connects the head cone portion, the attitude control portion, and the main nozzle portion, and the control unit is connected to the attitude control portion, the main nozzle portion, and the altimeter respectively through the electrical wiring conduit;

[0009] A water supply pipe is connected between the attitude control section and the main nozzle section.

[0010] According to one aspect of the invention, the head cone portion includes: a base plate and a conical head cover;

[0011] The conical head cover and the base plate are detachably connected to each other;

[0012] The conical head cover is provided with an electrical interface for connecting to the electrical wiring conduit;

[0013] According to one aspect of the invention, the base plate, the conical head cover, and the electrical interface are all made of carbon fiber.

[0014] According to one aspect of the present invention, the attitude control part includes: a hollow cabin, a plurality of attitude control nozzles are equally spaced along the circumference of the cabin, and attitude control nozzle valves are provided corresponding to the attitude control nozzles.

[0015] The cabin is equipped with an electrical interface for the attitude control cabin and a water inlet interface for the attitude control cabin.

[0016] The attitude control nozzle valves are located inside the cabin and are respectively connected to the water inlet of the attitude control cabin;

[0017] The attitude control cabin electrical interface is connected to the electrical wiring conduit and is used to connect the control unit to the attitude control nozzle valve;

[0018] The attitude control cabin water inlet is connected to the water supply pipeline.

[0019] According to one aspect of the present invention, the water storage body includes: a hollow cylinder and a stabilizing tail fin connected to the hollow cylinder;

[0020] The upper end of the hollow cylinder is closed, and the lower end is provided with a main water outlet;

[0021] The stabilizing tail fin is located near the lower end of the hollow cylinder, and multiple stabilizing tail fins are evenly spaced along the circumference of the hollow cylinder.

[0022] According to one aspect of the invention, the water storage body and the stabilizing tail fin are both made of carbon fiber.

[0023] According to one aspect of the invention, the stabilizing tail fin includes: a tail fin portion and a tail fin fastener for securing the tail fin portion;

[0024] The tail fin fastener includes: a support connection part for connecting with the hollow cylinder, and a fixing connection part for fixing the tail fin portion;

[0025] The supporting connection part is a strip-shaped or plate-shaped body adapted to the surface shape of the hollow cylinder;

[0026] The fixed connection part is plate-shaped and there are two of them spaced apart from each other;

[0027] The fixed connection part is arranged perpendicular to the supporting connection part.

[0028] According to one aspect of the present invention, the main nozzle portion includes: a nozzle body, a main nozzle valve disposed on the nozzle body, a servo assembly for controlling the opening degree of the main nozzle valve, an attitude control water supply port for connection to the water supply pipeline, and an opening degree controller for driving the servo assembly.

[0029] The main body of the nozzle is a hollow cylinder, which includes: a large-diameter section of the nozzle at the top and a small-diameter section of the nozzle at the bottom;

[0030] The attitude control water supply port is located on the large-diameter section of the nozzle;

[0031] The main nozzle valve is located inside the small diameter section of the nozzle, and the servo motor assembly is located outside the small diameter section of the nozzle and is connected to the main nozzle valve in a driving manner.

[0032] The opening controller is located at the bottom of the water storage body and is electrically connected to the servo motor assembly.

[0033] According to one aspect of the present invention, the main nozzle valve includes: a baffle portion, a support plate portion, and a transmission rack portion;

[0034] The support plate is fixedly supported on the inner side of the small diameter section of the nozzle, and the baffle is slidably connected to the support plate.

[0035] The transmission rack portion is located at one end of the baffle portion in the sliding direction and is used to connect with the servo motor assembly;

[0036] The servo assembly includes: a connecting bracket, a driver supported on the connecting bracket, and a transmission gear mounted on the driver shaft;

[0037] The transmission gear meshes with the transmission rack.

[0038] According to one aspect of the present invention, the control unit includes: a flight control computer, an inertial measurement device, and a battery;

[0039] The flight control computer, inertial measurement unit, and battery are respectively fixedly supported on the base plate of the nose cone section;

[0040] The inertial measurement device is located at the center of the base plate, and its three sensitive axes correspond one-to-one with the three directions of the water rocket coordinate system.

[0041] According to one aspect of the present invention, the water rocket of the present invention can use high-pressure (≥5MPa) air as the main energy source and adopts a single-stage water rocket overall structure, which can provide the necessary platform for the vertical take-off and autonomous recovery test of the water rocket.

[0042] According to one aspect of the present invention, the water rocket of the present invention focuses on studying the structural and functional requirements of a water rocket powered by high-pressure gas in carrying out experimental missions. The experiments are safe and reliable, the experimental conditions are easy to construct, and the test data are reliable.

[0043] According to one embodiment of the present invention, the water rocket has a simple and stable structure, which can meet the basic aerodynamic and power requirements of the experiment; at the same time, it reserves sufficient load space and water storage capacity, allowing for equipment loading and configuration according to actual needs during the experiment. This provides a flight platform foundation for conducting autonomous water rocket recovery experiments and verifying related control schemes.

[0044] According to one aspect of the present invention, the water rocket of the present invention has sufficient water capacity and can carry various sensors, computers and actuators required for flight testing. It has the effect of testing related technologies such as attitude control, main thrust control and self-parameter measurement, and provides a flight platform and reference data for conducting research on vertical take-off and landing and self-recovery of water rockets.

[0045] According to one aspect of the present invention, the present invention is a water rocket autonomous recovery test device powered by high-pressure gas. The main test conditions are water, pressurization device and environmental factors. It is powered by water and can realize continuous control of the main thrust. Compared with solid model rockets, its safety and economy are greatly improved, and its principle is closer to that of liquid rocket engines. It can support the verification of autonomous recovery mission control schemes.

[0046] According to one aspect of the present invention, the control unit mounted on the nose cone includes a flight control computer, an inertial measurement unit, a lithium battery, etc. Their functions do not interfere with each other. In addition to fulfilling the basic functions of rocket flight control and data recording, it also has an adapter interface to add (or replace) a variety of sensor devices. The installation and adjustment are simple and convenient, and it is easy to obtain various types of data required for the test.

[0047] According to one aspect of the present invention, the attitude control part adopts a design of multiple (e.g., 6) control nozzles to maximize the distance between the control force application point and the center of mass, thereby improving control efficiency. At the same time, the valve design of each control nozzle has only two states: open and closed. By designing the flow time, the control effect can be achieved, which can reduce the requirements on the control valves and mitigate the adverse effects of the concentrated mass of the rocket head on the control scheme.

[0048] According to one aspect of the present invention, the main nozzle section provides both the main thrust of the rocket and supplies water to the attitude control cabin through the attitude control cabin water supply pipe, so that the main pressure-bearing structure water storage section has only one opening, which reduces the damage to the structure of the water storage section, increases its structural strength, and is conducive to increasing the maximum pressure inside the water storage section.

[0049] According to one aspect of the present invention, the movement direction of all valves in the present invention is perpendicular to the pressure direction. When the valve is closed, the pressure can be applied to the sealing pipeline, which effectively improves the sealing effect. When the valve is open, the servo motor does not need to directly resist the water pressure, but only overcomes the frictional force generated by the water pressure. This not only effectively reduces the power requirements of the servo motor, but also improves the service life of the servo motor. The structure is relatively simple, easy to install, easy to maintain, and low in cost.

[0050] According to one aspect of the present invention, the structure designed by the present invention is relatively simple, easy to install, and easy to prepare for and maintain before and after the test, and has the advantages of low use and maintenance costs. Attached Figure Description

[0051] Figure 1 A schematic front view of a water rocket structure according to an embodiment of the present invention;

[0052] Figure 2 This schematic diagram shows a top view of a water rocket structure according to an embodiment of the present invention.

[0053] Figure 3 A schematic diagram illustrating the structure of an attitude control section according to an embodiment of the present invention;

[0054] Figure 4 A schematic diagram illustrating the structure of a water rocket according to an embodiment of the present invention;

[0055] Figure 5 A schematic side view of a water rocket structure according to an embodiment of the present invention;

[0056] Figure 6 The diagram illustrates a bottom view of a water rocket structure according to an embodiment of the present invention. Detailed Implementation

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0058] In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" express orientations or positional relationships based on the orientations or positional relationships shown in the relevant drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on the present invention.

[0059] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, a water rocket structure for vertical autonomous recovery includes: a nose cone portion 1, an attitude control portion 2 coaxially connected to the nose cone portion 1, a water storage body portion 3 coaxially connected to the attitude control portion 2, a main nozzle portion 4 connected to the water storage body portion 3, a control unit 5, and an altimeter 6. In this embodiment, the control unit 5 is disposed inside the nose cone portion 1; the altimeter 6 is disposed at the bottom of the water storage body portion 3 and is used to obtain the flight altitude of the water rocket. In this embodiment, an electrical wiring conduit 7 connects the nose cone portion 1, the attitude control portion 2, and the main nozzle portion 4, and the control unit 5 is connected to the attitude control portion 2, the main nozzle portion 4, and the altimeter 6 respectively through the electrical wiring conduit 7. In this embodiment, a water supply pipe 8 connects the attitude control portion 2 and the main nozzle portion 4, and the water flow is ejected during attitude control through the connected water supply pipe 8, ensuring the stability of the attitude control jet of the present invention. In this embodiment, the altimeter 6 is an infrared altimeter.

[0060] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the head cone portion 1 includes: a base plate 11 and a conical head cover 12. In this embodiment, the conical head cover 12 and the base plate 11 are detachably connected to each other; the conical head cover 12 is provided with an electrical interface 121 for connection with an electrical wiring conduit 7. In this embodiment, the conical head cover 12 is 280mm high, has an inner diameter of 200mm, and an outer diameter of 206mm; the base plate 11 is 3mm thick. In this embodiment, positioning holes are provided on the base plate 11 for mounting various components in the control unit 5.

[0061] According to one embodiment of the present invention, the base plate 11, the conical head cover 12, and the electrical interface 121 are all made of carbon fiber. In this embodiment, the base plate 11, the conical head cover 12, and the electrical interface 121 are respectively manufactured by 3D printing.

[0062] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the attitude control part 2 includes: a hollow cabin 21, a plurality of attitude control nozzles 22 evenly spaced along the circumference of the cabin 21, and attitude control nozzle valves 23 corresponding to the attitude control nozzles 22. In this embodiment, the cabin 21 includes: an annular sidewall portion, an upper cover, and a lower cover, wherein the annular sidewall portion has an outer diameter of 206 mm, an inner diameter of 200 mm, and a height of 98 mm, and the upper cover and the lower cover have the same shape and a thickness of 1 mm. In this embodiment, six attitude control nozzles 22 are evenly spaced along the circumference of the cabin 21, which are respectively used to control the left attitude, right attitude, left front attitude, right front attitude, left rear attitude, and right rear attitude of the present invention. In this embodiment, the specific dimensions of the attitude control nozzles 22 are: an inner diameter of 12 mm, an outer diameter of 16 mm, an inner length of 10 mm on the inner side of the cabin 21, and an outer length of 30 mm on the outer side of the cabin 21. In this embodiment, the attitude control nozzle valve 23 and the attitude control nozzle 22 are configured in a one-to-one correspondence, that is, there are six of them, and they are fixed on the upper or lower cover of the cabin 21 respectively to ensure the stability of the installation.

[0063] In this embodiment, the cabin 21 is provided with an attitude control cabin electrical interface 211 and an attitude control cabin water inlet interface 212; wherein, the attitude control cabin electrical interface 211 is located above the attitude control cabin water inlet interface 212, and is located on opposite sides of the side wall of the cabin 21. This arrangement achieves separation of the water and electricity interfaces on the attitude control section 2, greatly ensuring the safety of the invention. Furthermore, by setting the interfaces on opposite sides, it is also beneficial to symmetrically arrange the pipelines on opposite sides of the invention, optimizing the structural distribution of the invention, and thus contributing to ensuring the structural balance of the invention. In this embodiment, the specific dimensions of the attitude control cabin electrical interface 211 are: inner diameter 10mm, outer diameter 14mm, center distance from centerline 28mm, external length of the attitude control cabin electrical interface 211 on the outside of cabin body 21 5mm, and internal length of the attitude control cabin electrical interface 211 on the inside of cabin body 21 10mm; the dimensions of the attitude control cabin water inlet interface 212 are: inner diameter 16mm, outer diameter 20mm, center distance from centerline 28mm, external length of the attitude control cabin water inlet interface 212 on the outside of cabin body 21 5mm, and internal length of the attitude control cabin water inlet interface 212 on the inside of cabin body 21 10mm.

[0064] In this embodiment, the attitude control cabin electrical interface 211 is connected to the electrical wiring pipe 7 and is used to connect the control unit 5 to the attitude control nozzle valve 23; the attitude control cabin water inlet interface 212 is connected to the water supply pipe 8.

[0065] In this embodiment, the attitude control nozzle valve 23 is disposed inside the hull 21 and is connected to the attitude control cabin water inlet 212. In this embodiment, the attitude control of the present invention in a single direction or a combination of directions is achieved by controlling the single operation or multiple combined operation of the attitude control nozzle valve 23 through the control unit 5, which greatly ensures the attitude control accuracy and control flexibility of the present invention.

[0066] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the water storage main body 3 includes: a hollow cylinder 31 and a stabilizing tail fin 32 connected to the hollow cylinder 31. In this embodiment, the hollow cylinder 31 is generally cylindrical, with its upper end closed and its lower end having a main water outlet 311. In this embodiment, the hollow cylinder 31 has an outer diameter of 206 mm, a height of 1600 mm, and a thickness of 3 mm. In this embodiment, the main water outlet 311 is a hollow tubular body with a length of 40 mm, an inner diameter of 64 mm, and an outer diameter of 70 mm. In this embodiment, to achieve connection with the main nozzle part 4, a 15 mm high right-hand thread is provided on the outer wall of the main water outlet 311 from bottom to top.

[0067] In this embodiment, the hollow cylinder 31 and the main water outlet 311 can be integrated, for example, by 3D printing using carbon fiber material.

[0068] In this embodiment, the stabilizing tail fin 32 is disposed near the lower end of the hollow cylinder 31, and multiple stabilizing tail fins 32 are evenly spaced along the circumference of the hollow cylinder 31. In this embodiment, four stabilizing tail fins 32 are evenly spaced along the circumference of the hollow cylinder 31. In this embodiment, the stabilizing tail fin 32 is also 3D printed using carbon fiber material.

[0069] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the stabilizing tail fin 32 includes a tail fin portion 321 and a tail fin fastener 322 for fixing the tail fin portion 321. In this embodiment, the tail fin portion 321 is configured as a trapezoidal structure with a longitudinal length of 500 mm, a thickness of 20 mm, and a wingspan of 180 mm.

[0070] In this embodiment, the tail fin fixing member 322 includes: a support connecting part 322a for connecting to the hollow cylinder 31, and a fixing connecting part 322b for fixing the tail fin part 321. In this embodiment, the support connecting part 322a is a strip-shaped or plate-shaped body adapted to the surface shape of the hollow cylinder 31; the fixing connecting part 322b is a plate-shaped body, and two are arranged at intervals between each other, and the fixing connecting part 322b is arranged perpendicular to the support connecting part 322a.

[0071] In this embodiment, the spacing between the fixed connecting portions 322b is adapted to the thickness of the tail wing portion 321 to achieve clamping of the tail wing portion 321. In this embodiment, the tail wing portion 321 and the fixed connecting portions 322b are fixed by threaded connectors, and a positioning hole for connection is provided on the tail wing portion 321, with a diameter of 2.1 mm.

[0072] In this embodiment, the support connection 322a adopts a strip-shaped structure, and two are arranged side by side to achieve a more stable connection with the hollow cylinder 31. In this embodiment, since the hollow cylinder 31 has a cylindrical structure, the support connection 322a is an arc-shaped strip. Furthermore, its dimensions can be set as follows: thickness 3mm, radius 103mm, width 30mm, and central angle 37.5°. In this embodiment, to further ensure the stability of the support, the interval between the two support connection parts 322a is set to 60mm.

[0073] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the main nozzle section 4 includes: a nozzle body 41, a main nozzle valve 42 disposed on the nozzle body 41, a servo assembly 43 for controlling the opening degree of the main nozzle valve 42, an attitude control water supply port 44 for connection to the water supply pipe 8, and an opening degree controller 45 for driving the servo assembly 43. In this embodiment, the nozzle body 41 is a hollow cylinder, comprising: a large-diameter nozzle section at the upper part and a small-diameter nozzle section at the lower part; wherein, the attitude control water supply port 44 is disposed on the large-diameter nozzle section; the main nozzle valve 42 is disposed inside the small-diameter nozzle section, and the servo assembly 43 is disposed outside the small-diameter nozzle section and is drively connected to the main nozzle valve 42. In this embodiment, the opening degree controller 45 is disposed at the bottom of the water storage body section 3 and is electrically connected to the servo assembly 43.

[0074] In this embodiment, the main nozzle section 4 is connected to the main water outlet 311 at the lower end of the hollow cylinder 31 via a large-diameter section, so as to realize the output control of water in the hollow cylinder 31.

[0075] In this embodiment, the outer diameter of the large-diameter section of the nozzle is 76mm, the inner diameter is 70mm, and the height is 78mm. The outer diameter of the small-diameter section of the nozzle is 60mm, the inner diameter is 50mm, and the height is 50mm. In this embodiment, to achieve a threaded connection with the main body outlet 311, a right-hand thread with a thread height of 15mm is provided on the inner side of the large-diameter section of the nozzle.

[0076] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the main nozzle valve 42 includes: a baffle portion 421, a support plate portion 422, and a transmission rack portion. In this embodiment, the support plate portion 422 is fixedly supported on the inner side of the small-diameter section of the nozzle, and the baffle portion 421 is slidably connected to the support plate portion 422. In this embodiment, the support plate portion 422 is a crescent-shaped plate, respectively provided on opposite sides of the baffle portion 421, and the size of the opening of the main nozzle portion 4 is adjusted by combining the support plate portion 422 and the baffle portion 421. In this embodiment, the transmission rack portion is provided at one end of the sliding direction of the baffle portion 421 and is used to connect with the servo assembly 43. The position of the baffle portion 421 is adjusted by driving the multi-stage assembly 43, thereby adjusting the opening size.

[0077] In this embodiment, the servo assembly 43 includes: a connecting bracket 431, a driver 432 supported on the connecting bracket 431, and a transmission gear 433 mounted on the shaft of the driver 432. In this embodiment, the transmission gear 433 is partially meshed with a transmission rack.

[0078] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the control unit 5 includes: a flight control computer 51, an inertial measurement device 52, and a battery 53. In this embodiment, the flight control computer 51, the inertial measurement device 52, and the battery 53 are respectively fixedly supported on the base plate 11 of the nose cone portion 1. Since corresponding positioning holes are provided on the base plate 11, the various parts are fixed through these positioning holes. In this embodiment, the inertial measurement device 52 is located at the center of the base plate 11, and its three sensitive axes correspond one-to-one with the three directions of the water rocket coordinate system. Through the above arrangement, the precise control of the present invention by the control unit 5 is effectively ensured, further enabling the present invention to have stable autonomous flight and recovery capabilities.

[0079] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the electrical wiring conduit 7 is a straight pipe with three openings. From top to bottom, the three openings are respectively connected to the electrical interface 121 on the conical helmet 12, the attitude control cabin electrical interface 211 on the cabin 21, and the opening controller 45 of the main nozzle section 4. The interior contains wires required for transmitting various signals. In this embodiment, the electrical wiring conduit 7 has a length of 1695 mm, an inner diameter of 10 mm, and an outer diameter of 14 mm.

[0080] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, according to one embodiment of the present invention, the water supply pipe 8 is a straight pipe with openings at both ends. The upper end is connected to the attitude control cabin water inlet 212, and the lower end is connected to the attitude control water supply port 44 of the main nozzle section 4. In this embodiment, the water supply pipe 8 has a length of 1676 mm, an inner diameter of 20 mm, and an outer diameter of 22 mm.

[0081] To further illustrate the present invention, the flight process of the present invention is described as follows.

[0082] During the ground preparation phase, tasks such as program design, equipment debugging, and launch preparation are completed. After the rocket takes off vertically, the main nozzle section 4 and the attitude control section 2 work together to control the rocket's position, speed, and attitude. The main nozzle section 4 generates continuously adjustable thrust along the rocket's axis, mainly used to overcome gravity, control the rocket's acceleration and deceleration during the ascent and recovery phases, reduce overload, and allow the rocket to complete the flight process at a relatively uniform speed. The attitude control section 2, located near the rocket's nose, has six attitude control nozzles 22 in various directions. According to the instructions output by the control program, these nozzles work in conjunction with the main nozzle section 4 to control the rocket's attitude. Each attitude control nozzle 22 can spray high-speed water jets, generating a reaction force applied to the rocket body, which is the main source of control force. The four stabilizing tail fins 32 at the tail of the rocket body can also provide some stabilizing torque to maintain the rocket's attitude, ultimately achieving vertical autonomous recovery.

[0083] Detailed operation steps:

[0084] Step 1: Design of the control program and construction of the control system. After completing the control program according to the selected method and test plan, the designed program is burned into the flight control computer 51; various flight control devices are installed in the designated locations, and electrical equipment added due to test requirements is also installed inside the nose cone part 1; the long-span wires transmitting signals between the head and tail of the rocket body are accommodated by electrical wiring conduits 7; after the control system is built, a simple test needs to be carried out before proceeding to the next step to eliminate potential faults and confirm the integrity of the functions.

[0085] Step Two: Overall Rocket Assembly. First, assemble all components (nose cone 1, attitude control section 2, water storage body 3, main nozzle section 4, control unit 5). Then, connect and assemble the nose cone 1, attitude control section 2, water storage body 3, main nozzle section 4, altimeter 6, electrical wiring conduits 7, and water supply conduits 8. The specific assembly steps for each part are as follows: After installing the flight control computer 51, inertial measurement unit 52, and lithium battery 53 on the base plate 11 of the nose cone 1, connect the nose cone 1 to the attitude control section 2, and then connect the attitude control section 2 to the water storage body 3 in sequence. In this embodiment, the water storage body 3 is also pre-assembled. Specifically, after connecting the tail fin fixing piece 322 of the stabilizing tail fin 32 to the tail fin section 321, the assembly is installed onto the hollow cylinder 31 to form the water storage body 3. Then, assemble the two side pipes (electrical wiring conduits 7 and water supply conduits 8). Before installing the main nozzle part 4 into the main outlet 311 of the water storage body part 3, the altimeter 6 must first be installed at the bottom of the water storage body part 3.

[0086] Step 3: Water injection and pressurization of the main water storage section 3. Based on the experimental plan, theoretical calculations are performed to determine the required water volume and pressurization level for the main water storage section 3 in this experiment. Water is injected into the hollow cylinder 31 through the main outlet 311. After water injection, the main nozzle section 48) needs to be installed and fixed to the main water storage section 3. The outlet of the main nozzle valve 42 is adjusted to an appropriate flow area. Then, an air pump is used to pressurize the main water storage section 3 to the required pressure value. After water injection and pressurization are completed, the pre-launch preparation of the entire rocket is basically finished. During subsequent transfer and handling of the rocket, care should be taken to maintain its stability and avoid impacts.

[0087] Step 4: Install the launch pad and complete the pre-launch site preparation. Prepare the test site according to the site requirements planned in the test plan, and set up equipment such as cameras / drones for recording the test. Although water rocket testing is safer than solid rocket testing, the internal pressure of the main water storage section 3 can reach 5 MPa, resulting in a very high initial nozzle velocity. To avoid unnecessary losses, it is still necessary to keep unrelated personnel outside the test area.

[0088] Step 5: Start the experiment and save the records of the experiment process and the data received by the ground station for subsequent processing and analysis.

[0089] Step Six: Device Recovery and Equipment Maintenance. After disassembling each part in the reverse order of Step Two, assess the integrity of the entire device based on the actual completion of the recovery task to determine whether it is necessary to repair or replace some easily damaged structures and electronic components.

[0090] The above description is merely an example of a specific solution of the present invention. For any devices and structures not described in detail herein, it should be understood that they are implemented using common devices and methods already available in the art.

[0091] The above description is merely one embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A structure for a water rocket used for vertical autonomous recovery, characterized in that, include: Head cone section (1), attitude control section (2) coaxially connected to the head cone section (1), water storage body section (3) coaxially connected to the attitude control section (2), main nozzle section (4) connected to the water storage body section (3), control unit (5), altimeter (6); The control unit (5) is disposed inside the head cone portion (1); The altimeter (6) is located at the bottom of the main water storage unit (3); An electrical wiring conduit (7) connects the head cone part (1), the attitude control part (2), and the main nozzle part (4), and the control unit (5) is connected to the attitude control part (2), the main nozzle part (4), and the altimeter (6) through the electrical wiring conduit (7); A water supply pipe (8) is connected between the attitude control part (2) and the main nozzle part (4); The head cone portion (1) includes: a base plate (11) and a conical head cover (12); The conical head cover (12) and the base plate (11) are detachably connected to each other; The conical head cover (12) is provided with an electrical interface (121) for connecting to the electrical wiring conduit (7). The attitude control part (2) includes: a hollow cabin (21), a plurality of attitude control nozzles (22) are equally spaced along the circumference of the cabin (21), and attitude control nozzle valves (23) are provided corresponding to the attitude control nozzles (22). The cabin (21) is provided with an attitude control cabin electrical interface (211) and an attitude control cabin water inlet interface (212). The attitude control nozzle valve (23) is located inside the cabin (21) and is connected to the attitude control cabin water inlet (212); The attitude control cabin electrical interface (211) is connected to the electrical wiring pipe (7) and is used for the connection between the control unit (5) and the attitude control nozzle valve (23); The attitude control cabin water inlet (212) is connected to the water supply pipe (8).

2. The water rocket structure according to claim 1, characterized in that, The base plate (11), the conical head cover (12), and the electrical interface (121) are all made of carbon fiber.

3. The water rocket structure according to claim 2, characterized in that, The water storage main body (3) includes: a hollow cylinder (31) and a stabilizing tail fin (32) connected to the hollow cylinder (31). The hollow cylinder (31) is closed at the top and has a main water outlet (311) at the bottom. The stabilizing tail fin (32) is disposed near the lower end of the hollow cylinder (31), and multiple stabilizing tail fins (32) are disposed at equal intervals along the circumference of the hollow cylinder (31).

4. The water rocket structure according to claim 3, characterized in that, The main water storage body (3) and the stabilizing tail fin (32) are made of carbon fiber.

5. The water rocket structure according to claim 3 or 4, characterized in that, The stabilizing tail fin (32) includes: a tail fin portion (321) and a tail fin fastener (322) for securing the tail fin portion (321). The tail fin fastener (322) includes: a support connection part (322a) for connecting with the hollow cylinder (31), and a fixing connection part (322b) for fixing the tail fin part (321). The supporting connection part (322a) is a strip or plate that is adapted to the surface shape of the hollow cylinder (31); The fixed connection part (322b) is plate-shaped and there are two of them spaced apart from each other; The fixed connection part (322b) is arranged perpendicular to the supporting connection part (322a).

6. The water rocket structure according to claim 5, characterized in that, The main nozzle section (4) includes: a nozzle body (41), a main nozzle valve (42) disposed on the nozzle body (41), a servo assembly (43) for controlling the opening degree of the main nozzle valve (42), an attitude control water supply port (44) for connecting to the water supply pipe (8), and an opening degree controller (45) for driving the servo assembly (43). The nozzle body (41) is a hollow cylinder, which includes: a large-diameter section of the nozzle at the top and a small-diameter section of the nozzle at the bottom; The attitude control water supply port (44) is located on the large diameter section of the nozzle; The main nozzle valve (42) is located inside the small diameter section of the nozzle, and the servo assembly (43) is located outside the small diameter section of the nozzle and is connected to the main nozzle valve (42) in a transmission manner. The opening controller (45) is located at the bottom of the water storage body (3) and is electrically connected to the servo motor assembly (43).

7. The water rocket structure according to claim 6, characterized in that, The main nozzle valve (42) includes: a baffle portion (421), a support plate portion (422), and a transmission rack portion; The support plate portion (422) is fixedly supported on the inner side of the small diameter section of the nozzle, and the baffle portion (421) is slidably connected to the support plate portion (422); The transmission rack portion is disposed at one end of the baffle portion (421) in the sliding direction and is used to connect with the servo assembly (43); The servo assembly (43) includes: a connecting bracket (431), a driver (432) supported on the connecting bracket (431), and a transmission gear (433) mounted on the shaft of the driver (432). The transmission gear (433) meshes with the transmission rack.

8. The water rocket structure according to claim 7, characterized in that, The control unit (5) includes: a flight control computer (51), an inertial measurement device (52), and a battery (53). The flight control computer (51), inertial measurement device (52), and battery (53) are respectively fixedly supported on the base plate (11) of the nose cone part (1); The inertial measurement device (52) is located at the center of the base plate (11), and its three sensitive axes correspond one-to-one with the three directions of the water rocket coordinate system.

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