A recoverable rocket

Abstract

The application discloses a recyclable rocket and relates to the technical field of aircrafts. The novel and reasonable structure is characterized in that through the ingenious cooperation of a rotor control system, a turnover and folding structure of rotor blades in the rotor, a blade resetting mechanism, a blade fastening mechanism and a rotor anti-rotation mechanism, the unfolding and autorotation of the rotor blades in the rocket body landing process are realized, upward lift is provided by the autorotation rotor, the rocket is stably landed and accurately recycled, the cost is low, there are no safety hazards such as explosion, and the recycling process is safer. In addition, compared with other existing rocket recycling methods, the rocket is recycled without relying on engine reverse thrust, less fuel is required for recycling, the effective load ratio is larger, the effective use time of the propelling engine is shorter, and the single launch cost is lower in many aspects, so that the practicality is high.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of rockets, and relates to a rocket recovery technology, in particular to a recoverable rocket. BACKGROUND

[0002] At present, improving economy and safety is the main trend of rocket technology development. The traditional one-time use of a carrier rocket makes the cost of a single launch high because the rocket body cannot be recovered. Moreover, the rocket debris poses a certain threat to personnel and property in the landing area. For the above reasons, the recyclable rocket is becoming the main form of future rockets, which not only can greatly reduce the launch cost (only the reuse of the first stage can reduce the launch cost by 80%), but also can control the predetermined landing area and reduce the safety threat of rocket debris to the landing area.

[0003] The existing rocket recovery methods mainly include the following two kinds: (1) parachute recovery, that is, after the rocket is separated, air braking is first performed to change the orbit into a return orbit into the earth's atmosphere, then a parachute is used for speed reduction at low altitude, and finally a gas bag is opened or a buffer engine is used for landing. This scheme not only has low landing accuracy, but also poses a great safety threat to personnel and buildings near the landing site. Moreover, when the wind field near the landing point is complex, the side wind may cause certain damage to the recovered rocket body. (2) Self-powered recovery, which changes the orbit in the air in the same way as the first kind, but uses an engine to reduce the speed at low altitude to land vertically. This scheme requires the rocket body to carry sufficient fuel when returning, which on the one hand occupies part of the launch load of the rocket body, reducing the proportion of the effective payload in the rocket body and increasing the launch cost. On the other hand, there is also a certain risk of explosion if the landing process is not properly controlled or parts fail. SUMMARY

[0004] The purpose of the present application is to provide a new type of recoverable rocket which can realize rocket recovery by using rotor autorotation glide, so as to solve the problems of low landing accuracy and great safety threat existing in the above-mentioned existing rocket recovery methods.

[0005] To achieve the above-mentioned purpose, the present application provides the following scheme:

[0006] The present application provides a recoverable rocket, which comprises:

[0007] A rocket body system comprising a rocket body shell and a propulsion engine arranged at a first end of the rocket body shell;

[0008] A rotor control system arranged in the rocket body shell;

[0009] The rotor comprises a hub, a blade root connector and a rotor blade. The hub is arranged at the second end of the rocket shell and connected with the rotor control system. One end of the blade root connector is connected with the hub, and the other end of the blade root connector is hingedly connected with the rotor blade to form a hinge point. When the rocket system is launched, the rotor blade can be flipped around the hinge point to a retracted state in close contact with the rocket shell.

[0010] The blade resetting mechanism is arranged between the blade root connector and the rotor blade. When the rocket system is recovered, the rotor blade can be flipped around the hinge point to a free deployment state in a direction away from the propulsion engine under the action of the blade resetting mechanism. The rotor blade needs to be flipped by 90°-180° around the hinge point to convert from the retracted state to the free deployment state.

[0011] The blade fastening mechanism comprises a first fastener and a second fastener. One of the first fastener and the second fastener is arranged on the rotor blade, and the other is arranged on the rocket shell. When the rotor blade is in the retracted state, the first fastener and the second fastener are clamped. When the rotor blade needs to be flipped to the free deployment state, the first fastener and the second fastener are automatically released from clamping.

[0012] The rotor anti-rotation mechanism is arranged at the second end of the rocket shell. The rotor anti-rotation mechanism can limit the rotation of the rotor when the rotor blade is in the retracted state, and release the limitation on the rotor when the rotor blade is in the free deployment state, so that the rocket system can be recovered in the rotor rotation state.

[0013] Optionally, the rotor anti-rotation mechanism comprises:

[0014] The anti-rotation groove is arranged at the second end of the rocket shell and used for accommodating the blade root connector.

[0015] The lifting mechanism comprises a mounting platform and a lifting driving unit. The mounting platform is slidingly arranged in the rocket shell. The rotor control system is arranged on the mounting platform. The lifting driving unit is used for driving the mounting platform to move relative to the rocket shell, so that the blade root connector is located in the anti-rotation groove or away from the anti-rotation groove.

[0016] Optionally, the lifting driving unit is an electric telescopic rod, a telescopic cylinder, a hydraulic cylinder or a screw rod and sliding block mechanism.

[0017] Optionally, the lifting driving unit is a screw rod and sliding block mechanism, which comprises:

[0018] The fixed nut is fixedly arranged on the inner wall of the rocket shell.

[0019] a screw rod, which is threadedly connected with the fixed nut;

[0020] a driving motor, which is arranged on the mounting platform and connected with the screw rod.

[0021] Optionally, the screw rod slide block mechanism is uniformly distributed around the circumference of the mounting platform.

[0022] Optionally, the rotor blade and the corresponding blade root connecting piece are connected through a rotating shaft; and the blade resetting mechanism is a torsion spring sleeved on the rotating shaft.

[0023] Optionally, the blade fastening mechanism comprises:

[0024] the first fastener is a first L-shaped clasp, which is arranged on the rotor blade;

[0025] the second fastener comprises a second L-shaped clasp and a clasp driving steering engine, the clasp driving steering engine is arranged in the arrow body shell, the second L-shaped clasp is rotatably installed on the arrow body shell and connected with the clasp driving steering engine through the shell wall of the arrow body shell, and the clasp driving steering engine is used for driving the second L-shaped clasp to rotate, so that the second L-shaped clasp clamps or releases the clamping of the first L-shaped clasp.

[0026] Optionally, the blade fastening mechanism is an electric buckle or an electromagnetic buckle.

[0027] Optionally, the rotor control system comprises:

[0028] a fixed disc, which is arranged on the mounting platform;

[0029] a main shaft, one end of which is rotatably installed on the fixed disc, and the other end of which is connected with the hub;

[0030] an inclination disc, which is sleeved on the main shaft and connected with the hub through a pull-torsion bar;

[0031] a rotating steering engine, which is arranged on the fixed disc, and a plurality of rotating steering engines are uniformly distributed on the outer periphery of the main shaft, and any rotating steering engine is connected with the inclination disc through a connecting rod.

[0032] Optionally, the arrow body system is further provided with a grid steering system.

[0033] Optionally, the first end of the arrow body shell is further provided with a support system, and the support system comprises a plurality of supports which are uniformly distributed along the outer periphery of the arrow body shell.

[0034] The present application has the following technical effects relative to the prior art:

[0035] The recyclable rocket disclosed by the application has novel and reasonable structure, and through the ingenious cooperation of the rotor control system, the overturning and folding structure of the rotor blade in the rotor, the blade resetting mechanism, the blade fastening mechanism and the rotor anti-rotation mechanism, the rotor blade is unfolded and rotated during the landing process of the rocket body, so that the upward lift is provided by the rotating rotor to realize the stable landing and accurate recycling of the rocket, which is low in cost and free of safety hazards such as explosion, and the recycling process is safer. In addition, compared with other existing rocket recycling methods, the recyclable rocket of the application does not need to rely on the engine reverse thrust, needs less fuel for recycling, has a larger payload ratio, has a shorter effective use time of the propulsion engine, and has a lower single launch cost and high practicability in many aspects. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0037] Figure 1 The overall structure schematic diagram of the recyclable rocket disclosed by the embodiments of the application;

[0038] Figure 2 The installation schematic diagram of the rotor anti-rotation mechanism in the recyclable rocket disclosed by the embodiments of the application.

[0039] Among them, the reference signs are:

[0040] 100, recyclable rocket;

[0041] 1, rocket body system; 11, rocket body shell; 111, rotor blade folding groove; 112, grid rudder folding groove; 12, propulsion engine;

[0042] 2, rotor control system; 21, rotating rudder machine; 22, connecting rod; 23, inclined disc; 24, pull-torsion strip; 25, main shaft; 26, fixed disc;

[0043] 3, rotor; 31, hub; 32, blade root connecting piece; 33, rotor blade; 34, rotating shaft;

[0044] 5, rotor anti-rotation mechanism; 51, anti-rotation groove; 52, installation platform; 53, fixed nut; 54, screw rod;

[0045] 6, grid rudder system; 61, grid rudder; 62, grid rudder drive shaft;

[0046] 7, support system. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0048] One of the purposes of the present application is to provide a new recyclable rocket which can realize rocket recycling by using rotor autorotation glide, so as to solve the problems of low landing accuracy and great safety threat existing in the existing rocket recycling mode.

[0049] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0050] Embodiment one

[0051] As Figure 1As shown, the embodiment provides a recyclable rocket 100, which comprises a rocket body system 1, a rotor control system 2, a rotor 3, a blade resetting mechanism, a blade fastening mechanism and a rotor anti-rotation mechanism 5. The rocket body system 1 is a basic rocket body structure with a launching function, which comprises a rocket body shell 11 and a propulsion engine 12 arranged at the first end of the rocket body shell 11. The rotor control system 2 is arranged in the rocket body shell 11 and is mainly used to control the autorotation of the rotor 3 and the total pitch and periodic pitch of the rotor 3. The rotor 3 comprises a hub 31, a blade root connecting piece 32 and a rotor blade 33. The hub 31 is arranged at the second end of the rocket body shell 11 and is connected with the rotor control system 2. One end of the blade root connecting piece 32 is connected with the hub 31, and the other end of the blade root connecting piece 32 is hingedly connected with the rotor blade 33 to form a hinge point. When the rocket body system 1 is launched, the rotor blade 33 can be flipped around the hinge point to a retracted state in close contact with the rocket body shell 11. The blade resetting mechanism is arranged between the blade root connecting piece 32 and the rotor blade 33. When the rocket body system 1 is recycled, the rotor blade 33 can be flipped around the hinge point to a free deployment state away from the propulsion engine 12 under the action of the blade resetting mechanism. The rotor blade 33 needs to be flipped by 90°-180° around the hinge point to convert from the retracted state to the free deployment state. The blade fastening mechanism comprises a first fastener and a second fastener. One of the first fastener and the second fastener is arranged on the rotor blade 33, and the other is arranged on the rocket body shell 11. When the rotor blade 33 is in the retracted state, the first fastener and the second fastener are clamped. When the rotor blade 33 needs to be flipped to the free deployment state, the first fastener and the second fastener are automatically released from clamping. The rotor anti-rotation mechanism 5 is arranged at the second end of the rocket body shell 11. It can limit the autorotation of the rotor 3 when the rotor blade 33 is in the retracted state, and it can release the limitation on the rotor 3 when the rotor blade 33 is in the free deployment state, so that the rocket body system 1 can be recycled in the autorotation state of the rotor 3.

[0052] In the embodiment, the rotor anti-rotation mechanism 5 comprises an anti-rotation groove 51 and a lifting mechanism. The anti-rotation groove 51 is opened at the second end of the rocket body shell 11 and is used to accommodate the blade root connecting piece 32. The lifting mechanism comprises a mounting platform 52 and a lifting driving unit. The mounting platform 52 is slidingly arranged in the rocket body shell 11, and the rotor control system 2 is arranged on the mounting platform 52. The lifting driving unit is used to drive the mounting platform 52 to move relative to the rocket body shell 11, so that the blade root connecting piece 32 is located in the anti-rotation groove 51 or away from the anti-rotation groove 51. When the blade root connecting piece 32 is located in the anti-rotation groove 51, the anti-rotation groove 51 can limit the autorotation of the rotor 3. When the blade root connecting piece 32 is away from the anti-rotation groove 51, the anti-rotation groove 51 releases the limitation on the rotor 3. At this time, the rotor 3 can autorotate.

[0053] In the embodiment, the lifting driving unit can be an electric telescopic rod, a telescopic cylinder, a hydraulic cylinder or a screw rod 54 sliding block mechanism. As a preferred solution, the lifting driving unit of the embodiment is a screw rod sliding block mechanism, which includes a fixed nut 53, a screw rod 54 and a driving motor. The fixed nut 53 is fixedly arranged on the inner wall of the arrow shell 11, the screw rod 54 is threadedly connected with the fixed nut 53, and the driving motor is arranged on the mounting platform 52 and connected with the screw rod 54. The driving motor drives the screw rod 54 to rotate, the screw rod 54 can rotate relative to the fixed nut 53, and drives the driving motor to lift, thereby driving the mounting platform 52 to lift as a whole. The "lifting" of the mounting platform 52 mainly refers to the movement of the mounting platform 52 in the axial direction of the arrow shell 11; the "lifting" refers to the movement of the mounting platform 52 close to the second end of the arrow shell 11, which can make the blade root connecting piece 32 away from the anti-rotation groove 51; the "lowering" refers to the movement of the mounting platform 52 towards the first end of the arrow shell 11, which can make the blade root connecting piece 32 fall into the anti-rotation groove 51. Generally, before the arrow system 1 is launched, the blade root connecting piece 32 is adjusted into the anti-rotation groove 51 by the screw rod sliding block mechanism, and the rotor blade 33 is folded into the "folding state", at this time the rotor blade 33 is close to the outer wall of the arrow shell 11 and arranged along the axial direction of the arrow shell 11, and connected with the outer wall of the arrow shell 11 through the blade fastening mechanism to maintain the folding state of the rotor blade 33 at this time; during the falling process of the arrow system 1, the blade fastening mechanism is controlled to be unlocked, and the rotor blade 33 can be turned to the "free expansion state" under the action of the blade resetting mechanism, and at the same time the blade root connecting piece 32 is adjusted to be separated from the anti-rotation groove 51 by the screw rod sliding block mechanism, so as to release the restriction of the rotor 3, and the rotor 3 can rotate at this time.

[0054] In the embodiment, in order to ensure that the mounting platform 52 does not be stuck due to inclination when moving relative to the arrow shell 11, a plurality of groups of screw rod sliding block mechanisms are preferably uniformly distributed on the outer periphery of the mounting platform 52, such as three groups, four groups or more groups, which can realize stable lifting of the mounting platform 52 under the driving of the driving motors with the same speed.

[0055] In the embodiment, the rotor blade 33 and the corresponding blade root connecting piece 32 are hinged through the rotating shaft 34; the blade resetting mechanism is preferably a torsional spring which is sleeved on the rotating shaft 34. When the rotor blade 33 is in the "folding state", the torsional spring stores a certain resilience, and after the blade fastening mechanism is unlocked, the rotor blade 33 can be turned from the "folding state" to the "free expansion state" under the action of the torsional spring. Generally, it is preferred that the rotor blade 33 is turned more than 90 degrees, such as 180 degrees, during the process.

[0056] In the embodiment, in order to reduce the overall weight, two groups of rotor blades 33 are preferably arranged symmetrically in the rotor 3.

[0057] In the embodiment, the blade fastening mechanism can be an electric buckle, an electromagnetic buckle, an electrically controlled hook, or the like. Taking the electrically controlled hook structure as an example, the blade fastening mechanism includes a first fastener and a second fastener. The first fastener is a first L-shaped hook, which is arranged on the rotor blade 33 and located on the side of the rotor blade 33 facing the arrow shell 11. When the rotor blade 33 is in the retracted state, the hook body of the first L-shaped hook faces the arrow shell 11. The second fastener includes a second L-shaped hook and a hook driving servo. The hook driving servo is arranged in the arrow shell 11 and specifically mounted on the mounting platform 52. The second L-shaped hook is rotatably arranged on the arrow shell 11 and penetrates the shell wall of the arrow shell 11 to be connected with the hook driving servo. The hook driving servo is used to drive the second L-shaped hook to rotate. When the rotor blade 33 is in the retracted state, the hook body of the second L-shaped hook faces the rotor blade 33. The second L-shaped hook and the first L-shaped hook are oppositely arranged, the hook bodies of the two are overlapped and misaligned, and the opening directions are the same. For example, the hook bodies of the second L-shaped hook and the first L-shaped hook are overlapped and misaligned along the axial direction of the arrow shell 11. When the rotor blade 33 is just retracted, the hook body of the second L-shaped hook is located above or below the hook body of the first L-shaped hook. Then, the hook driving servo drives the second L-shaped hook to rotate 90° relative to the first L-shaped hook, so that the hook body of the second L-shaped hook is perpendicular to the hook body of the first L-shaped hook and forms a hooking and clamping state with the hook body of the first L-shaped hook. At this time, the rotor blade 33 is locked by the second L-shaped hook and cannot be unfolded. The rotor blade 33 is kept in the “retracted state” under the cooperation of the second L-shaped hook and the first L-shaped hook, which can ensure the normal launching of the arrow. When the arrow falls back and the rotor blade 33 needs to be unfolded, the hook driving servo drives the second L-shaped hook to rotate 90° in the opposite direction relative to the first L-shaped hook, so that the hook body of the second L-shaped hook changes from being perpendicular to the hook body of the first L-shaped hook to being parallel to the hook body of the first L-shaped hook. At this time, the hook body of the second L-shaped hook is released from the hooking and clamping of the hook body of the first L-shaped hook. At this time, the rotor blade 33 can be unfolded under the action of the torsional spring.

[0058] In the embodiment, as shown in FIG. 6, the first L-shaped hook and the second L-shaped hook are arranged on the same side of the rotor blade 33, and the hook bodies of the two are overlapped and misaligned along the axial direction of the arrow shell 11. When the rotor blade 33 is just retracted, the hook body of the second L-shaped hook is located above or below the hook body of the first L-shaped hook. Then, the hook driving servo drives the second L-shaped hook to rotate 90° relative to the first L-shaped hook, so that the hook body of the second L-shaped hook is perpendicular to the hook body of the first L-shaped hook and forms a hooking and clamping state with the hook body of the first L-shaped hook. At this time, the rotor blade 33 is locked by the second L-shaped hook and cannot be unfolded. The rotor blade 33 is kept in the “retracted state” under the cooperation of the second L-shaped hook and the first L-shaped hook, which can ensure the normal launching of the arrow. When the arrow falls back and the rotor blade 33 needs to be unfolded, the hook driving servo drives the second L-shaped hook to rotate 90° in the opposite direction relative to the first L-shaped hook, so that the hook body of the second L-shaped hook changes from being perpendicular to the hook body of the first L-shaped hook to being parallel to the hook body of the first L-shaped hook. At this time, the hook body of the second L-shaped hook is released from the hooking and clamping of the hook body of the first L-shaped hook. At this time, the rotor blade 33 can be unfolded under the action of the torsional spring. Figure 2As shown, the rotor control system 2 includes a rotating rudder 21, a connecting rod 22, an inclined disc 23, a pull-torsion bar 24, a main shaft 25 and a fixed disc 26. The rotating rudder 21 is fixed on the upper surface of the fixed disc 26, and the main shaft 25 is installed at the center of the fixed disc 26 through a bearing. In order to realize the control of the total pitch and the cyclic pitch of the rotor blade 33, the rotor control system 2 is provided with three rotating rudders 21 which are completely the same. When the three rotating rudders 21 rotate by the same angle at the same time, the inclined disc 23 can be driven to move up and down through the connecting rod 22, and then the rotor blade 33 is rotated by the same angle around its spanwise rotation shaft under the action of the pull-torsion bar 24, so as to realize the control of the total pitch of the rotor blade 33. When the three rotating rudders 21 rotate by different angles, the inclined disc 23 will be inclined under the action of the connecting rod 22, and at this time the rotor blade 33 is rotated to different installation angles corresponding to different phases under the action of the pull-torsion bar 24, so as to realize the control of the inclination angle of the rotor blade 33, and then control the attitude of the arrow body. The lower surface of the fixed disc 26 is fixed on the mounting platform 52, and when the mounting platform 52 moves up and down, the rotor blade 33 and the rotor control system 2 can be synchronously lifted and lowered, and finally the blade root connecting piece 32 connected with the rotor blade 33 is higher than the anti-rotation groove 51, so as to ensure that the rotor blade 33 can be freely rotated without being limited by the anti-rotation groove 51 on the arrow body shell 11. The above-mentioned rotor control system 2 is a kind of existing rotor control system, and the specific structure and working principle will not be described here.

[0059] In the embodiment, the arrow body system 1 is also provided with a grid rudder system 6. The grid rudder system 6 includes a grid rudder 61 and a grid rudder driving shaft 62, one end of the grid rudder driving shaft 62 is fixedly connected with the grid rudder 61, and the other end of the grid rudder driving shaft 62 is fixedly connected with a corresponding rotating rudder installed inside the arrow body shell 11, so that the grid rudder 61 and the grid rudder driving shaft 62 can be synchronously rotated under the driving of the corresponding rotating rudder. During the rocket launching process, the whole composed of the grid rudder 61 and the grid rudder driving shaft 62 is retracted close to the outer wall of the arrow body shell 11, and only when the rocket is recovered, the grid rudder system 63 is unfolded, and the plane of the grid rudder 61 is perpendicular to the axis of the arrow body shell 11. Further, in order to ensure that the grid rudder 61 realizes the accurate attitude control of the arrow body system 1 and plays a role in deceleration during the recovery process, four sets of completely same grid rudder systems 63 are preferably provided at the same time. The grid rudder system 63 is a kind of prior art, and will not be described in detail.

[0060] In the embodiment, when the rocket is in the launching state, the rotor blades 33 and the grid fins 61 are folded (retracted) outside the rocket shell 11 in order to reduce the aerodynamic resistance. Based on this, the scheme further provides rotor blade folding grooves 111 and grid fin folding grooves 112 on the outer wall of the rocket shell 11. The rotor blade folding grooves 111 are provided with two groups, which are arranged one by one corresponding to the two rotor blades 33. The grid fin folding grooves 112 are provided with four groups, which are arranged one by one corresponding to the four groups of grid fins 61. Among them, the rotor blade folding grooves 111 are arranged along the axial direction of the rocket shell 11. The rotor blade folding grooves 111 are enclosed by strip-shaped baffles protruding from the surface of the rocket shell 11, and the whole is in the shape of U. When the rotor blades 33 are retracted, they can be completely embedded in the U-shaped rotor blade folding grooves 111. The profile of the rotor blade folding grooves 111 is matched with the profile of the rotor blades 33. The rotor blade folding grooves 111 can prevent the rotor blades 33 retracted therein from rotating, thereby limiting the rotor blades 33 and improving the rocket launching performance. Correspondingly, the grid fin folding grooves 112 are arranged along the axial direction of the rocket shell 11, and the grid fin folding grooves 112 are arranged in a staggered manner with the rotor blade folding grooves 111 in the circumferential direction of the rocket shell 11, without interfering with each other. The grid fin folding grooves 112 are enclosed by strip-shaped baffles protruding from the surface of the rocket shell 11, and the whole is in the shape of U. When the grid fins 61 are retracted, they can be completely embedded in the U-shaped grid fin folding grooves 112. The profile of the grid fin folding grooves 112 is matched with the profile of the grid fins 61. The grid fin folding grooves 112 can prevent the grid fins 61 retracted therein from rotating, thereby improving the rocket launching performance. The rotor blade folding grooves 111 and the grid fin folding grooves 112 are preferably made of the same material as the rocket shell 11, and the rotor blade folding grooves 111 and the grid fin folding grooves 112 are integrally formed with the rocket shell 11. The setting of the rotor blade folding grooves 111 and the grid fin folding grooves 112 will not affect the flight performance of the rocket shell 11 itself. When the above-mentioned blade fastening mechanism is set, the second L-shaped hook of the blade fastening mechanism is arranged inside the rotor blade folding groove 111.

[0061] In the embodiment, the first end of the rocket shell 11 is further provided with a support system 7. The support system 7 includes a plurality of supports evenly distributed along the outer periphery of the rocket shell 11.

[0062] The hook driving steering gear, the steering gear in the grid fin system 6, and the steering gear in the rotor control system 2 are all existing steering gears, which are subject to the functions of each component. In actual operation, the hook driving steering gear, the steering gear in the grid fin system 6, and the steering gear in the rotor control system 2 are all connected in communication with the same control module, so as to realize the automatic opening and closing of each steering gear and the cooperation between each steering gear during the launching and recovery of the rocket.

[0063] The above-mentioned recyclable rocket 100 is essentially a technology for recycling rockets by using rotor autorotation glide. The working principle will be described in detail below. Figure 1 and Figure 2

[0064] When the rocket is in the launch state, in order to reduce the aerodynamic resistance, the rotor blades 33 are folded (retracted) outside the rocket shell 11, and are fastened by the blade fastening mechanism. The grid rudder 61 is also folded outside the rocket shell 11.

[0065] The rocket system 1 is a recyclable rocket system. After the second-stage rocket is separated from the upper part of the rocket system 1, the rocket system 1 adjusts its posture by using the remaining fuel inside and the appropriate action of the tail nozzle of the propulsion engine 12, so that the propulsion engine 12 faces forward (towards the direction of movement), and one end of the rotor 3 faces backward (towards the opposite direction of movement). After the above-mentioned posture adjustment is completed, the blade fastening mechanism releases the locking of the rotor blades 33, and the folded rotor blades 33 begin to unfold under the action of the torsional spring. At this time, the air in the space environment where the entire system is located is thin, and the rotor blades 33 will not generate aerodynamic force to make them rotate.

[0066] In order to release the rotation restriction of the rotor 3 by the anti-rotation groove 51 on the rocket shell 11. Four groups of lead screws 54 drive the mounting platform 52 to move upward under the action of the drive motor, further drive the rotor control system 2 and the rotor 3 to move upward (i.e. away from the direction of the propulsion engine 12), and finally ensure that the hub 31 of the rotor 3 is separated from the anti-rotation groove 51, and the rotation of the rotor 3 is no longer restricted. At this time, since the rocket system 1 has not reached the first cosmic speed, the entire recyclable rocket 100 is in free fall. After the entire recyclable rocket 100 enters the atmosphere, the rotor blades 33 are folded backward (i.e. towards the direction of the propulsion engine 12) under the action of aerodynamic force. Due to the action of the torsional spring, the rotor blades 33 will not be folded to the "retracted state" at the initial launch, but will be folded backward (i.e. towards the direction of the propulsion engine 12) to be substantially perpendicular to the rocket shell 11. At this time, in order to avoid high-speed rotation of the rotor blades 33 under the action of aerodynamic force, and to avoid damage of the rotor blades 33 due to excessive centrifugal force, the installation angle of the rotor blades 33 needs to be adjusted by the rotation rudder 21, so that the rotor blades 33 do not rotate.

[0067] In order to reduce the landing speed of the rocket system 1, the angle of the grid rudder 61 is adjusted at this time to adjust the aerodynamic resistance, while ensuring the landing posture of the recyclable rocket.

[0068] ​When the falling speed of the arrow body system 1 reaches a relatively small stable speed, the rotary rudder 21 is adjusted, so that the rotor blades 33 start to slowly open under the action of aerodynamic force, and finally reach a stable rotating speed, and the whole arrow body system 1 enters a slow descending state by using the upward lift force provided by itself. At this time, the attack angle of the rotor blades 33 near the tip region is negative, and the attack angle near the root region is positive. The rotating power is generated through the root region, and the kinetic energy generated by the descent is consumed through the shock wave of the tip region.

[0069] When the whole arrow body system 1 approaches the ground, the total pitch angle of the rotor 3 is adjusted, the rotating kinetic energy of the rotor blades 33 is used to quickly reduce the falling speed of the arrow body system 1, and finally the arrow body system 1 is stably landed on the predetermined landing ground under the action of the multiple groups of supports of the support system 7.

[0070] Compared with other existing rocket recovery methods, the above-mentioned recoverable rocket based on rotor autorotation glide has the following advantages:

[0071] (1) The single launch cost is lower due to the less fuel required for recovery, the larger payload ratio, and the shorter effective use time of the propulsion engine.

[0072] (2) The rocket recovery does not rely on engine reverse thrust, but relies on the ingenious cooperation of the rotor control system, the elastic folding structure of the rotor blades in the rotor, the blade fastening mechanism and the rotor anti-rotation mechanism, realizes the precise recovery of the rocket, not only low cost, but also no safety hazards such as explosion, and the recovery process is safer.

[0073] It should be noted that for those skilled in the art, it is obvious that the present application is not limited to the details of the above-mentioned exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application, and any reference signs in the claims should not be regarded as limiting the involved claims.

[0074] In the present application, specific examples are applied to describe the principles and implementation modes of the present application, and the above embodiment description is only used to help understand the method and core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In view of the above, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A recoverable rocket, characterized by, The utility model relates to a rocket system, a rotor control system, a rotor, a blade reset mechanism and a blade fastening mechanism. The rocket system comprises a rocket shell and a propulsion engine arranged at a first end of the rocket shell. The rotor control system is arranged in the rocket shell. The rotor comprises a hub, a blade root connecting piece and a rotor blade. One end of the blade root connecting piece is connected to the hub, and the other end of the blade root connecting piece is hingedly connected to the rotor blade to form a hinge point. When the rocket system is launched, the rotor blade can be flipped around the hinge point to a retracted state in close contact with the rocket shell. When the rocket system is recovered, the rotor blade can be flipped around the hinge point to a freely deployed state away from the propulsion engine under the action of the blade reset mechanism. The rotor blade needs to be flipped by 90-180 degrees around the hinge point to convert from the retracted state to the freely deployed state. The blade fastening mechanism comprises a first fastener and a second fastener. The first fastener is a first L-shaped hook arranged on the rotor blade. The second fastener comprises a second L-shaped hook and a hook driving servo. The hook driving servo is arranged in the rocket shell. The second L-shaped hook is rotatably installed on the rocket shell and penetrates the shell wall of the rocket shell to be connected to the hook driving servo. The hook driving servo is used to drive the second L-shaped hook to rotate so as to clamp or unclamp the first L-shaped hook. When the rotor blade is retracted, the hook driving servo drives the second L-shaped hook to rotate by 90 degrees relative to the first L-shaped hook, so that the hook body of the second L-shaped hook is perpendicular to the hook body of the first L-shaped hook and forms a hooking and clamping state with the hook body of the first L-shaped hook, and the rotor blade remains in the retracted state. When the rocket falls back, the hook driving servo drives the second L-shaped hook to rotate by 90 degrees relative to the first L-shaped hook in the opposite direction, so that the hook body of the second L-shaped hook changes to be parallel to the hook body of the first L-shaped hook, the hook body of the second L-shaped hook unclamps the hook body of the first L-shaped hook, and the rotor blade can be deployed under the action of the blade reset mechanism. A rotor anti-rotation mechanism is arranged at the second end of the rocket body shell, which can limit the rotor rotation when the rotor blades are in the retracted state, and release the rotor when the rotor blades are in the free deployment state, so that the rocket system can be recovered in the rotor rotation state; the rotor anti-rotation mechanism comprises an anti-rotation groove and a lifting mechanism, the anti-rotation groove is arranged at the second end of the rocket body shell and used for accommodating the blade root connector, the lifting mechanism comprises a mounting platform and a lifting driving unit, the mounting platform is slidingly arranged in the rocket body shell, the rotor control system is arranged on the mounting platform, and the lifting driving unit is used for driving the mounting platform to move relative to the rocket body shell, so that the blade root connector is located in the anti-rotation groove or away from the anti-rotation groove. The grid fin system comprises a grid fin and a grid fin driving shaft, one end of the grid fin driving shaft is fixedly connected with the grid fin, and the other end of the grid fin driving shaft is fixedly connected with a corresponding rotary rudder box arranged in the interior of the rocket body shell; during the rocket launching process, the grid fin is retracted close to the outer wall of the rocket body shell, and when the rocket is recovered, the grid fin is deployed to be perpendicular to the axis of the rocket body shell.

2. The recoverable rocket according to claim 1, wherein The lifting driving unit is an electric telescopic rod, a telescopic cylinder, a hydraulic cylinder or a screw rod and sliding block mechanism.

3. The recoverable rocket according to claim 1, wherein The lifting driving unit is a screw rod and sliding block mechanism, which comprises: A fixed nut is fixedly arranged on the inner wall of the rocket body shell; A screw rod is threadedly connected with the fixed nut; A driving motor is arranged on the mounting platform and connected with the screw rod.

4. The recoverable rocket according to claim 3, wherein The screw rod and sliding block mechanism is uniformly distributed around the circumference of the mounting platform.

5. The recoverable rocket according to any one of claims 1 to 4, wherein The rotor blades and the corresponding blade root connectors are hingedly connected through a rotating shaft; and the blade reset mechanism is a torsion spring sleeved on the rotating shaft.

6. The recoverable rocket according to any one of claims 1 to 4, wherein The rotor control system comprises: A fixed disc is arranged on the mounting platform; A main shaft is rotatably arranged at one end of the fixed disc and connected with the hub at the other end; An inclined disc is sleeved on the main shaft and connected with the hub through a pull-torsion bar; A rotary rudder box is arranged on the fixed disc, and a plurality of rotary rudder boxes are uniformly distributed around the outer periphery of the main shaft, and any rotary rudder box is connected with the inclined disc through a connecting rod.

7. The recoverable rocket according to any one of claims 1 to 4, wherein The first end of the rocket body shell is further provided with a support system, and the support system comprises a plurality of supports uniformly distributed along the outer periphery of the rocket body shell.

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