Technology and method for preventing water from entering nozzle of rocket engine

Abstract

The invention discloses a technology and a method for preventing water from entering a rocket engine nozzle and belongs to the field of rocket recovery. Direct landing of a rocket with a parachute on the sea is the simplest rocket recovery mode, but by adopting the mode, seawater can flow into a nozzle of a rocket engine, and the engine can be damaged. In order to prevent seawater from rushing into the engine nozzle, an air bag (similar to a safety air bag of an automobile) can be put into the engine nozzle by using a mechanical arm, and then the air bag is inflated and unfolded to block the engine nozzle, so that the seawater can be blocked outside the engine nozzle, the rocket can safely float on the sea surface, and the recovery of the rocket splashed down to the sea surface is completed. The technology can be used for recovering all sub-stages (such as a first stage, a second stage, a booster and the like) of a rocket. The principle can also be used for blocking leaks and pipelines of ships, naval vessels, submarines, airplanes, airships, space stations and the like by the air bag.

Description

Technical Field

[0001] This technology is used in the field of rocket recovery. Landing a rocket with a parachute directly on the sea is the simplest way to recover a rocket, but this method will cause seawater to flow into the rocket engine nozzle, causing damage to the engine. In order to prevent seawater from flowing into the engine nozzle, a robotic arm can be used to put an airbag (similar to a car's safety airbag) into the engine nozzle, and then the airbag is inflated and deployed to block the engine nozzle, thereby blocking the seawater outside the engine nozzle, and the rocket can float safely on the sea surface, thus completing the recovery of the rocket splashing on the sea surface.

[0002] This technology can be used to recover rocket sub-stages (such as the first stage, second stage, boosters, etc.).

[0003] This principle can also be used to seal airbags to leak holes and pipes in ships, warships, submarines, airplanes, spacecraft, space stations, etc. Background Art

[0004] Whether the Falcon 9 uses the support legs to land or the Star Rocket is recovered by the support arms, the recovery is carried out by the reverse thrust of the rocket engine. This will affect the carrying capacity of the rocket. In order to reduce the impact of recovery on the rocket's carrying capacity, the rocket can be parachuted directly to the sea and land safely using the buffering effect of seawater. However, in this process, the problem of seawater pouring into the engine nozzle needs to be solved. The present invention effectively solves this problem. Summary of the invention

[0005] A rocket splashing down on the sea with a parachute can use a robotic arm ( Figure 2 , Fig.13 ) Place the airbag into the engine nozzle ( Fig.10 , Fig.19 ), and then the airbag inflates and deploys ( Fig.11 , Fig. 20 ), blocking the engine nozzle, thus blocking the seawater outside the engine nozzle. This device is called a rocket engine nozzle water ingress prevention device, specifically:

[0006] 1. Configuration 1 ( Figure 1 )

[0007] An airbag storage box (11), a mechanical arm (12) connected to the bottom of the airbag storage box, a mechanical arm telescopic rotation mechanism (13) connected to the mechanical arm, a locking device 1 (14) and a locking device 2 (15) are arranged outside the rocket engine nozzle.

[0008] The characteristic of the first configuration is that the mechanical arm (12) rotates parallel to the plane where the engine nozzle opening is located ( Fig.21 ).

[0009] Although the temperature on the outside of a rocket engine is not high, in order to prevent the high-temperature flames ejected from the engine from burning and damaging the above mechanical devices, all devices exposed outside the engine are required to be wrapped with high-temperature resistant materials.

[0010] Airbag storage box (11) ( Figure 2 ) contains an airbag (112) inside, and an airbag tray (111) is connected to the bottom of the airbag. The airbag tray is tightly combined with the airbag storage box, and can block the high-temperature gas outside the airbag storage box, thereby not having any impact on the airbag.

[0011] Robotic Arm (12) ( Figure 2 ) is further divided into the first section (121), the second section (122), and the third section (123) of the robot arm, wherein the first section of the robot arm is connected to the bottom of the airbag tray, and the third section of the robot arm is connected to the robot arm telescopic rotation mechanism (13).

[0012] There is a protective shell outside the telescopic rotation mechanism of the robot arm ( Figure 2 ), the protective shell is a fully sealed structure. The shell can not only prevent the high-temperature gas ejected by the rocket engine from invading the internal devices of the telescopic rotation mechanism of the robotic arm, but also prevent the seawater from soaking the internal devices of the telescopic rotation mechanism of the robotic arm when the engine is immersed in seawater.

[0013] The internal structure of the telescopic rotation mechanism of the robotic arm is shown in the figure ( Figure 3 ), respectively: a base (131), a slot (132), a telescopic motor (133), a gear (134) responsible for the telescopic movement of the third section of the robot arm, a support seat 1 (135), a gear bar (136), a rotating motor (137), a gear (138) responsible for the rotation of the third section of the robot arm, a support seat 2 (139), and a bottom plate (1310). The gear bar and the slot are fixed on the base, and the bottom plate and the slot cooperate with each other, so that the bottom plate can move forward and backward along the direction of the slot. The telescopic motor, the telescopic gear, the rotating motor, the rotating gear, and the support seat 2 are fixed on the bottom plate, and can move forward and backward along the direction of the arrow 1 with the bottom plate, thereby driving the third section of the robot arm to move forward and backward along the direction of the arrow 1. The support seat 1 is fixed on the base and cannot move, but the third section of the robot arm passes through the hole on the support seat 1, and the robot arm (12) can move forward and backward along the direction of the arrow 1.

[0014] Robotic Arm Section 2 ( Figure 4) has a locking device 1 (14), which consists of an ear plate (141), an ear plate hole (142), and a solenoid valve (143). The ear plate is fixed to the second section of the mechanical arm, and the solenoid valve is fixed to the outer wall of the rocket engine nozzle corresponding to the ear plate. The interior of the solenoid valve is composed of an electromagnet (1431), a spring (1432), and a positioning rod (1433). The working principle of the solenoid valve is not repeated here. Before the rocket engine nozzle water ingress prevention device works, the positioning rod is inserted into the ear plate hole to lock the mechanical arm and the telescopic rotation mechanism so that they cannot move up, down, left, or right.

[0015] The second section of the robot arm is close to the third section of the robot arm ( Figure 5 ) is also provided with a locking device 2 (15), which is composed of a lock box (151), a baffle (153) and a lock body (152). The lock box and the baffle are fixed to the outer wall of the rocket engine nozzle, and the lock body is fixed to the second section of the mechanical arm corresponding to the lock box. The interior of the lock body is composed of an inclined tongue (1521) and a spring (1522). Its working principle is similar to that of a household door lock and will not be described in detail. The function of the locking device 2 is to lock the airbag when the mechanical arm inserts the airbag into the engine nozzle ( Fig.10 ), the oblique tongue (1521) of the locking device 2 slides into the lock box (151), and the entire mechanical arm (12) cannot move up, down, left, or right under the joint action of the oblique tongue and the baffle, thereby achieving the purpose of fixing the airbag ( Fig.10 ).

[0016] The working process of the configuration 1 rocket engine nozzle water ingress prevention device is as follows:

[0017] Step 1: When the rocket sub-stages (such as the first stage, second stage or booster, etc.) separate and return to Earth, the remaining liquid fuel or oxidizer in the rocket is used to cool the rocket engine nozzle so that the temperature of the inner wall of the engine nozzle drops to a temperature that can be used by the airbag.

[0018] Step 2: The rocket opens the parachute at an appropriate height to slow down. In order to prevent the seawater from directly impacting the airbag when the rocket lands on the sea surface, the rocket slows down in a flat position or vertically with the engine nozzle facing upward ( Fig.23 ), when the rocket is at a certain height from the sea surface, the electromagnet inside the locking device 1 ( Figure 4 , 1431) is energized to attract the positioning rod (1433) to move backward, and the positioning rod moves out of the ear plate hole (142), completing the unlocking, so that the mechanical arm (12) and the telescopic rotation mechanism (13) can move freely.

[0019] Step 3: Telescopic Rotation Mechanism ( Figure 3 ) The motor (133) inside the robot arm responsible for extending and retracting the robot arm rotates to drive the retractable gear (134), and the retractable gear engages with the gear bar (136) to drive the bottom plate (1310) along the direction of arrow 1 ( Figure 3) moves a certain distance, so that the third section of the mechanical arm extends a small part, and at the same time, the motor (137) responsible for rotating the mechanical arm rotates, and the rotating gear (138) drives the third section of the mechanical arm to rotate a certain angle in the direction indicated by arrow 2, so that the mechanical arm as a whole moves a small distance diagonally upward ( Figure 2 ), so that the air bag tray (111) ( Figure 2 ) and the airbag (112) are moved a small portion out of the airbag storage box (11).

[0020] Step 4: The motor (133) responsible for the extension and retraction of the robotic arm ( Figure 3 ) continues to rotate to drive the telescopic gear (134), and the telescopic gear engages with the gear bar to drive the bottom plate (1310) in the direction of arrow 1 ( Figure 3 ) continues to move a certain distance, so that the mechanical arm, for example, the third section, continues to extend a part, and at the same time, the motor (137) responsible for rotating the mechanical arm rotates to drive the mechanical arm to continue to rotate a certain angle in the direction indicated by arrow 2, so that the airbag is completely separated from the airbag storage box and the airbag tray and the airbag are at a certain distance from the outer wall of the engine nozzle, so that the movement of the airbag tray and the airbag will not touch the outer wall of the engine nozzle ( Figure 7 ).

[0021] Step 5: The motor (133) responsible for the extension and retraction of the robotic arm ( Figure 3 ) continues to rotate to drive the telescopic gear (134), and the telescopic gear engages with the gear bar to drive the bottom plate (1310) in the direction of arrow 1 ( Figure 3 ) continues to move a certain distance, so that the machine, such as the third section (123), continues to extend most of the ( Figure 6 ), so that the airbag carried by the robotic arm can just pass over the edge of the engine nozzle ( Figure 8 ), the telescopic motor stops rotating.

[0022] Step 6: The motor (137) responsible for the rotation of the robot arm ( Figure 6 ) rotates to drive the rotating gear (138), which in turn drives the mechanical arm to rotate a certain angle in the direction indicated by arrow 3, so that the airbag moves exactly to the center line of the engine nozzle ( Fig. 9 ), then the rotary motor stops.

[0023] Step 7: The motor (133) responsible for the extension and retraction of the robotic arm ( Figure 6 ) reversely rotates to drive the telescopic gear (134), and the telescopic gear engages with the gear bar to drive the bottom plate (1310) in the direction of arrow 4 ( Figure 6 ) moves back a certain distance, so that the third section of the machine can be retracted to most of the time, and the airbag carried by the robot arm can be inserted into the engine nozzle ( Fig.10 ), while the second section of the robotic arm approaches the edge of the engine nozzle ( Figure 5), the inclined tongue (1521) of the locking device 2 (15) is allowed to slide into the lock box (151) of the locking device 2. Due to the interaction between the inclined tongue and the baffle (153), the entire mechanical arm (12) will not move up, down, left, or right, thereby achieving the purpose of locking the mechanical arm and the airbag. At the same time, the telescopic motor (133) stops rotating.

[0024] Step 8: After receiving the command, the airbag inflates and plugs the engine nozzle firmly ( Fig.11 ), so as to prevent seawater from entering the engine nozzle.

[0025] 2. Configuration 2 ( Fig.12 )

[0026] An airbag storage box (21), a mechanical arm (22) in contact with the bottom of the airbag storage box, a mechanical arm telescopic rotation mechanism (23) connected to the mechanical arm, a locking device 1 (24) and a locking device 2 (25) are arranged outside the rocket engine nozzle.

[0027] The characteristic of the second configuration is that the mechanical arm (22) rotates vertically relative to the plane where the engine nozzle opening is located ( Fig.21 ).

[0028] Although the temperature on the outside of a rocket engine is not high, in order to prevent the high-temperature flames ejected from the engine from burning and damaging the above mechanical devices, all devices exposed outside the engine are required to be wrapped with high-temperature resistant materials.

[0029] Air bag storage box (21) ( Fig.13 ) is composed of an airbag box body (215) and an airbag box cover (214). An airbag (212) is stored inside the box body, and an airbag tray (211) is connected to the bottom of the airbag. One end of a hydraulic cylinder (213) is placed on the side wall of the airbag box cover and the other end is placed on the side wall of the airbag box body. The airbag box cover can be opened or closed by telescoping the hydraulic cylinder. The airbag box cover is tightly combined with the airbag box body, and can block high-temperature gas outside the airbag storage box, thereby not having any impact on the airbag.

[0030] There is a protective shell outside the telescopic rotation mechanism of the robot arm ( Fig.13 ), the protective shell is a fully sealed structure. The shell can not only prevent the high-temperature gas ejected by the rocket engine from invading the internal devices of the telescopic rotation mechanism of the robotic arm, but also prevent the seawater from soaking the internal devices of the telescopic rotation mechanism of the robotic arm when the engine is immersed in seawater.

[0031] The internal structure of the telescopic rotation mechanism of the robotic arm is shown in the figure ( Fig.14), which are: a base (231), a bottom plate (234), a slot (232), a telescopic motor (233), a gear (235) responsible for the telescopic movement of the bottom plate, a support seat (236), a gear bar (237), a rotating motor (238), and a gear (239) responsible for the rotation of the robot arm. The gear bar and the slot are fixed on the base, and the bottom plate and the slot cooperate with each other, so that the bottom plate can move forward and backward along the direction of the slot. The telescopic motor, the telescopic gear, the rotating motor, the rotating gear, and the support seat are fixed on the bottom plate and can move along the direction of arrow 1 ( Fig.14 ) moves forward and backward, thereby driving the mechanical arm (22) to move forward and backward along the direction of arrow 1, and the mechanical arm can also rotate with the support base (236) as the center of the circle.

[0032] Robotic Arm ( Fig.15 ) has a locking device 1 (24), which consists of an ear plate (241), an ear plate hole (242), and a solenoid valve (243). The ear plate is fixed on the mechanical arm, and the solenoid valve is fixed on the outer wall of the rocket engine nozzle corresponding to the ear plate. The interior of the solenoid valve is composed of an electromagnet (2431), a spring (2432), and a positioning rod (2433). The working principle of the solenoid valve is not repeated here. Before the rocket engine nozzle water ingress prevention device works, the positioning rod is inserted into the ear plate hole to lock the mechanical arm and the telescopic rotation mechanism so that they cannot move up, down, left, or right.

[0033] End of arm ( Fig.16 ) is also provided with a locking device 2 (25), which is composed of a lock box (251), a baffle (253) and a lock body (252). The lock box and the baffle are fixed to the outer wall of the rocket engine nozzle, and the lock body is fixed to the mechanical arm corresponding to the lock box. The interior of the lock body is composed of an inclined tongue (2521) and a spring (2522). Its working principle is similar to that of a household door lock and will not be described in detail. The function of the locking device 2 is to lock the airbag when the mechanical arm inserts the airbag into the engine nozzle ( Fig.19 ), the inclined tongue (2521) of the locking device 2 slides into the lock box (251), and the entire mechanical arm (22) cannot move up, down, left, or right under the combined action of the inclined tongue and the baffle.

[0034] The working process of the configuration II rocket engine nozzle water ingress prevention device is as follows:

[0035] Step 1: When the rocket sub-stages (such as the first stage, second stage or booster, etc.) separate and return to Earth, the remaining liquid fuel or oxidizer in the rocket is used to cool the rocket engine nozzle so that the temperature of the inner wall of the engine nozzle drops to a temperature that can be used by the airbag.

[0036] Step 2: The rocket opens the parachute at an appropriate height to slow down. In order to prevent the seawater from directly impacting the airbag when the rocket lands on the sea surface, the rocket slows down in a flat position or vertically with the engine nozzle facing upward ( Fig.23), when the rocket is at a certain height from the sea surface, the hydraulic cylinder (213) ( Fig.13 ) to open the air bag cover (214).

[0037] Step 3: Locking device 1 internal electromagnet ( Fig.15 , 2431) is energized to attract the positioning rod (2433) to move backward, and the positioning rod moves out of the ear plate hole (242), completing the unlocking, so that the mechanical arm (22) and the telescopic rotation mechanism (23) can move freely.

[0038] Step 4: The motor (238) responsible for the rotation of the robotic arm ( Fig.14 ) rotates, and the rotating gear (239) drives the mechanical arm (22) along the direction indicated by arrow 2 ( Fig.14 ) rotates a certain angle, so that the robot arm moves a short distance upward as a whole ( Fig.17 ), so that the airbag tray (211) and the airbag (212) are moved out of the airbag storage box (21), thereby leaving the airbag storage box.

[0039] Step 5: Telescopic Rotation Mechanism ( Fig.14 ) The motor (233) inside the robot arm responsible for extending and retracting the robot arm rotates to drive the retractable gear (235), and the retractable gear engages with the gear bar (237) to drive the bottom plate (234) along the direction of arrow 1 ( Fig.14 ) moves a certain distance, so that the machine, for example, extends a part ( Fig.18 ), then the telescopic motor stops rotating.

[0040] Step 6: The motor (238) responsible for the rotation of the robotic arm ( Fig.14 ) rotates to drive the rotating gear (239), which in turn drives the mechanical arm in the direction indicated by arrow 2 ( Fig.14 ) Rotate a certain angle so that the airbag moves exactly to the center line of the engine nozzle ( Fig.19 ), and then the rotary motor stops. At the same time, the end of the robotic arm approaches the edge of the engine nozzle ( Fig.16 ), allowing the oblique tongue (2521) of the locking device 2 (25) to slide into the lock box (251) of the locking device 2. Due to the interaction between the oblique tongue and the baffle (253), the entire mechanical arm (22) will not move up, down, left, or right, thereby achieving the purpose of locking the mechanical arm and the airbag.

[0041] Step 7: After receiving the command, the airbag inflates and plugs the engine nozzle firmly ( Fig. 20 ), so as to prevent seawater from entering the engine nozzle.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. The rocket (or booster) lands directly on the sea using a parachute, without the need for a dedicated sea landing platform, which can significantly save costs.

[0044] 2. The rocket (or booster) lands directly on the sea using a parachute. Even if the recovery process is affected by the weather, an error of a few kilometers will not cause any problem, and the fault tolerance rate is high.

[0045] 3. The rocket (or booster) lands directly on the sea using a parachute, which is equivalent to "throwing" the rocket directly into the sea for recovery. The technical threshold is low. It is the simplest rocket recovery technology currently available to humans, with high technical, economic and social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a general structural diagram of the technical configuration of the rocket engine nozzle water ingress prevention device;

[0047] Figure 2 1. It is a schematic diagram of the process of the airbag and the airbag tray being separated from the airbag storage box of the technical configuration 1;

[0048] Figure 3 It is a schematic diagram of the internal structure of the telescopic rotating mechanism of the technical configuration;

[0049] Figure 4 It is a schematic diagram of the structure of a locking device 1 of a technical configuration;

[0050] Figure 5 It is a schematic diagram of the structure of a locking device 2 of a technical configuration;

[0051] Figure 6 It is a schematic diagram of the internal structure of the telescopic rotating mechanism of the technical configuration 1;

[0052] Figure 7 1. It is a schematic diagram of the process of the airbag and the airbag tray being completely separated from the airbag storage box of the technical configuration 1;

[0053] Figure 8 It is a schematic diagram of a technical configuration in which an airbag and an airbag tray pass by the edge of a rocket engine nozzle;

[0054] Fig. 9 It is a schematic diagram of the process of the technical configuration-the airbag and the airbag tray reaching the center line of the rocket engine nozzle;

[0055] Fig.10 It is a schematic diagram of the process of the airbag and the airbag tray reaching the center line of the rocket engine nozzle of the technical configuration one;

[0056] Fig.11 It is a technical configuration-airbag inflation and deployment diagram;

[0057] Fig.12It is the overall structural diagram of the second technical configuration of the rocket engine nozzle water ingress prevention device;

[0058] Fig.13 It is a schematic diagram of the internal structure of the technical configuration II airbag, airbag tray and airbag storage box;

[0059] Fig.14 It is a schematic diagram of the internal structure of the telescopic rotating mechanism of technical configuration II;

[0060] Fig.15 It is a structural schematic diagram of the locking device 1 of the technical configuration II;

[0061] Fig.16 It is a structural schematic diagram of the locking device 2 of the technical configuration II;

[0062] Fig.17 1. It is a schematic diagram of the process of the second technical configuration airbag and the airbag tray being separated from the airbag storage box;

[0063] Fig.18 It is a schematic diagram of the movement process of the robot arm of technical configuration II;

[0064] Fig.19 It is a schematic diagram of the process of the second technical configuration airbag and the airbag tray reaching the center line of the rocket engine nozzle;

[0065] Fig. 20 It is the technical configuration two airbag inflation and deployment diagram;

[0066] Fig.21 It is a comparison chart of the characteristics of the two technical configurations;

[0067] Fig. 22 This is a schematic diagram of the technical configuration of a certain lunar rocket;

[0068] Fig.23 It is a schematic diagram of the rocket landing in a flat position (i.e. horizontal position) and in a vertical position with the engine nozzle facing upwards;

[0069] Fig.24 This is a schematic diagram of a certain lunar rocket adopting a technical configuration to land on the sea surface;

[0070] Fig.25 This is a schematic diagram of the technical configuration adopted by the second stage of a certain starship;

[0071] Fig.26 This is a schematic diagram of a certain starship's second stage adopting a technical configuration for landing on the sea surface;

[0072] In the figure: 11 airbag storage box, 12 mechanical arm, 13 mechanical arm telescopic rotation mechanism, 14 locking device 1, 15 locking device 2;

[0073] 111 airbag tray, 112 airbag, 121 robotic arm section 1, 122 robotic arm section 2, 123 robotic arm section 3;

[0074] 131 base, 132 slot, 133 telescopic motor, 134 telescopic gear, 135 support base 1, 136 gear bar, 137 rotating motor, 138 rotating gear, 139 support base 2, 1310 bottom plate; 141 ear plate, 142 ear plate hole, 143 solenoid valve, 1431 electromagnet, 1432 spring, 1433 positioning rod; 151 lock box, 152 lock body, 1521 oblique tongue, 1522 spring, 153 baffle;

[0075] 21 airbag storage box, 22 mechanical arm, 23 mechanical arm rotation mechanism, 24 locking device 1, 25 locking device 2;

[0076] 211 airbag tray, 212 airbag, 213 hydraulic cylinder, 214 airbag box cover, 215 airbag box; 231 base, 232 slot, 233 telescopic motor, 234 bottom plate, 235 telescopic gear, 236 support seat, 237 gear bar, 238 rotating motor, 239 rotating gear; 241 ear plate, 242 ear plate hole, 243 solenoid valve, 2431 electromagnet, 2432 spring, 2433 positioning rod; 251 lock box, 2521 oblique tongue, 2522 spring, 253 baffle. Specific embodiments

[0077] Taking the combination of a certain type of lunar landing rocket and a rocket engine nozzle water ingress prevention device configuration as an example, the specific application of the rocket nozzle water ingress prevention device is explained.

[0078] like Fig. 22 As shown, the moon landing rocket engine adopts the rocket engine nozzle water ingress prevention device configuration one.

[0079] Step 1: After the rocket takes off from Hainan and reaches the predetermined height, the rocket booster separates first, and then the rocket core separates. After separation, the rocket uses the remaining liquid fuel or oxidizer to cool the rocket engine nozzle, so that the temperature of the inner wall of the engine nozzle drops to a temperature that the airbag can use. After landing at a certain height, the three rockets open their parachutes respectively and can land in a flat or vertical manner ( Fig.23 ).

[0080] Step 2: When the rocket is at a certain height from the sea surface, the electromagnet inside the locking device 1 ( Figure 4 , 1431) is energized to attract the positioning rod (1433) to move backward, and the positioning rod moves out of the ear plate hole (142), completing the unlocking, so that the mechanical arm (12) and the telescopic rotation mechanism (13) can move freely.

[0081] Step 3: Telescopic Rotation Mechanism ( Figure 3 ) The motor (133) inside the robot arm responsible for extending and retracting the robot arm rotates to drive the retractable gear (134), and the retractable gear engages with the gear bar (136) to drive the bottom plate (1310) along the direction of arrow 1 ( Figure 3 ) moves a certain distance, so that the third section of the mechanical arm extends a small part, and at the same time, the motor (137) responsible for rotating the mechanical arm rotates, and the rotating gear (138) drives the third section of the mechanical arm to rotate a certain angle in the direction indicated by arrow 2, so that the mechanical arm as a whole moves a small distance diagonally upward ( Figure 2 ), so that the air bag tray (111) ( Figure 2 ) and the airbag (112) are moved a small portion out of the airbag storage box (11).

[0082] Step 4: The motor (133) responsible for the extension and retraction of the robotic arm ( Figure 3 ) continues to rotate to drive the telescopic gear (134), and the telescopic gear engages with the gear bar to drive the bottom plate (1310) in the direction of arrow 1 ( Figure 3 ) continues to move a certain distance, so that the mechanical arm, for example, the third section, continues to extend a part, and at the same time, the motor (137) responsible for rotating the mechanical arm rotates to drive the mechanical arm to continue to rotate a certain angle in the direction indicated by arrow 2, so that the airbag is completely separated from the airbag storage box and the airbag tray and the airbag are at a certain distance from the outer wall of the engine nozzle, so that the movement of the airbag tray and the airbag will not touch the outer wall of the engine nozzle ( Figure 7 ).

[0083] Step 5: The motor (133) responsible for the extension and retraction of the robotic arm ( Figure 3 ) continues to rotate to drive the telescopic gear (134), and the telescopic gear engages with the gear bar to drive the bottom plate (1310) in the direction of arrow 1 ( Figure 3 ) continues to move a certain distance, so that the machine, such as the third section (123), continues to extend most of the ( Figure 6 ), so that the airbag carried by the robotic arm can just pass over the edge of the engine nozzle ( Figure 8 ), the telescopic motor stops rotating.

[0084] Step 6: The motor (137) responsible for the rotation of the robot arm ( Figure 6 ) rotates to drive the rotating gear (138), which in turn drives the mechanical arm in the direction indicated by arrow 3 ( Figure 6 ) Rotate a certain angle so that the airbag moves exactly to the center line of the engine nozzle ( Fig. 9 ), then the rotary motor stops.

[0085] Step 7: The motor (133) responsible for the extension and retraction of the robotic arm ( Figure 6 ) reversely rotates to drive the telescopic gear (134), and the telescopic gear engages with the gear bar to drive the bottom plate (1310) in the direction of arrow 4 ( Figure 6) moves back a certain distance, so that the third section of the machine can be retracted to most of the time, and the airbag carried by the robot arm can be inserted into the engine nozzle ( Fig.10 ), while the second section of the robotic arm approaches the edge of the engine nozzle ( Figure 5 ), the inclined tongue (1521) of the locking device 2 (15) is allowed to slide into the lock box (151) of the locking device 2. Due to the interaction between the inclined tongue and the baffle (153), the entire mechanical arm (12) will not move up, down, left, or right, thereby achieving the purpose of locking the mechanical arm and the airbag. At the same time, the telescopic motor (133) stops rotating.

[0086] Step 8: After receiving the command, the airbag inflates and plugs the engine nozzle firmly ( Fig.11 ), so as to prevent seawater from entering the engine nozzle.

[0087] The rocket continued to descend, and when it splashed onto the sea, the rocket engine nozzle was firmly blocked by the airbag, so the rocket, which had run out of fuel, could float on the sea surface by relying on its own buoyancy ( Fig.24 ).

[0088] The second stage of the rocket is recovered, for example:

[0089] After the second stage of a certain starship passed through the black barrier, it opened the parachute, and then the engine nozzles were blocked with rocket anti-water devices ( Fig.25 ), and can also be safely splashed into the sea and recovered easily ( Fig.26 ). Compared with using a robotic arm to clamp and recover, the fault tolerance rate is increased by several orders of magnitude, thereby greatly improving safety and practicality.

[0090] The application examples of rocket engine nozzle water ingress prevention device configuration 2 and other rockets (boosters) are almost the same as the above examples and will not be repeated here.

[0091] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. A person skilled in the art in any field may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the principle, idea and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A technology and method for preventing water ingress at a rocket engine nozzle is applicable to the field of rocket recovery, specifically including two technical configurations and methods for using the two technical configurations: The characteristics of the rocket engine nozzle water ingress prevention device configuration 1 (Figure 1) are as follows: an air bag storage box (11) is arranged outside the rocket engine nozzle, a mechanical arm (12) connected to the bottom of the air bag storage box, a mechanical arm telescopic rotation mechanism (13) connected to the mechanical arm, a locking device 1 (14) and a locking device 2 (15); The first configuration of the rocket engine nozzle water ingress prevention device is characterized in that the mechanical arm (12) rotates parallel to the plane where the engine nozzle opening is located (Figure 21); The method for using the rocket engine nozzle water ingress prevention device configuration 1 comprises a series of steps; The characteristics of the second configuration of the rocket engine nozzle water ingress prevention device (Figure 12) are as follows: an air bag storage box (21) is arranged outside the rocket engine nozzle, a mechanical arm (22) in contact with the bottom of the air bag storage box, a mechanical arm telescopic rotation mechanism (23) connected to the mechanical arm, a locking device 1 (24) and a locking device 2 (25); The second configuration of the rocket engine nozzle water ingress prevention device is characterized in that the mechanical arm (22) rotates vertically relative to the plane where the engine nozzle opening is located (Figure 21); The method for using the second configuration of the rocket engine nozzle water ingress prevention device comprises a series of steps; In order to prevent the seawater from directly impacting the airbag when the rocket lands on the sea surface, the rocket lands in a flat position or vertically with the engine nozzle facing upward (Figure 23); When the rocket sub-stages (such as the first stage, second stage or booster, etc.) separate and return to the earth, the remaining liquid fuel or oxidizer of the rocket is used to cool the rocket engine nozzle, so that the temperature of the inner wall of the engine nozzle drops to a temperature that can be used by the airbag.

2. As described in claim 1, the characteristics of the airbag storage box of the rocket engine nozzle water ingress prevention device configuration one are: the airbag storage box (11) (Figure 2) stores an airbag (112) inside, and an airbag tray (111) is connected to the bottom of the airbag. The airbag tray is tightly combined with the airbag storage box, which can block the high-temperature combustion gas outside the airbag storage box, thereby not having any impact on the airbag.

3. As described in claim 1: The mechanical arm of the rocket engine nozzle water ingress prevention device configuration 1 is characterized by The robot arm (12) (FIG. 2) is further divided into a first section (121), a second section (122), and a third section (123), wherein the first section is connected to the bottom of the airbag tray, and the third section is connected to the telescopic rotation mechanism (13).

4. As described in claim 1: The characteristics of the mechanical arm telescopic rotation mechanism of the rocket engine nozzle water ingress prevention device configuration 1: the mechanical arm telescopic rotation mechanism has a protective shell (Figure 2) on the outside, and the protective shell is a fully sealed structure; the shell can prevent the high-temperature gas ejected by the rocket engine from invading the internal device of the mechanical arm telescopic rotation mechanism, and can also prevent the seawater from soaking the internal device of the mechanical arm telescopic rotation mechanism when the engine is immersed in seawater; The internal structural features of the configuration of the telescopic and rotating mechanism of the robot arm (Figure 3) are: a base (131), a slot (132), a telescopic motor (133), a gear (134) responsible for the telescopic movement of the third section of the robot arm, a support base 1 (135), a gear bar (136), a rotating motor (137), a gear (138) responsible for the rotation of the third section of the robot arm, a support base 2 (139), and a bottom plate (1310); wherein the gear bar and the slot are fixed on the base, the bottom plate and the slot cooperate with each other, and the bottom plate can move forward and backward along the direction of the slot; the telescopic motor, the telescopic gear, the rotating motor, the rotating gear, and the support base 2 are fixed on the bottom plate, and can move forward and backward along the direction of the arrow 1 with the bottom plate, thereby driving the third section of the robot arm to move forward and backward along the direction of the arrow 1; the support base 1 is fixed on the base and cannot move, but the third section of the robot arm passes through the hole on the support base 1, and the robot arm (12) can move forward and backward along the direction of the arrow 1.

5. As described in claim 1, the locking device of the rocket engine nozzle water ingress prevention device configuration 1 is characterized by The second section of the mechanical arm (FIG. 4) has a locking device 1 (14), which is composed of an ear plate (141), an ear plate hole (142), and a solenoid valve (143); wherein the ear plate is fixed to the second section of the mechanical arm, and the solenoid valve is fixed to the outer wall of the rocket engine nozzle corresponding to the ear plate; the interior of the solenoid valve is composed of an electromagnet (1431), a spring (1432), and a positioning rod (1433); before the rocket engine nozzle water ingress prevention device works, the positioning rod is inserted into the ear plate hole to lock the mechanical arm and the telescopic rotation mechanism so that they cannot move up, down, left, or right; There is also a locking device 2 (15) at the second section of the mechanical arm near the third section of the mechanical arm (Figure 5), which is composed of a lock box (151), a baffle (153) and a lock body (152); wherein the lock box and the baffle are fixed to the outer wall of the rocket engine nozzle, and the lock body is fixed to the second section of the mechanical arm corresponding to the lock box; the interior of the lock body is composed of an inclined tongue (1521) and a spring (1522); the function of the locking device 2 is that when the mechanical arm inserts the airbag into the engine nozzle (Figure 10), the inclined tongue (1521) of the locking device 2 slides into the lock box (151), and under the joint action of the inclined tongue and the baffle, the entire mechanical arm (12) cannot move up and down or left and right, thereby achieving the purpose of fixing the airbag (Figure 10).

6. As described in claim 1, the steps for using the rocket engine nozzle water ingress prevention device configuration 1 are: Step 1: When the rocket sub-stage (such as the first stage, second stage or booster of the rocket) separates and returns to the earth, the remaining liquid fuel or oxidizer of the rocket is used to cool the rocket engine nozzle so that the temperature of the inner wall of the engine nozzle drops to a temperature that the airbag can use; Step 2: The rocket opens the parachute at an appropriate height to decelerate. In order to prevent the seawater from directly impacting the airbag when the rocket lands on the sea surface, the rocket decelerates and descends in a horizontal position or in a vertical position with the engine nozzle facing upward (Figure 23). When the rocket is at a certain height from the sea surface, the electromagnet (Figure 4, 1431) inside the locking device 1 is energized to attract the positioning rod (1433) to move backward, and the positioning rod moves out of the ear plate hole (142), completing the unlocking, so that the mechanical arm (12) and the telescopic rotating mechanism (13) can move freely; Step 3: The motor (133) responsible for the extension and retraction of the mechanical arm inside the telescopic rotation mechanism (FIG. 3) rotates to drive the telescopic gear (134), and the telescopic gear engages with the gear bar (136) to drive the bottom plate (1310) to move a certain distance in the direction of arrow 1 (FIG. 3), so that the third section of the mechanical arm extends a small part. At the same time, the motor (137) responsible for the rotation of the mechanical arm rotates, and the rotating gear (138) drives the third section of the mechanical arm to rotate a certain angle in the direction indicated by arrow 2, so that the mechanical arm as a whole moves a small distance obliquely upward (FIG. 2), so that the airbag tray (111) (FIG. 2) and the airbag (112) are moved a small part out of the airbag storage box (11); Step 4: The motor (133) (FIG. 3) responsible for the extension and retraction of the mechanical arm continues to rotate to drive the extension gear (134), and the extension gear engages with the gear bar to drive the bottom plate (1310) to continue to move a certain distance in the direction of arrow 1 (FIG. 3), so that the third section of the mechanical arm continues to extend a part, and at the same time, the motor (137) responsible for the rotation of the mechanical arm rotates to drive the mechanical arm to continue to rotate a certain angle in the direction indicated by arrow 2, so that the airbag is completely separated from the airbag storage box and the airbag tray and the airbag are at a certain distance from the outer wall of the engine nozzle, so that the movement of the airbag tray and the airbag will not touch the outer wall of the engine nozzle (FIG. 7); Step 5: The motor (133) (FIG. 3) responsible for the extension and retraction of the mechanical arm continues to rotate to drive the extension and retraction gear (134), and the extension and retraction gear meshes with the gear bar to drive the bottom plate (1310) to continue to move a certain distance in the direction of arrow 1 (FIG. 3), so that the mechanical arm, such as the third section (123), continues to extend most of the way (FIG. 6), so that the airbag carried by the mechanical arm can just pass the edge of the engine nozzle (FIG. 8), and then the extension and retraction motor stops rotating; Step 6: The motor (137) (FIG. 6) responsible for rotating the mechanical arm rotates to drive the rotating gear (138), and the rotating gear then drives the mechanical arm to rotate a certain angle in the direction indicated by arrow 3, so that the airbag is just moved to the center line of the engine nozzle (FIG. 9), and then the rotating motor stops rotating; Step 7: The motor (133) (FIG. 6) responsible for the extension and retraction of the mechanical arm rotates in the reverse direction to drive the extension and retraction gear (134), and the extension and retraction gear engages with the gear bar to drive the bottom plate (1310) to move back a certain distance in the direction of arrow 4 (FIG. 6), so that the third section of the mechanical arm can be retracted to most of it, and the airbag carried by the mechanical arm can be inserted into the engine nozzle (FIG. 10). At the same time, the second section of the mechanical arm is close to the edge of the engine nozzle (FIG. 5), so that the oblique tongue (1521) of the locking device 2 (15) slides into the lock box (151) of the locking device 2. Due to the interaction between the oblique tongue and the baffle (153), the entire mechanical arm (12) will not move up, down, left, or right, and the purpose of locking the mechanical arm and the airbag can be achieved; at the same time, the extension and retraction motor (133) stops rotating; Step 8: After receiving the command, the airbag inflates and firmly blocks the engine nozzle (Figure 11), thereby preventing seawater from entering the engine nozzle.

7. As described in claim 1, the airbag storage box of the rocket engine nozzle water ingress prevention device configuration 2 is characterized in that the airbag storage box (21) (Figure 13) is composed of an airbag box body (215) and an airbag box cover (214); an airbag (212) is stored inside the box body, and an airbag tray (211) is connected to the bottom of the airbag; one end of the hydraulic cylinder (213) is placed on the side wall of the airbag box cover and the other end is placed on the side wall of the airbag box body, and the airbag box cover can be opened or closed by the extension and contraction of the hydraulic cylinder; the airbag box cover is tightly combined with the airbag box body, and can resist high-temperature combustion gas outside the airbag storage box, thereby not having any impact on the airbag.

8. As described in claim 1, the mechanical arm telescopic rotation mechanism of the rocket engine nozzle water ingress prevention device configuration 2 is characterized by There is a protective shell (Figure 13) outside the telescopic rotation mechanism of the manipulator arm. The protective shell is a fully sealed structure. The shell can prevent the high-temperature gas ejected by the rocket engine from invading the internal devices of the telescopic rotation mechanism of the manipulator arm, and can also prevent the seawater from soaking the internal devices of the telescopic rotation mechanism of the manipulator arm when the engine is immersed in seawater. The internal structure of the mechanical arm telescopic rotation mechanism is shown in FIG. 14, which comprises: a base (231), a bottom plate (234), a slot (232), a telescopic motor (233), a gear (235) responsible for telescopic extension of the bottom plate, a support seat (236), a gear bar (237), a rotating motor (238), and a gear (239) responsible for rotating the mechanical arm; wherein the gear bar and the slot are fixed on the base, the bottom plate and the slot cooperate with each other, and the bottom plate can move forward and backward along the direction of the slot; the telescopic motor, the telescopic gear, the rotating motor, the rotating gear, and the support seat are fixed on the bottom plate, and can move forward and backward along the direction of arrow 1 (FIG. 14) with the bottom plate, thereby driving the mechanical arm (22) to move forward and backward along the direction of arrow 1, and the mechanical arm can also rotate with the support seat (236) as the center of the circle.

9. As described in claim 1, the locking device of the rocket engine nozzle water ingress prevention device configuration 2 is characterized by The mechanical arm (FIG. 15) has a locking device 1 (24), which is composed of an ear plate (241), an ear plate hole (242), and a solenoid valve (243); wherein the ear plate is fixed on the mechanical arm, and the solenoid valve is fixed on the outer wall of the rocket engine nozzle corresponding to the ear plate; the interior of the solenoid valve is composed of an electromagnet (2431), a spring (2432), and a positioning rod (2433); before the rocket engine nozzle water ingress prevention device works, the positioning rod is inserted into the ear plate hole to lock the mechanical arm and the telescopic rotation mechanism so that they cannot move up, down, left, or right; There is also a locking device 2 (25) at the end of the mechanical arm (Figure 16), which is composed of a lock box (251), a baffle (253) and a lock body (252); wherein the lock box and the baffle are fixed to the outer wall of the rocket engine nozzle, and the lock body is fixed to the mechanical arm corresponding to the lock box; the interior of the lock body is composed of an inclined tongue (2521) and a spring (2522); the function of the locking device 2 is that when the mechanical arm inserts the airbag into the engine nozzle (Figure 19), the inclined tongue (2521) of the locking device 2 slides into the lock box (251), and under the joint action of the inclined tongue and the baffle, the entire mechanical arm (22) cannot move up, down, left, and right, thereby achieving the purpose of locking the mechanical arm and the airbag.

10. As described in claim 1, the steps for using the second configuration of the rocket engine nozzle water ingress prevention device are: Step 1: When the rocket sub-stage (such as the first stage, second stage or booster of the rocket) separates and returns to the earth, the remaining liquid fuel or oxidizer of the rocket is used to cool the rocket engine nozzle so that the temperature of the inner wall of the engine nozzle drops to a temperature that the airbag can use; Step 2: The rocket opens a parachute at an appropriate height to decelerate. In order to prevent the seawater from directly impacting the airbag when the rocket lands on the sea surface, the rocket decelerates and descends in a horizontal position or in a vertical position with the engine nozzle facing upward (Figure 23). When the rocket is at a certain height from the sea surface, the hydraulic cylinder (213) (Figure 13) located inside the airbag storage box extends to open the airbag box cover (214); Step 3: The electromagnet (2431 in FIG. 15 ) inside the locking device 1 is energized to attract the positioning rod (2433) to move backward, and the positioning rod moves out of the ear plate hole (242), thereby completing the unlocking, so that the mechanical arm (22) and the telescopic rotating mechanism (23) can move freely; Step 4: The motor (238) ( FIG. 14 ) responsible for rotating the mechanical arm rotates, and the rotating gear (239) drives the mechanical arm (22) to rotate a certain angle in the direction indicated by arrow 2 ( FIG. 14 ), so that the mechanical arm as a whole moves upward a short distance ( FIG. 17 ), so that the airbag tray (211) and the airbag (212) are moved out of the airbag storage box (21), thereby leaving the airbag storage box; Step 5: The motor (233) responsible for the extension and retraction of the mechanical arm inside the telescopic rotating mechanism (FIG. 14) rotates to drive the telescopic gear (235), and the telescopic gear engages with the gear bar (237) to drive the bottom plate (234) to move a certain distance in the direction of arrow 1 (FIG. 14), so that the mechanical arm can be extended a part (FIG. 18), and then the telescopic motor stops rotating; Step 6: The motor (238) (FIG. 14) responsible for the rotation of the mechanical arm rotates to drive the rotating gear (239), and the rotating gear then drives the mechanical arm to rotate a certain angle along the direction indicated by the arrow 2 (FIG. 14), so that the airbag just moves to the center line of the engine nozzle (FIG. 19), and then the rotating motor stops rotating; at the same time, the end of the mechanical arm approaches the edge of the engine nozzle (FIG. 16), allowing the inclined tongue (2521) of the locking device 2 (25) to slide into the lock box (251) of the locking device 2, and due to the interaction between the inclined tongue and the baffle (253), the entire mechanical arm (22) will not move up, down, left, or right, thereby achieving the purpose of locking the mechanical arm and the airbag; Step 7: After receiving the command, the airbag inflates and firmly blocks the engine nozzle (Figure 20), thereby preventing seawater from entering the engine nozzle.

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