Hydrodynamic rocket and working method thereof

Abstract

The invention discloses a hydrodynamic rocket and a working method thereof. The hydrodynamic rocket comprises a hydrodynamic rocket body. The injection direction adjusting actuation assembly comprises a mounting cylinder connected to the tail part of the hydrodynamic rocket main body and an actuation mechanism arranged in the mounting cylinder; the actuating mechanism comprises a frame rotationally connected to the inner wall of the mounting cylinder, an injection pipe tail mounting base rotationally connected into the frame, a first driving mechanism used for driving the frame to rotate and a second driving mechanism used for driving the injection pipe tail mounting base to rotate. The rotating axis of the frame intersects with the rotating axis of the injection pipe tail mounting base in a crossed mode, and the tail of an injection pipe of the hydrodynamic rocket is connected to the injection pipe tail mounting base. The invention aims to control the flight attitude of the hydrodynamic rocket after launching.

Description

Technical Field

[0001] The invention belongs to the technical field of model rockets, and in particular relates to a water-powered rocket and a working method thereof. Background Art

[0002] As an important part of modern science and technology, rocket technology has demonstrated its indispensable value in many fields such as space exploration and scientific research. This technology has not only pushed the boundaries of human cognition of the universe, but also promoted the rapid development of related industries. In order to more effectively spread the knowledge of rocket technology and enhance the public's interest and understanding of this field, especially young people, a tool carrier that can not only demonstrate the basic principles of rocket launches, but also has high safety and easy operation is needed. Water-powered rockets came into being. It uses water and compressed air as power sources, uses the mass ratio of water and air (the mass of water is much greater than that of air), and fills the power cabin with air through an air pump. When the pressure reaches a certain level, the pressurized air is used to spray water downward from the nozzle at the tail of the rocket at high speed. Under the reaction force, the water rocket rises rapidly, and after flying a distance in the air, it slowly descends through a parachute. With its advantages of easy operation and high safety, it has become an ideal choice for promoting rocket technology knowledge.

[0003] Water-powered rockets have been widely used in educational institutions (such as schools, science and technology museums, and children's palaces) as well as home users, and have become a popular project for popular science education and parent-child activities. In addition, companies have further stimulated the public's interest and enthusiasm in science and technology, especially among young people, by organizing various water-powered rocket design and launch competitions, science and technology summer camps and other activities, greatly promoting the popularization and application of water-powered rocket technology. Although water-powered rockets have shown great potential in the field of education and popular science, the existing water-powered rocket products on the market still have obvious shortcomings. These water-powered rockets lack an actuator to control the direction of the rocket's ejection, and cannot effectively control the flight posture of the rocket body after launch, which limits the in-depth application of water-powered rockets in education and popular science activities and fails to fully reflect the knowledge of the rocket system. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a water-powered rocket and a working method thereof, the purpose of which is to control the flight attitude of the water-powered rocket after launch.

[0005] In order to solve the above technical problems, the present invention is implemented by the following technical solutions: According to a first aspect of the present invention, there is provided a water-powered rocket, comprising: Water powered rocket body; The jet direction adjustment actuating assembly comprises a mounting tube connected to the tail of the water-powered rocket body and an actuating mechanism arranged in the mounting tube, wherein the actuating mechanism comprises a frame rotatably connected to the inner wall of the mounting tube, a jet pipe tail mounting seat rotatably connected to the frame, a first driving mechanism for driving the frame to rotate, and a second driving mechanism for driving the jet pipe tail mounting seat to rotate, the rotation axis of the frame crosses with the rotation axis of the jet pipe tail mounting seat, and the jet pipe tail of the water-powered rocket is connected to the jet pipe tail mounting seat.

[0006] In a possible implementation of the first aspect, the frame is connected between the inner walls of the mounting tube via a first rotating shaft, the first driving mechanism includes a first servo connected to the inner wall of the mounting tube, a first driving gear connected to a rotation output end of the first servo, and a first driven gear meshing with the first driving gear, the first driven gear is fixed to the frame, and a rotation axis of the rotation output end of the first servo is parallel to the first rotating shaft.

[0007] In a possible implementation of the first aspect, the jet pipe tail mounting seat is connected to the frame via a second rotating shaft, the second driving mechanism includes a second servo connected to the frame, a second driving gear connected to a rotation output end of the second servo, and a second driven gear meshing with the second driving gear, the second driven gear is fixedly connected to the second rotating shaft, and a rotation axis of the rotation output end of the second servo is parallel to the second rotating shaft.

[0008] In a possible implementation of the first aspect, the frame includes a first half frame and a second half frame detachably connected to the first half frame, the first half frame and the second half frame are respectively connected to the inner wall of the mounting tube through the first rotating shaft, and the first driven gear is fixed to the first half frame.

[0009] In a possible implementation manner of the first aspect, a bearing seat is provided on an inner wall of the mounting cylinder, and the first rotating shaft is connected to the bearing seat via a bearing.

[0010] In a possible implementation of the first aspect, a first steering gear support is provided on the inner wall of the mounting cylinder, and the first steering gear is installed in the first steering gear support; a second steering gear support is provided on the second half frame, and the second steering gear is installed on the second steering gear support.

[0011] In a possible implementation of the first aspect, the hydrodynamic rocket body includes a nose cone section, an inertial navigation compartment section, a hydrodynamic compartment section and a tail wing mounting section which are detachably connected in sequence, and the tail wing mounting section is detachably connected to the mounting tube; a water vapor holding tank is arranged in the hydrodynamic compartment section, a plurality of tail wing are distributed on the outer wall of the tail wing mounting section, a control valve assembly connected to the opening of the water vapor holding tank is arranged in the tail wing mounting section, and a control device for controlling the first drive mechanism, the second drive mechanism and the control valve assembly is arranged in the inertial navigation compartment section.

[0012] In a possible implementation of the first aspect, a first inner insert section is disposed at a lower end of the nose cone section, a first outer insert section is disposed at an upper end of the inertial navigation cabin section, and the first inner insert section and the first outer insert section are sleeved and connected by bolts; A second inner insert section is disposed at the lower end of the inertial navigation compartment section, and a second outer insert section is disposed at the upper end of the hydrodynamic compartment section, and the second inner insert section and the second outer insert section are sleeved and connected by bolts; A third inner insert section is disposed at the lower end of the hydrodynamic compartment section, and a third outer insert section is disposed at the upper end of the tail wing mounting section. The third inner insert section and the third outer insert section are sleeved and connected with bolts.

[0013] In a possible implementation manner of the first aspect, an upper end of the nose cone segment is chamfered.

[0014] According to a second aspect of the present invention, there is provided a method for operating a water-powered rocket, comprising: Provide hydrodynamic force. When the flight attitude of the hydrodynamic rocket body needs to be changed, the first driving mechanism is controlled to drive the frame to rotate, and / or the second driving mechanism is controlled to drive the jet pipe tail mounting seat to rotate. When the frame and / or the jet pipe tail mounting seat rotate, the direction of the jet pipe tail of the hydrodynamic rocket is changed, thereby realizing the change of the flight attitude of the hydrodynamic rocket body.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention provides a water-powered rocket, which realizes the control of the rocket's flight attitude by arranging a jet direction adjustment actuating assembly at the tail of the water-powered rocket body. The frame in the actuating mechanism and the jet pipe tail mounting seat are driven by a first driving mechanism and a second driving mechanism respectively, and the rotation axes of the two cross each other, so that the direction of the jet pipe tail can be flexibly adjusted in multiple directions, so that the rocket can complete more complex flight actions, such as turning, climbing, etc., thereby greatly enhancing the flight performance and educational value of the water-powered rocket. Since the water-powered rocket of the present invention has the ability to control the flight attitude, it can display more abundant and vivid rocket flight knowledge in educational and popular science activities. By adjusting the flight attitude of the rocket, the dynamic principle and control strategy of the rocket in different flight stages can be intuitively displayed, helping the public to better understand the basic principles and practical applications of rocket technology. In summary, the water-powered rocket of the present invention improves the rocket's flight attitude control ability and enhances the educational and popular science effect.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is an overall axonometric diagram of a water-powered rocket according to an embodiment of the present invention; Figure 2 This is a first-perspective isometric diagram of a jet direction adjustment actuating assembly in a water-powered rocket according to an embodiment of the present invention; Figure 3 It is a second perspective axonometric diagram of a jet direction adjustment actuating assembly in a water-powered rocket according to an embodiment of the present invention; Figure 4 This is an axonometric diagram of a hydrodynamic compartment in a hydrodynamic rocket according to an embodiment of the present invention; Figure 5 A side cross-sectional view of a hydrodynamic compartment in a hydrodynamic rocket according to an embodiment of the present invention; Figure 6 The present invention is an axonometric view of a tail fin mounting section in a water-powered rocket according to an embodiment of the present invention.

[0019] In the figure: 1-hydrodynamic rocket body; 10-nose cone section; 11-inertial navigation compartment section; 12-hydrodynamic compartment section; 120-water vapor holding tank; 13-tail installation section; 130-tail; 2-Spray direction adjustment actuator; 20-install the cylinder; 21-actuating mechanism; 210-frame; 210a-first half frame; 210b-second half frame; 211-rear mounting seat of jet pipe; 212-first rotating shaft; 213-first servo; 214-first driving gear; 215-first driven gear; 216-second rotating shaft; 217-second servo; 218-second driving gear; 219-second driven gear; 220-first servo support; 221-second servo support. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Combination Figure 1 , Figure 2 and Figure 3 As shown, an embodiment of the present invention provides a water-powered rocket, which realizes the direction adjustment of the rocket during flight through an innovative jet direction adjustment actuating assembly, thereby enhancing the interactivity and educational value of the water-powered rocket in educational science popularization activities. The water-powered rocket mainly includes a water-powered rocket body 1 and a jet direction adjustment actuating assembly 2, the jet direction adjustment actuating assembly 2 includes a mounting tube 20 connected to the tail of the water-powered rocket body 1 and an actuating mechanism 21 arranged in the mounting tube 20, the actuating mechanism 21 includes a frame 210 rotatably connected to the inner wall of the mounting tube 20, a jet pipe tail mounting seat 211 rotatably connected in the frame 210, a first driving mechanism for driving the frame 210 to rotate, and a second driving mechanism for driving the jet pipe tail mounting seat 211 to rotate, the rotation axis of the frame 210 crosses with the rotation axis of the jet pipe tail mounting seat 211, and the jet pipe tail of the water-powered rocket is connected to the jet pipe tail mounting seat 211.

[0022] Specifically, the hydrodynamic rocket body 1 ensures that sufficient thrust can be provided during launch, that is, the mixture of water and compressed air is ejected at high speed through the nozzle to generate thrust. The hydrodynamic rocket body 1 is made of lightweight and high-strength materials to reduce the overall weight of the rocket and improve flight efficiency. The mounting tube 20 is fixedly connected to the tail of the hydrodynamic rocket body 1 as the installation base of the actuating mechanism 21. Its internal space accommodates a frame 210, a jet pipe tail mounting seat 211 and a driving mechanism. The material of the mounting tube 20 is also made of lightweight and high-strength materials to reduce the overall weight of the rocket and improve flight efficiency. Exemplarily, the frame 210 is mounted on the inner wall of the mounting tube 20 through a rotating connection mechanism such as a bearing, and can rotate freely around its rotation axis. Exemplarily, the jet pipe tail mounting seat 211 is mounted inside the frame 210 through a rotating connection mechanism such as a bearing, and can rotate freely around its rotation axis. This design allows the jet pipe tail to be adjusted at any angle on the mounting seat, thereby achieving control of the rocket injection direction. The first driving mechanism is used to drive the rotation of the frame 210, and the second driving mechanism is used to drive the rotation of the nozzle tail mounting seat 211. Exemplarily, both are driven by electric, hydraulic or pneumatic means, and are controlled by the instructions of the controller.

[0023] The working method of a water-powered rocket in this embodiment is specifically as follows: during launch, compressed air pushes water to be ejected at high speed through a nozzle (flexible nozzle), generating thrust to lift the rocket into the air. During the flight of the rocket, when the flight attitude needs to be changed, the controller sends instructions to the first drive mechanism and / or the second drive mechanism according to the preset flight trajectory and attitude adjustment strategy. The first drive mechanism drives the frame 210 to rotate, changing the overall direction of the jet pipe tail mounting seat 211 and the jet pipe thereon; the second drive mechanism drives the jet pipe tail mounting seat 211 to rotate within the frame to further adjust the jet direction. Through the synergistic effect of the two, the jet direction of the nozzle is adjusted in all directions, that is, the jet pipe tail mounting seat 211 is rotated in two degrees of freedom in a plane perpendicular to the rocket axis, thereby achieving all-round control of the rocket flight attitude. The water-powered rocket provided by the present invention realizes effective control of the rocket flight attitude through an innovative jet direction adjustment actuating assembly and working method, which not only improves the flight performance of the rocket, but also greatly enriches the interactivity of educational science activities.

[0024] In one possible implementation, combining Figure 2 and Figure 3As shown, the frame 210 is connected between the inner walls of the mounting tube 20 through the first rotating shaft 212, and the first driving mechanism includes a first steering gear 213 connected to the inner wall of the mounting tube 20, a first driving gear 214 connected to the rotation output end of the first steering gear 213, and a first driven gear 215 meshing with the first driving gear 214, the first driven gear 215 is fixed on the frame 210, and the rotation axis of the rotation output end of the first steering gear 213 is parallel to the first rotating shaft 212.

[0025] That is to say, the frame 210 can rotate smoothly and stably around the axis of the first rotating shaft 212. The first driving mechanism is used to drive the frame 210 to rotate around the first rotating shaft 212 to adjust the flight attitude of the rocket. The first driving mechanism is mainly composed of a first steering gear 213, a first driving gear 214 and a first driven gear 215. The first steering gear 213 ensures that sufficient driving force can be provided to overcome the inertia of the frame 210 and its components during the flight of the rocket to achieve rapid and accurate rotation. The first driving gear 214 is directly connected to the rotation output end of the first steering gear 213, and is used to convert the rotational motion of the steering gear into the form of gear transmission. The first driven gear 215 is fixed on the frame 210 and keeps meshing with the first driving gear 214. During the flight of the rocket, when the flight attitude needs to be adjusted, the controller sends a command to the first steering gear 213, and the first steering gear 213 rotates its output end according to the command to drive the first driving gear 214 to rotate. The rotation of the first driving gear 214 is transmitted to the first driven gear 215 through a meshing relationship, thereby driving the frame 210 to rotate around the first rotating shaft 212. By controlling the rotation angle and speed of the first servo 213, the frame 210 can be adjusted within any angle, thereby meeting the needs of adjusting the flight attitude of the rocket.

[0026] In one possible implementation, combining Figure 2 and Figure 3 As shown, the jet pipe tail mounting seat 211 is connected to the frame 210 through the second rotating shaft 216, and the second driving mechanism includes a second servo 217 connected to the frame 210, a second driving gear 218 connected to the rotation output end of the second servo 217, and a second driven gear 219 meshing with the second driving gear 218, the second driven gear 219 is fixedly connected to the second rotating shaft 216, and the rotation axis of the rotation output end of the second servo 217 is parallel to the second rotating shaft 216.

[0027] Specifically, during the flight of the rocket, when a more complex adjustment of the flight attitude is required, the controller sends a command to the second servo 217, and the second servo 217 rotates its output end according to the command, driving the second driving gear 218 to rotate. The rotation of the second driving gear 218 is transmitted to the second driven gear 219 through a meshing relationship, thereby driving the jet pipe tail mounting seat 211 to rotate around the second rotating shaft 216. By controlling the rotation angle and speed of the second servo 217, the jet pipe tail mounting seat 211 can be adjusted within any angle, thereby meeting the needs of fine-tuning the rocket flight attitude.

[0028] Exemplarily, the second driven gear 215 adopts an M2*46 incomplete gear, the second driving gear 214 adopts an M2*20 spur gear 9, the second driving gear 218 adopts an M2*17 spur gear, and the second driven gear 219 adopts an M2*43 incomplete gear.

[0029] In one possible implementation, combining Figure 2 and Figure 3 As shown, the frame 210 includes a first half frame 210a and a second half frame 210b detachably connected to the first half frame 210a. The first half frame 210a and the second half frame 210b are respectively connected to the inner wall of the mounting tube 20 through a first rotating shaft 212. The first driven gear 215 is fixed on the first half frame 210a. The half frame combination is convenient for manufacturing, assembly and maintenance.

[0030] Specifically, the frame 210 is composed of a first half frame 210a and a second half frame 210b, which are connected to each other and combined in a detachable connection manner (such as bolt connection, snap connection or magnetic connection, etc.) to form a complete frame structure. The first half frame 210a and the second half frame 210b are respectively connected to the inner wall of the installation tube 20 through the first rotating shaft 212. The two ends of the first rotating shaft 212 are respectively fixed to the corresponding positions of the installation tube 20 to ensure that the frame 210 can rotate smoothly around the axis of the first rotating shaft 212.

[0031] In one implementation, a bearing seat is provided on the inner wall of the installation cylinder 20, and the first rotating shaft 212 is connected to the bearing seat via a bearing. In other words, a specially designed bearing seat is provided on the inner wall of the installation cylinder 20, and the bearing seat can support the first rotating shaft 212. The first rotating shaft 212 and the bearing seat are connected via a bearing, and the inner and outer rings of the bearing are closely matched with the first rotating shaft 212 and the bearing seat, respectively, to ensure a stable support and rotation relationship.

[0032] In one possible implementation, combining Figure 2 and Figure 3As shown, a first steering gear support 220 is provided on the inner wall of the installation cylinder 20, and the first steering gear 213 is installed in the first steering gear support 220; a second steering gear support 221 is provided on the second half frame 210b, and the second steering gear 217 is installed on the second steering gear support 221. In other words, the first steering gear support 220 is installed on the inner wall of the installation cylinder 20, and a groove matching the shape of the first steering gear 213 is designed inside the first steering gear support 220, which is used to fix the first steering gear 213 in the support. Similarly, the second steering gear support 221 is designed with a groove matching the shape of the second steering gear 217, ensuring the stable installation of the second steering gear 217.

[0033] In one possible implementation, combining Figure 1 , Figure 4 , Figure 5 and Figure 6 As shown, the main body 1 of the hydrodynamic rocket comprises a nose cone section 10, an inertial navigation compartment section 11, a hydrodynamic compartment section 12 and a tail fin installation section 13 which are detachably connected in sequence, and the tail fin installation section 13 is detachably connected to the installation tube 20; a water vapor holding tank 120 is arranged in the hydrodynamic compartment section 12, a plurality of tail fins 130 are distributed on the outer wall of the tail fin installation section 13, a control valve assembly connected to the opening of the water vapor holding tank 120 is arranged in the tail fin installation section 13, and a control device for controlling the first driving mechanism, the second driving mechanism and the control valve assembly is arranged in the inertial navigation compartment section 11. The detachable connection mode is adopted between each section, which is convenient for the assembly and disassembly of the rocket, and a certain section can be replaced or upgraded separately during the maintenance and upgrading process of the rocket without replacing the entire rocket body.

[0034] Specifically, the nose cone section 10 is located at the front end of the rocket, and mainly plays the role of reducing air resistance and protecting the internal components of the rocket. The streamlined design is adopted to minimize the friction resistance between the rocket and the air during flight, thereby improving the flight efficiency of the rocket.

[0035] The inertial navigation compartment 11 is located behind the nose cone section 10, and mainly carries the navigation and control system of the rocket. The inertial navigation compartment 11 is provided with a control device for controlling the first drive mechanism (the first steering gear 213 and its related transmission mechanism), the second drive mechanism (the second steering gear 217 and its related transmission mechanism) and the control valve assembly. The control device is responsible for receiving instructions from the outside or inside of the rocket, and controlling the flight attitude of the rocket and the water vapor injection amount of the injection pipe, thereby realizing the control of the flight trajectory of the rocket.

[0036] The hydrodynamic compartment 12 is located behind the inertial navigation compartment 11 and is the core part of the hydrodynamic rocket. A water vapor holding tank 120 is provided inside the hydrodynamic compartment to store water and gaseous propellant required for rocket flight. Exemplarily, the water vapor holding tank 120 is filled with compressed air and water, and the wall thickness of the water vapor holding tank 120 is 7mm. Among them, the gas volume is 2L and the water volume is 6L. The bottom of the water vapor holding tank 120 is provided with an M12 standard threaded interface, which is threadedly connected to the solenoid valve.

[0037] The tail fin installation section 13 is located behind the hydrodynamic compartment section 12 and is the tail structure of the rocket. Several tail fins 130 are distributed on the outer wall to provide stability and directional control during the rocket flight. It should be noted that the number, shape and layout of the tail fins 130 are optimized and designed according to the flight performance and requirements of the rocket. Exemplarily, there are 4 tail fins 130 evenly distributed. In addition, a control valve assembly connected to the opening of the water vapor holding tank 120 is also provided in the tail fin installation section 13 to control the timing and amount of water vapor injection. Exemplarily, the shell of the tail fin installation section 13 is divided into two equal parts on the left and right, and the rocket body is a 3D printed part. The tail fin 130 is set in this section, and the tail fin 130 generation work is undertaken by a relatively simple split shell. The tail fin 130 and this section are printed and generated as a single part to avoid the generation of the tail fin 130 making the structure or function of other functional units more complicated.

[0038] For example, the two-part connection of the tail wing mounting section 13 is mainly for tangential connection, that is, the left and right split connection of the tail wing mounting section 13. The connection adopts a preset countersunk hole for tangential fixation, and the bolts are standard M5 cross head bolts and nuts. This solution can not only ensure the stability of the bolt connection, but also avoid the additional weight increase of other structures by countersunk holes.

[0039] In one possible implementation, the lower end of the nose cone section 10 is provided with a first inner insert section, and the upper end of the inertial navigation cabin section 11 is provided with a first outer insert section, and the first inner insert section and the first outer insert section are connected by bolts after being sleeved. In other words, the lower end of the nose cone section 10 is provided with a first inner insert section, and the inner insert section has a shape and size that matches the first outer insert section at the upper end of the inertial navigation cabin section 11. When the first inner insert section and the first outer insert section are sleeved, they form a tight fit and are further fixed by bolt connection.

[0040] The lower end of the inertial navigation compartment 11 is provided with a second inner insert section, and the upper end of the hydrodynamic compartment 12 is provided with a second outer insert section, and the second inner insert section and the second outer insert section are connected by bolts after being sleeved. The lower end of the inertial navigation compartment 11 is provided with a second inner insert section, and the upper end of the hydrodynamic compartment 12 is provided with a second outer insert section. Similar to the connection method between the nose cone section 10 and the inertial navigation compartment 11, the second inner insert section and the second outer insert section are also fixed by bolts after being sleeved.

[0041] The lower end of the hydrodynamic compartment 12 is provided with a third inner insert section, and the upper end of the tail wing mounting section 13 is provided with a third outer insert section. The third inner insert section and the third outer insert section are connected by bolts after being sleeved. The lower end of the hydrodynamic compartment 12 is provided with a third inner insert section, and the upper end of the tail wing mounting section 13 is provided with a third outer insert section. After the third inner insert section and the third outer insert section are sleeved, they are also fixed by bolts.

[0042] In one possible implementation, the upper end of the nose cone section 10 is rounded. The rounded corners can smoothly transition the contact surface between the nose cone section 10 and the air, reduce air turbulence and resistance caused by sharp corners, and thus improve the flight efficiency of the rocket. The rounded corner design can also disperse the impact force of the nose cone section 10 during flight, avoid structural damage caused by stress concentration, and enhance the overall structural strength of the rocket.

[0043] In one embodiment, the wall thickness of the rocket is maintained at 3 mm, which ensures strength while reducing the overall mass, thereby achieving the purpose of improving the fuel-solid ratio and lightening the weight. The rocket body material is all resin and is formed by 3D printing.

[0044] An embodiment of the present invention provides a working method of a hydrodynamic rocket, specifically comprising: a water vapor holding tank 120 in a hydrodynamic compartment 12 is filled with water and gaseous propellant. A control device in an inertial navigation compartment 11 is started, and begins to receive external instructions or execute a preset program. The control device sends a signal to start a control valve assembly, so that water and gaseous propellant are ejected through a jet pipe, thrust is generated, and the rocket begins to lift off. When it is necessary to change the flight attitude of the rocket, the control device in the inertial navigation compartment 11 calculates and determines the direction of the tail of the jet pipe that needs to be adjusted based on flight data and external instructions. The control device sends a signal to the first drive mechanism, and the first servo 213 is started. Through the meshing of the first driving gear 214 and the second driven gear 215, the frame 210 is driven to rotate around the first rotating shaft 212, thereby changing the overall direction of the frame 210 and the jet pipe tail mounting seat 211 thereon. At the same time or separately, the control device sends a signal to the second driving mechanism, the second steering gear 217 is started, and the second driving gear 218 and the second driven gear 219 are engaged to drive the jet pipe tail mounting seat 211 to rotate around the second rotating shaft 216, and further adjust the direction of the jet pipe tail. Through the coordinated rotation of the frame 210 and the jet pipe tail mounting seat 211, the direction of the rocket's jet pipe tail is accurately adjusted, thereby achieving a change in the rocket's flight attitude.

[0045] It should be understood that when the rocket completes the predetermined mission, the control device sends a signal to close the control valve assembly to stop the injection of water and gaseous propellant. The rocket relies on residual power or parachutes and other devices to return to the ground safely for recovery and disposal.

[0046] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0051] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A water-powered rocket, characterized in that: include: Water powered rocket body (1); The jet direction regulating actuating assembly (2) comprises a mounting tube (20) connected to the tail of the water power rocket body (1) and an actuating mechanism (21) arranged in the mounting tube (20), wherein the actuating mechanism (21) comprises a frame (210) rotatably connected to the inner wall of the mounting tube (20), a jet pipe tail mounting seat (211) rotatably connected in the frame (210), a first driving mechanism for driving the frame (210) to rotate, and a second driving mechanism for driving the jet pipe tail mounting seat (211) to rotate, wherein the rotation axis of the frame (210) crosses the rotation axis of the jet pipe tail mounting seat (211), and the jet pipe tail of the water power rocket is connected to the jet pipe tail mounting seat (211).

2. A water-powered rocket according to claim 1, characterized in that: The frame (210) is connected between the inner walls of the mounting tube (20) via a first rotating shaft (212); the first driving mechanism comprises a first steering gear (213) connected to the inner wall of the mounting tube (20), a first driving gear (214) connected to a rotation output end of the first steering gear (213), and a first driven gear (215) meshing with the first driving gear (214); the first driven gear (215) is fixed to the frame (210); and a rotation axis of the rotation output end of the first steering gear (213) is parallel to the first rotating shaft (212).

3. A water-powered rocket according to claim 2, characterized in that: The jet pipe tail mounting seat (211) is connected to the frame (210) via a second rotating shaft (216); the second driving mechanism comprises a second steering gear (217) connected to the frame (210), a second driving gear (218) connected to a rotation output end of the second steering gear (217), and a second driven gear (219) meshing with the second driving gear (218); the second driven gear (219) is fixedly connected to the second rotating shaft (216); and a rotation axis of the rotation output end of the second steering gear (217) is parallel to the second rotating shaft (216).

4. A water-powered rocket according to claim 3, characterized in that: The frame (210) comprises a first half frame (210a) and a second half frame (210b) that is detachably connected to the first half frame (210a); the first half frame (210a) and the second half frame (210b) are respectively connected to the inner wall of the mounting tube (20) via the first rotating shaft (212); and the first driven gear (215) is fixed to the first half frame (210a).

5. A water-powered rocket according to claim 4, characterized in that: A bearing seat is provided on the inner wall of the installation cylinder (20), and the first rotating shaft (212) is connected to the bearing seat via a bearing.

6. A water-powered rocket according to claim 5, characterized in that: A first steering gear support (220) is provided on the inner wall of the mounting cylinder (20), and the first steering gear (213) is mounted in the first steering gear support (220); a second steering gear support (221) is provided on the second half frame (210b), and the second steering gear (217) is mounted on the second steering gear support (221).

7. A water-powered rocket according to claim 1, characterized in that: The hydrodynamic rocket body (1) comprises a nose cone section (10), an inertial navigation section (11), a hydrodynamic section (12) and a tail wing mounting section (13) which are detachably connected in sequence, and the tail wing mounting section (13) is detachably connected to the mounting tube (20); a water vapor holding tank (120) is arranged in the hydrodynamic section (12); a plurality of tail wings (130) are distributed on the outer wall of the tail wing mounting section (13); a control valve assembly connected to an opening of the water vapor holding tank (120) is arranged in the tail wing mounting section (13); and a control device for controlling the first driving mechanism, the second driving mechanism and the control valve assembly is arranged in the inertial navigation section (11).

8. A water-powered rocket according to claim 7, characterized in that: A first inner insert section is provided at the lower end of the nose cone section (10), and a first outer insert section is provided at the upper end of the inertial navigation cabin section (11), and the first inner insert section and the first outer insert section are sleeved and connected by bolts; A second inner insert section is provided at the lower end of the inertial navigation compartment (11), and a second outer insert section is provided at the upper end of the hydrodynamic compartment (12), and the second inner insert section and the second outer insert section are sleeved and connected by bolts; A third inner insert section is provided at the lower end of the hydrodynamic compartment section (12), and a third outer insert section is provided at the upper end of the tail wing mounting section (13); the third inner insert section and the third outer insert section are sleeved and connected by bolts.

9. A water-powered rocket according to claim 7, characterized in that: The upper end of the nose cone section (10) is chamfered.

10. A method for operating a water-powered rocket according to any one of claims 1 to 9, characterized in that: include: Hydrodynamic force is provided. When the flight attitude of the hydrodynamic rocket body (1) needs to be changed, the first driving mechanism is controlled to drive the frame (210) to rotate, and / or the second driving mechanism is controlled to drive the jet pipe tail mounting seat (211) to rotate. When the frame (210) and / or the jet pipe tail mounting seat (211) rotate, the direction of the jet pipe tail of the hydrodynamic rocket is changed, thereby achieving a change in the flight attitude of the hydrodynamic rocket body (1).

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