Rocket and deformable flexible posture adjusting device thereof

Abstract

The invention relates to the technical field of aerospace, in particular to a rocket and a deformable flexible posture adjusting device thereof, and the rocket comprises a flexible structure device, a supporting device, a rod system device, a transmission device and a power device; the inner side face of the flexible structure device is connected with the outer side face of the supporting device, and the flexible structure device can expand outwards or contract inwards. The inner side face of the supporting device is connected with the outer end of the rod system device, the inner end of the rod system device is connected with the circumferential face of the transmission device, and the rod system device can drive the supporting device to extend outwards or retract inwards. The outer surfaces of all the flexible structure devices can define a large cylinder / large ellipsoid or a small cylinder / small ellipsoid; the transmission device is connected with the power device, and the power device can drive the transmission device to rotate in the circumferential direction. According to the invention, the consumption of the propellant by the attitude adjusting device can be reduced, the application range of the attitude adjusting device is enlarged, and the attitude adjusting effect is improved.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a rocket and a deformable flexible attitude adjustment device thereof. Background Art

[0002] At all stages of rocket flight, especially during the recovery of rocket boosters, attitude adjustment is crucial. Common methods of attitude adjustment at present mainly include traditional means such as thruster nozzle deflection, reverse thrust rocket, and aerodynamic control surface control. For example, by precisely controlling the thrust size and direction of thruster nozzles in different directions, the attitude change of the rocket can be achieved. During the recovery phase of the rocket, the deflection of the grid rudder is used to control the attitude of the rocket to ensure the stability of the re-entry and landing process. In addition, fins similar to aircraft canards can be used to control the flight attitude of the rocket. However, these traditional methods have certain limitations in terms of adjustment range and response speed.

[0003] The traditional thruster nozzle deflection method consumes a lot of propellant and has a complex structure, which increases the weight and cost of the rocket. At the same time, the nozzle deflection angle is limited, making it difficult to achieve rapid and large-scale attitude adjustments. In addition, in high-altitude, low-density and some complex flight environments, the adjustment methods of common rudder surfaces such as grid rudders and fins are not effective and cannot meet the rocket's attitude adjustment requirements at different altitudes and environments. In addition, conventional aerodynamic rudders have a limited scope of application in rocket aerodynamic layout design, and they can only play a significant role when they are set at a position far away from the center of mass.

[0004] Therefore, how to reduce the consumption of propellant by the attitude adjustment device, expand the application range of the attitude adjustment device, and improve the effect of attitude adjustment are technical problems that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The present application provides a rocket and a deformable flexible attitude adjustment device thereof, so as to reduce the consumption of propellant by the attitude adjustment device, increase the application range of the attitude adjustment device, and improve the effect of attitude adjustment.

[0006] In order to solve the above technical problems, this application provides the following technical solutions:

[0007] A rocket deformable flexible attitude adjustment device comprises: a plurality of flexible structural devices, a plurality of supporting devices, a plurality of rod system devices, a transmission device and a power device; the inner side surface of each flexible structural device is connected to the outer side surface of a supporting device, and the flexible structural device can expand outwards and contract inwards; the inner side surface of each supporting device is connected to the outer end of a set of rod system devices, the inner end of each set of rod system devices is connected to the circumferential surface of the transmission device, and the rod system device can drive the supporting device to extend outwards or retract inwards; after the supporting device extends outwards, the flexible structural device expands outwards, and the outer surfaces of all the flexible structural devices are enclosed into a large cylinder / large ellipsoid; after the supporting device is retracted inwards, the flexible structural device contracts inwards, and the outer surfaces of all the flexible structural devices are enclosed into a small cylinder / small ellipsoid; the transmission device is connected to the power device, and the power device can drive the transmission device to rotate along its circumference.

[0008] As described above, the rocket deformable flexible attitude adjustment device, wherein, preferably, the extension direction of the support device is the same as the axial direction of the transmission device, the middle part of the support device is parallel to the transmission device, and the two ends of the support device are bent toward the transmission device.

[0009] The rocket deformable flexible attitude adjustment device as described above, wherein preferably, each set of rod system devices includes: one or more cross mechanisms; each cross mechanism includes: two support rods and a rotating shaft; the two support rods are cross-arranged and hinged by the rotating shaft at the intersection of the two support rods; the outer end of the support rod of each cross mechanism is hinged to the inner side surface of the corresponding supporting device; the inner end of the support rod of each cross structure is hinged to the circumferential surface of the transmission device.

[0010] The rocket deformable flexible attitude adjustment device as described above, wherein, preferably, a plurality of sets of articulated ears protrude from the inner side surface of the support device, each set of articulated ears includes a plurality of first articulated ears and a plurality of second articulated ears, the first articulated ears are axially slidably connected to the support device, the second articulated ears are fixedly connected to the support device, all the first articulated ears and all the second articulated ears in each set of articulated ears are on the same axis, and are distributed from left to right with the first articulated ears and the second articulated ears spaced apart; the outer end of a support rod of each cross mechanism is hinged to the first articulated ear through a rotating shaft, and the outer end of the other support rod is hinged to the second articulated ear through a rotating shaft.

[0011] The rocket deformable flexible attitude adjustment device as described above, wherein, preferably, the transmission device includes: a transmission shaft, a sleeve and a plurality of rings; the sleeve and all the rings are mounted on the transmission shaft, the sleeve is located on the left side of all the rings, and the sleeve is slidably connected to the transmission shaft, some of the rings are fixedly connected to the transmission shaft, some of the rings are slidably connected to the transmission shaft, and the connection mode between the rings and the transmission shaft from left to right is fixed connection and sliding connection with interval distribution; the inner end of the support rod close to the sleeve is hinged to the circumference of the sleeve, and the inner end of each of the remaining support rods is hinged to the circumference of a ring.

[0012] The rocket deformable flexible attitude adjustment device as described above, wherein preferably, each set of rod system devices includes: two cross mechanisms, the two cross mechanisms are distributed on the same plane where the axis of the transmission shaft is located; three rings are mounted on the transmission shaft to adapt to the two cross structures.

[0013] In the rocket deformable flexible attitude adjustment device as described above, preferably, a limiting groove is provided on the circumferential surface of the transmission shaft, and the extension direction of the limiting groove is the same as the axial direction of the transmission shaft; the inner surface of the sleeve and the inner surface of each ring slidably connected to the transmission shaft both protrude with a limiting protrusion, and the limiting protrusion extends into the limiting groove.

[0014] The rocket deformable flexible attitude adjustment device as described above, wherein, preferably, the transmission device includes: a hinge shaft, a spring device and a mounting seat; wherein, the portion of the transmission shaft near the right end has a radially through circular shaft hole, the sleeve has two opposite long axial sliding holes extending in the circumferential direction, and the two long axial sliding holes correspond to the circular shaft hole; one end of the mounting seat passes through the opening on the rocket shell and is connected to the rotating shaft inside the rocket shell, and the extension direction of the rotating shaft is along the radial direction of the rocket shell, the other end of the mounting seat has two opposite mounting holes, and the part near the right end is located in the space between the two mounting holes; the hinge shaft passes through a mounting hole, a long axial sliding hole, the circular shaft hole, another long axial sliding hole, and another mounting hole in sequence to hinge the mounting seat, the sleeve and the transmission shaft to the hinge shaft; one end of the spring device is fixed to the hinge shaft, and the other end is fixed to the mounting seat.

[0015] The rocket deformable flexible attitude adjustment device as described above, wherein, preferably, the transmission device also includes: a sleeve transmission mechanism; the sleeve has an arc-shaped circumferential sliding hole, the arc-shaped circumferential sliding hole is located on the outside of the long axial sliding hole, and extends from a position close to the right end of the sleeve to a position close to the lower side of the sleeve, and the center of the circle where the arc-shaped circumferential sliding hole is located is located on the side of the long axial sliding hole; one end of the sleeve transmission mechanism is hinged to the arc-shaped circumferential sliding hole, the other end of the sleeve transmission mechanism extends into the rocket shell, and the sleeve transmission mechanism can be extended or retracted in a direction perpendicular to the rocket shell.

[0016] A rocket comprises: a rocket body and a plurality of rocket deformable flexible attitude adjustment devices as described in any one of the above items; all the rocket deformable flexible attitude adjustment devices are arranged outside the shell of the rocket body and are distributed on the same circumference.

[0017] Compared with the above-mentioned background technology, the rocket and its deformable flexible attitude adjustment device provided by the present application utilize a deformable flexible structural device to generate the Magnus effect and angular momentum by changing its shape and rotation state in different flight phases, so as to achieve fast and efficient attitude adjustment. In addition, the present application breaks through the limitations of the application scope of conventional aerodynamic control surfaces in the aerodynamic layout design of rockets, and can also play a role when it is set near the center of mass. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic diagram of the collapsed state of the rocket deformable flexible attitude adjustment device of the present application;

[0020] Figure 2 It is a schematic diagram of the deployment state of the rocket deformable flexible attitude adjustment device of the present application;

[0021] Figure 3 It is a schematic diagram of the internal structure of the rocket deformable flexible attitude adjustment device of the present application;

[0022] Figure 4 It is a three-dimensional diagram of the internal structure of the rocket deformable flexible attitude adjustment device of the present application;

[0023] Figure 5 It is a schematic diagram of a part of the transmission device of the rocket deformable flexible attitude adjustment device of the present application;

[0024] Figure 6 It is a schematic diagram of the cross mechanism of the rocket deformable flexible attitude adjustment device of the present application;

[0025] Figure 7 It is a sectional view of the whole of the transmission device of the rocket deformable flexible attitude adjustment device of the present application;

[0026] Figure 8 It is a schematic diagram of the entire transmission device of the rocket deformable flexible attitude adjustment device of the present application;

[0027] Fig. 9 It is a schematic diagram of the rocket deformable flexible attitude adjustment device of the present application being folded on the surface of the rocket;

[0028] Fig.10 It is a schematic diagram of the rocket deformable flexible attitude adjustment device of the present application being deployed on the surface of the rocket;

[0029] Fig.11 is a schematic diagram of the Magnus effect provided by this application;

[0030] Fig.12 It is a schematic diagram of the law of conservation of angular momentum provided by this application. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0032] like Figures 1 to 4 As shown, the present application provides a rocket deformable flexible attitude adjustment device 100, including: a plurality of flexible structural devices 110, a plurality of supporting devices 120, a plurality of rod system devices 130, a transmission device 140 and a power device (not shown in the figure).

[0033] The inner side of each flexible structure device 110 is connected to the outer side of a support device 120, and the flexible structure device 110 can expand outward and contract inward; the inner side of each support device 120 is connected to the outer end of a set of rod devices 130, and the inner end of each set of rod devices 130 is connected to the circumference of the transmission device 140, and the rod device 130 can drive the support device 120 to extend outward or retract inward; after the support device 120 extends outward, the flexible structure device 110 expands outward, and all the flexible structures The outer surface of the device 110 forms a large cylinder / large ellipsoid. After the support device 120 retracts inward, the flexible structure device 110 contracts inward, and the outer surfaces of all flexible structure devices 110 form a small cylinder / small ellipsoid. Here, "large" and "small" are two relative states; the transmission device 140 is connected to the power device, and the power device can drive the transmission device 140 to rotate along its circumference, so that the rod device 130, the support device 120 and the flexible structure device 110 rotate along with it, thereby generating a Magnus effect.

[0034] Optionally, the flexible structure device 110 has an inflatable cavity inside, and the inflatable cavity is connected to the air source system of the rocket. The inflatable cavity is inflated and deflated by controlling the valve of the air source, so that the flexible structure device 110 expands outward and contracts inward, turning into a large cylinder / ellipsoid, or a small cylinder / ellipsoid. Optionally, the axial direction of the large cylinder / ellipsoid and the small cylinder / ellipsoid coincides with the axial direction of the transmission device 140. Optionally, the material of the flexible structure device 110 can be a high-strength, high-temperature resistant flexible material that can withstand the pressure and temperature changes during the flight of the rocket, such as special rubber or composite materials (such as SiO2 / ZrO2 nanofiber membrane); a sandwich-type flexible telescopic skin with a honeycomb support structure can also be used.

[0035] In addition, the extension direction of the support device 120 is the same as the axial direction of the transmission device 140. Optionally, the middle part of the support device 120 is parallel to the transmission device 140, and the two ends of the support device 140 are bent toward the transmission device 140, which can not only ensure that there is enough space between the support device 120 and the transmission device 140 to accommodate the rod system device 130, but also ensure that no matter whether the flexible structure device 110 expands outward or contracts inward, its two end parts can contact the transmission device 140, so that the exterior of the rocket deformable flexible attitude adjustment device 100 is always in an integrated state. Optionally, the number of the flexible structure device 110 and the support device 120 is not less than four. Still optionally, the number of the flexible structure device 110 and the support device 120 is four.

[0036] In addition, each set of rod system 130 includes: one or more cross mechanisms 131; Figure 6 As shown, each cross mechanism 131 includes: two support rods 1311 and a rotating shaft 1312; the two support rods 1311 are arranged crosswise, and are hinged by the rotating shaft 1312 at the intersection of the two support rods 1311, so as to form a cross mechanism 131; the outer end of the support rod 1311 of each cross mechanism 131 is hinged to the inner side surface of the corresponding support device 120 to realize the connection between the rod system 130 and the support device 120, and the inner end of the support rod 1311 of each cross structure 131 is hinged to the peripheral surface of the transmission device 140 to realize the connection between the inner end of the rod system 130 and the peripheral surface of the transmission device 140. Optionally, the number of cross mechanisms 131 used in each set of rod system devices 130 is determined by design requirements. Also optionally, each set of rod system devices 130 includes: two cross mechanisms 131, and the two cross mechanisms 131 are distributed on the same plane where the axis of the transmission device 140 is located. Also optionally, the number of rod system devices 130 is four sets. Still optionally, the support rod 1311 is a rigid support rod.

[0037] Optionally, the inner side surface of the support device 120 protrudes with multiple sets of articulated ears, each set of articulated ears includes a plurality of first articulated ears and a plurality of second articulated ears, the first articulated ears are axially slidably connected to the support device 120, and the second articulated ears are fixedly connected to the support device 120, all the first articulated ears and all the second articulated ears in each set of articulated ears are on the same axis, and are distributed from left to right in the form of "first articulated ears" and "second articulated ears"; the outer end of a support rod 1311 of each cross mechanism 131 is hinged to the first articulated ear through a rotating shaft, and the outer end of the other support rod 1311 is hinged to the second articulated ear through a rotating shaft.

[0038] On the basis of the above, the transmission device 140 includes: a transmission shaft 141, a sleeve 142 and a plurality of collars 143; the sleeve 142 and all the collars 143 are sleeved onto the transmission shaft 141, and the sleeve 142 is located on the left side of all the collars 143 (such as Figure 3 , Figure 4 and Figure 5 As shown in the figure, the sleeve 142 is slidably connected to the transmission shaft 141, part of the collar 142 is fixedly connected to the transmission shaft 141, part of the collar 142 is slidably connected to the transmission shaft 141, and the connection mode of the collar 143 and the transmission shaft 141 from left to right is distributed in intervals of "fixed connection" and "sliding connection"; the inner end of the support rod 1311 close to the sleeve 142 is hinged to the circumference of the sleeve 142, and the inner end of each of the remaining support rods 1311 is hinged to the circumference of a collar 143. In this way, the sleeve 142 moves to the left relative to the transmission shaft 141, and the two support rods 1311 of each cross structure 131 are brought together in a direction parallel to the transmission shaft 141, thereby driving the support device 120 to retract inwardly; the sleeve 142 moves to the right relative to the transmission shaft 141, and the two support rods 1311 of each cross structure 131 are brought together in a direction perpendicular to the transmission shaft 141, thereby driving the support device 120 to extend outwardly.

[0039] Optionally, a third hinged ear is protruded from the circumference of the sleeve 142, and the inner end of the support rod 1311 close to the sleeve 142 is hinged to the third hinged ear through a rotating shaft; a fourth hinged ear is protruded from the circumference of the collar 143, and the inner end of each of the remaining support rods 1311 is hinged to the fourth hinged ear of a collar 143 through a rotating shaft. Optionally, three collars 143 are sleeved on the transmission shaft 141, and the connection modes of the three collars 143 with the transmission shaft 141 from left to right are "fixed connection", "sliding connection" and "fixed connection" to adapt to the two cross structures 131. Optionally, a limiting groove 1411 is provided on the circumferential surface of the transmission shaft 141, and the extending direction of the limiting groove 1411 is the same as the axial direction of the transmission shaft 141; the inner surface of the sleeve 142 and the inner surface of each ring 143 slidably connected to the transmission shaft 141 both have a limiting protrusion protruding, and the limiting protrusion extends into the limiting groove, so that the sleeve 142 and the ring 143 slidably connected to the transmission shaft 141 can only move axially but not circumferentially, thereby ensuring the stability of the overall shape of the rocket deformable flexible attitude adjustment device 100. Still optionally, a plurality of limiting grooves 1411 are provided on the circumferential surface of the transmission shaft 141, and all the limiting grooves 1411 are evenly distributed; a plurality of limiting protrusions are protruded from the inner surface of the sleeve 142 and the inner surface of each ring 143 slidably connected to the transmission shaft 141, and all the limiting protrusions are evenly distributed; a limiting protrusion of the sleeve 142 and the ring 143 extends into a limiting groove 1411, thereby making the overall shape of the rocket deformable flexible attitude adjustment device 100 more stable.

[0040] On the basis of the above, the transmission device 140 includes: a hinge shaft 144, a spring device 145 and a mounting seat 146; wherein, the transmission shaft 141 has a radially penetrating circular shaft hole at a portion close to the right end, and the sleeve 142 has two opposite long axial sliding holes 1421 extending in the circumferential direction, and the two long axial sliding holes 1421 correspond to the circular shaft holes; one end of the mounting seat 146 passes through the opening on the rocket shell and is connected to the rotating shaft inside the rocket shell, and the extending direction of the rotating shaft is along the radial direction of the rocket shell, and the other end of the mounting seat 146 has two opposite mounting holes, and the portion of the sleeve 142 close to the right end is located in the space between the two mounting holes; The hinge shaft 144 passes through a mounting hole, a long axial sliding hole 1421, a circular shaft hole, another long axial sliding hole 1421, and another mounting hole in sequence to hinge the mounting seat 146, the sleeve 142, and the transmission shaft 141 to the hinge shaft 144; one end of the spring device 145 is fixed to the hinge shaft 144, and the other end is fixed to the mounting seat 146, so that the sleeve 142 and the transmission shaft 141 can rotate around the hinge shaft 144 under the action of the spring device 145, and then the main part of the rocket deformable flexible attitude adjustment device 100 can be rotated from a direction parallel to the rocket to a direction perpendicular to the rocket to complete the adjustment of the rocket's attitude.

[0041] Optionally, the transmission device 140 further includes: a sleeve transmission mechanism 147; the sleeve 142 has an arc-shaped circumferential sliding hole 1422, the arc-shaped circumferential sliding hole 1422 is located outside the long axial sliding hole 1421, and extends from a position close to the right end of the sleeve 142 to a position close to the lower side of the sleeve 142, and the center of the circle where the arc-shaped circumferential sliding hole 1422 is located is located on the side of the long axial sliding hole 1421; one end of the sleeve transmission mechanism 147 is hinged to the arc-shaped circumferential sliding hole 1422, so that the sleeve 14 2 and the transmission shaft 141 rotate around the hinge shaft 144, the sleeve transmission mechanism 147 can slide along the arc-shaped circumferential sliding hole 1422 to avoid affecting the rotation of the sleeve 142 and the transmission shaft 141 around the hinge shaft 144; the other end of the sleeve transmission mechanism 147 extends into the rocket shell, and the sleeve transmission mechanism 147 can extend or retract in a direction perpendicular to the rocket shell, so that when the sleeve 142 and the transmission shaft 141 rotate to be perpendicular to the rocket shell, the sleeve 142 can be driven to move along its circumference by extending or retracting.

[0042] Optionally, the sleeve transmission mechanism 147 is hinged to the arc-shaped circumferential sliding hole 1422 through a pin 148. Also optionally, the sleeve 142 has two opposite arc-shaped circumferential sliding holes 1422, and the sleeve transmission mechanism 147 has two branch rods, which are hinged to the two arc-shaped circumferential sliding holes 1422 through the branch rods, thereby increasing the reliability of the structure. Optionally, the sleeve transmission mechanism 147 extends into the rocket shell through one end of the mounting seat 146 that is rotatably connected to the rocket shell. Optionally, the outer side surface of the sleeve 142 located around the long axial sliding hole 1421 is a plane to facilitate the sliding of the sleeve 142.

[0043] Optionally, the transmission device 140 further includes: four baffles 149, the four baffles 149 are fitted onto the hinge shaft 144, and the first baffle 149 is located outside a mounting hole, the second baffle 149 is located outside another mounting hole, the third baffle 149 is located inside a long axial sliding hole 1421 and outside the circular shaft hole, and the fourth baffle 149 is located inside another long axial sliding hole 1421 and outside the circular shaft hole, so that the positional relationship of each component is limited by the baffles 149. Optionally, the transmission device 140 includes two spring devices 145; one end of one spring device 145 is fixed on the hinge shaft 144 and is located between a mounting hole and a long axial sliding hole 1421; one end of the other spring device 145 is fixed on the hinge shaft 144 and is located between another mounting hole and another long axial sliding hole 1421. Optionally, the spring device 145 is a spiral spring.

[0044] Since the transmission device 140 is to drive the rod system 130, the support device 120 and the flexible structure device 110 to rotate in the circumferential direction, the mounting seat 146 can be connected to a power device, and the mounting seat 146 is driven by the power device to drive the sleeve 142 to rotate in the circumferential direction, thereby driving the rod system 130, the support device 120 and the flexible structure device 110 to rotate in the circumferential direction. In addition, in order to drive the sleeve 142 to move left / right, the sleeve transmission mechanism 147 can be connected to another power device, and the sleeve transmission mechanism 147 is driven by the power device to drive the sleeve 142 to move left / right, thereby driving the rod system 130 and the support device 120 to extend outward or retract inward, thereby ensuring that the flexible structure device 110 expands outward or contracts inward. In addition, both power devices are arranged inside the rocket shell.

[0045] like Fig. 9 and 10 As shown, the present application also provides a rocket, comprising: a rocket body 200 and a plurality of the above-mentioned rocket deformable flexible attitude adjustment devices 100; all rocket deformable flexible attitude adjustment devices 100 are arranged outside the shell of the rocket body and are distributed on the same circumference. Optionally, four rocket deformable flexible attitude adjustment devices 100 are arranged on the rocket body, and the four rocket deformable flexible attitude adjustment devices 100 are evenly distributed on the same circumference.

[0046] like Fig. 9 As shown, when there is no need to adjust the posture, the rocket's deformable flexible posture adjustment device 100 is fixed in a folded state by connecting the separator, that is, its extension direction is the same as the rocket's axis. At this time, the spring device 145 is in a compressed state, and the flexible structure device 110 is not started. At this time, the flexible structure device 110 is in a folded state.

[0047] like Fig.10 As shown, when the attitude needs to be adjusted, the connecting separator is opened, and the spring device 145 unfolds the rocket's deformable flexible attitude adjustment device 100 through the driving torque, that is, its extension direction is the same as the radial direction of the rocket; then the power device drives the sleeve transmission mechanism 147 to extend outward, and through axial movement, the axial sliding of the sleeve 142 is controlled, and then the rod system device 130 drives the support device 120 to extend outward, and the flexible structure device 110 expands outward accordingly, and the outer surfaces of all flexible structure devices 110 are enclosed into a large cylinder / large ellipsoid; then another power device drives the mounting seat 146 to rotate around the rocket radially, so that the enclosed large cylinder / large ellipsoid rotates circumferentially, which produces a Magnus effect on the one hand, and makes the rocket rotate in the opposite direction on the other hand to balance the angular momentum generated by the Magnus effect, thereby realizing rapid attitude adjustment of the rocket body.

[0048] like Fig.11As shown, the Magnus effect refers to when the rotational angular velocity vector of a rotating object does not coincide with the object's flight velocity vector, a lateral force will be generated in a direction perpendicular to the plane formed by the rotational angular velocity vector and the translational velocity vector. The phenomenon that the object's flight trajectory is deflected under the action of this lateral force is called the Magnus effect.

[0049] This application applies this principle. When the flight attitude needs to be adjusted, the rocket's deformable flexible attitude adjustment device is rotated. Due to the Magnus effect, a lateral force is generated. Therefore, by controlling the rotation speed and rotation direction of the device, the size and direction of the lateral force can be adjusted, thereby achieving adjustment of the rocket's flight attitude and further achieving precise control of the rocket's descent trajectory.

[0050] like Fig.12 As shown in the figure, the principle of the law of conservation of angular momentum is that when the resultant torque of the external force acting on a rigid body (or a rigid body system) on a fixed axis is zero, the angular momentum of the rigid body (or rigid body system) on the axis is conserved, so there is: the resultant torque M ex,z = 0, the angular momentum conservation of a rigid body (or a system of rigid bodies) is Σ i L iz =Σ i I iz ω i =const,L iz is the angular momentum of the rigid body, ω i is the angular velocity of the rigid body, Fig. 9 Where ω1 is the angular velocity of the rocket's deformable flexible attitude adjustment device, ω2 is the angular velocity of the rocket body, and I iz is the moment of inertia of the rigid body. The moment of inertia depends on the mass distribution of the rigid body and the position of the rotation axis. The farther the mass distribution is from the rotation axis, the greater the moment of inertia.

[0051] Therefore, when the rocket's deformable flexible attitude adjustment device rotates, in addition to the Magnus effect, angular momentum will also be generated. In order to maintain the conservation of angular momentum of the entire system (rocket body and rocket's deformable flexible attitude adjustment device), the rocket body will generate a reverse angular momentum to balance the angular momentum of the rocket's deformable flexible attitude adjustment device. At this time, the rocket body will rotate in the opposite direction. The greater (smaller) the rotation speed of the rocket's deformable flexible attitude adjustment device, the greater (smaller) the reverse rotation speed of the rocket body. This principle can be used to adjust the rocket's attitude.

[0052] When there is no need to adjust the attitude, the rocket's deformable flexible attitude adjustment device extends from the outside of the rocket shell into the inside of the rocket shell, thereby completing the adjustment of the rocket's attitude.

[0053] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0054] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A rocket deformable flexible attitude adjustment device, characterized in that: include: Multiple flexible structural devices, multiple supporting devices, multiple rod system devices, transmission devices and power devices; The inner side of each flexible structural device is connected to the outer side of a supporting device, and the flexible structural device can expand outwards and contract inwards; The inner side surface of each supporting device is connected to the outer end of a set of rod-type devices, the inner end of each set of rod-type devices is connected to the peripheral surface of the transmission device, and the rod-type devices can drive the supporting device to extend outward or retract inward; After the support device extends outward, the flexible structure device expands outward, and the outer surfaces of all the flexible structure devices enclose a large cylinder / large ellipsoid; after the support device retracts inward, the flexible structure device contracts inward, and the outer surfaces of all the flexible structure devices enclose a small cylinder / small ellipsoid; The transmission device is connected to the power device, and the power device can drive the transmission device to rotate along its circumferential direction.

2. The rocket deformable flexible attitude adjustment device according to claim 1, characterized in that: The extending direction of the supporting device is the same as the axial direction of the transmission device, the middle part of the supporting device is parallel to the transmission device, and the two ends of the supporting device are bent toward the transmission device.

3. The rocket deformable flexible attitude adjustment device according to claim 1 or 2, characterized in that: Each rod system device includes: one or more cross mechanisms; Each cross mechanism includes: two support rods and a rotating shaft; the two support rods are cross-arranged and hinged by the rotating shaft at the intersection of the two support rods; The outer end of the support rod of each cross mechanism is hinged to the inner side surface of the corresponding supporting device; the inner end of the support rod of each cross structure is hinged to the peripheral surface of the transmission device.

4. The rocket deformable flexible attitude adjustment device according to claim 3, characterized in that: A plurality of sets of hinged ears protrude from the inner side surface of the support device, each set of hinged ears includes a plurality of first hinged ears and a plurality of second hinged ears, the first hinged ears are slidably connected to the support device along the axial direction, and the second hinged ears are fixedly connected to the support device, all the first hinged ears and all the second hinged ears in each set of hinged ears are on the same axis, and are distributed from left to right in the form of first hinged ears and second hinged ears at intervals; The outer end of one support rod of each cross mechanism is hinged to the first hinged ear through a rotating shaft, and the outer end of another support rod is hinged to the second hinged ear through a rotating shaft.

5. The rocket deformable flexible attitude adjustment device according to claim 3, characterized in that: The transmission device comprises: a transmission shaft, a sleeve and a plurality of collars; The sleeve and all the collars are sleeved onto the transmission shaft, the sleeve is located on the left side of all the collars, and the sleeve is slidably connected to the transmission shaft, some collars are fixedly connected to the transmission shaft, and some collars are slidably connected to the transmission shaft, and the connection mode of the collars and the transmission shaft from left to right is fixed connection and sliding connection at intervals; The inner end of the support rod close to the sleeve is hinged to the circumference of the sleeve, and the inner end of each of the other support rods is hinged to the circumference of a collar.

6. The rocket deformable flexible attitude adjustment device according to claim 5, characterized in that: Each set of rod system devices includes: two cross mechanisms, and the two cross mechanisms are distributed on the same plane where the axis of the transmission shaft is located; Three collars are mounted on the drive shaft to fit the two cross structures.

7. The rocket deformable flexible attitude adjustment device according to claim 5, characterized in that: A limiting groove is provided on the circumferential surface of the transmission shaft, and the extension direction of the limiting groove is the same as the axial direction of the transmission shaft; the inner surface of the sleeve and the inner surface of each ring slidably connected to the transmission shaft are protruding with a limiting protrusion, and the limiting protrusion extends into the limiting groove.

8. The rocket deformable flexible attitude adjustment device according to claim 7, characterized in that: The transmission device comprises: a hinge shaft, a spring device and a mounting seat; The transmission shaft has a radially penetrating circular shaft hole at a portion close to the right end, and the sleeve has two opposite long axial sliding holes extending in the circumferential direction, and the two long axial sliding holes correspond to the circular shaft hole; One end of the mounting seat passes through the opening on the rocket shell and is connected to the rotating shaft inside the rocket shell, and the extending direction of the rotating shaft is along the radial direction of the rocket shell. The other end of the mounting seat has two opposite mounting holes, and the part close to the right end is located in the space between the two mounting holes. The hinge shaft passes through a mounting hole, a long axial sliding hole, a round shaft hole, another long axial sliding hole, and another mounting hole in sequence, so as to hinge the mounting seat, the sleeve and the transmission shaft to the hinge shaft; One end of the spring device is fixed on the hinge shaft, and the other end is fixed on the mounting seat.

9. The rocket deformable flexible attitude adjustment device according to claim 8, characterized in that: The transmission device also includes: a sleeve transmission mechanism; The sleeve has an arc-shaped circumferential sliding hole, which is located outside the long axial sliding hole and extends from a position close to the right end of the sleeve to a position close to the lower side of the sleeve, and the center of the circle where the arc-shaped circumferential sliding hole is located is located on the side of the long axial sliding hole; One end of the sleeve transmission mechanism is hinged to the arc-shaped circumferential sliding hole, and the other end of the sleeve transmission mechanism extends into the rocket shell, and the sleeve transmission mechanism can be extended or retracted in a direction perpendicular to the rocket shell.

10. A rocket, characterized in that: include: A rocket body and a plurality of rocket deformable flexible attitude adjustment devices as described in any one of claims 1 to 9; All the rocket's deformable flexible attitude adjustment devices are arranged outside the shell of the rocket body and are distributed on the same circumference.

Images