A rocket and a deformable flexible attitude adjustment device thereof

Abstract

The application relates to the field of aerospace technology, in particular to a rocket and a deformable flexible attitude adjusting device thereof, which comprises a flexible structure device, a supporting device, a linkage device, a transmission device and a power device; the inner side surface of the flexible structure device is connected with the outer side surface of the supporting device, the flexible structure device can expand outwardly / contract inwardly; the inner side surface of the supporting device is connected with the outer end of the linkage device, the inner end of the linkage device is connected with the circumferential surface of the transmission device, the linkage device can drive the supporting device to stretch outwardly / contract inwardly; the outer surfaces of all the flexible structure devices can be enclosed into a large cylinder / a large ellipsoid or enclosed into a small cylinder / a small ellipsoid; the transmission device is connected with the power device, and the power device can drive the transmission device to rotate along the circumference thereof. The application can reduce the consumption of propellants by the attitude adjusting device, increase the application range of the attitude adjusting device and improve the attitude adjusting effect.

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 adjusting device thereof. BACKGROUND

[0002] In various stages of rocket flight, especially in the rocket booster recovery stage, attitude adjustment is crucial. The common way of attitude adjustment at present mainly covers traditional thruster nozzle deflection, retro-rocket and aerodynamic rudder control and other means. To take specific examples, by precisely controlling the thrust size and direction of thruster nozzles in different directions, the attitude change of the rocket can be achieved. In the rocket recovery stage, the deflection of the grid rudder is used to regulate the attitude of the rocket, which can ensure the stability of the re-entry atmosphere and landing process. In addition, fins similar to airplane wings can also 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 large amount of propellant, and the structure is complex, which increases the weight and cost of the rocket, and at the same time, the deflection angle of the nozzle is limited, and it is difficult to achieve rapid and large-scale attitude adjustment. In addition, in high-altitude low-density and some complex flight environments, the adjustment method of common grid rudders and fins is not good, and it is difficult to meet the attitude adjustment needs of the rocket at different altitudes and environments. In addition, the conventional aerodynamic rudder has a limited application range in the design of rocket aerodynamic layout, and it can only play an obvious role when it is set at a position far from the center of mass.

[0004] Therefore, how to reduce the consumption of propellant by the attitude adjusting device, increase the application range of the attitude adjusting device, and improve the effect of attitude adjustment is a technical problem that the technical personnel in the field urgently need to solve at present. SUMMARY

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

[0006] To solve the above technical problems, the present 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 outward and contract inward; 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 devices can drive the supporting devices to extend outward or retract inward; after the supporting devices extend outward, the flexible structural devices expand outward, and the outer surfaces of all the flexible structural devices form a large cylinder / large ellipsoid; after the supporting devices retract inward, the flexible structural devices contract inward, and the outer surfaces of all the flexible structural devices form 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 position 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 support 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 at intervals of the first articulated ears and the second articulated ears from left to right; 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 slidingly connected to the transmission shaft, some of the rings are fixedly connected to the transmission shaft, some of the rings are slidingly connected to the transmission shaft, and the connection mode of the rings and the transmission shaft from left to right is distributed in a fixed connection and a 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 remaining support rods is hinged to the circumference of a ring.

[0012] As described above, the rocket deformable flexible attitude adjustment device, 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] The rocket deformable flexible attitude adjustment device as described above, wherein, 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 are protruding 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 left 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 portion of the sleeve near the left 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 on the hinge shaft, and the other end is fixed on 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 outside the long axial sliding hole, and extends from a position near the left end of the sleeve to a position near 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.

[0016] A rocket comprises: a rocket body and a plurality of rocket deformable flexible attitude adjustment devices as described above; 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] In view of the prior art, the rocket and the deformable flexible attitude adjusting device thereof provided by the present application utilize the deformable flexible structure device to generate Magnus effect and angular momentum by changing the shape and rotating state thereof in different flight stages, so as to realize rapid and efficient attitude adjustment, and the present application breaks through the limitation of the application range of the conventional aerodynamic rudder in the aerodynamic layout design of the rocket, and can play a role when arranged close to the center of mass. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

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

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

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

[0022] Figure 4 is a perspective view of the internal structure of the deformable flexible attitude adjusting device of the rocket of the present application;

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

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

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

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

[0027] Figure 9 is a schematic diagram of the rocket deformable flexible attitude adjusting device folded on the surface of the rocket of the present application;

[0028] Figure 10 is a schematic diagram of the rocket deformable flexible attitude adjusting device unfolded on the surface of the rocket of the present application;

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

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

[0031] The embodiments of the present invention are described in detail below. Examples of the embodiments 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 are not to be construed 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: multiple flexible structural devices 110, multiple support devices 120, multiple sets of rod 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 devices 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 110 are retracted. 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 accordingly, thereby generating a Magnus effect.

[0034] Optionally, the flexible structural device 110 has an internal inflation chamber that is connected to the rocket's air supply system. By controlling a valve on the air supply, air is pumped into and out of the inflation chamber, causing the flexible structural device 110 to expand outward and contract inward, transforming into a large cylinder / ellipsoid or a small cylinder / ellipsoid. Optionally, the axial directions of the large cylinder / ellipsoid and the small cylinder / ellipsoid coincide with the axial direction of the transmission device 140. Optionally, the flexible structural device 110 can be constructed of a high-strength, high-temperature-resistant flexible material capable of withstanding the pressure and temperature fluctuations during rocket flight, such as a special rubber or composite material (e.g., SiO2 / ZrO2 nanofiber membrane). Alternatively, a sandwich-type flexible telescopic skin with a honeycomb support structure can 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. Alternatively, the middle portion of the support device 120 is parallel to the transmission device 140, and the ends of the support device 140 are bent toward the transmission device 140. This not only ensures that there is sufficient space between the support device 120 and the transmission device 140 to accommodate the rod assembly 130, but also ensures that both ends of the flexible structure device 110 can contact the transmission device 140 regardless of whether it is expanding outward or contracting inward, thereby ensuring that the exterior of the rocket deformable flexible attitude adjustment device 100 always remains in a unified state. Alternatively, the number of flexible structure devices 110 and support devices 120 is no less than four. Still optionally, the number of flexible structure devices 110 and support devices 120 is four.

[0036] In addition, each rod system 130 includes: one or more cross mechanisms 131; Figure 6 As shown, each cross mechanism 131 comprises two support rods 1311 and a rotating shaft 1312. The two support rods 1311 are arranged crosswise and hingedly connected by the rotating shaft 1312 at the intersection of the two support rods 1311, thereby forming the cross mechanism 131. The outer ends of the support rods 1311 of each cross mechanism 131 are hingedly connected to the inner side surface of the corresponding support device 120 to connect the lever assembly 130 to the support device 120. The inner ends of the support rods 1311 of each cross mechanism 131 are hingedly connected to the circumference of the transmission device 140 to connect the inner end of the lever assembly 130 to the circumference of the transmission device 140. Optionally, the number of cross mechanisms 131 used in each lever assembly 130 is determined by design requirements. Alternatively, each lever assembly 130 includes two cross mechanisms 131, both of which are located on the same plane as the axis of the transmission device 140. Alternatively, there are four lever assembly 130 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 spaced apart from each other 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 collars 143 are sleeved onto the transmission shaft 141, and the sleeve 142 is located on the left side of all collars 143 (such as Figure 3 、 Figure 4 and Figure 5 As shown, the sleeve 142 is slidably connected to the transmission shaft 141, some of the collars 143 are fixedly connected to the transmission shaft 141, and some of the collars 143 are slidably connected to the transmission shaft 141. From left to right, the collars 143 are alternately connected to the transmission shaft 141 in a "fixed connection" and "sliding connection" pattern. The inner end of the support rod 1311 adjacent to the sleeve 142 is hinged to the circumference of the sleeve 142, while the inner end of each of the remaining support rods 1311 is hinged to the circumference of a collar 143. Thus, when the sleeve 142 moves leftward relative to the transmission shaft 141, the two support rods 1311 of each cross structure 131 move together in a direction parallel to the transmission shaft 141, thereby driving the support device 120 to retract inward. When the sleeve 142 moves rightward relative to the transmission shaft 141, the two support rods 1311 of each cross structure 131 move together in a direction perpendicular to the transmission shaft 141, thereby driving the support device 120 to extend outward.

[0039] Optionally, a third hinge lug protrudes from the circumference of sleeve 142, and the inner end of the support rod 1311 adjacent to sleeve 142 is hingedly connected to the third hinge lug via a rotating shaft. A fourth hinge lug protrudes from the circumference of collar 143, and the inner end of each of the remaining support rods 1311 is hingedly connected to the fourth hinge lug of a collar 143 via a rotating shaft. Optionally, three collars 143 are sleeved onto drive shaft 141, and the three collars 143 are connected to drive shaft 141 from left to right in a "fixed connection," "sliding connection," or "fixed connection" manner to accommodate the two cross structures 131. Optionally, a limiting groove 1411 is provided on the circumferential surface of the transmission shaft 141, and the extension 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 slidingly connected to the transmission shaft 141 both protrude with a limiting protrusion, and the limiting protrusion extends into the limiting groove, so that the sleeve 142 and the ring 143 slidingly connected to the transmission shaft 141 can only move in the axial direction but not in the circumferential direction, 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 near the left 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 extension 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 part of the sleeve 142 near the left 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 axis 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 on the hinge shaft 144, and the other end is fixed on the mounting seat 146, so that the sleeve 142 and the transmission shaft 141 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 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 left 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 hingedly connected to the arc-shaped circumferential sliding hole 1422 via a pin 148. Also optionally, the sleeve 142 has two opposing arc-shaped circumferential sliding holes 1422, and the sleeve transmission mechanism 147 has two branch rods that are hingedly connected to the two arc-shaped circumferential sliding holes 1422 via the branch rods, thereby increasing the reliability of the structure. Alternatively, one end of the sleeve transmission mechanism 147 that is rotatably connected to the rocket shell passes through the mounting seat 146 and extends into the rocket shell. Alternatively, the outer surface of the sleeve 142 surrounding the long axial sliding hole 1421 is flat to facilitate sliding of the sleeve 142.

[0043] Optionally, the transmission device 140 further includes four baffles 149, which are fitted onto the hinge shaft 144. The first baffle 149 is located outside one mounting hole, the second baffle 149 is located outside another mounting hole, the third baffle 149 is located inside one 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, thereby defining the positional relationship between the various components. Optionally, the transmission device 140 further includes two spring devices 145. One end of one spring device 145 is fixed to the hinge shaft 144 and is located between one mounting hole and one long axial sliding hole 1421. The other end of the other spring device 145 is fixed to the hinge shaft 144 and is located between the other mounting hole and the other long axial sliding hole 1421. Optionally, the spring device 145 is a spiral spring.

[0044] Because the transmission device 140 is required to drive the rod assembly 130, the support device 120, and the flexible structure device 110 to rotate circumferentially, the mounting seat 146 can be connected to a power device. This power device drives the mounting seat 146 to drive the sleeve 142 to rotate circumferentially, thereby driving the rod assembly 130, the support device 120, and the flexible structure device 110 to rotate circumferentially. In addition, to drive the sleeve 142 to move left or right, the sleeve transmission mechanism 147 can be connected to another power device. This power device drives the sleeve transmission mechanism 147 to move the sleeve 142 left or right, thereby driving the rod assembly 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 located inside the rocket shell.

[0045] like Figure 9 and 10 As shown, the present application further 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 Figure 9 As shown, when there is no need to adjust the attitude, the rocket's deformable flexible attitude 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 Figure 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, controls the axial sliding of the sleeve 142, and then the rod 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 causes the rocket to 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 Figure 11As shown in the figure, the Magnus effect refers to the phenomenon that 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 the 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 speed and rotation direction of the device, the magnitude 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 Figure 12 As shown, the principle of conservation of angular momentum is that when the resultant torque of the external force acting on a rigid body (or a system of rigid bodies) on a fixed axis is zero, the angular momentum of the rigid body (or the system of rigid bodies) about the axis is conserved, so: the resultant torque When , the angular momentum of a rigid body (or a system of rigid bodies) is conserved , is the angular momentum of the rigid body, is the angular velocity of the rigid body, Figure 9 middle is the angular velocity of the rocket's deformable flexible attitude adjustment device, is the angular velocity of the rocket body, 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 control device rotates, in addition to the Magnus effect, it also generates angular momentum. To conserve the angular momentum of the entire system (the rocket body and the deformable, flexible attitude control device), the rocket body generates a reverse angular momentum to balance the angular momentum of the deformable, flexible attitude control device, causing the rocket body to rotate in the opposite direction. The greater (slower) the rotation speed of the deformable, flexible attitude control device, the greater (slower) 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 present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0054] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method 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 can also be appropriately combined to form other implementation methods 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 systems, 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 outward and contract inward; The inner side surface of each supporting device is connected to the outer end of a set of rod devices, the inner end of each set of rod devices is connected to the peripheral surface of the transmission device, and the rod devices can drive the supporting device to extend outward or retract inward; After the support device extends outward, the flexible structural device expands outward, and the outer surfaces of all the flexible structural devices enclose a large cylinder / large ellipsoid; after the support device retracts inward, the flexible structural device contracts inward, and the outer surfaces of all the flexible structural 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 both 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 includes: one or more cross mechanisms; Each cross mechanism includes: two support rods and a rotating shaft; the two support rods are arranged crosswise and are 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: The inner side surface of the support device protrudes with multiple sets of hinged ears, 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 with the first hinged ears and the second hinged ears spaced apart; 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 the other 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 includes: a transmission shaft, a sleeve and a plurality of collars; The sleeve and all the collars are mounted on 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 rod system device 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 accommodate 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 includes: a hinge shaft, a spring device and a mounting seat; The transmission shaft has a radially penetrating circular shaft hole at a portion near the left 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 an opening on the rocket shell and is connected to a rotating shaft inside the rocket shell, and an extension direction of the rotating shaft is along the radial direction of the rocket shell. The other end of the mounting seat has two opposing mounting holes, and a portion of the sleeve near the left 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 circular 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 near the left end of the sleeve to a position near the lower side of the sleeve, and the center of the circle in which the arc-shaped circumferential sliding hole 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 according to 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.

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