Recoverable rocket landing supporting mechanism

Abstract

The invention relates to the technical field of space flight and aviation, in particular to a recoverable rocket landing supporting mechanism which comprises a plurality of folding, unfolding and folding mechanisms. Each folding, unfolding and folding mechanism comprises an on-arrow locking mechanism, an auxiliary air cylinder, a telescopic assembly, a supporting assembly and a buffering device. The upper end of the telescopic assembly is hinged to the rocket body, the lower end of the telescopic assembly is hinged to the bottom end of the supporting assembly through a buffering device, the top end of the supporting assembly is hinged to the rocket body through a left hinge joint and a right hinge joint, and the left hinge joint and the right hinge joint are coaxial and located below the upper end of the telescopic assembly. The locking mechanism on the rocket is located on the rocket body and locks the edge of the supporting assembly after the supporting assembly is tightly attached to the rocket wall; one end of the auxiliary air cylinder is fixed to the arrow body, the other end of the auxiliary air cylinder extends outwards and downwards, the auxiliary air cylinder is located below the telescopic assembly, and when the supporting assembly is tightly attached to the arrow wall, the other end of the auxiliary air cylinder makes contact with the supporting assembly. The invention has the characteristics of large folding-unfolding ratio, reliable locking, high landing stability, small impact peak value and small aerodynamic resistance.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a recoverable rocket landing support mechanism. Background Art

[0002] With the rapid development of aerospace technology, the frequency of rocket launches has increased year by year. The cost of launching a rocket is high, and the main parts of the rocket account for the vast majority of the launch cost. Since the main parts of the rocket are severely damaged when returning to the ground and cannot be reused, conventional rockets are not recovered after completing their launch missions, resulting in the cost of rocket launches remaining high. Therefore, developing reusable rockets, recovering the main parts of the rocket, and then performing simple repairs and adding fuel to achieve re-launch is an effective way to reduce costs.

[0003] Vertical take-off and landing technology is the key technology of reusable rockets, and landing support technology is an important part of vertical take-off and landing technology. The landing support mechanism can achieve a soft landing of the rocket. Therefore, designing a highly reliable landing support mechanism is of great significance for achieving rapid response of the rocket, improving launch efficiency and reducing launch costs.

[0004] At present, although the reusable rocket landing support mechanism developed can meet the requirements of recovery and landing functions, the support circle diameter of the support mechanism is relatively small. The telescopic mechanism driven by high-pressure gas will rebound during landing due to the compressibility of the gas, resulting in instability. In addition, the support mechanism is subject to a large peak impact force when the rocket lands and is subject to large resistance during the flight of the rocket.

[0005] Therefore, how to improve the support circle diameter and stability of the support mechanism and reduce the peak impact force during landing and the resistance during flight are technical problems that technical personnel in this field urgently need to solve. Summary of the invention

[0006] The present application provides a recoverable rocket landing support mechanism and an outward-folding deployment mechanism, which have the characteristics of large folding and unfolding ratio, reliable locking, high landing stability, small impact peak value and small aerodynamic resistance.

[0007] In order to solve the above technical problems, this application provides the following technical solutions:

[0008] A recoverable rocket landing support mechanism comprises: a plurality of groups of folding, unfolding and folding mechanisms; all groups of folding, unfolding and folding mechanisms are evenly arranged on the outer wall of the rocket along the same circumferential direction; wherein each group of folding, unfolding and folding mechanisms comprises: an on-rocket locking mechanism, an auxiliary cylinder, a telescopic assembly, a support assembly and a buffer device; the upper end of the telescopic assembly is hinged on the rocket body, the lower end of the telescopic assembly is hinged to the bottom end of the support assembly through the buffer device, the top end of the support assembly is hinged to the rocket body through two left and right hinge points, the left and right hinge points are coaxial, and the left and right hinge points are located below the upper end of the telescopic assembly; the on-rocket locking mechanism is located on the rocket body, and after the support assembly rotates upward around the two hinge points at its top until it is close to the arrow wall, the edge of the support assembly is locked; one end of the auxiliary cylinder is fixed on the rocket body, and the other end of the auxiliary cylinder extends outward and downward, and the auxiliary cylinder is located below the telescopic assembly, and when the support assembly is close to the arrow wall, the other end of the auxiliary cylinder contacts the support assembly.

[0009] The recoverable rocket landing support mechanism as described above, wherein, preferably, the locking mechanism on the arrow comprises: a cylinder, an end cover, a piston rod, a spring, a support frame, two support connecting rod systems, and two locking members; wherein, the rear end of the end cover is fixedly connected to the arrow body, and the front end of the end cover is detachably connected to the inner end of the cylinder; the piston rod is located in the cylinder, and the middle part of the piston rod protrudes outward, and the outer peripheral surface of the protruding part is slidably connected to the inner peripheral surface of the cylinder to divide the cylinder into a rear chamber and a front chamber, and the rear chamber and the front chamber are respectively connected to the air supply system; the spring is located in the cylinder, and the rear end of the spring is connected to the front end of the end cover, and the front end of the spring is connected to the rear end of the piston rod to pull the piston backward Rod; the rear end of the support frame is detachably connected to the front end of the cylinder, the rear end of each supporting connecting rod system is hinged to the front end of the support frame, and the two supporting connecting rod systems are opposite; the rear end of each locking piece close to the outside is hinged to the front end of a supporting connecting rod system, and the opposite surfaces of the two locking pieces have a through concave hole, and the two concave holes are connected to form a through locking hole; the front end of the piston rod extends out of the cylinder from the opening of the cylinder, the middle ends of the two supporting connecting rod systems are hinged to the front end of the piston rod, the rear ends of the two locking pieces close to the inside are hinged to the front end of the piston rod, and the hinge point between the locking piece and the piston rod is located in front of the hinge point between the supporting connecting rod system and the piston rod.

[0010] The reusable rocket landing support mechanism as described above, wherein preferably, the support link system includes: a first support link, a second support link and a third support link; wherein, the rear end of the first support link is hinged to the front end of the support frame, the front end of the first support link is hinged to the rear end of the second support link, the front end of the second support link is hinged to the rear end of the locking member near the outer side, the outer end of the third support link is hinged to the front end of the first support link and the rear end of the second support link, and the inner end of the third support link is hinged to the front end of the piston rod.

[0011] The recyclable rocket landing support mechanism as described above, wherein preferably, the telescopic assembly includes: a primary rod, a secondary rod and a tertiary rod; wherein the primary rod, the secondary rod and the tertiary rod are all hollow structures, and the interiors thereof are all filled with gas; the upper end of the primary rod is hinged on the rocket body, the upper end of the secondary rod is inserted into the primary rod from the lower end of the primary rod, the upper end of the tertiary rod is inserted into the secondary rod from the lower end of the secondary rod, and the lower end of the tertiary rod is fixedly connected to the upper end of the buffer device; a set of ball lock mechanisms is provided between the primary rod and the secondary rod, so as to automatically mechanically lock the primary rod and the secondary rod after they are extended to the designed length, and a set of ball lock mechanisms is provided between the secondary rod and the tertiary rod, so as to automatically mechanically lock the secondary rod and the tertiary rod after they are extended to the designed length.

[0012] The recoverable rocket landing support mechanism as described above, wherein preferably, the ball lock mechanism includes: a sleeve, a steel ball and a push spring; the sleeve is mounted on the first rod and can slide axially along the first rod; the lower end of the first rod has a limiting boss protruding outward, the first rod has a reset boss protruding outward near the lower end, the inner circumference of the sleeve has an inwardly protruding reset boss near the lower end, the push spring is located in the sleeve and is compressed between the reset boss and the reset boss; a through hole that passes through the inside and outside is opened near the lower end of the first rod, and the through hole is located between the limiting boss and the reset boss, the secondary rod has an inwardly concave groove near the upper end, and the steel ball is located in the through hole.

[0013] The recyclable rocket landing support mechanism as described above, wherein preferably, the ball lock mechanism includes: a sleeve, a steel ball and a push spring; the sleeve is mounted on the secondary rod and can slide axially along the secondary rod; the lower end of the secondary rod has a limiting boss protruding outward, the secondary rod has a reset boss protruding outward near the lower end, the inner circumference of the sleeve has an inwardly protruding reset boss near the lower end, the push spring is located in the sleeve and is compressed between the reset boss and the reset boss; the secondary rod is provided with a through hole that passes through the inside and outside near the lower end, and the through hole is located between the limiting boss and the reset boss, the tertiary rod has an inwardly concave groove near the upper end, and the steel ball is located in the through hole.

[0014] As described above, in the reusable rocket landing support mechanism, preferably, the side of the support component facing the rocket body is a concave surface that gradually moves away from the telescopic component from the left and right sides to the middle part; the side of the support component away from the rocket body is a convex surface that gradually moves away from the telescopic component from the left and right sides to the middle part.

[0015] As described above, in the recoverable rocket landing support mechanism, preferably, the support assembly is provided with a receiving groove extending up and down on the side facing the rocket body, and when the support assembly abuts against the outer wall of the rocket body, the telescopic assembly is located in the receiving groove.

[0016] As described above, in the recoverable rocket landing support mechanism, preferably, a support surface is provided at one end of the support assembly away from the rocket, and in the deployed state, the support surface is perpendicular to the centerline direction of the rocket body.

[0017] The recyclable rocket landing support mechanism as described above, wherein, preferably, the buffer device includes: a hydraulic cylinder, a piston rod, a piston, a return spring, an adjusting shaft and a tightening nut; the bottom end of the hydraulic cylinder is fixedly connected to the lower end of the telescopic assembly, the piston is located in the hydraulic cylinder and is slidably connected to the hydraulic cylinder, dividing the hydraulic cylinder into a high-pressure chamber located on the bottom surface side of the hydraulic cylinder and a low-pressure chamber located on the opening side of the hydraulic cylinder; the return spring is located in the high-pressure chamber, and its two ends respectively abut against the bottom surface of the hydraulic cylinder and the piston; the piston rod is fixedly connected to the piston, and one end of the piston rod extends into the high-pressure chamber, and the other end of the piston rod extends into the high-pressure chamber. One end passes through the low-pressure chamber and extends out of the hydraulic cylinder from the opening of the hydraulic cylinder; an installation chamber is provided in the piston rod, and the opening of the installation chamber is provided on the end face of the piston rod located outside the hydraulic cylinder; a flow hole connecting the high-pressure chamber and the installation chamber is provided on the part of the piston rod located in the high-pressure chamber, and a flow hole connecting the low-pressure chamber and the installation chamber is also provided on the part of the piston rod located in the low-pressure chamber, and the hydraulic oil flows through the flow hole; one end of the adjusting shaft is screwed into the installation chamber to the specified position through a threaded connection, and the nut is tightened and screwed onto the adjusting shaft to prevent the adjusting shaft from loosening; the end of the adjusting shaft located outside the installation chamber is hinged to the bottom end of the support assembly.

[0018] Compared with the above-mentioned background technology, the present application adopts an outward-folding recyclable rocket landing support mechanism, which has reliable locking, small aerodynamic resistance, and high load-bearing stability. It can better realize rocket recovery, reduce launch costs, and improve the convenience and rapid response capability of rocket field launches. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 It is a front view of the deploying state of the recoverable rocket landing support mechanism of the present application;

[0021] Figure 2 It is a bottom view of the recoverable rocket landing support mechanism of the present application in the unfolded state;

[0022] Figure 3 It is a front view of the retracted state of the recoverable rocket landing support mechanism of the present application;

[0023] Figure 4It is a locking state diagram of the arrow-mounted locking mechanism of the recoverable rocket landing support mechanism of the present application;

[0024] Figure 5 This is a diagram of the unlocked state of the arrow-mounted locking mechanism of the recoverable rocket landing support mechanism of the present application;

[0025] Figure 6 is a schematic diagram of the telescopic assembly of the recoverable rocket landing support mechanism of the present application;

[0026] Figure 7 This is a state diagram of the telescopic assembly of the recoverable rocket landing support mechanism of the present application before being locked;

[0027] Figure 8 This is a state diagram of the retractable assembly of the recoverable rocket landing support mechanism of the present application after being locked;

[0028] Fig. 9 is a schematic diagram of a support assembly of a recoverable rocket landing support mechanism of the present application;

[0029] Fig.10 It is a schematic diagram of the buffer device of the recoverable rocket landing support mechanism of the present application. DETAILED DESCRIPTION

[0030] 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.

[0031] like Figure 1 and Figure 3 As shown, the present application provides a recyclable rocket landing support mechanism, comprising: a plurality of folding and collapsing mechanisms 100; all folding and collapsing mechanisms 100 are evenly arranged on the outer wall of the rocket along the same circumferential direction. Optionally, four folding and collapsing mechanisms 100 are evenly arranged on the outer wall of the rocket along the same circumferential direction.

[0032] Each folding and unfolding mechanism 100 includes: an arrow locking mechanism 110, an auxiliary cylinder 120, a telescopic assembly 130, a support assembly 140 and a buffer device 150; the upper end of the telescopic assembly 130 is hinged on the arrow body 200, the lower end of the telescopic assembly 130 is hinged to the bottom end of the support assembly 140 through the buffer device 150, and the top of the support assembly 140 is hinged to the arrow body 200 through two left and right hinge points, the left and right hinge points are coaxial, and the left and right hinge points are located at the telescopic assembly 130. 0; the arrow locking mechanism 110 is located on the arrow body 200, and after the support assembly 140 rotates upward around the two hinge points at its top until it is close to the arrow wall, the edge of the support assembly 140 is locked; one end of the auxiliary cylinder 120 is fixed on the arrow body 200, and the other end of the auxiliary cylinder 120 extends outward and downward, and the auxiliary cylinder 120 is located below the telescopic assembly 130. When the support assembly 140 is close to the arrow wall, the other end of the auxiliary cylinder 120 contacts the support assembly 140. Optionally, the auxiliary cylinder 120 is a two-section actuator.

[0033] When the rocket is launched, the telescopic assembly 130 is compressed to a shorter state, and the support assembly 140 rotates upward around the two hinge points at its top to a position close to the arrow wall, and the locking mechanism 110 on the arrow locks the edge of the support assembly 140. In this state, the recoverable rocket landing support mechanism has a better aerodynamic shape, thereby having less impact on the aerodynamic characteristics of the rocket flight.

[0034] Before the rocket is recovered and landed, the locking mechanism 110 on the rocket releases the edge of the locked support assembly 140, and the air supply system inflates the auxiliary cylinder 120. The auxiliary cylinder 120 extends outward and downward, pushing the support assembly 140 in the reverse airflow. At the same time, the telescopic assembly 130 extends under the action of gas pressure, driving the support assembly 140 to rotate outward about the left and right hinge points. After expansion, the telescopic assembly 130, the support assembly 140 and the rocket body 200 form a triangular stable structure, which absorbs the impact energy generated by the landing collision process through the buffer device 150, thereby effectively reducing the impact load on the landing support mechanism of the recoverable rocket.

[0035] The rocket needs to lock the support assembly 140 during the flight phase to maintain the aerodynamic shape of the landing support mechanism and protect it from the high temperature environment during flight and reentry. Optionally, each set of folding and stowing mechanisms 100 has multiple arrow locking mechanisms 110, and all arrow locking mechanisms 110 are located at different positions on the rocket body 200 to lock the edge of the support assembly 140 from different positions. Also optionally, as Figure 1As shown, each group of folding and folding mechanisms 100 has five arrow-mounted locking mechanisms 110; wherein the first arrow-mounted locking mechanism 110 is located on the arrow body 200 and above the upper end of the telescopic assembly 130, and is used to lock the edge of the bottom end of the support assembly 140; the second arrow-mounted locking mechanism 110 and the third arrow-mounted locking mechanism 110 are located side by side and at intervals on the arrow body 200, and are located below the first arrow-mounted locking mechanism 110, and are used to lock the left and right edges of the support assembly 140; the fourth arrow-mounted locking mechanism 110 and the fifth arrow-mounted locking mechanism 110 are located side by side and at intervals on the arrow body 200, and are located below the second arrow-mounted locking mechanism 110 and the third arrow-mounted locking mechanism 110, and are used to lock the left and right edges of the support assembly 140. In addition, considering that this section of the arrow body 200 is a storage box, the arrow-mounted locking mechanism 110 in the present application adopts a pneumatic locking mechanism.

[0036] like Figure 4 and Figure 5 As shown, the locking mechanism 110 on the arrow includes: a cylinder 111, an end cover 112, a piston rod 113, a spring 114, a support frame 115, two support link systems 116, and two locking members 117; wherein the rear end of the end cover 112 is fixedly connected to the arrow body 200, and the front end of the end cover 112 is detachably connected to the inner end of the cylinder 111; the piston rod 113 is located in the cylinder 111, and the middle part of the piston rod 113 protrudes outward, and the outer peripheral surface of the protruding part is slidably connected to the inner peripheral surface of the cylinder 111, thereby dividing the cylinder into a rear cavity and a front cavity, and the rear cavity and the front cavity are respectively connected to the air supply system; the spring 114 is located in the cylinder 111, and the rear end of the spring 114 is connected to the front end of the end cover 112, and the front end of the spring 114 is connected to the rear end of the piston rod 113, so as to pull the piston rod 113 backward; the support frame 11 5 is detachably connected to the front end of the cylinder 111, the rear end of each supporting link system 116 is hinged to the front end of the support frame 115, and the two supporting link systems 116 are opposite to each other; the rear end of each locking member 117 near the outer side is hinged to the front end of a supporting link system 116, and the opposite surfaces of the two locking members 117 have a through concave hole, and the two concave holes are connected to form a through locking hole 1171; the front end of the piston rod 113 extends out of the cylinder 111 through the opening of the cylinder 111, the middle ends of the two supporting link systems 116 are hinged to the front end of the piston rod 113, the rear ends of the two locking members 117 near the inner side are hinged to the front end of the piston rod 113, and the hinge point between the locking member 117 and the piston rod 113 is located in front of the hinge point between the supporting link system 116 and the piston rod 113.

[0037] Optionally, the outer end of the end cover 112 is connected to the inner end of the cylinder 111 by a thread. Also optionally, a sealing ring 118 is provided at the portion where the end cover 112 is connected to the cylinder 111 to ensure the airtightness in the cylinder 111. Also optionally, a sealing ring 118 is provided between the outer peripheral surface of the protruding portion of the piston rod 113 and the inner peripheral surface of the cylinder 111 to ensure the airtightness in the cylinder 111. Still optionally, two sealing rings 118 are provided between the outer peripheral surface of the piston rod 113 and the inner peripheral surface of the cylinder 111 to increase the reliability of the seal. Also optionally, a sealing ring 118 is provided between the piston rod 113 and the opening of the cylinder 111 to ensure the airtightness in the cylinder 111. Still optionally, the rear end of the support frame 115 is connected to the front end of the cylinder 111 by a thread.

[0038] Also optionally, the support link system 116 includes: a first support link, a second support link and a third support link; the rear end of the first support link is hinged to the front end of the support frame 115, the front end of the first support link is hinged to the rear end of the second support link, the front end of the second support link is hinged to the rear end of the locking member 117 near the outer side, the outer end of the third support link is hinged to the front end of the first support link and the rear end of the second support link, and the inner end of the third support link is hinged to the front end of the piston rod 113.

[0039] Before the rocket is launched, the air supply system supplies air to the rear chamber of the cylinder 111 through the air supply port 119 connected to the rear chamber of the cylinder 111. Under the action of gas pressure and spring force, the piston rod 113 moves forward, driving the supporting connecting rod system 116 and the locking member 117 to move. Figure 4 In the position shown, a dead point is formed between the support link system 116 , and the locking holes 1171 formed by the two locking members 117 abutting against each other clamp the locking protrusions on the edge of the support assembly 140 , thereby achieving reliable locking of the support assembly 140 .

[0040] When the rocket is recovered and landed, the air supply system supplies air to the front chamber of the cylinder 111 through the air supply port 119 connected to the front chamber of the cylinder 111. Under the action of the gas pressure, the piston rod 113 moves backward, driving the supporting connecting rod system 116 and the locking member 117 to move. Figure 5 In the position shown, the support link system 116 drives the two locking members 117 to open the locking holes 1171 , thereby releasing the locking protrusions on the edge of the support assembly 140 , thereby unlocking the support assembly 140 .

[0041] like Figure 6As shown, the telescopic assembly 130 is a three-stage telescopic rod group, and the three-stage telescopic rod group can be automatically mechanically locked after being extended to the designed length, so as to be able to maintain the designed length. Specifically, the telescopic assembly 130 includes: a primary rod 131, a secondary rod 132 and a tertiary rod 133; wherein the primary rod 131, the secondary rod 132 and the tertiary rod 133 are all hollow structures, and the interiors thereof are all filled with gas; the upper end of the primary rod 131 is hinged on the arrow body 200, the upper end of the secondary rod 131 is inserted into the primary rod 131 by the lower end of the primary rod 131, the upper end of the tertiary rod 133 is inserted into the secondary rod 132 by the lower end of the secondary rod 132, and the lower end of the tertiary rod 133 is fixedly connected to the upper end of the buffer device 150.

[0042] A ball lock mechanism 134 is provided between the primary rod 131 and the secondary rod 132 to automatically mechanically lock the primary rod 131 and the secondary rod 132 after they are extended to a designed length. Figure 7 As shown, the ball lock mechanism 134 includes: a sleeve 1341, a steel ball 1342 and a push spring 1343; the sleeve 1341 is sleeved on the primary rod 131 and can slide axially along the primary rod 131; a limiting boss 1311 protrudes outward from the lower end of the primary rod 131, and a reset protrusion 1312 protrudes outward near the lower end of the primary rod 131, and a reset movable protrusion 1312 protrudes inward from the inner circumference of the sleeve 1341 near the lower end. 411, the push spring 1343 is located in the sleeve 1341 and is compressed between the reset fixed protrusion 1312 and the reset movable protrusion 13411; a through hole 1313 that passes through the inside and outside is opened near the lower end of the first rod 131, and the through hole 1313 is located between the limiting boss 1311 and the reset fixed protrusion 1312, and the second rod 132 has an inwardly concave groove near the upper end, and the steel ball 1342 is located in the through hole 1313.

[0043] In the initial state, if Figure 7 As shown, the steel ball 1342 is located in the through hole 1313 of the primary rod 131 and contacts the outer wall of the secondary rod 132. One end of the steel ball 1342 contacts and cooperates with the inner circumference of the sleeve 1341 near the lower end, so that the sleeve 1341 cannot move; Figure 8 As shown, when the secondary rod 132 moves under the action of gas pressure until the steel ball 1342 is embedded in the groove on the secondary rod 132, the sleeve 1341 releases the movement restriction and moves axially under the elastic force of the push spring 1343. When the reset projection 13411 of the sleeve 1341 contacts the steel ball 1342, the steel ball 1342 is restricted in the groove of the secondary rod 132. At the same time, under the limiting action of the limiting boss 1311 of the primary rod 131, the sleeve 1341 stops moving, locking the primary rod 131 and the secondary rod 132.

[0044] A set of ball lock mechanism 134 is also provided between the secondary rod 132 and the tertiary rod 133, so as to automatically mechanically lock the secondary rod 132 and the tertiary rod 133 after they are extended to the designed length. Similarly, the ball lock mechanism 134 includes: a sleeve 1341, a steel ball 1342 and a push spring 1343; the sleeve 1341 is sleeved on the secondary rod 132 and can slide along the axial direction of the secondary rod 132; the lower end of the secondary rod 132 protrudes outwardly with a limited boss, and the position near the lower end of the secondary rod 132 protrudes outwardly with a reset The inner circumference of the sleeve 1341 has an inwardly protruding reset protrusion 13411 near the lower end, and the push spring 1343 is located in the sleeve 1341 and is compressed between the reset fixed protrusion 1312 and the reset movable protrusion 13411; the secondary rod 132 has a through hole that passes through the inside and outside near the lower end, and the through hole is located between the limit boss and the reset fixed protrusion, and the tertiary rod 133 has an inwardly concave groove near the upper end, and the steel ball 1342 is located in the through hole.

[0045] In the initial state, if Figure 7 As shown, the steel ball 1342 is located in the through hole of the secondary rod 132 and contacts the outer wall of the tertiary rod 133. One end of the steel ball 1342 contacts and cooperates with the inner circumference of the sleeve 1341 near the lower end, so that the sleeve 1341 cannot move; Figure 8 As shown, when the three-stage rod 133 moves under the action of gas pressure until the steel ball 1342 is embedded in the groove on the three-stage rod 133, the sleeve 1341 releases the movement restriction and moves axially under the elastic force of the push spring 1343. When the reset protrusion 13411 of the sleeve 1341 contacts the steel ball 1342, the steel ball 1342 is restricted in the groove of the three-stage rod 133. At the same time, under the limiting action of the limiting boss of the secondary rod 132, the sleeve 1341 stops moving, locking the secondary rod 132 and the three-stage rod 133.

[0046] Optional, such as Figure 6 As shown, the primary rod 131 is hinged to the arrow body 200 via an upper hinge 135. Alternatively, as Figure 7 and Figure 8 As shown, a sliding seal ring 136 is provided between the primary rod 131 and the secondary rod 132, and a sliding seal ring is also provided between the secondary rod 132 and the tertiary rod 133, so as to ensure the airtightness of the primary rod 131, the secondary rod 132 and the tertiary rod 133. Optionally, two sliding seal rings 136 are provided between the primary rod 131 and the secondary rod 132, and two sliding seal rings are also provided between the secondary rod 132 and the tertiary rod 133, so as to increase the reliability of the seal.

[0047] Since the primary rod 131, the secondary rod 132 and the tertiary rod 133 are deployed by gas expansion, and the gas is compressible and prone to rebound when the rocket lands, the extended and deployed primary rod 131 and the secondary rod 132 and the secondary rod 132 and the tertiary rod 133 are locked by the ball lock mechanism 134, thereby avoiding rebound due to gas compression and improving stability.

[0048] like Fig. 9 As shown, optionally, the side of the support assembly 140 facing the arrow body 200 is a concave surface that gradually moves away from the telescopic assembly 130 from the left and right sides to the middle part, and the surface can better fit the arrow wall in the folded state; correspondingly, the side of the support assembly 140 away from the arrow body 200 is a convex surface that gradually moves away from the telescopic assembly 130 from the left and right sides to the middle part, and the surface has a better aerodynamic shape in the folded state. Also optionally, the support assembly 140 is provided with a receiving groove 141 extending up and down on the side facing the arrow body 200, and when the support assembly 140 is against the outer wall of the arrow body 200, the telescopic assembly 130 is located in the receiving groove 141, thereby reducing the resistance of the arrow body 200 during flight. Also optionally, the end of the support assembly 140 away from the rocket is provided with a supporting surface 142, and in the unfolded state, the supporting surface 142 is perpendicular to the centerline direction of the arrow body 200, and can always maintain a stable fit with the ground, thereby stably supporting the weight of the entire arrow body 200. Still optionally, the left and right hinge points at the top of the support assembly 140 are located on a circumference of the rocket.

[0049] like Fig.10As shown, the buffer device 150 includes: a hydraulic cylinder 151, a piston rod 152, a piston 153, a return spring 154, an adjusting shaft 155 and a tightening nut 156; the bottom end of the hydraulic cylinder 151 is fixedly connected to the lower end of the telescopic assembly 130, the piston 153 is located in the hydraulic cylinder 151 and is slidably connected to the hydraulic cylinder 151, so that the hydraulic cylinder is divided into a high-pressure chamber located on the bottom side of the hydraulic cylinder 151 and a low-pressure chamber located on the opening side of the hydraulic cylinder 151; the return spring 154 is located in the high-pressure chamber, and its two ends respectively abut against the bottom surface of the hydraulic cylinder 151 and the piston 153; the piston rod 152 is fixedly connected to the piston 153, and one end of the piston rod 152 extends into the high-pressure chamber, and the other end of the piston rod 152 passes through the low-pressure chamber and is released by the hydraulic cylinder A hydraulic cylinder 151 extends out from the opening 151; a mounting cavity is provided in the piston rod 152, and the opening of the mounting cavity is provided on the end face of the piston rod 152 located outside the hydraulic cylinder 151; a flow hole 1521 connecting the high-pressure cavity and the mounting cavity is provided on the portion of the piston rod 152 located in the high-pressure cavity; a flow hole 1521 connecting the low-pressure cavity and the mounting cavity is also provided on the portion of the piston rod 152 located in the low-pressure cavity; the hydraulic oil in the high-pressure cavity and the hydraulic oil in the low-pressure cavity flow to each other through the flow hole 1521; one end of the adjusting shaft 155 is screwed into the mounting cavity to a specified position through a threaded connection, and the tightening nut 156 is screwed onto the adjusting shaft 155 to prevent loosening by tightening the nut; one end of the adjusting shaft 155 located outside the mounting cavity is hinged to the bottom end of the support assembly 140.

[0050] When the rocket is recovered and landed, under the action of impact force, the piston rod 152 and the piston 153 hydraulic cylinder 151 move axially, the pressure in the high-pressure chamber increases, and the hydraulic oil flows into the installation chamber through the flow hole 1521 located in the high-pressure chamber, and then flows into the low-pressure chamber through the flow hole 1521 located in the low-pressure chamber. In this process, the speed of the piston rod 152 is limited due to the hydraulic resistance, and most of the impact kinetic energy is converted into heat energy of the hydraulic oil and dissipated in the air, thereby achieving the purpose of cushioning.

[0051] Optionally, a sealing ring 157 is provided at the opening of the hydraulic cylinder 151 in contact with the piston rod 152. Optionally, three sealing rings 157 are provided at the opening of the hydraulic cylinder 151 in contact with the piston rod 152. Optionally, the mounting cavity between the adjusting shaft 155 and the piston rod 152 forms a variable annular gap, so that the damping can be adjusted in the process of the hydraulic oil flowing from the high-pressure cavity into the low-pressure cavity, which can reduce the peak impact force when the rocket lands and prevent the rocket from being damaged. After the buffering is completed, the elastic potential energy stored in the reset spring 154 is released, so that the buffer device 150 is restored to the state before the impact. That is, the diameter of the portion of the mounting cavity close to the flow hole 1521 connected to the high-pressure cavity is smaller than the diameter of the portion of the mounting cavity close to the flow hole 1521 connected to the low-pressure cavity, so that the mounting cavity between the adjusting shaft 155 and the piston rod 152 forms a variable annular gap.

[0052] The support assembly 140 of the present application is unfolded and folded through the telescopic assembly 130, so that it has a larger folding and unfolding ratio, increases the support circle diameter of the support assembly 140, and improves the landing stability of the rocket. In addition, the telescopic assembly 130 is provided with a ball lock mechanism 134, and the buffer device 150 has a simple structure and reliable locking, which prevents the rocket from rebounding and causing instability during recovery and landing. In addition, the telescopic assembly 130 is provided with an auxiliary cylinder 120 to realize the unfolding action of the support assembly 140, thereby improving the unfolding reliability of the support assembly 140. In addition, by adopting the buffer device 150, the peak impact force during the recovery and landing of the rocket can be reduced to a certain extent, and the rocket body 200 can be prevented from being damaged. In addition, by optimizing the structure of the support assembly 140, while improving the landing stability, the resistance of the rocket during flight is reduced.

[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 recoverable rocket landing support mechanism, characterized in that: include: Multiple folding, unfolding and folding mechanisms; All the assembling, folding, unfolding and retracting mechanisms are evenly arranged on the outer wall of the rocket along the same circumferential direction; Each set of folding, unfolding and retracting mechanisms includes: an arrow-mounted locking mechanism, an auxiliary cylinder, a telescopic assembly, a supporting assembly and a buffer device; The upper end of the telescopic assembly is hinged on the arrow body, the lower end of the telescopic assembly is hinged to the bottom end of the support assembly through a buffer device, and the top end of the support assembly is hinged to the arrow body through two left and right hinge points, the left and right hinge points are coaxial, and the left and right hinge points are located below the upper end of the telescopic assembly; The arrow locking mechanism is located on the arrow body, and after the support assembly rotates upward around the two hinge points at its top end until it is close to the arrow wall, the edge of the support assembly is locked; One end of the auxiliary cylinder is fixed on the arrow body, and the other end of the auxiliary cylinder extends outward and downward. The auxiliary cylinder is located below the telescopic assembly. When the support assembly is close to the arrow wall, the other end of the auxiliary cylinder contacts the support assembly.

2. The recoverable rocket landing support mechanism according to claim 1, characterized in that: The locking mechanism on the arrow includes: a cylinder, an end cover, a piston rod, a spring, a support frame, two supporting connecting rod systems, and two locking pieces; The rear end of the end cover is fixedly connected to the arrow body, and the front end of the end cover is detachably connected to the inner end of the cylinder; the piston rod is located in the cylinder, and the middle part of the piston rod protrudes outward, and the outer peripheral surface of the protruding part is slidably connected to the inner peripheral surface of the cylinder to divide the cylinder into a rear chamber and a front chamber, and the rear chamber and the front chamber are respectively connected to the air supply system; the spring is located in the cylinder, and the rear end of the spring is connected to the front end of the end cover, and the front end of the spring is connected to the rear end of the piston rod to pull the piston rod backward; The rear end of the support frame is detachably connected to the front end of the cylinder, the rear end of each support link system is hinged to the front end of the support frame, and the two support link systems are opposite to each other; the rear end of each locking member near the outer side is hinged to the front end of a support link system, and the opposite surfaces of the two locking members have a through concave hole, and the two concave holes are butted to form a through locking hole; The front end of the piston rod extends out of the cylinder through the opening of the cylinder, the middle ends of the two supporting connecting rod systems are hinged to the front end of the piston rod, the rear ends of the two locking members close to the inner side are hinged to the front end of the piston rod, and the hinge point between the locking member and the piston rod is located in front of the hinge point between the supporting connecting rod system and the piston rod.

3. The recoverable rocket landing support mechanism according to claim 2, characterized in that: The support link system includes: a first support link, a second support link and a third support link; Among them, the rear end of the first support link is hinged to the front end of the support frame, the front end of the first support link is hinged to the rear end of the second support link, the front end of the second support link is hinged to the rear end of the locking member close to the outside, the outer end of the third support link is hinged to the front end of the first support link and the rear end of the second support link, and the inner end of the third support link is hinged to the front end of the piston rod.

4. The recoverable rocket landing support mechanism according to any one of claims 1 to 3, characterized in that: The telescopic assembly includes: a primary rod, a secondary rod and a tertiary rod; Among them, the first-stage rod, the second-stage rod and the third-stage rod are all hollow structures, and the interiors thereof are all filled with gas; the upper end of the first-stage rod is hinged on the arrow body, the upper end of the second-stage rod is inserted into the first-stage rod from the lower end of the first-stage rod, the upper end of the third-stage rod is inserted into the second-stage rod from the lower end of the second-stage rod, and the lower end of the third-stage rod is fixedly connected to the upper end of the buffer device; A set of ball lock mechanism is provided between the primary rod and the secondary rod, so that the primary rod and the secondary rod are automatically mechanically locked after they are extended to the designed length; a set of ball lock mechanism is provided between the secondary rod and the tertiary rod, so that the secondary rod and the tertiary rod are automatically mechanically locked after they are extended to the designed length.

5. The recoverable rocket landing support mechanism according to claim 4, characterized in that: The ball lock mechanism includes: a ferrule, a steel ball and a push spring; The ferrule is mounted on the primary rod and can slide axially along the primary rod; a limiting boss is protruded outwardly at the lower end of the primary rod, a reset boss is protruded outwardly near the lower end of the primary rod, and a reset movable boss is protruded inwardly on the inner circumference of the ferrule near the lower end, and a push spring is located in the ferrule and is compressed between the reset movable boss and the reset fixed boss; a through hole that passes through inside and outside is opened near the lower end of the primary rod, and the through hole is located between the limiting boss and the reset fixed boss, and a groove that is concave inwardly is provided near the upper end of the secondary rod, and a steel ball is located in the through hole.

6. The recoverable rocket landing support mechanism according to claim 4, characterized in that: The ball lock mechanism includes: a ferrule, a steel ball and a push spring; the ferrule is mounted on the secondary rod and can slide axially along the secondary rod; a limiting boss protrudes outward from the lower end of the secondary rod, a reset boss protrudes outward near the lower end of the secondary rod, and a reset movable boss protrudes inward on the inner circumference of the ferrule near the lower end, the push spring is located in the ferrule and is compressed between the reset movable boss and the reset fixed boss; a through hole that passes through inside and outside is opened near the lower end of the secondary rod, and the through hole is located between the limiting boss and the reset fixed boss, and a groove that is concave inward is provided near the upper end of the tertiary rod, and the steel ball is located in the through hole.

7. The recoverable rocket landing support mechanism according to any one of claims 1 to 3, characterized in that: The side of the support component facing the arrow body is concave and gradually moves away from the telescopic component from the left and right sides to the middle part; The side of the support component away from the arrow body is a convex surface which gradually moves away from the telescopic component from the left and right sides to the middle part.

8. The recoverable rocket landing support mechanism according to claim 7, characterized in that: A receiving groove extending up and down is provided on the side of the support component facing the arrow body. When the support component is against the outer wall of the arrow body, the telescopic component is located in the receiving groove.

9. The recoverable rocket landing support mechanism according to any one of claims 1 to 3, characterized in that: A support surface is provided at one end of the support assembly away from the rocket. In the deployed state, the support surface is perpendicular to the centerline direction of the rocket body.

10. The recoverable rocket landing support mechanism according to claim 4, characterized in that: The buffer device comprises: a hydraulic cylinder, a piston rod, a piston, a return spring, an adjustment shaft and a tightening nut; The bottom end of the hydraulic cylinder is fixedly connected to the lower end of the telescopic assembly, and the piston is located in the hydraulic cylinder and is slidably connected to the hydraulic cylinder, dividing the hydraulic cylinder into a high-pressure chamber located on the bottom side of the hydraulic cylinder and a low-pressure chamber located on the opening side of the hydraulic cylinder; The return spring is located in the high-pressure chamber, and its two ends respectively contact the bottom surface of the hydraulic cylinder and the piston; the piston rod is fixedly connected to the piston, and one end of the piston rod extends into the high-pressure chamber, and the other end of the piston rod passes through the low-pressure chamber and extends out of the hydraulic cylinder from the opening of the hydraulic cylinder; The piston rod has an installation cavity inside, the opening of the installation cavity is formed on the end surface of the piston rod located outside the hydraulic cylinder, a flow hole connecting the high-pressure cavity and the installation cavity is formed on the part of the piston rod located in the high-pressure cavity, and a flow hole connecting the low-pressure cavity and the installation cavity is also formed on the part of the piston rod located in the low-pressure cavity, and the hydraulic oil flows through the flow holes; One end of the adjusting shaft is screwed into the installation cavity to a specified position through a threaded connection, and the nut is tightened and screwed onto the adjusting shaft to prevent the adjusting shaft from loosening; one end of the adjusting shaft located outside the installation cavity is hinged to the bottom end of the support assembly.

Images