Full-axis swinging thrust vectoring nozzle and solid rocket engine

Abstract

The invention relates to the technical field of solid rocket engine thrust vectoring nozzles, and discloses a full-axis swing thrust vectoring nozzle and a solid rocket engine, the full-axis swing thrust vectoring nozzle comprises a fixed base, a nozzle fixing cone is hinged to the bottom end of the fixed base, and an extension cone is fixedly connected to the bottom end of the nozzle fixing cone; the thrust vectoring nozzle driving mechanism comprises a plurality of branch chain bases and a plurality of moving branch chains, the branch chain bases are fixedly connected to the bottom end of the fixed base at equal intervals in the circumferential direction, one ends of the moving branch chains are hinged to the branch chain bases, and the other ends of the moving branch chains are connected with the outer edge of the extension cone; wherein one movement branch chain is hinged to the outer edge of the extension cone through a universal joint, and the other movement branch chains are spherically hinged to the extension cone. And the driving piece is arranged on the moving branch chain, and the spray pipe fixing cone swings around a hinge point on the fixed base. A traditional anti-torsion device is replaced, the additional degree of freedom is eliminated, the dead weight of the structure is reduced, the driving and load tasks of a single branch chain are reduced, the load of each branch chain is optimized, and the stability of the structure and movement is improved.

Description

Technical Field

[0001] This invention relates to the field of solid rocket motor vector nozzle technology, and in particular to an all-axis oscillating vector nozzle and a solid rocket motor. Background Technology

[0002] Solid rocket engines generate high-temperature, high-pressure combustion gases by igniting solid propellant in the combustion chamber. These gases expand and accelerate, exiting at extremely high speeds from the nozzle, and the resulting reaction force propels the rocket. The nozzle is a crucial component of a solid rocket engine.

[0003] To improve the vector control performance of rockets, rocket engines are now widely equipped with all-axis oscillating vector nozzles. These nozzles are controlled by a thrust vectoring control system to deflect at an angle relative to the engine axis, thereby changing the gas injection angle and the direction of engine thrust, thus controlling the flight direction of the rocket. However, traditional oscillating nozzles are directly driven by two sets of orthogonal independent linear drives and lack torsional resistance. Therefore, an additional torsional resistance device, such as a metal bellows or anti-torsion fabric capsule, is required, increasing system weight and structural complexity. Furthermore, vector control systems composed of two independent linear drives exhibit poor stability and high torque requirements during vector control.

[0004] Therefore, there is an urgent need for an all-axis oscillating vector nozzle and a solid rocket motor to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide an all-axis oscillating vector nozzle and a solid rocket motor to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides an all-axis oscillating vector nozzle, comprising:

[0007] A fixed base, wherein a nozzle fixing cone is hinged to the bottom end of the fixed base, and an extension cone is fixedly connected to the bottom end of the nozzle fixing cone;

[0008] The vector nozzle drive mechanism includes several branch bases and several moving branches. The branch bases are fixedly connected to the bottom end of the fixed base at equal intervals along the circumference. One end of each moving branch is hinged to the branch base, and the other end of the moving branch is connected to the outer edge of the extension cone.

[0009] One of the motion branches is hinged to the outer edge of the extension cone by a universal joint, while the other motion branches are hinged to the extension cone by a spherical joint.

[0010] A driving component is disposed on the moving chain for driving the moving chain to extend and retract axially, and when the driving component drives the moving chain to extend and retract, the nozzle fixing cone swings around the hinge point on the fixed base.

[0011] According to the present invention, a full-axis oscillating vector nozzle is provided, wherein one motion chain is a first motion chain, and an output universal joint is fixedly connected to the end of the first motion chain away from the fixed base. The first motion chain is hinged to the universal joint on the outer edge of the extension cone through the output universal joint. The remaining motion chains are second motion chains, and a ball joint is fixedly connected to the end of the second motion chain away from the fixed base. The second motion chain is spherically hinged to the outer edge of the extension cone through the ball joint.

[0012] According to the present invention, an all-axis oscillating vector nozzle is provided, wherein a universal joint mounting support and a plurality of ball joint mounting supports are fixedly connected circumferentially along the outer edge of the extension cone, the output end universal joint is connected to the universal joint mounting support, and the ball joint is connected to the ball joint mounting support.

[0013] According to the present invention, a full-axis oscillating vector nozzle is provided, wherein the driving component includes a linear drive motor, a lower connecting rod is fixedly connected to the base of the linear drive motor, an upper connecting rod is fixedly connected to the output end of the linear drive motor, the output end universal joint and the ball joint are fixedly connected to the end of the upper connecting rod away from the linear drive motor, and a base universal joint is fixedly connected to the end of the lower connecting rod away from the linear drive motor, the base universal joint being connected to the support base.

[0014] According to the present invention, a full-axis oscillating vector nozzle is provided, wherein a convex sphere is fixedly connected to the top end of the nozzle fixing cone, and the center of the fixing base is a concave sphere, and the convex sphere and the concave sphere form a ball-and-socket pair.

[0015] According to the present invention, in a fully axially oscillating vector nozzle, the rotation center of the convex sphere coincides with the center of the throat diameter of the nozzle fixed cone.

[0016] According to the present invention, in a fully axially oscillating vector nozzle, the perpendicular direction of the universal joint mounting axis of the universal joint mounting support points to the axis of the extension cone.

[0017] According to the present invention, in a fully axially oscillating vector nozzle, the axis of the universal joint of the base mounted on the branch base points towards the axis of the ball joint.

[0018] According to the present invention, in a fully axially oscillating vector nozzle, the linear drive motor, the lower connecting rod, and the upper connecting rod are coaxially arranged, and their axes are collinear with the perpendicular line of the center of the universal joint plane of the base universal joint.

[0019] A solid rocket motor includes an engine body and a full-axis oscillating vector nozzle, wherein the fixed base is fixedly connected to the tail of the engine body.

[0020] Compared with the prior art, the present invention has the following advantages and technical effects:

[0021] This invention provides an all-axis oscillating vector nozzle and solid rocket motor, employing a redundant drive scheme. Several motion chains each contain driving components. Through orthogonal decoupling dynamics, the coordination between the motion chains is achieved, effectively optimizing the load on each chain and significantly improving structural and motion stability. Furthermore, by controlling the circumferentially arranged motion chains, the load at the fixed conical ball bearing can be actively distributed, significantly reducing the oscillation torque required for nozzle oscillation and thus reducing the required driving force. In addition, through degree-of-freedom design, several motion chains satisfy the requirements for all-axis oscillation motion of the nozzle, replacing traditional anti-torsion devices, reducing the structure's self-weight, and effectively solving the sealing problem in relevant areas. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is a three-dimensional schematic diagram of the nozzle body of the present invention.

[0025] Figure 3 This is a top view schematic diagram of the nozzle fixed cone and moving support chain of the present invention.

[0026] Figure 4 This is a three-dimensional schematic diagram of the installation of the motion support chain and the fixed base of the present invention.

[0027] Figure 5 This is a top view of the fixed base structure of the present invention.

[0028] Figure 6 This is a three-dimensional schematic diagram of the nozzle extension cone structure of the present invention.

[0029] Figure 7 This is a schematic diagram of the first kinematic branch structure of the present invention.

[0030] Figure 8 This is a schematic diagram of the second kinematic branch structure of the present invention;

[0031] The components are as follows: 1. Fixed base; 2. First motion chain; 3. Nozzle fixing cone; 4. Second motion chain; 5. Extension cone; 6. Convex sphere; 7. Chain base; 8. Ball joint mounting bracket; 9. Universal joint mounting bracket; 10. Base universal joint; 11. Lower connecting rod; 12. Linear drive motor; 13. Upper connecting rod; 14. Output end universal joint; 15. Ball joint. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figures 1-8 The present invention provides an all-axis oscillating vector nozzle, comprising:

[0035] A fixed base 1 is provided, and a nozzle fixing cone 3 is hinged to the bottom end of the fixed base 1. An extension cone 5 is fixedly connected to the bottom end of the nozzle fixing cone 3.

[0036] The vector nozzle drive mechanism includes several branch bases 7 and several moving branches. The several branch bases 7 are fixedly connected to the bottom of the fixed base 1 at equal intervals along the circumference. One end of the moving branch is hinged to the branch base 7, and the other end of the moving branch is connected to the outer edge of the extension cone 5.

[0037] One of the motion chains is hinged to the outer edge of the extension cone 5 by a universal joint, while the other motion chains are hinged to the extension cone 5 by a spherical joint.

[0038] The driving component is mounted on the moving chain and is used to drive the moving chain to extend and retract axially. When the driving component drives the moving chain to extend and retract, the nozzle fixing cone 3 swings around the hinge point on the fixed base 1.

[0039] In one embodiment of the present invention, a redundant drive scheme is adopted, in which several motion branches each contain a drive component. The coordination between the motion branches is achieved through orthogonal decoupling dynamics, effectively optimizing the load on each branch and significantly improving the stability of the structure and motion. Furthermore, by controlling the circumferentially arranged motion branches, the load at the fixed conical ball bearing can be actively shared, significantly reducing the oscillation torque required for nozzle oscillation, thereby reducing the required driving force. In addition, through degree-of-freedom design, the degrees of freedom of several motion branches meet the requirements of the nozzle's full-axis oscillation motion, replacing traditional anti-torsion devices, reducing the structure's self-weight, and effectively solving the sealing problem in corresponding areas.

[0040] As an optional implementation, one of the motion branches is a first motion branch 2. The end of the first motion branch 2 away from the fixed base 1 is fixedly connected to an output universal joint 14. The first motion branch 2 is hinged to the universal joint on the outer edge of the extension cone 5 through the output universal joint 14. The remaining motion branch is a second motion branch 4. The end of the second motion branch 4 away from the fixed base 1 is fixedly connected to a ball joint 15. The second motion branch 4 is spherically hinged to the outer edge of the extension cone 5 through the ball joint 15.

[0041] In one embodiment of the present invention, the branch using a universal joint is defined as the first motion branch 2, and the branch using a ball joint is defined as the second motion branch 4. This establishes the specific execution mode of one universal joint + multiple ball joints, providing a clear structural basis for subsequent kinematic analysis, control algorithm design and fault mode analysis.

[0042] As an optional implementation, a universal joint mounting bracket 9 and several ball joint mounting brackets 8 are fixedly connected circumferentially along the outer edge of the extension cone 5. The output end universal joint 14 is connected to the universal joint mounting bracket 9, and the ball joint 15 is connected to the ball joint mounting bracket 8.

[0043] In one embodiment of the present invention, by setting a universal joint mounting bracket 9 and a ball joint mounting bracket 8, a stable and precise mounting reference is provided for the output end universal joint 14 and ball joint 15.

[0044] As an optional implementation, the drive component includes a linear drive motor 12, a lower connecting rod 11 fixedly connected to the base of the linear drive motor 12, an upper connecting rod 13 fixedly connected to the output end of the linear drive motor 12, a universal joint 14 and a ball joint 15 fixedly connected to the output end of the upper connecting rod 13 away from the linear drive motor 12, and a base universal joint 10 fixedly connected to the end of the lower connecting rod 11 away from the linear drive motor 12, and the base universal joint 10 is connected to the support base 7.

[0045] In one embodiment of the present invention, a linear drive motor 12 is used as a power source, which can directly convert the electronic control signal into precise linear extension and retraction motion, with fast response speed and high control accuracy.

[0046] As an optional implementation, a convex ball 6 is fixedly connected to the top of the nozzle fixing cone 3, and the center of the fixing base 1 is a concave ball, with the convex ball 6 and the concave ball forming a ball-and-socket pair.

[0047] In one embodiment of the present invention, the ball-and-socket joint provides the nozzle fixing cone 3 with rotational degrees of freedom in two directions, which is the physical support necessary to achieve full-axis oscillation.

[0048] As an alternative implementation, the rotation center of the convex sphere 6 coincides with the center of the throat diameter of the nozzle fixing cone 3.

[0049] In one embodiment of the present invention, the geometric rotation center of the ball-and-socket joint is designed to coincide with the center of the nozzle throat section, ensuring that when the nozzle swings in any direction, this key aerodynamic section of the throat rotates around its own center.

[0050] As an optional implementation, the perpendicular direction of the universal joint mounting axis of the universal joint mounting bracket 9 points to the axis of the extension cone 5.

[0051] In one embodiment of the present invention, the perpendicular line of the universal joint mounting axis points to the axis of the extension cone, which can ensure that the direction of the driving force transmitted to the extension cone through the universal joint is symmetrical and clearly pointed when the nozzle is in a neutral position.

[0052] As an optional implementation, the axis of the mounting base universal joint 10 of the support base 7 points towards the axis of the ball joint.

[0053] In one embodiment of the present invention, it is beneficial to improve control accuracy and reduce the additional bending moment experienced by the drive chain during nozzle oscillation, thereby improving the lifespan and reliability of the mechanism.

[0054] As an optional implementation, the linear drive motor 12, the lower connecting rod 11 and the upper connecting rod 13 are coaxially arranged, and their axes are collinear with the perpendicular line of the center of the universal joint plane of the base universal joint 10.

[0055] In one embodiment of the present invention, the linear drive motor 12, the lower connecting rod 11 and the upper connecting rod 13 are coaxial, and the axis is collinear with the center vertical line of the universal joint 10 of the base, which ensures that the thrust generated by the drive motor is strictly transmitted along the axial direction of the branch, avoiding bending stress and unnecessary energy loss caused by misalignment.

[0056] A solid rocket motor includes an engine body and a full-axis oscillating vector nozzle, with a fixed base 1 fixedly connected to the tail of the engine body.

[0057] In one embodiment of the present invention, an all-axis oscillating vector nozzle is installed at the rear of the engine body.

[0058] This invention provides a full-axis oscillating vector nozzle. A first motion branch 2 and a second motion branch 4 are circumferentially mounted on a fixed base 1. The second motion branch 4 does not affect the nozzle's degrees of freedom. Multiple sets of second motion branches 4 can be set on the fixed base 1 as needed. The number and position of the second motion branches 4 can be arbitrarily set on the fixed base 1 according to the nozzle size and the available space. A branch base 7 of the universal joint 10 on the surface of the fixed base 1 mounts the first motion branch 2 and the second motion branch 4. The axis of the universal joint 10 mounted on the branch base 7 points towards the rotation center of the convex sphere. The angle between the axis and the surface of the fixed base 1 can be set according to the geometric space constraints of the fixed base 1. Furthermore, the lengths and other dimensions of the lower connecting rod 11 and the upper connecting rod 13 are adjusted according to the nozzle size. In this embodiment, one first motion branch 2 and three second motion branches are provided. The moving branch 4 and the second moving branch 4 are evenly distributed along the axis. One end of the lower connecting rod 11 of the first moving branch 2 and the second moving branch 4 is installed on the branch base 7 through the base universal joint 10. The branch base 7 is installed on the surface of the fixed base 1. The axis of the branch base 7 points to the rotation center of the convex ball 6 and is parallel to the surface of the fixed base 1. The other end of the lower connecting rod 11 of the first moving branch 2 and the second moving branch 4 is installed on the bottom of the linear drive motor 12. The output end of the linear drive motor 12 is connected to the bottom of the upper connecting rod 13 of the first moving branch 2 and the second moving branch 4. The other end of the upper connecting rod 13 of the first moving branch 2 is provided with an output universal joint 14 and is connected to the extension cone 5 through the universal joint mounting bracket 9 installed on the bottom outer edge of the extension cone 5. The other end of the upper connecting rod 13 of the second moving branch 4 is provided with a ball joint 15 and is connected to the extension cone 5 through the ball joint mounting bracket 8. The convex sphere 6, connected to the nozzle fixing cone 3, forms a ball-and-socket joint with the fixing base 1, possessing three orthogonal rotational degrees of freedom. Simultaneously, the first kinematic branch 2 restricts one rotational degree of freedom of the nozzle along its central axis, thus fulfilling the nozzle's two-degree-of-freedom full-axis oscillating motion requirement. The four kinematic branches are orthogonally decoupled, and their four active drives, through cooperation, can actively counteract the pressure load on the ball-and-socket joint. When the material surface friction coefficient cannot be significantly optimized, reducing the pressure load on the ball-and-socket joint reduces the frictional torque, thereby significantly reducing the nozzle's oscillating torque. Furthermore, the first kinematic branch 2 restricts an additional rotational degree of freedom, which can replace existing anti-torsion devices.

[0059] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0060] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A full-axis oscillating vector nozzle, characterized in that, include: A fixed base (1) is hinged to the bottom end of the fixed base (1) and an extension cone (5) is fixedly connected to the bottom end of the nozzle fixing cone (3). The vector nozzle drive mechanism includes several branch bases (7) and several moving branches. The several branch bases (7) are fixedly connected to the bottom end of the fixed base (1) at equal intervals along the circumference. One end of the moving branch is hinged to the branch base (7), and the other end of the moving branch is connected to the outer edge of the extension cone (5). One of the motion branches is hinged to the outer edge of the extension cone (5) by a universal joint, while the other motion branches are hinged to the extension cone (5) by a spherical joint. A driving component is provided on the moving chain to drive the moving chain to extend and retract axially. When the driving component drives the moving chain to extend and retract, the nozzle fixing cone (3) swings around the hinge point on the fixed base (1).

2. The all-axis oscillating vector nozzle according to claim 1, characterized in that: One of the motion chains is the first motion chain (2), and the end of the first motion chain (2) away from the fixed base (1) is fixedly connected to an output universal joint (14). The first motion chain (2) is hinged to the universal joint on the outer edge of the extension cone (5) through the output universal joint (14). The other motion chains are the second motion chains (4), and the end of the second motion chain (4) away from the fixed base (1) is fixedly connected to a ball joint (15). The second motion chain (4) is spherically hinged to the outer edge of the extension cone (5) through the ball joint (15).

3. The all-axis oscillating vector nozzle according to claim 2, characterized in that: The outer edge of the extension cone (5) is circumferentially fixedly connected to a universal joint mounting bracket (9) and several ball joint mounting brackets (8). The output end universal joint (14) is connected to the universal joint mounting bracket (9), and the ball joint (15) is connected to the ball joint mounting bracket (8).

4. A full-axis oscillating vector nozzle according to claim 2, characterized in that: The driving component includes a linear drive motor (12), a lower connecting rod (11) is fixedly connected to the base of the linear drive motor (12), an upper connecting rod (13) is fixedly connected to the output end of the linear drive motor (12), a universal joint (14) at the output end and a ball joint (15) are fixedly connected to the end of the upper connecting rod (13) away from the linear drive motor (12), a base universal joint (10) is fixedly connected to the end of the lower connecting rod (11) away from the linear drive motor (12), and the base universal joint (10) is connected to the branch base (7).

5. A full-axis oscillating vector nozzle according to claim 1, characterized in that: The nozzle fixing cone (3) is fixedly connected to a convex ball (6) at its top end, and the center of the fixing base (1) is a concave ball. The convex ball (6) and the concave ball form a ball-and-socket pair.

6. A full-axis oscillating vector nozzle according to claim 5, characterized in that: The rotation center of the convex sphere (6) coincides with the center of the throat diameter of the nozzle fixing cone (3).

7. A full-axis oscillating vector nozzle according to claim 3, characterized in that: The perpendicular direction of the universal joint mounting axis of the universal joint mounting bracket (9) points to the axis of the extension cone (5).

8. A full-axis oscillating vector nozzle according to claim 4, characterized in that: The axis of the branch base (7) on which the universal joint (10) is mounted points toward the axis of the ball joint.

9. A full-axis oscillating vector nozzle according to claim 4, characterized in that: The linear drive motor (12), the lower connecting rod (11) and the upper connecting rod (13) are coaxially arranged, and their axes are collinear with the perpendicular line of the center of the universal joint plane of the base universal joint (10).

10. A solid rocket motor, characterized in that: The engine body includes an engine body and a full-axis oscillating vector nozzle as described in any one of claims 1-9, wherein the fixed base (1) is fixedly connected to the rear of the engine body.

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