Hinge connection mechanism of anti-torsion type full-axis swinging spray pipe and design method of hinge connection mechanism

Abstract

The invention discloses a hinge connecting mechanism of an anti-torsion type full-axis swinging spray pipe and a design method of the hinge connecting mechanism. The mechanism comprises a flange plate, a spray pipe capable of rotating at three degrees of freedom is arranged in the center of the flange plate, two lower supporting lug supports which are arranged in the circumferential direction are fixed to the edge of the flange plate, and two upper supporting lugs which are arranged in the circumferential direction are arranged at the upper end of the spray pipe. The upper support lug and the lower support lug support are hinged with two actuating mechanism push rods through hooke joints and fisheye bearings; according to the method, an asymmetric combined hinge scheme of three hooke joints and a fisheye bearing is used for cooperatively restraining the spraying pipe to rotate around a thrust shaft. The problem of thrust vector deviation caused by uncontrolled axial rotation of a traditional full-axis swing spray pipe is solved, the servo transmission function and the anti-torque function are integrated, meanwhile, an additional independent anti-torque structure is omitted, and the full-axis swing spray pipe has the advantages of being simple in structure, high in adaptability and reliable in full temperature range.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of space engine thrust vector control, and particularly relates to a hinge connecting mechanism of a torsion-resistant full-axis swing nozzle and a design method thereof. BACKGROUND

[0002] The swing nozzle is a core execution mechanism of solid rocket engine thrust vector control, and the direction of the jet flow is deflected in real time to realize the three-axis attitude regulation of the aircraft, i.e., the pitch, yaw and roll. The movement precision directly determines the success or failure of the task of missile terminal penetration, spacecraft orbit correction and other high-maneuvering scenarios. The full-axis swing nozzle has become a standard configuration of modern tactical missile and launch vehicle attitude control systems due to its compact structure, strong load capacity and small thrust loss. With the continuous improvement of the agile maneuvering requirements of hypersonic aircraft, the dynamic response capability and spatial freedom stability of the nozzle under extreme working conditions (high-temperature gas impact, transient overload) have become a key technical bottleneck restricting the control performance of the aircraft.

[0003] The torsion resistance of the full-axis swing nozzle directly determines the maneuvering precision and reliability of the aircraft during the working process. The traditional double-push rod four-fish eye bearing hinge scheme can realize bidirectional swing, but the three-degree-of-freedom rotation characteristics of each fish eye bearing lead to the problem of uncontrolled small-angle self-rotation around the axis direction in the composite swing action. This uncontrolled axial rotation not only significantly interferes with the thrust vector direction, but also aggravates the wear of the sealing surface, which seriously restricts the demand for precise attitude control of hypersonic aircraft. Existing torsion resistance technologies such as rubber damping layer or spring vector mechanism all need to introduce additional structures to suppress torsion, which increases the overall weight of the device and the complexity of the system, and also has defects such as poor temperature adaptability and large additional torque. Therefore, it is urgent to develop a simple and widely applicable nozzle torsion resistance technology. SUMMARY

[0004] The application aims to provide a hinge connecting mechanism of a torsion-resistant full-axis swing nozzle and a design method thereof, which solves the problem of thrust vector deviation caused by uncontrolled axial self-rotation of the traditional full-axis swing nozzle and realizes precise control of the nozzle attitude.

[0005] In order to achieve the purpose of the application, on the one hand, the application provides a hinge connecting mechanism of a torsion-resistant full-axis swing nozzle, which comprises a nozzle, a flange plate, a first upper lug, a first hock joint, a first actuator push rod, a second hock joint, a first lower lug support, a second upper lug, a third hock joint, a second actuator push rod, a fish eye bearing and a second lower lug support.

[0006] The flange plate is centrally provided with the spray pipe capable of three degrees of freedom rotation, the flange plate edge is fixedly provided with the circumferentially arranged first lower lug support and the second lower lug support, the spray pipe upper end is provided with the circumferentially arranged first upper lug and the second upper lug, the first upper lug and the first lower lug support are respectively articulated through the first hock joint, the second hock joint and the first actuating mechanism push rod, and the second upper lug and the second lower lug support are respectively articulated through the third hock joint, the fish eye bearing and the second actuating mechanism push rod.

[0007] The first actuating mechanism push rod is provided with the first hock joint at one end close to the first upper lug, and the first actuating mechanism push rod is articulated with the first upper lug; the first actuating mechanism push rod is provided with the second hock joint at one end close to the first lower lug support, and the first actuating mechanism push rod is articulated with the first lower lug support; the second actuating mechanism push rod is provided with the third hock joint at one end close to the second upper lug, and the second actuating mechanism push rod is articulated with the second upper lug; the second actuating mechanism push rod is provided with the fish eye bearing at one end close to the second lower lug support, and the second actuating mechanism push rod is articulated with the second lower lug support.

[0008] The first upper lug and the second upper lug provided on the spray pipe upper end are circumferentially arranged at an angle of 90 degrees; the first lower lug support and the second lower lug support fixedly arranged on the flange plate edge are circumferentially arranged at an angle of 90 degrees;

[0009] The first actuating mechanism push rod and the first upper lug are connected through the first hock joint connector to form the first hock joint articulation; the first actuating mechanism push rod and the first lower lug support are connected through the second hock joint connector to form the second hock joint articulation; the second actuating mechanism push rod and the second upper lug are connected through the third hock joint connector to form the third hock joint articulation; the first hock joint connector, the second hock joint connector and the third hock joint connector are all provided with a first connecting shaft hole and a second connecting shaft hole, and the axis of the first connecting shaft hole and the second connecting shaft hole are non-coplanar and perpendicular.

[0010] The first lower lug support and the second lower lug support are both provided with a fixing hole and a lower lug, and the lower lug is provided with a lug shaft hole for connecting with the second hock joint connector or the fish eye bearing.

[0011] In another aspect, the present application also provides a design method of the hinge connecting mechanism for realizing the above-mentioned anti-torsion type full-shaft swing spray pipe, comprising the following steps:

[0012] Step 1, establishing a fixed coordinate system for the full-axis swing nozzle and the hinged connection structure, and establishing a follow-up coordinate system for the nozzle, and determining a method for describing the coordinate transformation under the rotating motion of the nozzle;

[0013] Step 2, obtaining the size parameters of the full-axis swing nozzle and the hinged connection structure, selecting key connection points and determining the coordinate representation of the key connection points before and after rotation;

[0014] Step 3, determining the mathematical relationship between the key connection points and the parameters;

[0015] Step 4, selecting two rotation angles of the nozzle as known parameters, assigning specific values to them, and solving the values of unknown parameters by combining the mathematical relationship;

[0016] Step 5, substituting the solved parameters into the coordinate representation of the key connection points after rotation to obtain the specific coordinates of the key connection points, and then obtaining the length of the actuating mechanism, and finally obtaining the extension amount of the actuating mechanism.

[0017] Compared with the prior art, the significant progress of the present application lies in that the hinged connection mechanism of the present application solves the problem of thrust vector deviation caused by uncontrolled axial rotation of the traditional full-axis swing nozzle, realizes the integration of servo drive and anti-torsion function, and has no additional independent anti-torsion structure, so that the structure is simple, reliable in full-temperature range, strong in adaptability, and small in additional torque; the method of the present application realizes the precise control of the nozzle attitude through the motion law between the full-axis swing nozzle attitude and the actuating mechanism.

[0018] To more clearly illustrate the functional characteristics and structural parameters of the present application, the following further describes the present application in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, and the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 is a perspective view of the anti-torsion type full-axis swing nozzle hinged connection mechanism of the present application;

[0021] Figure 2 is a partial sectional enlarged view of the cooperation relationship of the hooke joint, actuating mechanism push rod, fish eye bearing and lower ear support in the anti-torsion type full-axis swing nozzle hinged connection mechanism of the present application;

[0022] Figure 3 is a partial sectional enlarged view of the cooperation relationship of the hooke joint, actuating mechanism push rod, fish eye bearing and lower ear support in the anti-torsion type full-axis swing nozzle hinged connection mechanism of the present application;

[0023] Figure 4 is the structure diagram of the lower ear support of the present application;

[0024] Figure 5 is the perspective view of the hooke joint connecting piece of the present application;

[0025] Figure 6 is the schematic diagram of the coordinate system of the hinged connecting mechanism of the anti-torsion type full-axis swing nozzle in the embodiment of the present application.

[0026] In the figure, the reference signs are: 1-nozzle, 2-flange plate, 3-first upper ear, 4-first hooke joint, 5-first actuator push rod, 6-second hooke joint, 7-first lower ear support, 8-second upper ear, 9-third hooke joint, 10-second actuator push rod, 11-fisheye bearing, 12-second lower ear support, 13-fixing hole, 14-lower ear, 15-ear shaft hole, 16-first hooke joint connecting piece, 17-second hooke joint connecting piece, 18-third hooke joint connecting piece, 19-first connecting shaft hole, 20-second connecting shaft hole. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application; based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0028] Embodiment 1:

[0029] The embodiment provides a hinged connecting mechanism of an anti-torsion type full-axis swing nozzle, which is combined with Figure 1 , the nozzle 1 is arranged at the center of the flange plate 2, the nozzle 1 and the flange plate 2 are connected and matched through a ball socket structure; the first upper ear 3 and the second upper ear 8 are arranged at the upper end edge of the nozzle 1, the first upper ear 3 and the second upper ear 8 are at an included angle of 90 degrees in the circumferential direction of the nozzle 1; the first lower ear support 7 and the second lower ear support 12 are fixed to the edge of the flange plate 2, the first lower ear support 7 and the second lower ear support 12 are at an included angle of 90 degrees in the circumferential direction of the flange plate 2.

[0030] combined with Figure 1 and Figure 2 , the first upper ear 3 and the first actuator push rod 5 form the hinging of the first hooke joint 4 through the first hooke joint connecting piece 16, and the first lower ear support 7 and the first actuator push rod 5 form the hinging of the second hooke joint 6 through the second hooke joint connecting piece 17; combined with Figure 1 and Figure 3The second upper support 8 and the second actuating structure push rod 10 are hinged together by the third Hooke hinge connector 18 to form the third Hooke hinge 9; the second lower support 12 and the second actuating structure push rod 10 are hinged together by the fisheye bearing 11; combined Figure 4 Both the first lower support lug 7 and the second lower support lug 12 are provided with two fixing holes 13 and a lower support lug 14. The lower support lug 14 is provided with a support lug shaft hole 15. The two fixing holes 13 are used for connection and fixation with the edge of the flange 2, and the support lug shaft hole 15 is used for connection with the second Hooke hinge connector 17 or the fisheye bearing 11; combined Figure 5 The first Hooke hinge connector 16, the second Hooke hinge connector 17 and the third Hooke hinge connector 18 are each provided with a first connecting shaft hole 19 and a second connecting shaft hole 20. The axes of the first connecting shaft hole 19 and the second connecting shaft hole 20 are skewed and perpendicular to each other.

[0031] Combination Figure 6 A coordinate system is established for the full-axis swing nozzle and the hinge connection structure, with the rotation center of the nozzle 1 as the origin O, the installation direction of the first lower support 7 as the positive X-axis, the installation direction of the second lower support 12 as the positive Y-axis, and the direction perpendicular to the OXY plane and on the nozzle 1 nozzle side as the positive Z-axis; For example... Figure 2 As shown, the midpoint of the axis of the first connecting shaft hole 19 of the first Hooke hinge connector 16 is b, the midpoint of the axis of the second connecting shaft hole 20 of the first Hooke hinge connector 16 is B, the midpoint of the axis of the first connecting shaft hole 19 of the second Hooke hinge connector 17 is a, and the midpoint of the axis of the second connecting shaft hole 20 of the second Hooke hinge connector 17 is A. When the nozzle 1 is in any posture, the projections of points A, a, B, and b on the OXZ plane should be on the same straight line; as Figure 3 As shown, the midpoint of the axis of the first connecting shaft hole 19 of the third Hooke hinge connector 18 is d, the midpoint of the axis of the second connecting shaft hole 20 of the third Hooke hinge connector 18 is D, and the rotation center point of the fisheye bearing 11 is C. When the nozzle 1 is in any posture, the projections of the three points C, D, and d on the OYZ plane should be on the same straight line.

[0032] Under ideal rigidity, when the lengths of the two actuator push rods are locked, the entire device forms a statically determinate connection structure, and the nozzle 1 has zero degrees of freedom relative to the flange 2, making relative torsion impossible. When the two actuator push rods can freely extend and retract, the active degrees of freedom of the entire device are equal to the target degrees of freedom of the nozzle 1. The nozzle 1 only achieves pitch and yaw motion under the drive of the two actuator push rods, with no redundant degrees of freedom, and cannot undergo uncontrolled axial torsion. The calculation formula is:

[0033]

[0034] in, For the final effective degrees of freedom, Let be the number of rigid bodies moving freely in space. The number of constraints provided for a single hinge;

[0035] In this embodiment, when the lengths of the two actuator push rods are locked, there are a total of three free-moving rigid bodies: the nozzle 1 and the two actuator push rods. Each Hooke hinge provides 4 constraints, the fisheye bearing 11 provides 3 constraints, and the flange 2 provides 3 constraints to the nozzle 1. Substituting these values ​​into the formula yields the following result. When the two actuator push rods can extend and retract freely, the overall active degree of freedom is 2. There are a total of 5 freely moving rigid bodies at the upper and lower ends of the nozzle 1 and the two actuator push rods. Each Hooke hinge provides 4 constraints, the fisheye bearing 11 provides 3 constraints, the flange 2 provides 3 constraints to the nozzle 1, and the hinge joint between the upper and lower ends of each actuator push rod provides 5 constraints. Substituting these values ​​into the formula yields the following result. It is equal to the overall active degree of freedom.

[0036] The ideal rigid state refers to a theoretical model where all structural components (nozzle 1, flange 2, Hooke's hinge, actuator push rod, fisheye bearing 11, etc.) are absolutely rigid bodies, and the kinematic pairs have zero backlash. This model is used to explain the constraint principle of the mechanism. In actual working conditions, there are slight displacements due to material elastic deformation and tolerances.

[0037] In the two actuator push rods, the installation positions of the three Hooke hinges and the fisheye bearing 11 can be interchanged between the two ends of the actuator push rod, or between different push rods. After the interchange, the function described in this embodiment can be achieved.

[0038] The nozzle 1, upper support lug 3, Hooke hinge, actuator push rod, and lower support lug support are all made of metal.

[0039] Example 2:

[0040] This embodiment provides a design method for a hinge connection mechanism of a torsion-resistant all-axis oscillating nozzle based on Embodiment 1, to analyze the motion law between the attitude of the all-axis oscillating nozzle and the actuation mechanism. The most significant characteristic of an all-axis oscillating nozzle with two actuation mechanisms distributed at 90 degrees is that the two actuation mechanisms need to move in coordination to ensure the nozzle meets the required oscillation angle. When the lower fulcrum of the two actuation mechanisms is not on the same plane as the rotation center of the nozzle, the extension and retraction movements of the two actuation mechanisms will be coupled together. Furthermore, in Embodiment 1, the two actuation push rods are hinged to the nozzle 1 and flange 2 using Hooke's hinges with skewed axes of the two shaft holes, making the motion law between the nozzle attitude and the actuation mechanism even more complex and difficult to analyze and calculate. Specifically, the following steps are included:

[0041] Step 1: Establish a fixed coordinate system for the full-axis oscillating nozzle and the hinge connection structure, and establish a follower coordinate system for nozzle 1, to determine the method for describing the coordinate transformation under the rotational motion of the nozzle.

[0042] Preferably, this embodiment uses the coordinate system established in Embodiment 1 as a fixed coordinate system, such as... Figure 6 As shown; when the axis of the nozzle 1 coincides with the Z-axis of the fixed coordinate system, it is in the initial unrotated state, and the follower coordinate system of the nozzle 1 coincides with the fixed coordinate system;

[0043] Preferably, in this embodiment, a spatial homogeneous coordinate transformation matrix is ​​used to describe the rotational motion of the nozzle 1. The rotational motion of the nozzle 1 is decomposed into three rotations about its own following coordinate axis in the order ZYZ. The basic rotation matrices are as follows:

[0044]

[0045]

[0046]

[0047] in, This is the first rotation matrix around the Z-axis. The angle of the first rotation; This is the second rotation matrix around the Y-axis. The angle of the second rotation; This is the third rotation matrix around the Z-axis. This is the angle of the third rotation.

[0048] Combine the three basic rotation matrices into the final rotation matrix. The details are as follows:

[0049]

[0050] in:

[0051]

[0052]

[0053]

[0054]

[0055]

[0056]

[0057]

[0058]

[0059]

[0060] Step 2: Obtain the dimensional parameters of the all-axis swing nozzle and hinge connection structure, select key connection points, and determine their initial unrotated and rotated coordinate representations.

[0061] Preferably, in this embodiment, the key connection points are selected from the seven points A, a, B, b, C, D, and d described in Embodiment 1, wherein the initial coordinates of points A, B, C, and D are represented as follows:

[0062]

[0063]

[0064]

[0065]

[0066] in, and These are the horizontal and vertical distances, respectively, from the connection point between the lower end of the actuating mechanism and the lower support lug to the rotation center of nozzle 1. and These are the horizontal and vertical distances from the connection point between the upper end of the actuation mechanism and the upper support lug to the rotation center of the nozzle 1, respectively.

[0067] After rotation, the coordinates of points A and C remain unchanged, while the coordinates of the remaining points a, B, b, D, and d are represented as follows:

[0068]

[0069]

[0070]

[0071]

[0072]

[0073] in, The distance between the axes of the two shaft holes of the Hooke's hinge connector. Let be the angle between the line connecting points A and a and the Z-axis. Let be the angle between the line connecting points B and b and the Z-axis. Let be the angle between the line connecting points D and d and the Z-axis.

[0074] Step 3: Determine the mathematical relationships between each key connection point and parameter.

[0075] Specifically, in this embodiment, the key connection points are as described in Embodiment 1. The projections of points A, a, B, and b onto the OXZ plane should be on the same straight line, and the projections of points C, D, and d onto the OYZ plane should be on the same straight line, which is equivalent to:

[0076]

[0077]

[0078]

[0079] in, , , , , , , , Let x and z be the x and z coordinates of points A, a, B, and b, respectively. , , , , , Let C, D, and d be the y and z coordinates of points C, D, and d, respectively.

[0080] According to the projection relationship, , The following relationship is satisfied between it and other parameters:

[0081]

[0082] Step 4: Select the two rotation angles of the nozzle 1 as known parameters, assign them specific values, and solve the unknown parameters by combining mathematical relationships.

[0083] Preferably, in this embodiment, the following is selected: , As known numbers, the others , , , Since the unknowns are unknowns, the mathematical relationships satisfied by the parameters in step 3 can be rewritten as four equations to form a system of equations. The number of equations is equal to the number of unknowns, and the system of equations is self-closed and theoretically solvable.

[0084] Preferably, in this embodiment, the Newton-Raphson iteration method is selected to solve the system of equations. If the Jacobian matrix becomes singular during the iteration process using the Newton-Raphson iteration method, the initial value of the iteration is changed and the iteration is repeated until the required parameters meet the required accuracy.

[0085] Step 5: Substitute the parameters obtained in Step 4 back into the coordinate representation of each key connection point after rotation in Step 2 to obtain the specific coordinates of each key connection point, and then solve for the length of the actuator, and finally obtain the extension and retraction of the actuator.

[0086] Specifically, in this embodiment, the distance between a, b and C, d after the nozzle 1 rotates is the length of the two actuating structures, and the extension and retraction of the actuating mechanism can be calculated by the following formula:

[0087]

[0088] in, This represents the extension / retraction amount of the actuator. A positive value indicates that the actuator extends, and a negative value indicates that the actuator retracts. The length of the actuating mechanism after the nozzle 1 rotates is given. The initial length of the actuator of nozzle 1.

[0089] The length of the actuating mechanism after the nozzle 1 rotates The initial length of the actuation mechanism of the nozzle 1 Both can be calculated from coordinates; the distance calculation formula is:

[0090]

[0091] in, The distance between two points is given by the coordinates of the two points to be calculated. and .

[0092] In summary, each group of different and That is, the azimuth angle and swing angle of the nozzle 1 correspond to a set of different extension and retraction amounts of the push rods of the two actuation mechanisms; when the design method of this embodiment is applied to perform vector control on the all-axis swing nozzle, as long as the target is set... and This allows us to calculate the extension and retraction of the corresponding push rods of the two actuators, and then control the push rods of the two actuators to push the nozzle 1 to swing towards the target. and That is, the attitude of the nozzle 1 is completely determined by the push rods of the two actuating mechanisms, and the nozzle 1 will not undergo uncontrolled axial torsion. The design method of this embodiment not only analyzes the motion law between the attitude of the all-axis oscillating nozzle and the actuating mechanism, but also further explains the anti-torsion function of the hinge connection mechanism.

[0093] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0094] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A hinge connection mechanism for a torsion-resistant, all-axis oscillating nozzle, characterized in that, Includes nozzle (1), flange (2), first upper support lug (3), first Hooke hinge (4), first actuation mechanism push rod (5), second Hooke hinge (6), first lower support lug support (7), second upper support lug (8), third Hooke hinge (9), second actuation mechanism push rod (10), fisheye bearing (11), and second lower support lug support (12). The flange (2) is provided with a nozzle (1) that can rotate in three degrees of freedom at its center. The flange (2) is fixed with a first lower support (7) and a second lower support (12) arranged in a circumferential direction. The nozzle (1) is provided with a first upper support (3) and a second upper support (8) arranged in a circumferential direction at its upper end. The first upper support (3) and the first lower support (7) are respectively hinged by the first Hooke hinge (4), the second Hooke hinge (6), and the first actuation mechanism push rod (5). The second upper support (8) and the second lower support (12) are respectively hinged by the third Hooke hinge (9), the fisheye bearing (11), and the second actuation mechanism push rod (10).

2. The hinge connection mechanism of the anti-torsion all-axis swing nozzle according to claim 1, characterized in that, The first actuation structure push rod (5) is fitted with the first Hooke hinge (4) at one end near the first upper support (3), and the first actuation structure push rod (5) is hinged to the first upper support (3); the first actuation structure push rod (5) is fitted with the second Hooke hinge (6) at one end near the first lower support (7), and the first actuation structure push rod (5) is hinged to the first lower support (7); the second actuation mechanism push rod (10) is fitted with the third Hooke hinge (9) at one end near the second upper support (8), and the second actuation mechanism push rod (10) is hinged to the second upper support (8); the second actuation mechanism push rod (10) is fitted with the fisheye bearing (11) at one end near the second lower support (12), and the second actuation mechanism push rod (10) is hinged to the second lower support (12).

3. The hinge connection mechanism of the anti-torsion all-axis swing nozzle according to claim 2, characterized in that, The first upper support (3) and the second upper support (8) located at the upper end of the nozzle (1) have a 90-degree angle in the circumferential direction; the first lower support (7) and the second lower support (12) fixed to the edge of the flange (2) have a 90-degree angle in the circumferential direction. The first actuating structure push rod (5) and the first upper support (3) are hinged to form a first Hooke hinge (4) through the first Hooke hinge connector (16); the first actuating structure push rod (5) and the first lower support (7) are hinged to form a second Hooke hinge (6) through the second Hooke hinge connector (17); the second actuating mechanism push rod (10) and the second upper support (8) are hinged to form a third Hooke hinge (9) through the third Hooke hinge connector (18); the first Hooke hinge connector (16), the second Hooke hinge connector (17) and the third Hooke hinge connector (18) are all provided with a first connecting shaft hole (19) and a second connecting shaft hole (20), and the axes of the first connecting shaft hole (19) and the second connecting shaft hole (20) are skewed and perpendicular.

4. The hinge connection mechanism of the anti-torsion all-axis swing nozzle according to claim 3, characterized in that, The first lower support (7) and the second lower support (12) are provided with a fixing hole (13) and a lower support (14). The lower support (14) is provided with a support shaft hole (15). The support shaft hole (15) is used to connect with the second Hooke hinge connector (17) or the fisheye bearing (11).

5. A design method for a hinge connection mechanism for implementing the anti-torsion all-axis oscillating nozzle according to any one of claims 1-3, characterized in that, Includes the following steps: Step 1: Establish a fixed coordinate system for the all-axis oscillating nozzle and the hinge connection structure, and establish a follower coordinate system for the nozzle, and determine the method for describing the coordinate transformation under the rotational motion of the nozzle; Step 2: Obtain the dimensional parameters of the all-axis swing nozzle and hinge connection structure, select key connection points and determine their initial unrotated and rotated coordinate representations; Step 3: Determine the mathematical relationships between key connection points and parameters; Step 4: Select the two rotation angles of the nozzle as known parameters, assign them specific values, and solve the unknown parameters by combining mathematical relationships. Step 5: Substitute the solved parameters back into the coordinate representation of each key connection point after rotation to obtain the specific coordinates of each key connection point, thereby obtaining the length of the actuator and finally the extension / retraction amount of the actuator.

6. The design method of the hinge connection mechanism for a torsion-resistant all-axis swing nozzle according to claim 5, characterized in that, The nozzle rotation in step 1 consists of three rotations around its own following coordinate axis, in the ZYZ sequence, with the basic rotation matrices as follows: ； ； ； in, This is the first rotation matrix around the Z-axis. The angle of the first rotation; This is the second rotation matrix around the Y-axis. The angle of the second rotation; This is the third rotation matrix around the Z-axis. The angle of the third rotation; Final rotation matrix As shown in the following formula: ； in: ； ； ； ； ； ； ； ； 。 7. The design method of the hinge connection mechanism for a torsion-resistant all-axis swing nozzle according to claim 6, characterized in that, The selection of key connection points in step 2 specifically involves: A coordinate system is established for the full-axis swing nozzle and the hinge connection structure. The rotation center of the nozzle (1) is taken as the origin O, the installation direction of the first lower support (7) is taken as the positive X-axis, the installation direction of the second lower support (12) is taken as the positive Y-axis, and the direction perpendicular to the OXY plane and on one side of the nozzle (1) is taken as the positive Z-axis. The midpoint of the axis of the first connecting shaft hole (19) of the first Hooke hinge connector (16) is b, the midpoint of the axis of the second connecting shaft hole (20) of the first Hooke hinge connector (16) is B, the midpoint of the axis of the first connecting shaft hole (19) of the second Hooke hinge connector (17) is a, and the midpoint of the axis of the second connecting shaft hole (20) of the second Hooke hinge connector (17) is A; the midpoint of the axis of the first connecting shaft hole (19) of the third Hooke hinge connector (18) is d, the midpoint of the axis of the second connecting shaft hole (20) of the third Hooke hinge connector (18) is D, and the rotation center point of the fisheye bearing (11) is C. The final key connection points are: A, a, B, b, C, D, d.

8. The design method of the hinge connection mechanism for a torsion-resistant all-axis swing nozzle according to claim 7, characterized in that, The key connection points must satisfy the following: when the nozzle (1) is in any posture, the projections of points A, a, B, and b on the OXZ plane are on the same straight line, and the projections of points C, D, and d on the OYZ plane are on the same straight line.

9. The design method of the hinge connection mechanism for a torsion-resistant all-axis oscillating nozzle according to claim 8, characterized in that, The mathematical relationships between the key connection points and parameters in step 3 are as follows: ； ； in, , , , , , , , Let x and z be the x and z coordinates of points A, a, B, and b, respectively. , , , , , The y and z coordinates of points C, D, and d are respectively. Let be the angle between the line connecting points B and b and the Z-axis. Let be the angle between the line connecting points D and d and the Z-axis.

10. The design method of the hinge connection mechanism for a torsion-resistant all-axis swing nozzle according to claim 5, characterized in that, In step 4, the value of the unknown parameter is solved by solving a simultaneous mathematical relationship using the Newton-Raphson iteration method.

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