Rocket capture arm and recovery tower

Abstract

The invention relates to the field of rocket recovery, and discloses a rocket capture arm and a recovery tower. The rocket capturing arm comprises a main body; the supporting piece is arranged on the main body in a liftable mode through a first connecting rod assembly and a second connecting rod assembly and used for supporting a rocket; the first connecting rod assembly comprises at least two first connecting rods arranged in the vertical direction, one end of each first connecting rod is rotationally connected with the body, and the other end of each first connecting rod is rotationally connected with the supporting piece. The second connecting rod assembly comprises at least two second connecting rods arranged in the vertical direction, one end of each second connecting rod is rotationally connected with the body, the other end of each second connecting rod is rotationally connected with the supporting piece, and the plane where the second connecting rod assembly is located and the plane where the first connecting rod assembly is located form an angle. The buffering assembly is connected between the main body and the supporting piece and used for providing resistance in the descending process of the supporting piece. The non-coplanar layout of the two sets of connecting rod assemblies constructs a composite supporting structure in a three-dimensional space, so that the degree of freedom of an original single-plane four-connecting-rod is counteracted by rigid constraint of crossed connecting rods.

Description

Technical Field

[0001] The present invention relates to the technical field of rocket recovery, and particularly to a rocket capture arm and a recovery tower. Background Art

[0002] With the development of space technology, the recovery and reuse of launch vehicles have become the key to reducing launch costs. The traditional landing leg recovery method relies on the rocket's autonomous attitude adjustment and buffer mechanism, which has defects such as a large dead weight of the structure, complex structure, and limited reusability. The new tower recovery technology directly grabs the rocket through a ground capture device, significantly improving the recovery efficiency and safety.

[0003] In the related art, the capture device uses a multi-group parallelogram link mechanism to form a buffer structure, and realizes vertical buffering through the linkage within the link plane. This mechanism has good stability and buffering performance within the design plane.

[0004] However, this parallelogram link mechanism is prone to swing, which exacerbates mechanical wear and reduces the reliability of the equipment. Summary of the Invention

[0005] In view of this, the present invention provides a rocket capture arm and a recovery tower to solve or improve the problem that the parallelogram link mechanism is prone to swing.

[0006] In a first aspect, the present invention provides a rocket capture arm, including:

[0007] A main body;

[0008] A support member, which is vertically movably arranged on the main body through a first link assembly and a second link assembly, and is used to support the rocket;

[0009] The first link assembly includes at least two first links arranged vertically. One end of the first link is rotatably connected to the main body, and the other end is rotatably connected to the support member;

[0010] The second link assembly includes at least two second links arranged vertically. One end of the second link is rotatably connected to the main body, and the other end is rotatably connected to the support member. The plane where the second link assembly is located is arranged at an angle with the plane where the first link assembly is located;

[0011] A buffer assembly, which is connected between the main body and the support member, and is used to provide resistance during the descent of the support member.

[0012] In an alternative embodiment, a plurality of the first link assemblies and a plurality of the second link assemblies are provided. The first link assemblies and the second link assemblies are in one-to-one correspondence, and between each first link assembly and the corresponding second link assembly, the first links and the second links are in one-to-one correspondence.

[0013] In an alternative embodiment, the support member includes:

[0014] a cross beam for supporting a rocket;

[0015] a plurality of columns. The columns are arranged at intervals along the axial direction of the cross beam and are all connected to the cross beam. Each column is connected with a corresponding first link assembly and a corresponding second link assembly.

[0016] In an alternative embodiment, a flange is provided at an edge of the top surface of the cross beam close to the rocket;

[0017] and / or, the support member further includes a reinforcing beam connected between the cross beam and the columns.

[0018] In an alternative embodiment, the main body is provided as a truss structure, and an accommodation space is formed inside the main body. The support member is provided outside the main body, and at least a part of the first link assembly and at least a part of the second link assembly are arranged in the accommodation space.

[0019] In an alternative embodiment, spherical hinges are used for articulation between the first link and the main body, and between the first link and the support member;

[0020] and / or, spherical hinges are used for articulation between the second link and the main body, and between the second link and the support member.

[0021] In an alternative embodiment, the rocket capture arm further includes a lifting cylinder connected between the support member and the main body. The lifting cylinder is used to drive the support member to rise before the rocket lands.

[0022] In an alternative embodiment, a first mounting assembly is provided on a side wall of the main body below the support member. The first mounting assembly includes two spaced-apart first mounting plates. The top of the first mounting plate is used to limit the support member in the vertical direction;

[0023] The fixed part of the lifting cylinder is arranged between the two first mounting plates of the first mounting assembly and is rotatably connected to at least one of the first mounting plates. The telescopic part of the lifting cylinder is rotatably connected to the support member.

[0024] In an alternative embodiment, a second mounting assembly is provided on the side wall of the main body below the support member. The second mounting assembly includes two second mounting plates arranged at intervals, and the top of the second mounting plate is used to limit the support member in the vertical direction;

[0025] The fixing portion of the buffer assembly is disposed between the two second mounting plates of the second mounting assembly and is rotatably connected to at least one of the second mounting plates. The telescopic portion of the buffer assembly is rotatably connected to the support member.

[0026] In a second aspect, the present invention also provides a recovery tower including the rocket capture arm as described above.

[0027] For the rocket capture arm provided by the present invention, the first link assembly and the second link assembly are arranged at an angle to form a double-plane cross-constraint system, that is, the non-coplanar layout of the two link assemblies constructs a composite support structure in three-dimensional space, so that the degrees of freedom of the original single-plane four-link are offset by the rigid constraints of the cross-links. When a dynamic load causes an out-of-plane swing trend, the spatial angle difference of the cross-link assembly will generate a reverse moment, significantly suppressing the lateral offset, thereby improving the stability of the rocket capture arm.

[0028] In addition, since the first link and the second link can be set to the same structure, they can be replaced with each other, increasing the flexibility and adaptability of the system. At the same time, only one type of link needs to be designed and then applied to the first link assembly and the second link assembly, which can greatly reduce the repetitive work in the design process, improve the design efficiency, reduce the production cost, and reduce the maintenance difficulty and maintenance cost.

[0029] For the recovery tower provided by the present invention, since it includes the rocket capture arm provided by the present invention, it simultaneously includes all the above advantages of the rocket capture arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic structural diagram of a rocket capture arm provided by an embodiment of the present invention;

[0032] Figure 2 It is a front view of a rocket capture arm provided by an embodiment of the present invention;

[0033] Figure 3 is Figure 2 a three-dimensional angle schematic diagram of the rocket capture arm shown;

[0034] Figure 4 is Figure 2 a right view of the rocket capture arm shown;

[0035] Figure 5 is a schematic structural diagram of the connection between the support member, the first link assembly, and the second link assembly provided by an embodiment of the present invention;

[0036] Figure 6 is a schematic structural diagram of the main body provided by an embodiment of the present invention.

[0037] Explanation of reference numerals:

[0038] 1. Main body; 101. Accommodation space; 102. First mounting assembly; 1021. First mounting plate; 103. Second mounting assembly; 1031. Second mounting plate; 2. Support member; 201. Cross beam; 2011. Flange; 202. Column; 203. Reinforcing beam; 3. First link assembly; 301. First link; 4. Second link assembly; 401. Second link; 5. Buffer assembly; 6. Lifting cylinder; 7. Rocket. Detailed implementation manners

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0040] In the related art, the capture device uses a multi-group parallelogram link mechanism to form a buffer structure, and realizes vertical buffering through the linkage within the link plane. This mechanism has good stability and buffering performance within the design plane.

[0041] However, this parallelogram link mechanism is prone to out-of-plane degree-of-freedom coupling, that is, there will be slight swings in the direction perpendicular to the link plane, which aggravates mechanical wear and reduces the reliability of the equipment.

[0042] To solve or improve the problem that the parallelogram link mechanism in the related art is prone to swing, an embodiment of the present invention provides a rocket capture arm and a recovery tower.

[0043] The following combines Figures 1 to 6 to describe the rocket capture arm provided in the embodiments of the present invention.

[0044] Specifically, the rocket capture arm includes a main body 1, a support member 2, a first link assembly 3, a second link assembly 4, and a buffer assembly 5.

[0045] Among them, the main body 1 is used to connect with the tower of the recovery tower.

[0046] The support member 2 is arranged on the main body 1 in a liftable manner through the first link assembly 3 and the second link assembly 4, and the support member 2 is used to support the rocket 7. For example, a landing hook is provided on the side wall of the rocket 7, and the support member 2 is used to support the landing hook of the rocket 7.

[0047] The first link assembly 3 includes at least two first links 301 arranged in the vertical direction. Specifically, there is a spacing between adjacent two first links 301. Each first link 301 is rotatably connected to the main body 1 at one end and rotatably connected to the support member 2 at the other end. It can be understood that the first links 301 in the first link assembly 3 are parallel to each other.

[0048] The second link assembly 4 includes at least two second links 401 arranged in the vertical direction. Specifically, there is a spacing between adjacent two second links 401. Each second link 401 is rotatably connected to the main body 1 at one end and rotatably connected to the support member 2 at the other end. It can be understood that the second links 401 in the second link assembly 4 are parallel to each other.

[0049] Furthermore, the plane where the second link assembly 4 is located is arranged at an angle with the plane where the first link assembly 3 is located. The plane where the first link assembly 3 is located is the plane formed by at least two first links 301, and the plane where the second link assembly 4 is located is the plane formed by at least two second links 401. Optionally, the angle range between the plane where the second link assembly 4 is located and the plane where the first link assembly 3 is located can be 10° to 90°.

[0050] The buffer assembly 5 is connected between the main body 1 and the support member 2, and the buffer assembly 5 is used to provide resistance during the descending process of the support member 2. Optionally, the buffer assembly 5 is set as a damper, such as including but not limited to friction damper, hydraulic damper, viscous damper, magnetorheological damper, electromagnetic damper, and air damper.

[0051] In this embodiment, during the landing process of the rocket 7, the rocket 7 contacts the support member 2, and the support member 2 moves downward under the restrictive action of the first link assembly 3 and the second link assembly 4. During the descending process of the support member 2, the buffer assembly 5 plays a role of buffering and energy absorption, which can dissipate the kinetic energy and potential energy of the rocket 7 and make the rocket 7 stop smoothly.

[0052] With such a setting, by arranging the first link assembly 3 and the second link assembly 4 at an angle, a double-plane cross-constraint system is formed, that is, the non-coplanar layout of the two sets of link assemblies constructs a composite support structure in three-dimensional space, so that the degrees of freedom of the original single-plane four-bar linkage are offset by the rigid constraints of the cross-links. When the dynamic load causes an out-of-plane swing trend, the spatial angle difference of the cross-link assembly will generate a reverse moment, significantly suppressing the lateral offset, thereby improving the stability of the rocket capture arm.

[0053] In addition, since the first link 301 and the second link 401 can be set to the same structure, they can be replaced with each other, thereby increasing the flexibility and adaptability of the system. At the same time, only one type of link needs to be designed and then applied to the first link assembly 3 and the second link assembly 4, which can greatly reduce the repetitive work in the design process, improve the design efficiency, reduce the production cost, and reduce the maintenance difficulty and maintenance cost.

[0054] In some embodiments provided by the present invention, both the first link assembly 3 and the second link assembly 4 are provided in multiple numbers, the first link assembly 3 and the second link assembly 4 correspond one by one, and between the first link assembly 3 and the corresponding second link assembly 4, the first link 301 and the second link 401 correspond one by one. For example, between the first link assembly 3 and the corresponding second link assembly 4, the first link 301 and the corresponding second link 401 are symmetrically arranged.

[0055] In this embodiment, by making the first link 301 and the second link 401 correspond one by one, the structural symmetry of the entire link system can be ensured, which helps to evenly distribute the acting force, reduce the stress concentration problem, and thus improve the stability and load-bearing capacity of the overall structure.

[0056] In addition, through multiple sets of spatially crossed first link assemblies 3 and second link assemblies 4, a three-dimensional constraint system similar to a truss structure is formed, which can form a more balanced binding force in the direction perpendicular to the single link plane, suppress the swing of the link assembly along the direction perpendicular to the link plane, and solve the technical defect that the traditional parallelogram link is prone to out-of-plane swing.

[0057] In addition, multiple sets of corresponding links disperse the landing impact load of the rocket 7 to multiple force transmission paths. Each set of links independently bears the load and jointly bears the force through the spatial angle, avoiding single-point overload and enhancing the structural redundancy.

[0058] Reference Figure 5 As shown, in some embodiments provided by the present invention, the support member 2 includes a cross beam 201 and a column 202.

[0059] The cross beam 201 is used to support the rocket 7. That is, the cross beam 201 is used to support the landing hook of the rocket 7.

[0060] There are multiple columns 202, and the multiple columns 202 are arranged at intervals along the axial direction of the cross beam 201 and are all connected to the cross beam 201. For example, the column 202 can be welded to the cross beam 201. Each column 202 is connected with a corresponding first link assembly 3 and a second link assembly 4. It can be understood that the numbers of both the first link assembly 3 and the second link assembly 4 are multiple, and the first link assembly 3 and the second link assembly 4 are both rotatably connected to the corresponding column 202.

[0061] In this embodiment, multiple columns 202 are distributed along the axial direction of the cross beam 201. Each column 202 is hinged to the main body 1 through two sets of link assemblies arranged in different planes, forming a spatial truss-like structure, so as to have higher structural strength and be able to bear the load of the rocket capture arm.

[0062] In addition, the cross beam 201 is used to directly support the landing hook of the rocket 7, and the design of arranging multiple columns 202 at intervals along the axial direction of the cross beam 201 can provide more uniform and stable support, which helps to disperse the impact force generated during landing and reduce the risk of structural damage caused by excessive single-point pressure.

[0063] Since each column 202 and its corresponding link assembly can work independently, such a design is beneficial to optimizing the distribution of force in the whole structure, avoiding the problem of local stress concentration, and enhancing the durability and reliability of the overall structure.

[0064] In addition, each column 202 is equipped with an independent first link assembly 3 and a second link assembly 4, which can significantly improve the load-bearing capacity of the whole system. For example, such a layout enables the system to independently absorb and disperse energy at different positions, so as to better cope with complex stress conditions.

[0065] In some embodiments provided by the present invention, a flange 2011 is provided at the edge of the top surface of the cross beam 201 close to the rocket 7.

[0066] In this embodiment, the flange 2011 on the top surface of the cross beam 201 protrudes above the top surface of the cross beam 201 to form a blocking structure, which can provide an additional physical barrier when the rocket 7 lands, prevent the rocket 7 from detaching from the support 2 due to accidental side slip, and improve the safety of the recovery process. For example, it can prevent the landing hook from accidentally slipping off the edge of the cross beam 201 due to vibration, air flow or attitude adjustment after the rocket 7 lands, and improve the recovery stability.

[0067] In some embodiments provided by the present invention, the support 2 further includes a reinforcing beam 203. The reinforcing beam 203 is connected between the cross beam 201 and the column 202.

[0068] In this embodiment, the strengthening beam 203 can effectively enhance the connection strength between the cross beam 201 and the column 202, improve the overall rigidity and load-bearing capacity of the entire support member 2. This enhancement is particularly important for coping with the huge impact force generated when the rocket 7 lands, and helps prevent the support member 2 from deforming or being damaged.

[0069] Optionally, the strengthening beam 203 includes at least two sub-beams, and the at least two sub-beams are both connected between the column 202 and the cross beam 201.

[0070] Among them, the connection points of the at least two sub-beams with the column 202 are arranged at intervals in sequence along the axial direction of the column 202. The first link 301 and the second link 401 correspond to the sub-beams one by one, that is, the connection points of the first link 301 and the second link 401 with the column 202 are close to the connection points of the corresponding sub-beams with the column 202.

[0071] In this embodiment, by setting a plurality of sub-beam connection points at different heights of the column 202, the uniform distribution of force in the length direction of the column 202 can be realized, the situation that a single point bears too much pressure can be avoided, the risk of structural failure can be reduced, and the load-bearing capacity of the overall structure can be enhanced.

[0072] In addition, the connection points of the first link 301 and the second link 401 with the column 202 are close to the connection points of the corresponding sub-beams with the column 202, which can more directly and effectively transfer the force from the link to the sub-beam, and then the force is dispersed to the entire support member 2 by the sub-beam. This layout can optimize the force transmission path, make the overall force of the support member 2 balanced, and reduce stress concentration.

[0073] Optionally, strengthening beams 203 are arranged on both sides of the column 202, so that the forces on both sides of the column 202 are balanced.

[0074] In some embodiments provided by the present invention, the main body 1 is set as a truss structure, and an accommodation space 101 is formed inside the main body 1. The support member 2 is arranged on the outside of the main body 1, and at least part of the first link assembly 3 and at least part of the second link assembly 4 are arranged in the accommodation space 101.

[0075] In this embodiment, the truss structure itself has relatively high structural rigidity and can effectively resist deformation caused by external loads. By setting the main body 1 as a truss structure and providing a stable support frame for the support member 2, the first link assembly 3 and the second link assembly 4, it can be ensured that the entire rocket capture arm maintains structural stability under complex stress states.

[0076] By forming an accommodation space 101 inside the main body 1 and placing part of the link assembly therein, the limited space inside the main body 1 can be effectively utilized, making the overall design more compact. This not only helps reduce the physical space occupied by the system but also provides more installation positions for other necessary components or devices.

[0077] In addition, placing part of the first link assembly 3 and the second link assembly 4 inside the accommodation space 101 of the main body 1, avoiding the first link assembly 3 and the second link assembly 4 protruding outside the main body 1, helps reduce the risk of damage caused by accidental collisions.

[0078] In some embodiments provided by the present invention, both between the first link 301 and the main body 1 and between the first link 301 and the support member 2 are hinged by spherical hinges.

[0079] In this embodiment, the floating amount of the spherical hinge between the first link 301 and the main body 1 and between the first link 301 and the support member 2 can absorb manufacturing and installation deviations, making the assembly of the first link assembly 3 and the second link assembly 4 arranged in a cross manner more difficult, thereby improving the assembly efficiency.

[0080] In some embodiments provided by the present invention, both between the second link 401 and the main body 1 and between the second link 401 and the support member 2 are hinged by spherical hinges.

[0081] In this embodiment, the floating amount of the spherical hinge between the second link 401 and the main body 1 and between the second link 401 and the support member 2 can absorb manufacturing and installation deviations, making the assembly of the first link assembly 3 and the second link assembly 4 arranged in a cross manner more difficult, thereby improving the assembly efficiency.

[0082] In some embodiments provided by the present invention, the rocket capture arm further includes a lifting cylinder 6.

[0083] The lifting cylinder 6 is connected between the support member 2 and the main body 1, and the lifting cylinder 6 is used to drive the support member 2 to rise before the rocket 7 lands.

[0084] In this embodiment, during the rocket 7 recovery preparation stage, the lifting cylinder 6 starts to inflate and lifts the support member 2 from the low position to the high position, and the buffer assembly 5 follows and elongates. The movement trajectory of the support member 2 is restricted by the two link assemblies.

[0085] During the landing process of the rocket 7, the landing hooks on both sides of the rocket 7 first contact the lifted support member 2, and then under the action of the weight of the rocket 7 itself and the remaining falling speed, the landing hooks push the support member 2 downward. Under the restraint of the two link assemblies, the support member 2 rotates downward in the vertical direction while compressing the buffer assembly 5 and the lifting cylinder 6.

[0086] During the movement of the support member 2, the remaining potential energy and kinetic energy of the rocket 7 are absorbed by the buffer assembly 5, and finally the vertical velocity of the rocket 7 is reduced to zero, completing the buffer process of the rocket 7 landing.

[0087] That is, before the rocket 7 is recovered, the lifting cylinder 6 jacks up the support member 2 and simultaneously extends the buffer assembly 5. After the rocket 7 lands, the support member 2 remains at a low position and does not automatically rise. Thus, during the process of hoisting the rocket 7, the support member 2 can be kept at a low position to avoid problems such as the automatic rising of the support member 2 causing interference.

[0088] In summary, with such a setting, the jacking is only started during the preparation stage of the rocket 7 recovery, lifting the support member 2 from a low position to a high position, avoiding the space occupation and accidental touch risks caused by the support member 2 being in a high position for a long time. When jacking, the buffer assembly 5 extends synchronously to provide preloading for subsequent buffering and improve the energy absorption efficiency.

[0089] In addition, the buffer assembly 5 and the lifting cylinder 6 act together to effectively absorb the huge impact force when the rocket 7 lands and protect the structure of the rocket 7 from damage.

[0090] In some embodiments provided by the present invention, a first mounting assembly 102 is provided on the side wall of the main body 1 below the support member 2. The first mounting assembly 102 includes two first mounting plates 1021 arranged at intervals, and the top of the first mounting plate 1021 is used to limit the support member 2 in the vertical direction.

[0091] Further, the fixed part of the lifting cylinder 6 is arranged between the two first mounting plates 1021 of the first mounting assembly 102 and is rotatably connected to at least one first mounting plate 1021, and the telescopic part of the lifting cylinder 6 is rotatably connected to the support member 2. For example, the cylinder body of the lifting cylinder 6 is arranged between the two first mounting plates 1021 of the first mounting assembly 102 and is rotatably connected to at least one first mounting plate 1021, and the piston rod of the lifting cylinder 6 is rotatably connected to the support member 2.

[0092] In this embodiment, the tops of the two first mounting plates 1021 form a mechanical limit for the support member 2 in the vertical direction, preventing the support member 2 from moving excessively downward when the rocket 7 lands (such as exceeding the compression limit of the buffer assembly 5 or the lifting cylinder 6), avoiding structural damage, and ensuring the controllability of the buffering process.

[0093] The fixed part of the lifting cylinder 6 is rotatably connected to the first mounting plate 1021, and the telescopic part is rotatably connected to the support member 2, allowing the lifting cylinder 6 to synchronously adjust the angle when the support member 2 moves (such as vertical rotation), avoiding movement interference or mechanical jamming caused by rigid connection, and ensuring a smooth driving process. That is, the lifting cylinder 6 only needs to bear axial loads and relatively small radial loads.

[0094] In addition, arranging the lifting cylinder 6 inside the two first mounting plates 1021 can effectively prevent external objects from directly impacting and damaging the lifting cylinder 6. For example, during the recovery process of the rocket 7, various debris, dust, or other impurities may splash, and the protection of the first mounting plate 1021 can reduce the impact of these foreign objects on the lifting cylinder 6 and extend its service life.

[0095] Furthermore, the first mounting assembly 102 corresponds to the lifting cylinder 6 one by one, that is, each lifting cylinder 6 is provided with a corresponding first mounting assembly 102.

[0096] In some embodiments provided by the present invention, a second mounting assembly 103 is provided on the side wall of the main body 1 below the support member 2. The second mounting assembly 103 includes two second mounting plates 1031 arranged at intervals, and the top of the second mounting plate 1031 is used to limit the support member 2 in the vertical direction.

[0097] The fixing part of the buffer assembly 5 is arranged between the two second mounting plates 1031 of the second mounting assembly 103 and is rotatably connected to at least one second mounting plate 1031. The telescopic part of the buffer assembly 5 is rotatably connected to the support member 2.

[0098] In this embodiment, the tops of the two second mounting plates 1031 form a mechanical limit for the support member 2 in the vertical direction, preventing the support member 2 from moving excessively downward when the rocket 7 lands (such as exceeding the compression limit of the buffer assembly 5 or the lifting cylinder 6), avoiding structural damage, and ensuring the controllability of the buffering process.

[0099] The fixing part of the buffer assembly 5 is rotatably connected to the second mounting plate 1031, and the telescopic part is rotatably connected to the support member 2, allowing the buffer assembly 5 to synchronously adjust the angle when the support member 2 moves (such as vertical rotation), avoiding movement interference or mechanical jamming caused by rigid connection, and ensuring a smooth driving process. That is, the buffer assembly 5 only needs to bear axial loads and relatively small radial loads.

[0100] In addition, arranging the buffer assembly 5 inside the two second mounting plates 1031 can effectively prevent external objects from directly impacting and damaging the buffer assembly 5. For example, during the recovery process of the rocket 7, various debris, dust, or other impurities may splash, and the protection of the second mounting plate 1031 can reduce the impact of these foreign objects on the buffer assembly 5 and extend its service life.

[0101] Furthermore, the buffer assembly 5 corresponds to the second mounting assembly 103 one by one, that is, each buffer assembly 5 is provided with a corresponding second mounting assembly 103.

[0102] The features in the above-mentioned various embodiments can be combined. For example, in some embodiments, the rocket capture arm includes a main body 1, a support member 2, a first link assembly 3, a second link assembly 4, a buffer assembly 5, and a lifting cylinder 6.

[0103] Among them, the main body 1 is used to connect to the tower of the recovery tower. The main body 1 is set as a truss structure, and an accommodation space 101 is formed inside the main body 1. The support member 2 is arranged on the outside of the main body 1, and at least part of the first link assembly 3 and at least part of the second link assembly 4 are arranged in the accommodation space 101.

[0104] The support member 2 is arranged on the main body 1 in a liftable manner through the first link assembly 3 and the second link assembly 4, and the support member 2 is used to support the rocket 7. For example, a landing hook is provided on the side wall of the rocket 7, and the support member 2 is used to support the landing hook of the rocket 7. The support member 2 includes a cross beam 201 and a column 202.

[0105] The cross beam 201 is used to support the rocket 7. That is, the cross beam 201 is used to support the landing hook of the rocket 7.

[0106] The number of columns 202 is multiple. The multiple columns 202 are arranged at intervals along the axial direction of the cross beam 201 and are all connected to the cross beam 201. For example, the column 202 can be welded to the cross beam 201. Each column 202 is connected to a corresponding first link assembly 3 and a second link assembly 4. It can be understood that the number of both the first link assembly 3 and the second link assembly 4 is multiple, and the first link assembly 3 and the second link assembly 4 are both rotatably connected to the corresponding column 202.

[0107] The first link assembly 3 includes at least two first links 301 arranged in the vertical direction. Specifically, there is a spacing between adjacent two first links 301. The first links 301 in the first link assembly 3 are parallel to each other. Each first link 301 is rotatably connected to the main body 1 at one end and rotatably connected to the support member 2 at the other end. The first link 301 is hinged to the main body 1 and between the first link 301 and the support member 2 through a spherical hinge.

[0108] The second link assembly 4 includes at least two second links 401 arranged in the vertical direction. Specifically, there is a spacing between adjacent two second links 401. The second links 401 in the second link assembly 4 are parallel to each other. Each second link 401 is rotatably connected to the main body 1 at one end and rotatably connected to the support member 2 at the other end. The second link 401 is hinged to the main body 1 and between the second link 401 and the support member 2 through a spherical hinge.

[0109] Further, the plane where the second link assembly 4 is located is arranged at an angle with the plane where the first link assembly 3 is located. The plane where the first link assembly 3 is located is the plane formed by at least two first links 301, and the plane where the second link assembly 4 is located is the plane formed by at least two second links 401.

[0110] Both the first link assembly 3 and the second link assembly 4 are provided in plurality, the first link assembly 3 and the second link assembly 4 correspond to each other one by one, and between the first link assembly 3 and the second link assembly 4, the first link 301 and the second link 401 correspond to each other one by one. For example, between the first link assembly 3 and the second link assembly 4, the first link 301 and the corresponding second link 401 are symmetrically arranged.

[0111] The buffer assembly 5 is connected between the main body 1 and the support 2, and the buffer assembly 5 is used to provide resistance during the descending process of the support 2. Optionally, the buffer assembly 5 is set as a damper, such as including but not limited to friction damper, hydraulic damper, viscous damper, magnetorheological damper, electromagnetic damper and air damper.

[0112] The jacking cylinder 6 is connected between the support 2 and the main body 1, and the jacking cylinder 6 is used to drive the support 2 to rise before the rocket 7 lands.

[0113] On the side wall of the main body 1, there is a first mounting assembly 102 located below the support 2. The first mounting assembly 102 includes two first mounting plates 1021 arranged at intervals, and the top of the first mounting plate 1021 is used to limit the support 2 in the vertical direction.

[0114] Further, the fixed part of the jacking cylinder 6 is arranged between the two first mounting plates 1021 of the first mounting assembly 102 and is rotatably connected to at least one first mounting plate 1021, and the telescopic part of the jacking cylinder 6 is rotatably connected to the support 2.

[0115] On the side wall of the main body 1, there is a second mounting assembly 103 located below the support 2. The second mounting assembly 103 includes two second mounting plates 1031 arranged at intervals, and the top of the second mounting plate 1031 is used to limit the support 2 in the vertical direction.

[0116] The fixed part of the buffer assembly 5 is arranged between the two second mounting plates 1031 of the second mounting assembly 103 and is rotatably connected to at least one second mounting plate 1031, and the telescopic part of the buffer assembly 5 is rotatably connected to the support 2.

[0117] In this embodiment, the rocket capture arm includes the features in the above embodiment and thus obtains the corresponding advantages.

[0118] In the embodiment of the present invention, a recovery tower is also provided.

[0119] Specifically, the recovery tower includes a rocket capture arm as described above.

[0120] It should be noted that since the recovery tower includes the rocket capture arm, it also includes all the above advantages of the rocket capture arm, so they will not be elaborated here.

[0121] In some embodiments provided by the present invention, the recovery tower includes a tower frame, and the main body 1 of the rocket capture arm is rotationally connected to the tower frame around a vertical axis, so that the rocket capture arm can be switched between an avoidance position and a capture position.

[0122] In this embodiment, through the rotation mechanism, the rocket capture arm can be flexibly switched between different positions according to actual needs. For example, during the rocket 7 launch preparation stage or non-recovery period, the capture arm can rotate to the avoidance position to avoid interfering with other operations; while during the recovery stage, it can quickly rotate to the capture position to ensure the best docking attitude.

[0123] In addition, different types of rockets 7 or different landing conditions may require different capture positions and angles. The design of the rotational connection enables the capture arm to be precisely adjusted according to specific mission requirements, enhancing the versatility and adaptability of the system.

[0124] In some embodiments provided by the present invention, the number of rocket capture arms is two, and the two rocket capture arms are rotationally connected to the tower frame. The two rocket capture arms jointly support the rocket 7, that is, landing hooks are provided on both sides of the rocket 7, and the rocket capture arms are used to support the corresponding landing hooks.

[0125] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A rocket capture arm, characterized in that: include: Subject (1); A support member (2) is movably mounted on the main body (1) via a first connecting rod assembly (3) and a second connecting rod assembly (4), and is used to support a rocket (7); The first connecting rod assembly (3) comprises at least two first connecting rods (301) arranged in a vertical direction, one end of the first connecting rod (301) is rotatably connected to the main body (1), and the other end is rotatably connected to the support member (2); The second connecting rod assembly (4) comprises at least two second connecting rods (401) arranged in a vertical direction, one end of the second connecting rod (401) is rotatably connected to the main body (1), and the other end is rotatably connected to the support member (2), and the plane where the second connecting rod assembly (4) is located is arranged at an angle to the plane where the first connecting rod assembly (3) is located; A buffer component (5) is connected between the main body (1) and the support member (2) and is used to provide resistance when the support member (2) is descending.

2. The rocket capture arm according to claim 1, characterized in that: The first connecting rod assembly (3) and the second connecting rod assembly (4) are both provided in plural numbers, the first connecting rod assembly (3) and the second connecting rod assembly (4) correspond one to one, and between the first connecting rod assembly (3) and the corresponding second connecting rod assembly (4), the first connecting rod (301) and the second connecting rod (401) correspond one to one.

3. The rocket capture arm according to claim 1, characterized in that: The support member (2) comprises: a crossbeam (201), the crossbeam (201) being used to support the rocket (7), A column (202), wherein the number of the columns (202) is multiple, and the multiple columns (202) are arranged at intervals along the axial direction of the crossbeam (201) and are all connected to the crossbeam (201), and each of the columns (202) is connected to the corresponding first connecting rod assembly (3) and the second connecting rod assembly (4).

4. The rocket capture arm according to claim 3, characterized in that: The top surface of the crossbeam (201) is provided with a flange (2011) at an edge close to the rocket (7); And / or, the support member (2) further comprises a reinforcing beam (203), wherein the reinforcing beam (203) is connected between the cross beam (201) and the column (202).

5. The rocket capture arm according to claim 1, characterized in that: The main body (1) is configured as a truss structure, and a receiving space (101) is formed inside the main body (1), the support member (2) is disposed on the outside of the main body (1), and at least a portion of the first connecting rod assembly (3) and at least a portion of the second connecting rod assembly (4) are disposed in the receiving space (101).

6. The rocket capture arm according to claim 1, characterized in that: The first connecting rod (301) and the main body (1), as well as the first connecting rod (301) and the support member (2) are both hingedly connected via a spherical hinge; And / or, the second connecting rod (401) and the main body (1), as well as the second connecting rod (401) and the support member (2) are hingedly connected via a spherical hinge.

7. The rocket capture arm according to any one of claims 1 to 6, characterized in that: The rocket capture arm also includes a lifting cylinder (6), which is connected between the support member (2) and the main body (1), and the lifting cylinder (6) is used to drive the support member (2) to rise before the rocket (7) lands.

8. The rocket capture arm according to claim 7, characterized in that: A first mounting assembly (102) located below the support member (2) is provided on the side wall of the main body (1), the first mounting assembly (102) comprising two first mounting plates (1021) arranged at intervals, the top of the first mounting plate (1021) being used to limit the position of the support member (2) in the vertical direction; The fixed portion of the lifting cylinder (6) is arranged between the two first mounting plates (1021) of the first mounting assembly (102) and is rotatably connected to at least one of the first mounting plates (1021); and the telescopic portion of the lifting cylinder (6) is rotatably connected to the support member (2).

9. The rocket capture arm according to any one of claims 1 to 6, characterized in that: A second mounting assembly (103) located below the support member (2) is provided on the side wall of the main body (1), the second mounting assembly (103) comprising two second mounting plates (1031) arranged at intervals, the top of the second mounting plate (1031) being used to limit the position of the support member (2) in the vertical direction; The fixed portion of the buffer component (5) is arranged between the two second mounting plates (1031) of the second mounting component (103) and is rotatably connected to at least one of the second mounting plates (1031); and the telescopic portion of the buffer component (5) is rotatably connected to the support member (2).

10. A recovery tower, characterized in that: Comprising a rocket capture arm as described in any one of claims 1-9.

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