Ground rocket recovery system based on cable-driven parallel mechanism

Abstract

The application discloses a ground rocket recovery system based on a cable-driven parallel mechanism and belongs to the technical field of carrier rocket recovery.The application comprises a fixed base, a cable-driven parallel mechanism and a rocket recovery cage.The application acquires and outputs the position and attitude information between a target recovery rocket and a ground recovery platform in real time through a navigation communication module, adjusts the length of the outer rope of the parallel mechanism by driving a hoist motor through a following control module, adjusts the attitude of the rocket recovery cage, reduces additional devices carried by the rocket during launching, and thus improves the effective payload of the target recovery rocket.The inner rope, the sliding block and the sliding groove arranged in the rocket recovery cage cooperatively gradually embrace and lock the target recovery rocket, and the performance and precision requirements of the attitude-adjusted rocket engine can be reduced.The buffer device is arranged at the end of the parallel rope, the potential energy and kinetic energy of the recovery rocket are absorbed through the buffer device, the speed of the target recovery rocket is gradually reduced until zero, and the safety and stability of the target recovery rocket are improved.

Description

Technical Field

[0001] This invention belongs to the field of launch vehicle recovery technology, and particularly relates to a ground recovery platform for reusable launch vehicles. Background Technology

[0002] The competition among major world powers for space resources is intensifying, making rapid and efficient launch vehicle systems for transportation between Earth and space a hot research topic. A key research focus in achieving this is the recovery and reuse of launch vehicles. Currently, most recovery schemes involve installing landing legs on the rocket. During the descent of the rocket's stages, multiple engine ignitions decelerate and adjust its attitude. Just before approaching the recovery surface, the landing legs deploy and lock to prevent them from buckling and causing recovery failure.

[0003] For methods using landing leg recovery technology, the landing legs are typically installed and the stress points are located at the lower part of the recovery stage, forming an inverted pendulum system in a critically stable state. Therefore, the attitude requirements for the recovering rocket are extremely high, which places high demands on the performance and precision of the attitude-adjusting rocket engine. In order to ensure the reliability of the recovering rocket, the design of the landing leg structure is quite complex, resulting in a significant increase in its weight. This further reduces the effective payload of the launch vehicle, all of which greatly increases the launch cost. Summary of the Invention

[0004] The existing rocket recovery systems suffer from several technical problems: (1) complex landing leg recovery structures with poor stability; (2) high performance and precision requirements for attitude-adjusting rocket engines; and (3) reduced effective payload. The main objective of this invention is to provide a ground-based rocket recovery system based on a cable-driven parallel mechanism. This system uses a navigation and communication module to acquire and output real-time position and attitude information between the target rocket and the ground recovery platform. The control module drives a winch motor to adjust the length of the external ropes of the parallel mechanism, thereby adjusting the attitude of the rocket recovery cage. This reduces the number of additional devices carried during rocket launch, thus increasing the effective payload of the target rocket. The internal ropes, sliders, and chutes within the rocket recovery cage gradually tighten and lock the target rocket, reducing the performance and precision requirements for the attitude-adjusting rocket engine. A buffer device is installed at the end of the parallel ropes to absorb the potential and kinetic energy of the target rocket, gradually reducing its speed to zero and improving its safety and stability.

[0005] The objective of this invention is achieved through the following technical solution.

[0006] The present invention discloses a ground rocket recovery system based on a cable-driven parallel mechanism, comprising a fixed base, a cable-driven parallel mechanism, and a rocket recovery cage.

[0007] The fixed base includes a tie rod, a tie rod fixing plate, a winch motor fixing plate, and a navigation and communication module. The tie rod is used to fix the support column in the cable-driven parallel mechanism. The tie rod fixing plate is installed on the fixed base. The winch motor fixing plate is used to install the winch motor.

[0008] The navigation and communication module acquires and transmits real-time position and attitude information between the target recovery rocket and the ground-based rocket recovery system via a 3D lidar. The 3D lidar is installed at a designated location on the ground-based rocket recovery system. It performs laser scanning of the system to construct a 3D spatial map. During the return of the target recovery rocket, when it enters the 3D lidar's scanning range, the lidar obtains the real-time position and attitude information of the rocket within the 3D map. Simultaneously, it also acquires the position and attitude information of the rocket recovery cage, transmitting both of this information to the follow-up control module.

[0009] The cable-driven parallel mechanism drives the outer rope to move rapidly at maximum speed by setting the winch motor to speed mode, quickly adjusting the position and attitude of the rocket recovery cage, improving adaptability and rapid response to the target rocket's attitude. The cable-driven parallel mechanism includes X support columns, Y sets of rope pulley mechanisms, a winch motor, and a following control module. Where X1≥3, Y1≥6, and X1=k1Y1 (k1≥2). There are X2 pulleys and Y2 support columns. Where X2≥3, Y2≥6, and X2=k2Y2 (k2≥2). The X support columns are arranged circumferentially around the rocket recovery cage. Each set of rope pulley mechanisms includes a pulley mounting plate, pulleys, rope shackles, and an outer rope. One end of the outer rope is connected to the winch motor, and the other end is connected to the outer rope hanging rod on the rocket recovery cage via pulleys and rope shackles. The winch motor includes a multi-stage reducer, encoder, rope drum, and brake.

[0010] The follow control module receives and feeds back information from the navigation communication module, integrates and converts the received information into an output signal for the winch motor, thereby driving the outer rope to move and adjusting the position and attitude of the rocket recovery cage. When adjusting the position of the rocket recovery cage, the winch motor is set to speed mode to drive the outer rope to move rapidly at maximum speed, quickly adjusting the position of the rocket recovery cage.

[0011] Each supporting column is equipped with at least one rope pulley mechanism, meaning that each column has at least one external rope extending from it. The pulleys are fixed to a pulley mounting plate, which in turn is fixed to the supporting column.

[0012] The rocket recovery cage is a device for clamping and locking the recovered rocket. The rocket recovery cage contains an inner rope hanger, inner ropes, a slider, a chute, and a clamping and locking control module. The rocket recovery cage has at least one layer of inner rope-slider-chute mechanism, with each layer containing at least three inner ropes. One end of each inner rope is fixed to the inner rope hanger, and the other end is connected to the slider in the chute. In a static state, the inner ropes are attached to the inner wall of the rocket recovery cage. When the recovery operation begins, the clamping and locking control module controls the slider to slide along the chute inside the rocket recovery cage, thereby causing the inner ropes to gradually reduce the inner diameter of the rocket recovery cage used for clamping and locking the target rocket. This achieves clamping and locking of the target rocket through the coordinated action of the inner ropes, slider, and chute within the rocket recovery cage.

[0013] At this point, the potential and kinetic energy of the target recovery rocket is completely dissipated through the winch motor, outer rope, and inner rope, achieving a low overload coefficient and a small variation range during rocket recovery. This greatly improves the safety of rocket recovery, reduces the safety margin in the rocket structural system design, and increases the rocket's effective payload.

[0014] As a preferred option, a buffer device is installed at the end of the parallel rope. The buffer device absorbs the potential and kinetic energy of the target recovery rocket, gradually reducing the speed of the target recovery rocket until it reaches zero, thereby improving the safety of the target recovery rocket.

[0015] The buffer device is a spring buffer, a hydraulic buffer, a buffer material such as a honeycomb aluminum plate, or a winch motor to achieve the buffering function. As a further preferred option, the buffer device uses a winch motor. By setting the winch motor to current mode, the output torque can be adjusted in real time according to the change in the force on the outer rope when the target recovery rocket falls, so as to quickly release and consume the kinetic and potential energy of the target recovery rocket, thereby achieving the purpose of the buffer device.

[0016] Preferably, the rocket recovery cage is equipped with limiting devices at different positions in the chute. The limiting devices at different positions are pre-adjusted according to the diameter of the target recovery rocket to prevent the inner rope from being over-tightened and damaging the target recovery rocket, thereby improving the reliability of rocket recovery.

[0017] Preferably, the fixed base, the X supporting columns, the Y rope pulley mechanism, and the rocket recovery cage should have an ablation-resistant and heat-resistant coating.

[0018] Preferably, the following control module should have a limit function, which controls the winch motor to brake when the length of the outer rope release exceeds a preset value, so as to prevent the rocket recovery cage from being too close to the ground due to excessive release of the outer rope, thereby causing the target recovery rocket to collide with the ground.

[0019] The working method of a ground rocket recovery system based on a cable-driven parallel mechanism disclosed in this invention is divided into four stages: following stage, alignment stage, clamping stage, and locking stage.

[0020] The ground-based rocket recovery system is pre-installed in the landing area of ​​the target rocket. During the follow-up phase, the navigation and communication module uses a 3D lidar to acquire and transmit real-time position and attitude information between the target rocket and the ground-based rocket recovery system. The 3D lidar, installed at a designated location on the ground-based rocket recovery system, performs laser scanning to construct a 3D spatial map. During the target rocket's return, when it enters the 3D lidar's scanning range, the lidar obtains real-time position and attitude information of the target rocket within the 3D map, simultaneously acquiring the position and attitude information of the rocket recovery cage. Both of this information are transmitted to the follow-up control module. The follow-up control module integrates and processes the information transmitted by the navigation and communication module, converting it into an output signal for the winch motor, which drives the external rope to move, thereby adjusting the position and attitude of the rocket recovery cage. When adjusting the position of the rocket recovery cage, the winch motor is set to speed mode, driving the external rope to move rapidly at maximum speed to quickly adjust the position of the rocket recovery cage. During the alignment phase, the follow control module, based on information transmitted from the navigation communication module, gradually adjusts the winch motor to slowly drive the outer rope, precisely adjusting the position and attitude of the rocket recovery cage to ensure that the axis of the rocket recovery cage is nearly aligned with the axis of the target rocket, preventing collisions during descent. In the clamping phase, as the target rocket approaches the recovery cage, the clamping and locking control module's command is triggered. The control slider slides along a groove inside the recovery cage, causing the inner rope to gradually reduce the inner diameter of the cage used to clamp the target rocket, thus achieving clamping. In the locking phase, the target rocket's engine shuts down. The follow control module switches the winch motor to current mode, adjusting the output torque in real time according to changes in the force on the outer rope during the rocket's descent, rapidly dissipating the target rocket's kinetic and potential energy. With the buffering effect of the winch motor, outer rope, and inner rope, the target rocket's speed gradually decreases until it reaches zero, achieving rocket recovery.

[0021] Beneficial effects:

[0022] 1. The present invention discloses a ground rocket recovery system based on a cable-driven parallel mechanism, which eliminates the need for landing legs and instead utilizes a ground recovery system to achieve a soft landing of the rocket. This avoids the problems of reduced rocket carrying capacity and increased rocket structural complexity caused by the mass of landing legs, thereby increasing the rocket's effective payload, reducing the complexity of the rocket structure, and ultimately reducing launch costs.

[0023] 2. The present invention discloses a ground rocket recovery system based on a cable-driven parallel mechanism. The system uses a cable-driven parallel mechanism to adjust the attitude of the rocket recovery cage. The inner ropes inside the rocket recovery cage hold and lock the target rocket for recovery, thereby achieving high-precision non-vertical recovery of the rocket, reducing the requirements for the performance and accuracy of the attitude-adjusting rocket engine, and further improving the safety of rocket recovery.

[0024] 3. The present invention discloses a ground rocket recovery system based on a cable-driven parallel mechanism, wherein a buffer device is installed at the end of the parallel rope. The buffer device absorbs the potential energy and kinetic energy of the target rocket to be recovered, so that the speed of the target rocket to be recovered gradually decreases until it is zero, thereby improving the safety and stability of the target rocket to be recovered.

[0025] 4. The ground rocket recovery system based on a cable-driven parallel mechanism disclosed in this invention uses a winch motor, outer rope, and inner rope as a buffer device, and is combined with a following control system and a clamping and locking control system to achieve a low overload coefficient and a small variation range during rocket recovery, which greatly improves the safety of rocket recovery, reduces the safety margin of rocket structural system design, and has the advantages of stable recovery and high unloading efficiency. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of a ground rocket recovery system based on a cable-driven parallel mechanism, as described in an embodiment of this application.

[0028] Figure 2 This is a schematic diagram of a ground rocket recovery system based on a cable-driven parallel mechanism in an embodiment of this application before the recovery operation has begun.

[0029] Figure 3 This is a schematic diagram of the structure of the recycling cage in an embodiment of this application.

[0030] Figure 4 This is a partially enlarged structural schematic diagram of the column cable-driven parallel mechanism in the embodiments of this application;

[0031] Figure 5 This is a schematic diagram of the navigation and communication module mode of the ground recovery platform in this application embodiment.

[0032] Figures 6(a), 6(b), 6(c), and 6(d) are schematic diagrams illustrating the working process of a ground rocket recovery system based on a cable-driven parallel mechanism according to an embodiment of this application.

[0033] The components are as follows: 1—Fixed base, 2—Rocket drive parallel mechanism, 3—Rocket recovery cage, 4—Target recovery rocket, 5—Support column, 6—Rope pulley mechanism, 7—Winding motor, 8—Slide groove, 9—Sliding block, 10—Outer rope hanging rod, 11—Inner rope hanging rod, 12—Pulley mounting plate, 13—Diagonal tie rod, 14—Diagonal tie rod fixing plate, 15—Winding motor fixing plate, 16—Pulley, 17—Rope lifting ring, 18—Outer rope, 19—Inner rope, 20—3D lidar, 21—Lidar mounting plate, 22—Lidar support column. Detailed Implementation

[0034] To better illustrate the purpose and advantages of the present invention, the invention will be further described below in conjunction with the accompanying drawings and examples.

[0035] Reference Figure 1 and Figure 2 This application discloses a ground rocket recovery system based on a cable-driven parallel mechanism, including a fixed base 1, a cable-driven parallel mechanism 2, and a rocket recovery cage 3.

[0036] The fixed base includes a tie rod 13, a tie rod fixing plate 14, a winch motor fixing plate 15, and a navigation and communication module. The tie rod is used to fix the support column 5 in the cable-driven parallel mechanism 2. The tie rod fixing plate 14 is installed on the fixed base 1. The winch motor fixing plate 15 is used to install the winch motor 7.

[0037] The navigation communication module acquires and transmits the position and attitude information between the target recovery rocket 4 and the ground rocket recovery system in real time via a 3D lidar 20. The 3D lidar 20 is installed at a designated location on the ground rocket recovery system. It performs laser scanning of the system to construct a 3D spatial map. During the return process of the target recovery rocket 4, when it enters the scanning range of the 3D lidar 20, it obtains the real-time position and attitude information of the rocket 4 within the 3D map. Simultaneously, it also obtains the position and attitude information of the rocket recovery cage 3, transmitting both of this information to the follow-up control module.

[0038] The cable-driven parallel mechanism 2 drives the outer rope 18 to move rapidly at maximum speed by setting the winch motor 7 to speed mode, quickly adjusting the position and attitude of the rocket recovery cage 3, improving adaptability and rapid response to the attitude of the target recovery rocket 4. The cable-driven parallel mechanism 2 includes four supporting columns 5, eight sets of rope pulley mechanisms 6, the winch motor 7, and a following control module. The four supporting columns 5 are arranged circumferentially around the rocket recovery cage 3. Each set of rope pulley mechanism 6 includes a pulley mounting plate 12, a pulley 16, a rope ring 17, and an outer rope 18. One end of the outer rope 18 is connected to the winch motor 7, and the other end of the outer rope 18 is connected to the outer rope hanging rod 10 on the rocket recovery cage 3 through the pulley 16 and the rope ring 17. The winch motor 7 includes a multi-stage reducer, an encoder, a rope drum, and a brake.

[0039] The follow control module receives and feeds back information transmitted by the navigation communication module, integrates and converts the received information into an output signal of the winch motor 7, thereby driving the outer rope 18 to move and adjusting the position and attitude of the rocket recovery cage 3. When adjusting the position of the rocket recovery cage 3, the winch motor 7 is set to speed mode to drive the outer rope 18 to move rapidly at maximum speed, quickly adjusting the position of the rocket recovery cage 3.

[0040] Each supporting column 5 is equipped with a rope pulley mechanism 6, that is, each column pulls out an external rope 18. The pulley 16 is fixed on the pulley mounting plate 12, and the pulley mounting plate 12 is fixed on the supporting column 5.

[0041] The rocket recovery cage 3 is a device for gripping and locking the recovered rocket. The rocket recovery cage 3 contains an inner rope hanging rod 11, inner ropes 19, a slider 9, a chute 8, and a gripping and locking control module. Inside the rocket recovery cage 3, there is an inner rope, slider, and chute mechanism comprising three inner ropes 19. One end of each inner rope 19 is fixed to the inner rope hanging rod 11, and the other end is connected to the slider 9 within the chute 8. In a static state, the inner ropes 19 are attached to the inner wall of the rocket recovery cage 3. When the recovery operation begins, the gripping and locking control module controls the slider 9 to slide along the chute 8 inside the rocket recovery cage 3, thereby causing the inner ropes 19 to gradually reduce the inner diameter of the rocket recovery cage 3 used for gripping and locking the target recovered rocket 4, thus achieving gripping and locking of the target recovered rocket 4. That is, the target recovered rocket 4 is gradually gripped and locked through the coordinated action of the inner ropes 19, slider 9, and chute 8 within the rocket recovery cage 3.

[0042] At this point, the potential and kinetic energy of the target recovery rocket 4 are completely consumed by the winch motor 7, outer rope 18, and inner rope 19, achieving a low overload coefficient and a small variation range during rocket recovery, greatly improving the safety of rocket recovery, reducing the safety margin of the rocket structural system design, and increasing the rocket's effective payload.

[0043] A buffer device is installed at the end of the parallel rope to absorb the potential and kinetic energy of the target recovery rocket 4. The buffer device uses a winch motor 7. By setting the winch motor 7 to current mode, the output torque is adjusted in real time according to the change of force on the outer rope 18 when the target recovery rocket 4 falls, so as to quickly release and consume the kinetic and potential energy of the target recovery rocket 4, so that the speed of the target recovery rocket 4 gradually decreases until it reaches zero, thereby improving the safety of the target recovery rocket 4.

[0044] The fixed base 1, four supporting columns 5, eight sets of rope pulley mechanisms 6, and rocket recovery cage 3 are coated with an ablation-resistant and heat-resistant coating. The navigation control module and the follow control module are installed inside the fixed base 1, which not only reduces the size of the ground recovery platform, but also provides a certain degree of protection for the overall control module.

[0045] The overall control module is equipped with a human-machine interface system, which is used to display and input the status information of the ground recovery platform and the control commands of the operators.

[0046] The working method of a ground rocket recovery system based on a cable-driven parallel mechanism disclosed in this embodiment is divided into four stages: following stage, alignment stage, clamping stage, and locking stage.

[0047] The ground-based rocket recovery system is pre-installed in the landing area of ​​the target rocket 4. During the follow-up phase, the navigation and communication module acquires and transmits real-time position and attitude information between the target rocket 4 and the ground-based rocket recovery system via a 3D lidar 20. The 3D lidar 20 is installed at a designated location on the ground-based rocket recovery system. It performs laser scanning of the system to construct a 3D spatial map. During the return process of the target rocket 4, when it enters the scanning range of the 3D lidar 20, it obtains real-time position and attitude information of the rocket 4 within the 3D map. Simultaneously, it also acquires the position and attitude information of the rocket recovery cage 3, transmitting both information to the follow-up control module. The follow-up control module integrates and converts the information transmitted by the navigation and communication module into an output signal for the winch motor 7, thereby driving the outer rope 18 to move and adjusting the position and attitude of the rocket recovery cage 3. When adjusting the position of the rocket recovery cage 3, the winch motor 7 is set to speed mode, driving the outer rope 18 at maximum speed to quickly adjust the position of the rocket recovery cage 3. During the alignment phase, the follow control module gradually adjusts the winch motor 7 to slowly drive the outer rope 18 based on information transmitted by the navigation communication module. This precisely adjusts the position and attitude of the rocket recovery cage 3, ensuring that the axis of the rocket recovery cage 3 is nearly aligned with the axis of the target rocket 4, preventing the target rocket 4 from colliding with the rocket recovery cage 3 during descent. During the clamping phase, as the target rocket 4 gradually approaches the rocket recovery cage 3, the clamping and locking control module's command is triggered. The control slider 9 slides along the groove 8 inside the rocket recovery cage 3, thereby driving the inner rope 19 to gradually reduce the inner diameter of the rocket recovery cage 3 used to clamp the target rocket 4, thus achieving clamping. During the locking phase, the engine of the target rocket 4 is shut down. The follow control module switches the winch motor 7 to current mode to adjust the output torque in real time according to the change in force on the outer rope 18 during the fall of the target rocket 4, rapidly consuming the kinetic and potential energy of the target rocket 4. Under the buffering effect of the winch motor 7, outer rope 18, and inner rope 19, the speed of the target rocket 4 gradually decreases until it reaches zero, thus achieving rocket recovery.

[0048] The above detailed description further illustrates the purpose, technical solution, and beneficial effects of the invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A ground rocket recovery system based on a cable-driven parallel mechanism, characterized in that: The fixed base (1), the cable-driven parallel mechanism (2), and the rocket recovery cage (3) are included. The fixed base includes the diagonal pull rod (13), the diagonal pull rod fixing plate (14), the winch motor fixing plate (15), and the navigation communication module; the diagonal pull rod is used for fixing the support column (5) in the cable-driven parallel mechanism (2); the diagonal pull rod fixing plate (14) is installed on the fixed base (1); the winch motor fixing plate (15) is used for installing the winch motor (7); The navigation communication module obtains and transmits the position and attitude information between the target recovery rocket (4) and the ground rocket recovery system in real time through the three-dimensional laser radar (20); the three-dimensional laser radar (20) is installed at a specified position of the ground rocket recovery system, laser scanning of the ground rocket recovery system is performed by using the three-dimensional laser radar (20), a three-dimensional space map is constructed, and when the target recovery rocket (4) enters the scanning range of the three-dimensional laser radar (20) in the recovery return process, the three-dimensional laser radar (20) can obtain the real-time position information and attitude information of the target recovery rocket (4) in the three-dimensional map; at the same time, the position information and attitude information of the rocket recovery cage (3) are also obtained synchronously, and the information of the two is transmitted to the following control module; The cable-driven parallel mechanism (2) is set to the speed mode by setting the winch motor (7) to drive the outer rope (18) to move at the maximum speed, so that the position and attitude of the rocket recovery cage (3) are rapidly adjusted, and the adaptability and rapid response to the attitude of the target recovery rocket (4) are improved; the cable-driven parallel mechanism (2) includes X support columns (5), Y sleeve rope pulley mechanisms (6), the winch motor (7), and the following control module; wherein X1≥3, Y1≥6, and X1=k1Y1 (k1≥2); the number of pulleys (16) is X2, and the number of support columns (5) is Y2; wherein X2≥3, Y2≥6, and X2=k2Y2 (k2≥2); the X support columns (5) are arranged in the circumferential direction around the rocket recovery cage (3); the single sleeve rope pulley mechanism (6) includes a pulley mounting plate (12), a pulley (16), a rope sling (17), and an outer rope (18); one end of the outer rope (18) is connected with the winch motor (7), and the other end of the outer rope (18) is connected with the outer rope hanging rod (10) on the rocket recovery cage (3) through the pulley (16) and the rope sling (17); the winch motor (7) includes a multi-stage reducer, an encoder, a rope winding drum, and a brake; The following control module is used for receiving and feeding back the information transmitted by the navigation communication module, integrating and solving the received information, converting the output signal of the winch motor (7) to drive the outer rope (18) to move, and then adjusting the position and attitude of the rocket recovery cage (3); when the position of the rocket recovery cage (3) is adjusted, the winch motor (7) is set to the speed mode to drive the outer rope (18) to move at the maximum speed, so that the position of the rocket recovery cage (3) is rapidly adjusted. Each support column (5) is additionally provided with a set of rope pulley mechanisms (6), that is, at least one outer rope (18) is drawn out from each column; the pulley (16) is fixed on the pulley mounting plate (12), and the pulley mounting plate (12) is fixed on the support column (5); The rocket recovery cage (3) is a device for holding and locking the target recovery rocket; the rocket recovery cage (3) is provided with an inner rope hanging rod (11), an inner rope (19), a sliding block (9), a sliding groove (8) and a holding and locking control module; the rocket recovery cage (3) is internally provided with at least one layer of inner rope sliding block sliding groove mechanism, wherein each layer contains at least three inner ropes (19); one end of the inner rope (19) is fixed on the inner rope hanging rod (11), and the other end of the inner rope (19) is connected with the sliding block (9) in the sliding groove (8); in the static state, the inner rope (19) is attached to the inner wall of the rocket recovery cage (3); when the recovery operation starts, the holding and locking control module controls the sliding block (9) to slide along the sliding groove (8) inside the rocket recovery cage (3), thereby driving the inner rope (19) to gradually reduce the inner diameter of the rocket recovery cage (3) for holding and locking the target recovery rocket (4), and further realizing the holding and locking of the target recovery rocket (4), that is, gradually holding and locking the target recovery rocket (4) through the coordinated action of the inner rope (19), the sliding block (9) and the sliding groove (8) provided in the rocket recovery cage (3).

2. A ground rocket recovery system based on cable-driven parallel mechanism according to claim 1, characterized in that: The buffer device is arranged at the end of the parallel rope, absorbs the potential energy and kinetic energy of the target recovery rocket (4) through the buffer device, gradually reduces the speed of the target recovery rocket (4) until zero, and improves the safety of the target recovery rocket (4).

3. A ground rocket recovery system based on cable-driven parallel mechanism according to claim 2, characterized in that: The buffer device is a spring buffer, a hydraulic buffer, a buffer material or a winch motor (7).

4. A ground rocket recovery system based on cable-driven parallel mechanisms according to claim 3, characterized in that: The buffer material is a honeycomb aluminum plate.

5. A ground rocket recovery system based on cable-driven parallel mechanism according to claim 1, characterized in that: The buffer device adopts a winch motor (7), which is set to current mode to adjust the size of the output torque in real time according to the change of the force value on the outer rope (18) when the target recovery rocket (4) falls, realize the rapid release of the kinetic energy and potential energy of the target recovery rocket (4), and achieve the purpose of the buffer device.

6. A ground rocket recovery system based on cable-driven parallel mechanisms as claimed in claim 1, characterized in that: The rocket recovery cage (3) is provided with a limiting device at different positions in the sliding groove (8), and the limiting at different positions is adjusted in advance according to the size of the diameter of the target recovery rocket (4) to prevent the inner rope (19) from being tightened too much to damage the target recovery rocket (4) and improve the reliability of the rocket recovery.

7. A ground rocket recovery system based on cable-driven parallel mechanisms according to claim 1, characterized in that: The fixed base (1), X support columns (5), Y sets of rope pulley mechanisms (6) and the surface of the rocket recovery cage (3) should have an anti-ablation heat-resistant coating.

8. A ground rocket recovery system based on cable-driven parallel mechanisms according to claim 1, characterized in that: The following control module should be provided with a limiting function, when the release length of the outer rope (18) exceeds the pre-set value, the winch motor (7) is controlled to be braked to avoid that the outer rope (18) is released too much to cause the position of the rocket recovery cage (3) to be too close to the ground, thereby causing the target recovery rocket (4) to collide with the ground.

9. A ground based rocket recovery system based on a cable driven parallel mechanism as claimed in any one of claims 1, 2, 3, 4, 5, 6, 7 or 8, characterized in that: The ground rocket recovery system is installed in advance in the landing area of the target recovery rocket (4). In the following stage, the navigation communication module obtains and transmits the position and attitude information between the target recovery rocket (4) and the ground rocket recovery system in real time through the three-dimensional laser radar (20). The three-dimensional laser radar (20) is installed at a specified position of the ground rocket recovery system. The three-dimensional laser radar (20) is used to scan the ground rocket recovery system and construct a three-dimensional space map. In the process of recovery and return of the target recovery rocket (4), when the target recovery rocket (4) enters the scanning range of the three-dimensional laser radar (20), the three-dimensional laser radar (20) can obtain the real-time position information and attitude information of the target recovery rocket (4) in the three-dimensional map. At the same time, the position information and attitude information of the rocket recovery cage (3) are also obtained synchronously. The information of the above two is transmitted to the following control module. The following control module integrates and solves the information transmitted by the navigation communication module and converts it into the output signal of the winch motor (7) to drive the outer rope (18) to move, thereby adjusting the position and attitude of the rocket recovery cage (3). When adjusting the position of the rocket recovery cage (3), the winch motor (7) is set to speed mode to drive the outer rope (18) to move quickly at the maximum speed, thereby quickly adjusting the position of the rocket recovery cage (3). In the alignment stage, the following control module gradually adjusts the winch motor (7) to slowly drive the outer rope (18) to move according to the information transmitted by the navigation communication module, thereby accurately adjusting the position and attitude of the rocket recovery cage (3), ensuring that the axis of the rocket recovery cage (3) is approximately coincident with the axis of the target recovery rocket (4), and preventing the target recovery rocket (4) from colliding with the rocket recovery cage (3) during the descending process. In the holding stage, the target recovery rocket (4) gradually approaches the rocket recovery cage (3). The instruction of the holding and locking control module is triggered, the sliding block (9) slides along the sliding groove (8) in the rocket recovery cage (3), thereby driving the inner rope (19) to gradually reduce the inner diameter of the rocket recovery cage (3) for holding the target recovery rocket (4), and thereby holding the target recovery rocket (4). In the locking stage, the engine of the target recovery rocket (4) is turned off. The winch motor (7) is switched to current mode by the following control module to adjust the size of the output torque in real time according to the change of the force value on the outer rope (18) when the target recovery rocket (4) falls, thereby quickly consuming the kinetic energy and potential energy of the target recovery rocket (4). Under the buffering action of the winch motor (7), the outer rope (18) and the inner rope (19), the speed of the target recovery rocket (4) gradually decreases to zero, thereby realizing the recovery of the rocket.

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