I-shaped rocket recovery system

Abstract

This invention discloses an I-shaped rocket recovery system, comprising four recovery platforms. A slide rail connects adjacent recovery platforms, and the four recovery platforms and slide rails are arranged in a rectangular pattern. A trolley slides on each slide rail, and an arresting cable connects the trolleys on opposite slide rails. A traction device is installed between adjacent recovery platforms, capable of pulling the trolley between the adjacent platforms along the slide rail. The purpose is to provide an I-shaped rocket recovery system that reduces the requirements for rocket recovery attitude and speed, thereby improving the success rate of rocket recovery.

Description

Technical Field

[0001] This invention relates to the field of rocket recovery technology, and in particular to a system for recovering rockets. Background Technology

[0002] Rocket recovery technology refers to the technology of recovering and reusing rockets after launch. Disposable launch vehicles have high launch costs, and rocket recovery technology can reduce these costs. SpaceX and Blue Origin in the United States have successfully recovered rockets multiple times. For example, SpaceX's rocket recovery technology used in several launches involves the following: During the descent of the rocket stage, the main engine ignites to decelerate, while attitude control engines adjust the stage's flight attitude to ensure a near-vertical descent. As the descending stage approaches the ground, the retractable support legs deploy, allowing the rocket to land stably on the landing surface (e.g., a ground or sea platform). Specifically, the bottom of the rocket stage has retractable support legs. These legs remain retracted throughout the rocket's flight. After the stage completes its work and separates from the rocket body, the main engine shuts down, and the stage flies to the designated landing area or returns to the launch site. Upon approaching the ground, the main engine reignites, decelerating the rocket. Before landing, the support legs deploy and lock under high-pressure gas. At the moment of final impact, the rocket stage uses its main engines to reduce its speed to zero and then uses its deployed support legs to stabilize itself on the recovery site or recovery vessel. This vertical recovery technology for rocket stages places high demands on the control of the rocket's attitude and speed during descent. If the attitude or speed of the rocket stage is not well controlled, it may cause the rocket to tip over or explode, resulting in a complete failure of the rocket recovery. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an I-shaped rocket recovery system that can reduce the requirements for rocket recovery attitude and speed and improve the success rate of rocket recovery.

[0004] This invention relates to an I-shaped rocket recovery system, comprising a first recovery platform, a second recovery platform, a third recovery platform, and a fourth recovery platform. A first slide rail connects the first and second recovery platforms; a second slide rail connects the second and third recovery platforms; a third slide rail connects the third and fourth recovery platforms; and a fourth slide rail connects the fourth recovery platform and the first recovery platform. The first, second, third, and fourth slide rails are arranged in a rectangular configuration. A first trolley and a second trolley slide on the first slide rail; a third trolley and a fourth trolley slide on the second slide rail; a fifth trolley and a sixth trolley slide on the third slide rail; and a seventh trolley and an eighth trolley slide on the fourth slide rail. A first arresting cable connects the first and sixth trolleys; a second arresting cable connects the second and fifth trolleys; the first and second arresting cables are arranged in parallel; a third arresting cable connects the third and eighth trolleys; and a fourth arresting cable connects the fourth and seventh trolleys. Four arresting cables are arranged in parallel. A first traction device and a second traction device are respectively provided between the first and second recovery platforms. The first traction device can pull the first trolley to slide back and forth along the first slide rail, and the second traction device can pull the second trolley to slide back and forth along the first slide rail. A third traction device and a fourth traction device are respectively provided between the second and third recovery platforms. The third traction device can pull the third trolley to slide back and forth along the second slide rail, and the fourth traction device can pull the fourth trolley to slide back and forth along the second slide rail. A fifth traction device and a sixth traction device are respectively provided between the third and fourth recovery platforms. The fifth traction device can pull the fifth trolley to slide back and forth along the third slide rail, and the sixth traction device can pull the sixth trolley to slide back and forth along the third slide rail. A seventh traction device and an eighth traction device are respectively provided between the fourth and first recovery platforms. The seventh traction device can pull the seventh trolley to slide back and forth along the fourth slide rail, and the eighth traction device can pull the eighth trolley to slide back and forth along the fourth slide rail.

[0005] The present invention discloses an I-shaped rocket recovery system, wherein the first traction device includes a first traction winch, a first traction pulley, and a first traction rope. The first traction winch is fixedly mounted on a first recovery platform, the first traction pulley is fixedly mounted on a second recovery platform, one end of the first traction rope is fixedly connected to one end of a first trolley, and the other end of the first traction rope passes sequentially around the first traction winch and the first traction pulley before being fixedly connected to the other end of the first trolley. The second traction device includes a second traction winch, a second traction pulley, and a second traction rope. The second traction winch is fixedly mounted on the second recovery platform, the second traction pulley is fixedly mounted on the first recovery platform, and one end of the second traction rope is fixedly mounted on the first recovery platform. The third traction device includes a third traction winch, a third traction pulley, and a third traction rope. The third traction winch is fixedly connected to one end of the second pulley, and the other end of the third traction rope is fixedly connected to the other end of the second pulley after passing through the second traction winch and the second traction fixed pulley in sequence. The third traction device includes a fourth traction winch, a fourth traction fixed pulley, and a fourth traction rope. The third traction winch is fixedly mounted on the second recovery platform. The third traction pulley is fixedly mounted on the third recovery platform. One end of the third traction rope is fixedly connected to one end of the third pulley, and the other end of the third traction rope is fixedly connected to the other end of the third pulley after passing through the third traction winch and the third traction fixed pulley in sequence. The fourth traction device includes a fourth traction winch, a fourth traction fixed pulley, and a fourth traction rope. The fourth traction winch... The fifth traction device comprises a fifth traction winch, a fifth traction pulley, and a fifth traction rope. The fifth traction winch is fixedly mounted on the third recovery platform. The fifth traction pulley is fixedly mounted on the fourth recovery platform. One end of the fourth traction rope is fixedly connected to one end of the fourth trolley. The other end of the fourth traction rope passes sequentially around the fourth traction winch and the fourth traction pulley before being fixedly connected to the other end of the fourth trolley. The sixth traction device includes a sixth traction winch, a sixth traction pulley, and a sixth traction rope. The sixth traction winch is fixedly mounted on the fourth recovery platform, the sixth traction pulley is fixedly mounted on the third recovery platform, one end of the sixth traction rope is fixedly connected to one end of the sixth trolley, and the other end of the sixth traction rope passes sequentially around the sixth traction winch and the sixth traction pulley before being fixedly connected to the other end of the sixth trolley. The seventh traction device includes a seventh traction winch, a seventh traction pulley, and a seventh traction rope. The seventh traction winch is fixedly mounted on the fourth recovery platform, the seventh traction pulley is fixedly mounted on the first recovery platform, and one end of the seventh traction rope is fixedly connected to one end of the seventh trolley.The other end of the seventh traction rope passes sequentially over the seventh traction winch and the seventh traction pulley before being fixedly connected to the other end of the seventh pulley. The eighth traction device includes an eighth traction winch, an eighth traction pulley, and an eighth traction rope. The eighth traction winch is fixedly mounted on the first recovery platform, and the eighth traction pulley is fixedly mounted on the fourth recovery platform. One end of the eighth traction rope is fixedly connected to one end of the eighth pulley, and the other end of the eighth traction rope passes sequentially over the eighth traction winch and the eighth traction pulley before being fixedly connected to the other end of the eighth pulley.

[0006] This invention relates to an I-shaped rocket recovery system, wherein the first, second, third, fourth, fifth, sixth, seventh, and eighth trolleys each include a trolley frame. A first slider is fixedly mounted below the trolley frame. A buffer pulley and an elastic locking mechanism are installed on the trolley frame. The buffer pulley is rotatably mounted on a buffer pulley frame. One end of the buffer pulley frame is connected to the second slider. The other end of the second slider passes through a sliding hole on the trolley frame and is connected to the elastic locking mechanism. The elastic locking mechanism includes two oppositely arranged locking brackets, which are fixedly mounted on the trolley frame. Each locking bracket is equipped with an elastic clamping arm. The two elastic clamping arms are arranged opposite each other. When the second slider moves along... When the sliding hole slides toward the elastic locking mechanism, the other end of the second slider can be clamped between the two elastic clamping arms. When the second slider slides away from the elastic locking mechanism along the sliding hole, the other end of the second slider can disengage from between the two elastic clamping arms. The first and second trolleys are slidably mounted on the first slide rail via their respective first sliders. The third and fourth trolleys are slidably mounted on the second slide rail via their respective first sliders. The fifth and sixth trolleys are slidably mounted on the third slide rail via their respective first sliders. The seventh and eighth trolleys are slidably mounted on the fourth slide rail via their respective first sliders. The two ends of the first blocking cable are respectively connected to the buffer pulley frames of the first and sixth trolleys. The two ends of the second arresting cable are respectively connected to the buffer pulley frames of the second and fifth trolleys. The two ends of the third arresting cable are respectively connected to the buffer pulley frames of the third and eighth trolleys. The two ends of the fourth arresting cable are respectively connected to the buffer pulley frames of the fourth and seventh trolleys. A first buffer cable is provided between the first and second recovery platforms. A first buffer pulley is fixedly provided on the first recovery platform. A first mass block is provided below the first recovery platform. A second buffer pulley is fixedly provided on the second recovery platform. A second mass block is provided below the second recovery platform. One end of the first buffer cable passes over the first buffer pulley and connects to the first mass block. The other end of the first buffer cable passes over the second buffer pulley. The first buffer cable is connected to the second mass block after passing through the buffer pulleys of the first and second trolleys, away from the side away from the elastic locking mechanism. A second buffer cable is provided between the second and third recovery platforms. A third buffer pulley is fixedly provided on the second recovery platform. A third mass block is provided below the second recovery platform. A fourth buffer pulley is fixedly provided on the third recovery platform. A fourth mass block is provided below the third recovery platform. One end of the second buffer cable passes through the third buffer pulley and is connected to the third mass block. The other end of the second buffer cable passes through the fourth buffer pulley and is connected to the fourth mass block. The second buffer cable passes through the buffer pulleys of the third and fourth trolleys, away from the side away from the elastic locking mechanism.A third buffer cable is provided between the third and fourth recovery platforms. A fifth buffer pulley is fixedly installed on the third recovery platform, and a fifth mass block is located below the third recovery platform. A sixth buffer pulley is fixedly installed on the fourth recovery platform, and a sixth mass block is located below the fourth recovery platform. One end of the third buffer cable passes over the fifth buffer pulley and connects to the fifth mass block, and the other end passes over the sixth buffer pulley and connects to the sixth mass block. The third buffer cable passes over the buffer pulleys of the fifth and sixth trolleys on the side away from the elastic locking mechanism. A fourth buffer cable is provided between the fourth and first recovery platforms. A seventh buffer pulley is fixedly installed on the fourth recovery platform, and a seventh mass block is located below the fourth recovery platform. An eighth buffer pulley is fixedly installed on the first recovery platform, and an eighth mass block is located below the first recovery platform. One end of the fourth buffer cable passes over the seventh buffer pulley and connects to the seventh mass block, and the other end passes over the eighth buffer pulley and connects to the eighth mass block. The fourth buffer cable passes over the buffer pulleys of the seventh and eighth trolleys on the side away from the elastic locking mechanism.

[0007] This invention relates to an I-shaped rocket recovery system, wherein the elastic clamping arm includes a first connecting rod and a second connecting rod. One end of the first connecting rod is hinged to a locking bracket, and the other end of the first connecting rod is hinged to one end of the second connecting rod. The other end of the second connecting rod is hinged to a third slider. The locking bracket has a sliding groove, and a guide post is fixedly installed in the sliding groove. The third slider is located in the sliding groove and is fitted onto the guide post. Both the sliding groove and the guide post are arranged along the sliding direction of the second slider. A spring is installed in the sliding groove on the side of the third slider away from the first connecting rod, and the spring is fitted onto the guide post. The other end of the second slider has a clamping groove on each of its opposite sides. When the other end of the second slider is clamped between the two elastic clamping arms, the hinge points of the first and second connecting rods of the two elastic clamping arms are respectively clamped into the two clamping grooves at the other end of the second slider.

[0008] The present invention discloses an I-shaped rocket recovery system, wherein a through hole is provided on the trolley frame for a second slider to pass through. A first sleeve and a second sleeve are respectively provided on the trolley frame on opposite sides of the through hole. The cavities of the first sleeve and the second sleeve are both connected to the through hole. The first sleeve is fixedly disposed on the side of the trolley frame near the elastic locking mechanism, and the second sleeve is rotatably disposed on the side of the trolley frame near the buffer pulley. The cavity of the second sleeve, the through hole of the trolley frame, and the cavity of the first sleeve together form the sliding hole. The other end of the second slider passes through the cavity of the second sleeve, the through hole of the trolley frame, and the cavity of the first sleeve in sequence and is connected to the elastic locking mechanism.

[0009] The present invention relates to an I-shaped rocket recovery system, wherein a tensioning pulley is provided on each of the opposite sides of the buffer pulley. The tensioning pulleys are mounted on a trolley frame via tensioning pulley brackets. The first and second trolleys respectively tension the first buffer cable on the side of their respective buffer pulleys away from the elastic locking mechanism via tensioning pulleys. The third and fourth trolleys respectively tension the second buffer cable on the side of their respective buffer pulleys away from the elastic locking mechanism via tensioning pulleys. The fifth and sixth trolleys respectively tension the third buffer cable on the side of their respective buffer pulleys away from the elastic locking mechanism via tensioning pulleys. The seventh and eighth trolleys respectively tension the fourth buffer cable on the side of their respective buffer pulleys away from the elastic locking mechanism via tensioning pulleys.

[0010] This invention relates to an I-shaped rocket recovery system, wherein there are two or more first buffer fixed pulleys, at least one first buffer movable pulley is provided on the first mass block, a first lowering winch is provided on the first recovery platform, one end of the first buffer cable alternately passes over the first buffer fixed pulley and the first buffer movable pulley in sequence before winding it around the first lowering winch, there are two or more second buffer fixed pulleys, at least one second buffer movable pulley is provided on the second mass block, a second lowering winch is provided on the second recovery platform, the other end of the first buffer cable alternately passes over the second buffer fixed pulley and the second buffer movable pulley in sequence before winding it around the second lowering winch, and a third buffer... The system comprises two or more fixed pulleys, at least one third buffer movable pulley on the third mass block, a third lowering winch on the second recovery platform, one end of the second buffer cable alternately passing over the third buffer fixed pulley and the third buffer movable pulley before winding it around the third lowering winch, two or more fourth buffer fixed pulleys, at least one fourth buffer movable pulley on the fourth mass block, a fourth lowering winch on the third recovery platform, the other end of the second buffer cable alternately passing over the fourth buffer fixed pulley and the fourth buffer movable pulley before winding it around the fourth lowering winch, and two or more fifth buffer fixed pulleys on the fifth mass block. There is at least one fifth buffer pulley. A fifth lowering winch is provided on the third recovery platform. One end of the third buffer cable alternately passes over the fifth buffer fixed pulley and the fifth buffer movable pulley before winding around the fifth lowering winch. There are two or more sixth buffer fixed pulleys. At least one sixth buffer movable pulley is provided on the sixth mass block. A sixth lowering winch is provided on the fourth recovery platform. The other end of the third buffer cable alternately passes over the sixth buffer fixed pulley and the sixth buffer movable pulley before winding around the sixth lowering winch. There are two or more seventh buffer fixed pulleys. At least one seventh buffer movable pulley is provided on the seventh mass block. The fourth recovery platform... A seventh lowering winch is provided on the platform. One end of the fourth buffer cable passes sequentially around the seventh fixed buffer pulley and the seventh movable buffer pulley before being wound around the seventh lowering winch. There are two or more eighth fixed buffer pulleys. At least one eighth movable buffer pulley is provided on the eighth mass block. An eighth lowering winch is provided on the first recovery platform. The other end of the fourth buffer cable passes sequentially and alternately around the eighth fixed buffer pulley and the eighth movable buffer pulley before being wound around the eighth lowering winch. The first, second, third, fourth, fifth, sixth, seventh, and eighth mass blocks are all supported by hydraulic cylinders or electric cylinders.

[0011] The present invention relates to an I-shaped rocket recovery system, wherein the first mass block, the second mass block, the third mass block, the fourth mass block, the fifth mass block, the sixth mass block, the seventh mass block, and the eighth mass block are respectively slidably disposed on vertically arranged guide rails.

[0012] This invention relates to an I-shaped rocket recovery system, wherein each of the following pulleys—the first, second, third, fourth, fifth, sixth, seventh, and eighth—has a tension sensor fixedly installed at both ends. Two tension sensors on the first pulley are fixedly connected to both ends of a first traction rope via first turnbuckles; two tension sensors on the second pulley are fixedly connected to both ends of a second traction rope via second turnbuckles; two tension sensors on the third pulley are fixedly connected to both ends of a third traction rope via third turnbuckles; two tension sensors on the fourth pulley are fixedly connected to both ends of a fourth traction rope via fourth turnbuckles; two tension sensors on the fifth pulley are fixedly connected to both ends of a fifth traction rope via fifth turnbuckles; two tension sensors on the sixth pulley are fixedly connected to both ends of a sixth traction rope via sixth turnbuckles; two tension sensors on the seventh pulley are fixedly connected to both ends of a seventh traction rope via seventh turnbuckles; and two tension sensors on the eighth pulley are fixedly connected to both ends of an eighth traction rope via eighth turnbuckles.

[0013] The present invention relates to an I-shaped rocket recovery system, wherein the first, second, third, and fourth arresting cables are all connected to a ninth turnbuckle.

[0014] The difference between the I-shaped rocket recovery system of this invention and the prior art is that, in use, the recovery platform and slide rails of this invention are fixedly set on the ground, on a ship, or on other suitable sites for rocket recovery (of course, in specific settings, the recovery platform and slide rails can be fixedly set on the above-mentioned sites by means of support frames). When the rocket stage lands in the area enclosed by the first slide rail, the second slide rail, the third slide rail, and the fourth slide rail, the first traction device, the second traction device, the third traction device, the fourth traction device, the fifth traction device, the sixth traction device, the seventh traction device, and the eighth traction device are activated. The first traction device pulls the first trolley to slide along the first slide rail, and at the same time, the sixth traction device pulls the sixth trolley to slide along the third slide rail, and the first trolley and the sixth trolley slide synchronously in the same direction, so the first arresting cable begins to translate along the first slide rail and the third slide rail; the second traction device pulls the second trolley to slide along the first slide rail, and at the same time, the fifth traction device pulls the fifth trolley to slide along the third slide rail, and the second trolley and the fifth trolley slide synchronously in the same direction, so the second arresting cable begins to translate along the first slide rail and the third slide rail; The third traction device pulls the third trolley to slide along the second slide rail. At the same time, the eighth traction device pulls the eighth trolley to slide along the fourth slide rail, and the third and eighth trolleys slide synchronously in the same direction. Thus, the third arresting cable begins to translate along the second and fourth slide rails. The fourth traction device pulls the fourth trolley to slide along the second slide rail. At the same time, the seventh traction device pulls the seventh trolley to slide along the fourth slide rail, and the fourth and seventh trolleys slide synchronously in the same direction. Thus, the fourth arresting cable begins to translate along the second and fourth slide rails. Based on the landing point of the rocket stage, the first, second, third, and fourth arresting cables are moved to surround the rocket stage, placing it within the square area enclosed by these cables. As the rocket stage descends, the four arresting cables are gradually moved closer until the arresting hooks on the rocket stage engage with the cables (arresting hooks are installed around the rocket stage to facilitate recovery). Because this invention uses four arresting cables, positioned around the rocket stage during recovery, even if the rocket stage's attitude and velocity are not ideal for recovery, the four arresting cables can easily hook onto the rocket stage, completing the recovery. Therefore, this invention reduces the requirements for the rocket's attitude and velocity during recovery, increasing the success rate of rocket recovery.

[0015] The invention will now be further described with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the I-shaped rocket recovery system of the present invention;

[0017] Figure 2This is a schematic diagram of the structure of the first recycling platform in this invention;

[0018] Figure 3 This is a schematic diagram of the structure of the second recycling platform in this invention;

[0019] Figure 4 This is a schematic diagram of the structure of the third recycling platform in this invention;

[0020] Figure 5 This is a schematic diagram of the structure of the fourth recycling platform in this invention;

[0021] Figure 6 This is a schematic diagram of the structure of the first recycling platform, the first slide rail, the first trolley, the second trolley, and the second recycling platform in this invention.

[0022] Figure 7 for Figure 6 Schematic diagram of the structure of the first and second pulleys;

[0023] Figure 8 This is a schematic diagram of the structure of the second recycling platform, the second slide rail, the third trolley, the fourth trolley, and the third recycling platform in this invention;

[0024] Figure 9 for Figure 8 Schematic diagram of the structure of the third and fourth pulleys;

[0025] Figure 10 This is a schematic diagram of the structure of the third recycling platform, the third slide rail, the fifth trolley, the sixth trolley, and the fourth recycling platform in this invention.

[0026] Figure 11 for Figure 10 Structural diagrams of the fifth and sixth pulleys;

[0027] Figure 12 This is a schematic diagram of the structure of the fourth recycling platform, the fourth slide rail, the seventh trolley, the eighth trolley, and the first recycling platform in this invention;

[0028] Figure 13 for Figure 12 Schematic diagram of the seventh and eighth pulleys in the middle section;

[0029] Figure 14 This is an installation state diagram of the first trolley in this invention (and also an installation state diagram of the second, third, fourth, fifth, sixth, seventh and eighth trolleys);

[0030] Figure 15 This is a schematic diagram of the structure of the first pulley in this invention (and also a schematic diagram of the structure of the second, third, fourth, fifth, sixth, seventh and eighth pulleys);

[0031] Figure 16 This is a schematic diagram of the structure of the first trolley after the trolley frame is hidden in the present invention (and also a schematic diagram of the structure of the second, third, fourth, fifth, sixth, seventh and eighth trolleys after the trolley frames are hidden).

[0032] Figure 17 This is a schematic diagram of the structure of the trolley frame in this invention;

[0033] Figure 18 This is a perspective view of the locking bracket in this invention;

[0034] Figure 19 This is a top view of the locking bracket in this invention;

[0035] Figure 20 This is a front view of the locking bracket in this invention;

[0036] Figure 21 For along Figure 20 A cross-sectional view along line AA in the middle. Detailed Implementation

[0037] like Figure 1 As shown, and in combination Figures 2-21As shown, the I-shaped rocket recovery system of the present invention includes a first recovery platform 1, a second recovery platform 2, a third recovery platform 3, and a fourth recovery platform 4. A first slide rail 5 is provided between the first recovery platform 1 and the second recovery platform 2; a second slide rail 6 is provided between the second recovery platform 2 and the third recovery platform 3; a third slide rail 7 is provided between the third recovery platform 3 and the fourth recovery platform 4; and a fourth slide rail 8 is provided between the fourth recovery platform 4 and the first recovery platform 1. The first slide rail 5, second slide rail 6, third slide rail 7, and fourth slide rail 8 are arranged in a rectangular shape. A first trolley 9 and a second trolley 10 slide on the first slide rail 5; a third trolley 11 and a fourth trolley 12 slide on the second slide rail 6; a fifth trolley 13 and a sixth trolley 14 slide on the third slide rail 7; and a seventh trolley 15 and an eighth trolley 16 slide on the fourth slide rail 8. A first arresting cable 17 is connected between the first trolley 9 and the sixth trolley 14; a second arresting cable 18 is connected between the second trolley 10 and the fifth trolley 13; the first arresting cable 17 and the second arresting cable 18 are arranged in parallel; a third arresting cable 19 is connected between the third trolley 11 and the eighth trolley 16; and a fourth arresting cable 20 is connected between the fourth trolley 12 and the seventh trolley 15; the third arresting cable 19 and the fourth arresting cable 20 are arranged in parallel. A first traction device and a second traction device are respectively provided between the first recycling platform 1 and the second recycling platform 2. The first traction device can pull the first trolley 9 to slide back and forth along the first slide rail 5, and the second traction device can pull the second trolley 10 to slide back and forth along the first slide rail 5. A third traction device and a fourth traction device are respectively provided between the second recycling platform 2 and the third recycling platform 3. The third traction device can pull the third trolley 11 to slide back and forth along the second slide rail 6, and the fourth traction device can pull the fourth trolley 12 to slide back and forth along the second slide rail 6. A fifth traction device and a sixth traction device are respectively provided between the third recycling platform 3 and the fourth recycling platform 4. The fifth traction device can pull the fifth trolley 13 to slide back and forth along the third slide rail 7, and the sixth traction device can pull the sixth trolley 14 to slide back and forth along the third slide rail 7. A seventh traction device and an eighth traction device are respectively provided between the fourth recycling platform 4 and the first recycling platform 1. The seventh traction device can pull the seventh trolley 15 to slide back and forth along the fourth slide rail 8, and the eighth traction device can pull the eighth trolley 16 to slide back and forth along the fourth slide rail 8.

[0038] like Figure 1As shown, in the use of the I-shaped rocket recovery system of the present invention, the recovery platform and slide rails are fixedly set on the ground, on a ship or other suitable site for rocket recovery (of course, in specific settings, the recovery platform and slide rails can be fixedly set on the above-mentioned site by a support frame). When the rocket stage lands in the area enclosed by the first slide rail 5, the second slide rail 6, the third slide rail 7 and the fourth slide rail 8, the first traction device, the second traction device, the third traction device, the fourth traction device, the fifth traction device, the sixth traction device, the seventh traction device and the eighth traction device are activated. The first traction device pulls the first trolley 9 to slide along the first slide rail 5. Simultaneously, the sixth traction device pulls the sixth trolley 14 to slide along the third slide rail 7, causing the first trolley 9 and the sixth trolley 14 to slide synchronously in the same direction. Thus, the first arresting cable 17 begins to translate along the first slide rail 5 and the third slide rail 7. The second traction device pulls the second trolley 10 to slide along the first slide rail 5. Simultaneously, the fifth traction device pulls the fifth trolley 13 to slide along the third slide rail 7, causing the second trolley 10 and the fifth trolley 13 to slide synchronously in the same direction. Thus, the second arresting cable 18 begins to translate along the first slide rail 5 and the third slide rail 7. The third traction device pulls the third trolley 11 to slide along the second slide rail 6. At the same time, the eighth traction device pulls the eighth trolley 16 to slide along the fourth slide rail 8, and the third trolley 11 and the eighth trolley 16 slide in the same direction and synchronously. Thus, the third arresting cable 19 begins to translate along the second slide rail 6 and the fourth slide rail 8. The fourth traction device pulls the fourth trolley 12 to slide along the second slide rail 6. At the same time, the seventh traction device pulls the seventh trolley 15 to slide along the fourth slide rail 8, and the fourth trolley 12 and the seventh trolley 15 slide in the same direction and synchronously. Thus, the fourth arresting cable 20 begins to translate along the second slide rail 6 and the fourth slide rail 8. Based on the landing point of the rocket stage, the first arresting cable 17, the second arresting cable 18, the third arresting cable 19, and the fourth arresting cable 20 are moved to the perimeter of the rocket stage, i.e., the rocket stage is located within the square area enclosed by the first arresting cable 17, the second arresting cable 18, the third arresting cable 19, and the fourth arresting cable 20. As the rocket stage gradually descends, the four arresting cables are gradually moved closer to the rocket stage until the arresting hooks on the rocket stage are hooked onto the arresting cables (arresting hooks are provided around the rocket stage body to complete the recovery), thus completing the recovery of the rocket stage. Because this invention uses four arresting cables, and during recovery, the four arresting cables are located around the rocket stage, even if the rocket stage's attitude and speed do not reach the ideal recovery state, the four arresting cables can easily hook onto the rocket stage and complete the recovery. Therefore, this invention can reduce the requirements for the rocket's attitude and speed during recovery and improve the success rate of rocket recovery.

[0039] like Figure 2 , Figure 3 , Figure 6 , Figure 7As shown, the first traction device includes a first traction winch 37, a first traction pulley 48, and a first traction rope 75. The first traction winch 37 is fixedly mounted on the first recovery platform 1, and the first traction pulley 48 is fixedly mounted on the second recovery platform 2. One end of the first traction rope 75 is fixedly connected to one end of the first trolley 9, and the other end of the first traction rope 75 passes sequentially around the first traction winch 37 and the first traction pulley 48 before being fixedly connected to the other end of the first trolley 9. When the first traction winch 37 rotates forward, the first traction rope 75 pulls the first trolley 9 to slide along the first slide rail 5 from the first recovery platform 1 to the second recovery platform 2. When the first traction winch 37 rotates in the reverse direction, the first traction rope 75 pulls the first trolley 9 to slide along the first slide rail 5 from the second recovery platform 2 to the first recovery platform 1. The first traction winch 37 is prior art, and its specific structure and working principle will not be described in detail here.

[0040] like Figure 2 , Figure 3 , Figure 6 , Figure 7 As shown, the second traction device includes a second traction winch 46, a second traction pulley 35, and a second traction rope 76. The second traction winch 46 is fixedly mounted on the second recovery platform 2, and the second traction pulley 35 is fixedly mounted on the first recovery platform 1. One end of the second traction rope 76 is fixedly connected to one end of the second trolley 10, and the other end of the second traction rope 76 passes sequentially around the second traction winch 46 and the second traction pulley 35 before being fixedly connected to the other end of the second trolley 10. When the second traction winch 46 rotates forward, the second traction rope 76 pulls the second trolley 10 to slide along the first slide rail 5 from the first recovery platform 1 to the second recovery platform 2. When the second traction winch 46 rotates in the reverse direction, the second traction rope 76 pulls the second trolley 10 to slide along the first slide rail 5 from the second recovery platform 2 to the first recovery platform 1. The second traction winch 46 is prior art, and its specific structure and working principle will not be described in detail here.

[0041] like Figure 3 , Figure 4 , Figure 8 , Figure 9As shown, the third traction device includes a third traction winch 44, a third traction pulley 52, and a third traction rope 79. The third traction winch 44 is fixedly mounted on the second recovery platform 2, and the third traction pulley 52 is fixedly mounted on the third recovery platform 3. One end of the third traction rope 79 is fixedly connected to one end of the third trolley 11, and the other end of the third traction rope 79 passes sequentially around the third traction winch 44 and the third traction pulley 52 before being fixedly connected to the other end of the third trolley 11. When the third traction winch 44 rotates forward, the third traction rope 79 pulls the third trolley 11 to slide along the second slide rail 6 from the second recovery platform 2 to the third recovery platform 3. When the third traction winch 44 rotates in the reverse direction, the third traction rope 79 pulls the third trolley 11 to slide along the second slide rail 6 from the third recovery platform 3 to the second recovery platform 2. The third traction winch 44 is existing technology, and its specific structure and working principle will not be described in detail here.

[0042] like Figure 3 , Figure 4 , Figure 8 , Figure 9 As shown, the fourth traction device includes a fourth traction winch 56, a fourth traction pulley 47, and a fourth traction rope 80. The fourth traction winch 56 is fixedly mounted on the third recovery platform 3, and the fourth traction pulley 47 is fixedly mounted on the second recovery platform 2. One end of the fourth traction rope 80 is fixedly connected to one end of the fourth trolley 12, and the other end of the fourth traction rope 80 passes sequentially around the fourth traction winch 56 and the fourth traction pulley 47 before being fixedly connected to the other end of the fourth trolley 12. When the fourth traction winch 56 rotates forward, the fourth traction rope 80 pulls the fourth trolley 12 to slide along the second slide rail 6 from the second recovery platform 2 to the third recovery platform 3. When the fourth traction winch 56 rotates in the reverse direction, the fourth traction rope 80 pulls the fourth trolley 12 to slide along the second slide rail 6 from the third recovery platform 3 to the second recovery platform 2. The fourth traction winch 56 is existing technology, and its specific structure and working principle will not be described in detail here.

[0043] like Figure 4 , Figure 5 , Figure 10 , Figure 11As shown, the fifth traction device includes a fifth traction winch 54, a fifth traction pulley 66, and a fifth traction rope 82. The fifth traction winch 54 is fixedly mounted on the third recovery platform 3, and the fifth traction pulley 66 is fixedly mounted on the fourth recovery platform 4. One end of the fifth traction rope 82 is fixedly connected to one end of the fifth trolley 13, and the other end of the fifth traction rope 82 passes sequentially around the fifth traction winch 54 and the fifth traction pulley 66 before being fixedly connected to the other end of the fifth trolley 13. When the fifth traction winch 54 rotates forward, the fifth traction rope 82 pulls the fifth trolley 13 to slide along the third slide rail 7 from the third recovery platform 3 to the fourth recovery platform 4. When the fifth traction winch 54 rotates in the reverse direction, the fifth traction rope 82 pulls the fifth trolley 13 to slide along the third slide rail 7 from the fourth recovery platform 4 to the third recovery platform 3. The fifth traction winch 54 is existing technology, and its specific structure and working principle will not be described in detail here.

[0044] like Figure 4 , Figure 5 , Figure 10 , Figure 11 As shown, the sixth traction device includes a sixth traction winch 68, a sixth traction pulley 59, and a sixth traction rope 81. The sixth traction winch 68 is fixedly mounted on the fourth recovery platform 4, and the sixth traction pulley 59 is fixedly mounted on the third recovery platform 3. One end of the sixth traction rope 81 is fixedly connected to one end of the sixth trolley 14, and the other end of the sixth traction rope 81 passes sequentially around the sixth traction winch 68 and the sixth traction pulley 59 before being fixedly connected to the other end of the sixth trolley 14. When the sixth traction winch 68 rotates forward, the sixth traction rope 81 pulls the sixth trolley 14 along the third slide rail 7 from the third recovery platform 3 to the fourth recovery platform 4. When the sixth traction winch 68 rotates in the reverse direction, the sixth traction rope 81 pulls the sixth trolley 14 along the third slide rail 7 from the fourth recovery platform 4 to the third recovery platform 3. The sixth traction winch 68 is existing technology, and its specific structure and working principle will not be described in detail here.

[0045] like Figure 2 , Figure 5 , Figure 12 , Figure 13As shown, the seventh traction device includes a seventh traction winch 70, a seventh traction pulley 36, and a seventh traction rope 77. The seventh traction winch 70 is fixedly mounted on the fourth recovery platform 4, and the seventh traction pulley 36 is fixedly mounted on the first recovery platform 1. One end of the seventh traction rope 77 is fixedly connected to one end of the seventh trolley 15, and the other end of the seventh traction rope 77 passes sequentially around the seventh traction winch 70 and the seventh traction pulley 36 before being fixedly connected to the other end of the seventh trolley 15. When the seventh traction winch 70 rotates forward, the seventh traction rope 77 pulls the seventh trolley 15 to slide along the fourth slide rail 8 from the fourth recovery platform 4 to the first recovery platform 1. When the seventh traction winch 70 rotates in the reverse direction, the seventh traction rope 77 pulls the seventh trolley 15 to slide along the fourth slide rail 8 from the first recovery platform 1 to the fourth recovery platform 4. The seventh traction winch 70 is existing technology, and its specific structure and working principle will not be described in detail here.

[0046] like Figure 2 , Figure 5 , Figure 12 , Figure 13 As shown, the eighth traction device includes an eighth traction winch 32, an eighth traction pulley 65, and an eighth traction rope 78. The eighth traction winch 32 is fixedly mounted on the first recovery platform 1, and the eighth traction pulley 65 is fixedly mounted on the fourth recovery platform 4. One end of the eighth traction rope 78 is fixedly connected to one end of the eighth trolley 16, and the other end of the eighth traction rope 78 passes sequentially around the eighth traction winch 32 and the eighth traction pulley 65 before being fixedly connected to the other end of the eighth trolley 16. When the eighth traction winch 32 rotates forward, the eighth traction rope 78 pulls the eighth trolley 16 along the fourth slide rail 8 from the fourth recovery platform 4 to the first recovery platform 1. When the eighth traction winch 32 rotates in the reverse direction, the eighth traction rope 78 pulls the eighth trolley 16 along the fourth slide rail 8 from the first recovery platform 1 to the fourth recovery platform 4. The eighth traction winch 32 is prior art, and its specific structure and working principle will not be described in detail here.

[0047] It should be noted that when the first traction rope 75, the second traction rope 76, the third traction rope 79, the fourth traction rope 80, the fifth traction rope 82, the sixth traction rope 81, the seventh traction rope 77, and the eighth traction rope 78 pass over the first traction winch 37, the second traction winch 46, the third traction winch 44, the fourth traction winch 56, the fifth traction winch 54, the sixth traction winch 68, the seventh traction winch 70, and the eighth traction winch 32, respectively, each traction rope is wound multiple times on its respective traction winch.

[0048] It should be noted that, in addition to the aforementioned traction winch, traction pulley, and traction rope, the traction device can also employ other structural forms. For example, the traction device may include a traction motor, a driving traction wheel, a driven traction wheel, and a conveyor belt. The traction motor and driving traction wheel are mounted on one of the recovery platforms, and the driven traction wheel is mounted on another. The conveyor belt is fitted onto the driving and driven traction wheels, and the trolley is fixed to the conveyor belt. Thus, when the traction motor drives the driving traction wheel to rotate, the driving traction wheel drives the driven traction wheel to rotate via the conveyor belt, and the conveyor belt also rotates. Consequently, the trolley fixed to the conveyor belt slides along the guide rail. Of course, both the driving and driven traction wheels can be sprockets, and the conveyor belt can be a chain.

[0049] like Figure 14 As shown, and in combination Figures 15-21As shown, the first trolley 9, the second trolley 10, the third trolley 11, the fourth trolley 12, the fifth trolley 13, the sixth trolley 14, the seventh trolley 15, and the eighth trolley 16 all include a trolley frame 87. A first slider 90 is fixedly provided below the trolley frame 87. A buffer pulley 94 and an elastic locking mechanism are installed on the trolley frame 87. The buffer pulley 94 is rotatably mounted on a buffer pulley frame 93. The buffer pulley frame 93 is connected to one end of the second slider 88 (specifically, the connection method is hinged, that is, the buffer pulley frame 93 can rotate up and down relative to the second slider 88). The other end of the second slider 88 passes through a sliding hole on the trolley frame 87 and is connected to the elastic locking mechanism (here, the connection refers to the other end of the second slider 88 being locked with the elastic locking mechanism). The elastic locking mechanism includes two opposing locking brackets 86, which are fixedly mounted on a trolley frame 87. Each locking bracket 86 is equipped with an elastic clamping arm 89. The two elastic clamping arms 89 are arranged opposite each other. When the second slider 88 slides along the sliding hole toward the elastic locking mechanism, the other end of the second slider 88 can be clamped between the two elastic clamping arms 89. When the second slider 88 slides away from the elastic locking mechanism along the sliding hole, the other end of the second slider 88 can disengage from the two elastic clamping arms 89. The first trolley 9 and the second trolley 10 are slidably mounted on the first slide rail 5 via their respective first sliders 90. The third trolley 11 and the fourth trolley 12 are slidably mounted on the second slide rail 6 via their respective first sliders 90. The fifth trolley 13 and the sixth trolley 14 are slidably mounted on the third slide rail 7 via their respective first sliders 90. The seventh trolley 15 and the eighth trolley 16 are slidably mounted on the fourth slide rail 8 via their respective first sliders 90. In this embodiment, the first slide rail 5, the second slide rail 6, the third slide rail 7 and the fourth slide rail 8 are all double slide rails. Correspondingly, each trolley frame 87 is fixedly provided with 4 first sliders 90 below it. The 4 first sliders 90 are arranged in pairs on the double slide rails of the first slide rail 5, the second slide rail 6, the third slide rail 7 and the fourth slide rail 8.

[0050] like Figure 1 As shown, and in combination Figures 2-13As shown, the two ends of the first blocking cable 17 are respectively connected to the buffer pulley frames 93 of the first trolley 9 and the sixth trolley 14; the two ends of the second blocking cable 18 are respectively connected to the buffer pulley frames 93 of the second trolley 10 and the fifth trolley 13; the two ends of the third blocking cable 19 are respectively connected to the buffer pulley frames 93 of the third trolley 11 and the eighth trolley 16; and the two ends of the fourth blocking cable 20 are respectively connected to the buffer pulley frames 93 of the fourth trolley 12 and the seventh trolley 15. A first buffer cable 21 is provided between the first recycling platform 1 and the second recycling platform 2. A first buffer pulley 38 is fixedly provided on the first recycling platform 1. A first mass block 27 is provided below the first recycling platform 1. A second buffer pulley 45 is fixedly provided on the second recycling platform 2. A second mass block 40 is provided below the second recycling platform 2. One end of the first buffer cable 21 passes around the first buffer pulley 38 and is connected to the first mass block 27. The other end of the first buffer cable 21 passes around the second buffer pulley 45 and is connected to the second mass block 40. The first buffer cable 21 passes around the side of the buffer pulley 94 of the first trolley 9 and the second trolley 10 away from the elastic locking mechanism. A second buffer cable 22 is provided between the second recovery platform 2 and the third recovery platform 3. A third buffer pulley 49 is fixedly provided on the second recovery platform 2. A third mass block 39 is provided below the second recovery platform 2. A fourth buffer pulley 58 is fixedly provided on the third recovery platform 3. A fourth mass block 61 is provided below the third recovery platform 3. One end of the second buffer cable 22 passes around the third buffer pulley 49 and is connected to the third mass block 39. The other end of the second buffer cable 22 passes around the fourth buffer pulley 58 and is connected to the fourth mass block 61. The second buffer cable 22 passes around the buffer pulley 94 of the third trolley 11 and the fourth trolley 12 on the side away from the elastic locking mechanism. A third buffer cable 23 is provided between the third recovery platform 3 and the fourth recovery platform 4. A fifth buffer pulley 53 is fixedly provided on the third recovery platform 3. A fifth mass block 62 is provided below the third recovery platform 3. A sixth buffer pulley 72 is fixedly provided on the fourth recovery platform 4. A sixth mass block 63 is provided below the fourth recovery platform 4. One end of the third buffer cable 23 passes around the fifth buffer pulley 53 and is connected to the fifth mass block 62. The other end of the third buffer cable 23 passes around the sixth buffer pulley 72 and is connected to the sixth mass block 63. The third buffer cable 23 passes around the buffer pulley 94 of the fifth trolley 13 and the sixth trolley 14 on the side away from the elastic locking mechanism.A fourth buffer cable 24 is provided between the fourth recycling platform 4 and the first recycling platform 1. A seventh buffer pulley 67 is fixedly provided on the fourth recycling platform 4. A seventh mass block 64 is provided below the fourth recycling platform 4. An eighth buffer pulley 34 is fixedly provided on the first recycling platform 1. An eighth mass block 30 is provided below the first recycling platform 1. One end of the fourth buffer cable 24 passes around the seventh buffer pulley 67 and is connected to the seventh mass block 64. The other end of the fourth buffer cable 24 passes around the eighth buffer pulley 34 and is connected to the eighth mass block 30. The fourth buffer cable 24 passes around the buffer pulleys 94 of the seventh trolley 15 and the eighth trolley 16 on the side away from the elastic locking mechanism.

[0051] Since the first buffer cable 21 is located between the first recovery platform 1 and the second recovery platform 2, and the third buffer cable 23 is located between the third recovery platform 3 and the fourth recovery platform 4, the first buffer cable 21 is parallel to the third buffer cable 23. Since the first blocking cable 17 is connected between the first trolley 9 and the sixth trolley 14, it can be concluded that the first blocking cable 17, the first buffer cable 21, and the third buffer cable 23 together form an I-shaped arrangement. Similarly, the second blocking cable 18, the first buffer cable 21, and the third buffer cable 23 also together form an I-shaped arrangement, as do the third blocking cable 19, the second buffer cable 22, and the fourth buffer cable 24, and the fourth blocking cable 20, the second buffer cable 22, and the fourth buffer cable 24.

[0052] Before recovering the rocket stage, for each trolley, the other end of the second slider 88 is clamped between the two elastic clamping arms 89 of the elastic locking mechanism, meaning that the other end of the second slider 88 is locked with the elastic locking mechanism. During the recovery of the rocket stage, after the arresting hook of the rocket stage is engaged with the first arresting cable 17, the second arresting cable 18, the third arresting cable 19, and the fourth arresting cable 20, the rocket stage, under its own weight, will pull the arresting cables diagonally downwards. Since the arresting cables are connected to the buffer pulley frame 93, and the buffer pulley frame 93 is connected to one end of the second slider 88, the second slider 88 slides away from the elastic locking mechanism along the sliding hole, causing the other end of the second slider 88 to disengage from the two elastic clamping arms 89 of the elastic locking mechanism, thus unlocking it. Finally, the other end of the second slider 88 slides out of the sliding hole. During this process, the buffer pulley 94 also moves away from the elastic locking mechanism. Because the buffer cable passes around the side of the buffer pulley 94 away from the elastic locking mechanism, Therefore, the buffer pulley 94 pulls the buffer cable away from the elastic locking mechanism, causing the two ends of the buffer cable to pull the mass blocks upward respectively (that is, the two ends of the first buffer cable 21 pull the first mass block 27 and the second mass block 40 upward respectively, the two ends of the second buffer cable 22 pull the third mass block 39 and the fourth mass block 61 upward respectively, the two ends of the third buffer cable 23 pull the fifth mass block 62 and the sixth mass block 63 upward respectively, and the two ends of the fourth buffer cable 24 pull the seventh mass block 64 and the eighth mass block 30 upward respectively), until the rocket stage and the mass blocks reach equilibrium and neither moves up or down. It can be seen that the buffer cable and the mass blocks can play a buffering role during the recovery of the rocket stage, preventing damage to the recovery system and the rocket stage during the recovery process.

[0053] like Figure 1As shown, after the arresting hook of the rocket stage is attached to the first arresting cable 17, the second arresting cable 18, the third arresting cable 19, and the fourth arresting cable 20, and the arresting cables are pulled diagonally downwards under the weight of the rocket stage, the diagonal downwards refers to the area enclosed by the first slide rail 5, the second slide rail 6, the third slide rail 7, and the fourth slide rail 8. That is, the rocket stage pulls the two ends of the arresting cables from the slide rails into the area enclosed by the four slide rails. Since the arresting cables are connected to the buffer pulley frame 93... Therefore, the buffer pulley frame 93 and the buffer pulley 94 also move from the slide rail into the area enclosed by the four slide rails (i.e., the buffer pulley frame 93 and the buffer pulley 94 also move away from the elastic locking mechanism). At the same time, the buffer pulley frame 93 pulls the second slider 88 to slide along the slide hole from the slide rail into the area enclosed by the four slide rails (i.e., the second slider 88 slides away from the elastic locking mechanism along the slide hole), causing the other end of the second slider 88 to disengage from the two elastic clamping arms 89 of the elastic locking mechanism, thus unlocking. Since the buffer cable passes around the buffer pulley 94 on the side closer to the center of the area enclosed by the four slide rails (i.e., the buffer cable passes around the buffer pulley 94 on the side away from the elastic locking mechanism), the buffer pulley 94 pulls the buffer cable into the area enclosed by the four slide rails (i.e., the buffer pulley 94 pulls the buffer cable away from the elastic locking mechanism), causing the two ends of the buffer cable to pull the mass blocks upwards respectively.

[0054] like Figure 14 As shown, and in combination Figures 15-21 As shown, the elastic clamping arm 89 includes a first connecting rod 113 and a second connecting rod 114. One end of the first connecting rod 113 is hinged to the locking bracket 86, and the other end of the first connecting rod 113 is hinged to one end of the second connecting rod 114. The other end of the second connecting rod 114 is hinged to a third slider 115. The locking bracket 86 has a sliding groove, and a guide post 117 is fixedly installed in the sliding groove. The third slider 115 is located in the sliding groove and is fitted onto the guide post 117. The sliding groove and the guide post 117 are connected in a series of steps. All 17 are arranged along the sliding direction of the second slider 88. A spring 118 is provided in the groove on the side of the third slider 115 away from the first connecting rod 113. The spring 118 is fitted on the guide post 117. A clamping groove is provided on each of the opposite sides of the other end of the second slider 88. When the other end of the second slider 88 is clamped between the two elastic clamping arms 89, the hinge joints of the first connecting rod 113 and the second connecting rod 114 of the two elastic clamping arms 89 are respectively clamped in the two clamping grooves at the other end of the second slider 88.

[0055] One end of the first connecting rod 113 is hinged to the locking bracket 86 via a hinge seat 112, meaning the hinge seat 112 is fixed to the locking bracket 86. The hinge seat 112 has a first hinge lug, and one end of the first connecting rod 113 is hinged to the first hinge lug via a pin. The other end of the first connecting rod 113 is also hinged to one end of the second connecting rod 114 via a pin. The third slider 115 has a second hinge lug, and the other end of the second connecting rod 114 is hinged to the second hinge lug via a pin.

[0056] A sleeve 120 is fixedly mounted on the locking bracket 86. An end cap 119 is fixedly mounted at each of the two openings of the sleeve 120. An axially arranged slot 116 is opened on the wall of the sleeve 120. The slot 116 and the cavity of the sleeve 120 together form a groove for accommodating the third slider 115. A guide post 117 is provided in the cavity of the sleeve 120 along the axial direction of the sleeve 120. The guide post 117 is fixedly mounted between the two end caps 119. When the spring 118 is not compressed by the third slider 115, a preload is applied to the spring 118. Under the action of the preload, the spring 118 pushes the third slider 115 against the end of the slide groove near the first connecting rod 113. At this time, the first connecting rod 113 and the second connecting rod 114 maintain a small angle, and the two elastic clamping arms 89 maintain a small gap. When the third slider 115 compresses the spring 118 along the slide groove, that is, when the third slider 115 slides from the end of the slide groove near the first connecting rod 113 to the end away from the first connecting rod 113, the angle between the first connecting rod 113 and the second connecting rod 114 increases, and the gap between the two elastic clamping arms 89 also increases.

[0057] When the second slider 88 is locked with the elastic locking mechanism, the second slider 88 slides along the sliding hole toward the elastic locking mechanism, causing the other end of the second slider 88 to slide between the two elastic clamping arms 89. As the second slider 88 continues to slide, the other end of the second slider 88 opens the two elastic clamping arms 89, that is, it increases the gap between the two elastic clamping arms 89. More specifically, it increases the gap at the hinge of the first connecting rod 113 and the second connecting rod 114 in the two elastic clamping arms 89. As the gap between the two elastic clamping arms 89 increases, the third slider 115 compresses the spring 118, and the hinge joints of the first link 113 and the second link 114 of the elastic clamping arms 89 remain in contact with the second slider 88. As the second slider 88 continues to slide, the hinge joints of the first link 113 and the second link 114 of the two elastic clamping arms 89 are respectively clamped in the two clamping slots at the other end of the second slider 88. At this time, the gap between the two elastic clamping arms 89 decreases again, and the spring 118 returns to its original state (i.e., the spring 118 returns to the state not compressed by the third slider 115), thereby achieving the locking of the second slider 88 with the elastic locking mechanism. When the second slider 88 unlocks from the elastic locking mechanism, it slides away from the elastic locking mechanism along the sliding hole. The other end of the second slider 88 reopens the two elastic clamping arms 89, increasing the gap between them. During this process, the third slider 115 compresses the spring 118. As the second slider 88 continues to slide, it disengages from between the two elastic clamping arms 89. The spring 118 then returns to its original position, and the gap between the two elastic clamping arms 89 decreases again, thus unlocking the second slider 88 from the elastic locking mechanism. It should be noted that, to facilitate the reopening of the two elastic clamping arms 89 by the other end of the second slider 88, the side facing the two elastic clamping arms between the other end of the second slider 88 and the clamping groove is designed with a wedge shape.

[0058] like Figure 16 , Figure 17 As shown, the trolley frame 87 has a through hole 109 for the second slider 88 to pass through. On the trolley frame 87 on opposite sides of the through hole 109, there are respectively a first sleeve 105 and a second sleeve 106. The cavities of the first sleeve 105 and the second sleeve 106 are connected to the through hole 109. The first sleeve 105 is fixedly mounted on the side of the trolley frame 87 near the elastic locking mechanism. The second sleeve 106 is rotatably mounted on the side of the trolley frame 87 near the buffer pulley 94. The cavity of the second sleeve 106, the through hole 109 of the trolley frame 87, and the cavity of the first sleeve 105 together form the sliding hole. The other end of the second slider 88 passes through the cavity of the second sleeve 106, the through hole 109 of the trolley frame 87, and the cavity of the first sleeve 105 in sequence and then connects to the elastic locking mechanism.

[0059] Each of the opposite sides of the buffer pulley 94 is provided with a tensioning pulley 92. The tensioning pulleys 92 are mounted on the trolley frame 87 via tensioning pulley brackets 91. The first trolley 9 and the second trolley 10 respectively tension the first buffer cable 21 on the side of their respective buffer pulleys 94 away from the elastic locking mechanism via tensioning pulleys 92. The third trolley 11 and the fourth trolley 12 respectively tension the second buffer cable 22 on the side of their respective buffer pulleys 94 away from the elastic locking mechanism via tensioning pulleys 92. The fifth trolley 13 and the sixth trolley 14 respectively tension the third buffer cable 23 on the side of their respective buffer pulleys 94 away from the elastic locking mechanism via tensioning pulleys 92. The seventh trolley 15 and the eighth trolley 16 respectively tension the fourth buffer cable 24 on the side of their respective buffer pulleys 94 away from the elastic locking mechanism via tensioning pulleys 92.

[0060] The trolley frame 87 includes a base plate 103 and a mounting beam 104 fixedly mounted above the base plate 103. A first slider 90 is fixedly mounted below the base plate 103. The mounting beam 104 is arranged in the same direction as the sliding direction of the trolley frame 87. The mounting beam 104 has a through hole 109. A first sleeve 105 is fixedly mounted on one side of the mounting beam 104, and a second sleeve 106 is rotatably mounted on the other side of the mounting beam 104. Both the first sleeve 105 and the second sleeve 106 are arranged opposite to the through hole 109. The second sleeve 106 is rotatably mounted on the mounting beam 104 in the following manner: a mounting groove 110 is provided on the other side of the mounting beam 104, and blind holes 111 are provided on the two opposite groove walls of the mounting groove 110. Two oppositely arranged rotating shafts 107 are provided on the cylinder wall of the second sleeve 106. The second sleeve 106 is mounted on the two blind holes 111 of the mounting groove 110 through the two rotating shafts 107, so that there is a clearance fit between the rotating shafts 107 and the blind holes 111. In this way, the second sleeve 106 can be rotatably mounted on the mounting beam 104 through the rotating shafts 107 and the blind holes 111. The reason for rotating the second sleeve 106 onto the mounting beam 104 is that when the rocket stage pulls the arresting cable diagonally downward within the area enclosed by the four slide rails, the arresting cable also pulls the buffer pulley frame 93 diagonally downward. The buffer pulley frame 93 then pulls the second slider 88 diagonally downward, causing the second slider 88 to slide along the sliding hole away from the elastic locking mechanism. When the other end of the second slider 88 slides past the first sleeve 105 and the through hole 109 and reaches the cavity of the second sleeve 106, the tension on the second slider 88 is tilted even diagonally downward. If the second sleeve 106 is fixed on the mounting beam 104 at this time, the other end of the second slider 88 may get stuck in the second sleeve 106, preventing the second slider 88 from sliding out of the second sleeve 106. Conversely, if the second sleeve 106 is rotated and mounted on the mounting beam 104, when the other end of the second slider 88 slides to the second sleeve 106, under the action of the downward pulling force, the other end of the second slider 88 will drive the second sleeve 106 to rotate downward, so that the second slider 88 can slide out of the second sleeve 106.

[0061] Both locking brackets 86 are also fixed to one side of the mounting beam 104, that is, the locking brackets 86 and the first sleeve 105 are fixed to the same side of the mounting beam 104, and the first sleeve 105 is located between the two locking brackets 86. Two tensioning pulley frames 91 are installed on the other side of the mounting beam 104. Each tensioning pulley frame 91 has a tensioning pulley 92 rotatably mounted on it. The tensioning pulley frame 91 is hinged to the other side of the mounting beam 104 by a pin. That is to say, the tensioning pulley frame 91 can rotate up and down relative to the mounting beam 104. The tensioning pulley frame 91 and the second sleeve 106 are both located on the same side of the mounting beam 104, and the second sleeve 106 is located between the two tensioning pulley frames 91. After the second slider 88 is inserted into the sliding hole, one end of the second slider 88 is located between the two tension pulley frames 91 outside the second sleeve 106. Since the buffer pulley frame 93 is hinged to one end of the second slider 88, the buffer pulley 94 is located between the two tension pulleys 92. The other end of the second slider 88 is located between the two locking brackets 86 outside the first sleeve 105. Each locking bracket 86 is equipped with an elastic clamping arm 89, and the two elastic clamping arms 89 can clamp the other end of the second slider 88.

[0062] Each trolley frame 87 is fixedly equipped with a baffle 102, which is fixedly connected between the mounting beam 104 and the base plate 103. The baffle 102 has a rope-carrying hole 108. The function of the rope-carrying hole 108 is explained below using the first traction rope 75 and the second traction rope 76 as examples: both the first traction rope 75 and the second traction rope 76 form a ring structure, that is, both the first traction rope 75 and the second traction rope 76 include an upper traction rope and a lower traction rope, such as... Figure 7 As shown, the lower traction ropes of the first traction rope 75 and the second traction rope 76 both pass through the rope passage holes 108 on the baffles 102 of the first trolley 9 and the second trolley 10. This facilitates the arrangement of the first traction rope 75 and the second traction rope 76, and prevents them from interfering with each other. Similarly, the rope passage holes 108 on the third trolley 11 and the fourth trolley 12 also facilitate the arrangement of the third traction rope 79 and the fourth traction rope 80, which are in a ring structure. The rope passage holes 108 on the fifth trolley 13 and the sixth trolley 14 also facilitate the arrangement of the fifth traction rope 82 and the sixth traction rope 81, which are in a ring structure. The rope passage holes 108 on the seventh trolley 15 and the eighth trolley 16 also facilitate the arrangement of the seventh traction rope 77 and the eighth traction rope 78, which are in a ring structure.

[0063] like Figure 1 As shown, and in combination Figures 2-13As shown, there are two or more first buffer fixed pulleys 38, at least one first buffer movable pulley 25 is provided on the first mass block 27, and a first lowering winch 31 is provided on the first recovery platform 1. One end of the first buffer cable 21 alternately passes over the first buffer fixed pulley 38 and the first buffer movable pulley 25 in sequence and then winds around the first lowering winch 31. There are two or more second buffer fixed pulleys 45, at least one second buffer movable pulley 41 is provided on the second mass block 40, and a second lowering winch 43 is provided on the second recovery platform 2. The other end of the first buffer cable 21 alternately passes over the second buffer fixed pulley 45 and the second buffer movable pulley 41 in sequence and then winds around the second lowering winch 43. There are two or more third buffer fixed pulleys 49, and at least one third buffer movable pulley 50 is provided on the third mass block 39. A third lowering winch 42 is provided on the second recovery platform 2. One end of the second buffer cable 22 alternately passes over the third buffer fixed pulley 49 and the third buffer movable pulley 50 in sequence and then winds around the third lowering winch 42. There are two or more fourth buffer fixed pulleys 58, and at least one fourth buffer movable pulley 60 is provided on the fourth mass block 61. A fourth lowering winch 57 is provided on the third recovery platform 3. The other end of the second buffer cable 22 alternately passes over the fourth buffer fixed pulley 58 and the fourth buffer movable pulley 60 in sequence and then winds around the fourth lowering winch 57. There are two or more fifth buffer fixed pulleys 53, and at least one fifth buffer movable pulley 51 is provided on the fifth mass block 62. A fifth lowering winch 55 is provided on the third recovery platform 3. One end of the third buffer cable 23 alternately passes over the fifth buffer fixed pulley 53 and the fifth buffer movable pulley 51 in sequence and then winds around the fifth lowering winch 55. There are two or more sixth buffer fixed pulleys 72, and at least one sixth buffer movable pulley 74 is provided on the sixth mass block 63. A sixth lowering winch 71 is provided on the fourth recovery platform 4. The other end of the third buffer cable 23 alternately passes over the sixth buffer fixed pulley 72 and the sixth buffer movable pulley 74 in sequence and then winds around the sixth lowering winch 71. There are two or more seventh buffer fixed pulleys 67, and at least one seventh buffer movable pulley 73 is provided on the seventh mass block 64. The fourth recovery platform 4 is provided with a seventh lowering winch 69. One end of the fourth buffer cable 24 passes through the seventh buffer fixed pulley 67 and the seventh buffer movable pulley 73 in sequence and then winds around the seventh lowering winch 69. There are two or more eighth buffer fixed pulleys 34, and at least one eighth buffer movable pulley 29 is provided on the eighth mass block 30. The first recovery platform 1 is provided with an eighth lowering winch 33. The other end of the fourth buffer cable 24 passes through the eighth buffer fixed pulley 34 and the eighth buffer movable pulley 29 in sequence and then winds around the eighth lowering winch 33.

[0064] In this embodiment, there are three buffer fixed pulleys: the first buffer fixed pulley 38, the second buffer fixed pulley 45, the third buffer fixed pulley 49, the fourth buffer fixed pulley 58, the fifth buffer fixed pulley 53, the sixth buffer fixed pulley 72, the seventh buffer fixed pulley 67, and the eighth buffer fixed pulley 34. There are two buffer movable pulleys: the first buffer movable pulley 25, the second buffer movable pulley 41, the third buffer movable pulley 50, the fourth buffer movable pulley 60, the fifth buffer movable pulley 51, the sixth buffer movable pulley 74, the seventh buffer movable pulley 73, and the eighth buffer movable pulley 29.

[0065] The first mass block 27, the second mass block 40, the third mass block 39, the fourth mass block 61, the fifth mass block 62, the sixth mass block 63, the seventh mass block 64, and the eighth mass block 30 are all supported below by hydraulic cylinders 28 or electric cylinders 28. The cylinder body of the hydraulic cylinder 28 or electric cylinder 28 is fixed to the ground, a ship, or other suitable site for rocket recovery by a support frame, and the piston rod of the hydraulic cylinder 28 or electric cylinder 28 is connected to the lower part of the mass block. When the rocket stage pulls the buffer cable through the arresting cable, the two ends of the buffer cable pull the mass blocks upwards. During this process, the hydraulic cylinder 28 or electric cylinder 28 moves with the mass blocks, meaning that the hydraulic cylinder 28 or electric cylinder 28 does not apply force to the mass blocks. Furthermore, the lowering winch is in a braked state during this process, meaning it does not rotate. Once the rocket stage and the mass blocks reach equilibrium and neither moves up or down, the second slider 88 slides out of the sliding hole. At this point, the buffer cable pulls the arresting cable through the buffer pulley 94 and buffer pulley frame 93. To remove the rocket stage from the arresting cable, the lowering winch is started, causing it to rotate and release the buffer cable. The mass blocks remain stationary due to the action of the hydraulic cylinder 28 or electric cylinder 28. Thus, as the buffer cable continues to release, the rocket stage gradually moves downwards until it reaches a suitable height. Alternatively, the rocket stage can be directly lowered to the ground, a ship, or other suitable site for rocket recovery, and then removed from the arresting cable. When the lowering winch releases the buffer cable to lower the rocket stage, the weight of the rocket stage itself is entirely pulled by the lowering winch because the mass block remains stationary.

[0066] The first mass block 27, the second mass block 40, the third mass block 39, the fourth mass block 61, the fifth mass block 62, the sixth mass block 63, the seventh mass block 64, and the eighth mass block 30 are slidably mounted on vertically arranged guide rails 26. The guide rails 26 can be fixed on the ground, on a ship, or on other suitable sites for rocket recovery by a support frame. The setting of the guide rails 26 enables the mass blocks to move up and down more smoothly.

[0067] like Figure 1 As shown, and in combination Figures 2-13As shown, each of the following sheaves—first trolley 9, second trolley 10, third trolley 11, fourth trolley 12, fifth trolley 13, sixth trolley 14, seventh trolley 15, and eighth trolley 16—has a tension sensor 84 fixedly attached to both ends. Specifically, each trolley has a tension sensor 84 fixedly attached to each of its two locking brackets 86. The two tension sensors 84 on the first trolley 9 are fixedly connected to both ends of the first traction rope 75 via first turnbuckles 83. The two tension sensors 84 on the second trolley 10 are fixedly connected to both ends of the second traction rope 76 via second turnbuckles 85. The two tension sensors 84 on the third trolley 11 are fixedly connected to both ends of the third traction rope 79 via third turnbuckles 95. The two tension sensors 84 on the fourth trolley 12 are fixedly connected to both ends of the fourth traction rope 80 via fourth turnbuckles 96. The two tension sensors 84 on the fifth trolley 13 are fixedly connected to both ends of the fifth traction rope 82 via fifth turnbuckles 97, the two tension sensors 84 on the sixth trolley 14 are fixedly connected to both ends of the sixth traction rope 81 via sixth turnbuckles 98, the two tension sensors 84 on the seventh trolley 15 are fixedly connected to both ends of the seventh traction rope 77 via seventh turnbuckles 100, and the two tension sensors 84 on the eighth trolley 16 are fixedly connected to both ends of the eighth traction rope 78 via eighth turnbuckles 101.

[0068] The tension sensor 84 measures the tension of the traction rope, which is existing technology. The first turnbuckle 83, the second turnbuckle 85, the third turnbuckle 95, the fourth turnbuckle 96, the fifth turnbuckle 97, the sixth turnbuckle 98, the seventh turnbuckle 100, and the eighth turnbuckle 101 are all existing technologies. The length of the first traction rope 75 can be adjusted by the first turnbuckle 83, and the lengths of the other turnbuckles can be adjusted sequentially. These will not be described in detail.

[0069] like Figure 1 As shown, and in combination Figure 10 , Figure 11 , Figure 12 , Figure 13 As shown, a ninth turnbuckle 99 is connected to each of the first barrier cable 17, the second barrier cable 18, the third barrier cable 19, and the fourth barrier cable 20. The ninth turnbuckle 99 is prior art and can be used to adjust the length of the first barrier cable 17, the second barrier cable 18, the third barrier cable 19, and the fourth barrier cable 20.

[0070] like Figure 1As shown, in the use of the I-shaped rocket recovery system of the present invention, the recovery platform and slide rails are fixedly set on the ground, on a ship or other suitable site for rocket recovery (of course, in specific settings, the recovery platform and slide rails can be fixedly set on the above-mentioned site by a support frame). When the rocket stage lands in the area enclosed by the first slide rail 5, the second slide rail 6, the third slide rail 7 and the fourth slide rail 8, the first traction winch 37, the second traction winch 46, the third traction winch 44, the fourth traction winch 56, the fifth traction winch 54, the sixth traction winch 68, the seventh traction winch 70 and the eighth traction winch 32 are activated. The first traction winch 37 pulls the first trolley 9 along the first slide rail 5 via the first traction rope 75. Simultaneously, the sixth traction winch 68 pulls the sixth trolley 14 along the third slide rail 7 via the sixth traction rope 81, causing the first trolley 9 and the sixth trolley 14 to slide synchronously in the same direction. Thus, the first arresting cable 17 begins to translate along the first and third slide rails 5 and 7. The second traction winch 46 pulls the second trolley 10 along the first slide rail 5 via the second traction rope 76. Simultaneously, the fifth traction winch 54 pulls the fifth trolley 13 along the third slide rail 7 via the fifth traction rope 82, causing the second trolley 10 and the fifth trolley 13 to slide synchronously in the same direction. Thus, the second arresting cable 18 begins to translate along the first and third slide rails 5 and 7. The third traction winch 44 pulls the third trolley 11 along the second slide rail 6 via the third traction rope 79. At the same time, the eighth traction winch 32 pulls the eighth trolley 16 along the fourth slide rail 8 via the eighth traction rope 78, and the third trolley 11 and the eighth trolley 16 slide synchronously in the same direction. Thus, the third arresting cable 19 begins to translate along the second slide rail 6 and the fourth slide rail 8. The fourth traction winch 56 pulls the fourth trolley 12 along the second slide rail 6 via the fourth traction rope 80. At the same time, the seventh traction winch 70 pulls the seventh trolley 15 along the fourth slide rail 8 via the seventh traction rope 77, and the fourth trolley 12 and the seventh trolley 15 slide synchronously in the same direction. Thus, the fourth arresting cable 20 begins to translate along the second slide rail 6 and the fourth slide rail 8. Based on the landing point of the rocket stage, the first arresting cable 17, the second arresting cable 18, the third arresting cable 19, and the fourth arresting cable 20 are moved to the four sides of the rocket stage, that is, the rocket stage is located in the square area enclosed by the first arresting cable 17, the second arresting cable 18, the third arresting cable 19, and the fourth arresting cable 20. As the rocket stage gradually falls, the four arresting cables are gradually moved closer to the rocket stage until the arresting hooks on the rocket stage are hooked on the arresting cables (in order to complete the recovery, the rocket stage is equipped with arresting hooks around its body), thus completing the recovery of the rocket stage.Because this invention uses four arresting cables, and these cables are positioned around the rocket stage during recovery, even if the rocket stage's attitude and speed do not reach the ideal recovery state, the four arresting cables can easily hook onto the rocket stage and complete the recovery. Therefore, this invention can reduce the requirements for the rocket's attitude and speed during recovery and improve the success rate of rocket recovery. After the rocket stage is hooked onto the arresting cables, under the weight of the rocket stage itself, it pulls the arresting cables diagonally downwards. The arresting cables, through the buffer pulley frame 93, pull the second slider 88. The second slider 88 unlocks from the elastic locking mechanism, and the arresting cables also pull the buffer cables diagonally downwards. Thus, the two ends of the buffer cables pull the mass blocks upwards until the rocket stage and the mass blocks reach equilibrium, and neither moves up or down. Next, the lowering winch is started, causing it to rotate and release the buffer cable. The mass block is kept stationary by hydraulic cylinder 28 or electric cylinder 28. As the buffer cable is released, the rocket stage gradually moves downward until it reaches a suitable height. Alternatively, the rocket stage can be lowered directly to the ground, a ship, or other suitable site for rocket recovery. Then, the rocket stage is removed from the arresting cable for reuse.

[0071] It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0072] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0073] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An I-shaped rocket recovery system, characterized in that: The system includes a first recycling platform, a second recycling platform, a third recycling platform, and a fourth recycling platform. A first slide rail connects the first and second recycling platforms; a second slide rail connects the second and third recycling platforms; a third slide rail connects the third and fourth recycling platforms; and a fourth slide rail connects the fourth recycling platform and the first recycling platform. The first, second, third, and fourth slide rails are arranged in a rectangular pattern. A first trolley and a second trolley slide on the first slide rail; a third trolley and a fourth trolley slide on the second slide rail; a fifth trolley and a sixth trolley slide on the third slide rail; and a seventh trolley and an eighth trolley slide on the fourth slide rail. A first blocking cable connects the first and sixth trolleys; a second blocking cable connects the second and fifth trolleys. The first and second blocking cables are arranged in parallel. A third blocking cable connects the third and eighth trolleys; and a fourth blocking cable connects the fourth and seventh trolleys. The third and fourth blocking cables are parallel to each other. The arrangement includes a first traction device and a second traction device respectively between the first and second recycling platforms. The first traction device can pull a first trolley to slide back and forth along a first slide rail, and the second traction device can pull a second trolley to slide back and forth along the first slide rail. A third traction device and a fourth traction device are respectively provided between the second and third recycling platforms. The third traction device can pull a third trolley to slide back and forth along the second slide rail, and the fourth traction device can pull a fourth trolley to slide back and forth along the second slide rail. A fifth traction device and a sixth traction device are respectively provided between the third and fourth recycling platforms. The fifth traction device can pull a fifth trolley to slide back and forth along the third slide rail, and the sixth traction device can pull a sixth trolley to slide back and forth along the third slide rail. A seventh traction device and an eighth traction device are respectively provided between the fourth and first recycling platforms. The seventh traction device can pull a seventh trolley to slide back and forth along the fourth slide rail, and the eighth traction device can pull an eighth trolley to slide back and forth along the fourth slide rail. The first, second, third, fourth, fifth, sixth, seventh, and eighth trolleys all include a trolley frame. A first slider is fixedly mounted below the trolley frame. A buffer pulley and an elastic locking mechanism are installed on the trolley frame. The buffer pulley is rotatably mounted on the buffer pulley frame. The buffer pulley frame is connected to one end of the second slider. The other end of the second slider passes through a sliding hole on the trolley frame and is connected to the elastic locking mechanism. The elastic locking mechanism includes two oppositely arranged locking brackets, which are fixedly mounted on the trolley frame. Each locking bracket is equipped with an elastic clamping arm. The two elastic clamping arms are arranged opposite to each other. When the second slider slides along the sliding hole toward the elastic locking mechanism, the second slider... The other end can be clamped between two elastic clamping arms. When the second slider slides away from the elastic locking mechanism along the sliding hole, the other end of the second slider can disengage from between the two elastic clamping arms. The first and second trolleys are slidably mounted on the first slide rail by their respective first sliders. The third and fourth trolleys are slidably mounted on the second slide rail by their respective first sliders. The fifth and sixth trolleys are slidably mounted on the third slide rail by their respective first sliders. The seventh and eighth trolleys are slidably mounted on the fourth slide rail by their respective first sliders. The two ends of the first blocking cable are respectively connected to the buffer pulley frames of the first and sixth trolleys. The two ends of the second blocking cable are respectively connected to the second and fifth trolleys. On the buffer pulley frame of the trolley, the two ends of the third blocking cable are respectively connected to the buffer pulley frames of the third trolley and the eighth trolley, and the two ends of the fourth blocking cable are respectively connected to the buffer pulley frames of the fourth trolley and the seventh trolley. A first buffer cable is provided between the first recovery platform and the second recovery platform. A first buffer fixed pulley is fixedly provided on the first recovery platform, and a first mass block is provided below the first recovery platform. A second buffer fixed pulley is fixedly provided on the second recovery platform, and a second mass block is provided below the second recovery platform. One end of the first buffer cable passes over the first buffer fixed pulley and connects to the first mass block, and the other end of the first buffer cable passes over the second buffer fixed pulley and connects to the second mass block. The first buffer cable passes over the first... A second buffer cable is provided between the second and third recovery platforms, with the buffer pulleys of the first and second trolleys located away from the elastic locking mechanism. A third buffer pulley is fixedly mounted on the second recovery platform, and a third mass block is located below the second recovery platform. A fourth buffer pulley is fixedly mounted on the third recovery platform, and a fourth mass block is located below the third recovery platform. One end of the second buffer cable passes over the third buffer pulley and connects to the third mass block, while the other end passes over the fourth buffer pulley and connects to the fourth mass block. The second buffer cable passes over the buffer pulleys of the third and fourth trolleys on the side away from the elastic locking mechanism.A fifth buffer pulley is fixedly installed on the third recovery platform, and a fifth mass block is located below the third recovery platform. A sixth buffer pulley is fixedly installed on the fourth recovery platform, and a sixth mass block is located below the fourth recovery platform. One end of the third buffer cable passes over the fifth buffer pulley and connects to the fifth mass block, and the other end of the third buffer cable passes over the sixth buffer pulley and connects to the sixth mass block. The third buffer cable passes over the buffer pulleys of the fifth and sixth trolleys on the side away from the elastic locking mechanism. A fourth buffer cable is provided between the fourth recovery platform and the first recovery platform. A seventh buffer pulley is fixedly installed on the fourth recovery platform, and a seventh mass block is located below the fourth recovery platform. An eighth buffer pulley is fixedly installed on the first recovery platform, and an eighth mass block is located below the first recovery platform. One end of the fourth buffer cable passes over the seventh buffer pulley and connects to the seventh mass block, and the other end of the fourth buffer cable passes over the eighth buffer pulley and connects to the eighth mass block. The fourth buffer cable passes over the buffer pulleys of the seventh and eighth trolleys on the side away from the elastic locking mechanism.

2. The I-shaped rocket recovery system according to claim 1, characterized in that: The first traction device includes a first traction winch, a first traction pulley, and a first traction rope. The first traction winch is fixedly mounted on a first recovery platform, the first traction pulley is fixedly mounted on a second recovery platform, one end of the first traction rope is fixedly connected to one end of a first trolley, and the other end of the first traction rope passes sequentially around the first traction winch and the first traction pulley before being fixedly connected to the other end of the first trolley. The second traction device includes a second traction winch, a second traction pulley, and a second traction rope. The second traction winch is fixedly mounted on a second recovery platform, the second traction pulley is fixedly mounted on a first recovery platform, one end of the second traction rope is fixedly connected to one end of a second trolley, and the other end of the second traction rope... One end of the third traction device passes sequentially around the second traction winch and the second traction pulley and is fixedly connected to the other end of the second trolley. The third traction device includes a third traction winch, a third traction pulley, and a third traction rope. The third traction winch is fixedly mounted on the second recovery platform. The third traction pulley is fixedly mounted on the third recovery platform. One end of the third traction rope is fixedly connected to one end of the third trolley, and the other end of the third traction rope passes sequentially around the third traction winch and the third traction pulley and is fixedly connected to the other end of the third trolley. The fourth traction device includes a fourth traction winch, a fourth traction pulley, and a fourth traction rope. The fourth traction winch is fixedly mounted on the third recovery platform. The fourth traction pulley is fixedly mounted on the second recovery platform. On the platform, one end of the fourth traction rope is fixedly connected to one end of the fourth pulley, and the other end of the fourth traction rope passes sequentially around the fourth traction winch and the fourth traction pulley before being fixedly connected to the other end of the fourth pulley. The fifth traction device includes a fifth traction winch, a fifth traction pulley, and a fifth traction rope. The fifth traction winch is fixedly mounted on the third recovery platform, and the fifth traction pulley is fixedly mounted on the fourth recovery platform. One end of the fifth traction rope is fixedly connected to one end of the fifth pulley, and the other end of the fifth traction rope passes sequentially around the fifth traction winch and the fifth traction pulley before being fixedly connected to the other end of the fifth pulley. The sixth traction device includes a sixth traction winch, a sixth traction pulley, and a sixth traction rope. A sixth traction winch is fixedly mounted on the fourth recovery platform. A sixth traction pulley is fixedly mounted on the third recovery platform. One end of the sixth traction rope is fixedly connected to one end of the sixth trolley, and the other end of the sixth traction rope passes sequentially over the sixth traction winch and the sixth traction pulley before being fixedly connected to the other end of the sixth trolley. A seventh traction device includes a seventh traction winch, a seventh traction pulley, and a seventh traction rope. The seventh traction winch is fixedly mounted on the fourth recovery platform. The seventh traction pulley is fixedly mounted on the first recovery platform. One end of the seventh traction rope is fixedly connected to one end of the seventh trolley, and the other end of the seventh traction rope passes sequentially over the seventh traction winch and the seventh traction pulley before being fixedly connected to the other end of the seventh trolley.The eighth traction device includes an eighth traction winch, an eighth traction pulley, and an eighth traction rope. The eighth traction winch is fixedly mounted on the first recovery platform, the eighth traction pulley is fixedly mounted on the fourth recovery platform, one end of the eighth traction rope is fixedly connected to one end of the eighth pulley, and the other end of the eighth traction rope passes sequentially around the eighth traction winch and the eighth traction pulley before being fixedly connected to the other end of the eighth pulley.

3. The I-shaped rocket recovery system according to claim 2, characterized in that: The elastic clamping arm includes a first connecting rod and a second connecting rod. One end of the first connecting rod is hinged to a locking bracket, and the other end of the first connecting rod is hinged to one end of the second connecting rod. The other end of the second connecting rod is hinged to a third slider. The locking bracket has a sliding groove, and a guide post is fixed in the sliding groove. The third slider is located in the sliding groove and is fitted onto the guide post. The sliding groove and the guide post are both arranged along the sliding direction of the second slider. A spring is provided in the sliding groove on the side of the third slider away from the first connecting rod, and the spring is fitted onto the guide post. The other end of the second slider has a clamping groove on each of its opposite sides. When the other end of the second slider is clamped between the two elastic clamping arms, the hinge points of the first and second connecting rods of the two elastic clamping arms are respectively clamped into the two clamping grooves on the other end of the second slider.

4. The I-shaped rocket recovery system according to claim 3, characterized in that: The trolley frame has a through hole for the second slider to pass through. On the trolley frame opposite to the through hole, there are a first sleeve and a second sleeve respectively. The cavities of the first sleeve and the second sleeve are connected to the through hole. The first sleeve is fixedly installed on the side of the trolley frame near the elastic locking mechanism. The second sleeve is rotatably installed on the side of the trolley frame near the buffer pulley. The cavity of the second sleeve, the through hole of the trolley frame, and the cavity of the first sleeve together form the sliding hole. The other end of the second slider passes through the cavity of the second sleeve, the through hole of the trolley frame, and the cavity of the first sleeve in sequence and is connected to the elastic locking mechanism.

5. The I-shaped rocket recovery system according to claim 4, characterized in that: Each of the two sides of the buffer pulley is provided with a tensioning pulley. The tensioning pulleys are mounted on the trolley frame via tensioning pulley brackets. The first and second trolleys tension the first buffer cable on the side of their respective buffer pulleys away from the elastic locking mechanism via tensioning pulleys. The third and fourth trolleys tension the second buffer cable on the side of their respective buffer pulleys away from the elastic locking mechanism via tensioning pulleys. The fifth and sixth trolleys tension the third buffer cable on the side of their respective buffer pulleys away from the elastic locking mechanism via tensioning pulleys. The seventh and eighth trolleys tension the fourth buffer cable on the side of their respective buffer pulleys away from the elastic locking mechanism via tensioning pulleys.

6. The I-shaped rocket recovery system according to claim 5, characterized in that: The system comprises two or more first fixed buffer pulleys, at least one first movable buffer pulley on the first mass block, a first lowering winch on the first recovery platform, one end of the first buffer cable alternately passing over the first fixed buffer pulley and the first movable buffer pulley before winding it around the first lowering winch, two or more second fixed buffer pulleys, at least one second movable buffer pulley on the second mass block, a second lowering winch on the second recovery platform, and the other end of the first buffer cable alternately passing over the second fixed buffer pulley and the second movable buffer pulley before winding it around the second lowering winch, and two or more third fixed buffer pulleys. The third mass block is equipped with at least one third buffer pulley, the second recovery platform is equipped with a third lowering winch, one end of the second buffer cable alternately passes over the third buffer fixed pulley and the third buffer movable pulley before winding around the third lowering winch, the fourth buffer fixed pulley is provided with two or more, the fourth mass block is equipped with at least one fourth buffer movable pulley, the third recovery platform is equipped with a fourth lowering winch, the other end of the second buffer cable alternately passes over the fourth buffer fixed pulley and the fourth buffer movable pulley before winding around the fourth lowering winch, the fifth buffer fixed pulley is provided with two or more, the fifth mass block is equipped with at least one fifth... The third buffer cable has a buffer pulley, and a fifth lowering winch is provided on the third recovery platform. One end of the third buffer cable alternately passes over the fifth buffer fixed pulley and the fifth buffer movable pulley before winding around the fifth lowering winch. There are two or more sixth buffer fixed pulleys, and at least one sixth buffer movable pulley is provided on the sixth mass block. A sixth lowering winch is provided on the fourth recovery platform. The other end of the third buffer cable alternately passes over the sixth buffer fixed pulley and the sixth buffer movable pulley before winding around the sixth lowering winch. There are two or more seventh buffer fixed pulleys, and at least one seventh buffer movable pulley is provided on the seventh mass block. The fourth recovery platform has... There is a seventh lowering winch. One end of the fourth buffer cable passes sequentially around the seventh buffer fixed pulley and the seventh buffer movable pulley before being wound around the seventh lowering winch. There are two or more eighth buffer fixed pulleys. At least one eighth buffer movable pulley is provided on the eighth mass block. The eighth lowering winch is provided on the first recovery platform. The other end of the fourth buffer cable passes sequentially and alternately around the eighth buffer fixed pulley and the eighth buffer movable pulley before being wound around the eighth lowering winch. The first mass block, the second mass block, the third mass block, the fourth mass block, the fifth mass block, the sixth mass block, the seventh mass block, and the eighth mass block are all supported by hydraulic cylinders or electric cylinders.

7. The I-shaped rocket recovery system according to claim 6, characterized in that: The first mass block, the second mass block, the third mass block, the fourth mass block, the fifth mass block, the sixth mass block, the seventh mass block, and the eighth mass block are slidably mounted on vertically arranged guide rails.

8. The I-shaped rocket recovery system according to claim 7, characterized in that: Each of the first, second, third, fourth, fifth, sixth, seventh, and eighth pulleys has a tension sensor fixedly installed at both ends. The two tension sensors on the first pulley are fixedly connected to both ends of the first traction rope via first turnbuckles. The two tension sensors on the second pulley are fixedly connected to both ends of the second traction rope via second turnbuckles. The two tension sensors on the third pulley are fixedly connected to both ends of the third traction rope via third turnbuckles. The two tension sensors on the fourth pulley are fixedly connected to both ends of the fourth traction rope via fourth turnbuckles. The two tension sensors on the fifth pulley are fixedly connected to both ends of the fifth traction rope via fifth turnbuckles. The two tension sensors on the sixth pulley are fixedly connected to both ends of the sixth traction rope via sixth turnbuckles. The two tension sensors on the seventh pulley are fixedly connected to both ends of the seventh traction rope via seventh turnbuckles. The two tension sensors on the eighth pulley are fixedly connected to both ends of the eighth traction rope via eighth turnbuckles.

9. The I-shaped rocket recovery system according to claim 8, characterized in that: The first, second, third, and fourth barrier cables are all connected to a ninth turnbuckle.

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