Launch vehicle vertical recovery system and method

Abstract

The present application relates to the technical field of launch vehicle recovery, in particular to a launch vehicle vertical recovery system and method, the launch vehicle vertical recovery system comprising a dynamic tracking mechanism, an active capture mechanism and a captured mechanism, the dynamic tracking mechanism being arranged above a predicted rocket landing area and being movable in the predicted rocket landing area to dynamically track a rocket entering the landing area; the active capture mechanism being arranged on the dynamic tracking mechanism; and the captured mechanism being arranged on a rocket body to be connected or disconnected with the active capture mechanism. The actual landable area of the system is larger than that of a conventional recovery scheme, the control accuracy requirement for the rocket is lower, the recovery time window is longer, there is sufficient time to adjust the active capture mechanism and adjust the operating attitude of the rocket, the failure probability can be reduced, the additional modification to the rocket body structure is smaller, and the rocket carrying efficiency can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of launch vehicle recovery technology, specifically to a vertical recovery system and method for launch vehicles. Background Technology

[0002] During the descent of the rocket stage, the main engine ignites to decelerate the rocket, while the attitude control engine adjusts the flight attitude of the rocket stage to ensure that the rocket falls in a near-vertical manner.

[0003] Currently, the main vertical recovery solutions for rockets include vertical recovery landing leg solutions, such as the Falcon 9, a medium-to-large launch vehicle; parachute recovery solutions, such as the Electron, a small launch vehicle; the chopstick (clamp) recovery solution used by Starship; and arresting cable recovery solutions currently under development, etc.

[0004] The solutions currently in use or under development all have certain limitations: the landing leg recovery solution requires the landing leg system to be installed on the rocket body, which increases the structural mass, reduces the rocket's carrying efficiency, and the installation or maintenance of the landing legs is relatively complex; the parachute recovery solution is only suitable for small launch vehicles, and its reliability needs further verification; the chopstick (clamp) recovery solution used by Starship requires a complex recovery tower and robotic arm mechanism; the arresting cable recovery solution also requires a complex ground recovery arresting cable system, which is costly. Summary of the Invention

[0005] The purpose of this invention is to provide a vertical recovery system and method for launch vehicles, in order to solve the problem that existing vertical recovery rocket schemes have complex system structures, which increase the rocket's structural mass and affect its launch efficiency.

[0006] To address the above problems, the present invention relates to a vertical recovery system for launch vehicles, comprising:

[0007] The dynamic tracking mechanism is positioned above the predicted rocket landing area and can move within the predicted landing area to dynamically track the rocket as it enters the landing area.

[0008] An active capture mechanism is installed on the dynamic tracking mechanism;

[0009] The capture mechanism, located on the rocket body, is used to connect to or disconnect from the active capture mechanism.

[0010] In some specific embodiments, the dynamic tracking mechanism includes:

[0011] The support section is fixed to the ground at the bottom and extends upwards perpendicularly to the ground at the top.

[0012] The swing arm is rotatably connected to the support at one end and extends horizontally outward at the other end. The swing arm can make circular motion or swing arm motion around the support.

[0013] The walking unit is mounted on the swing arm and can move linearly along the swing arm. The active capture mechanism is mounted on the walking unit.

[0014] In some specific embodiments, the active capture mechanism includes:

[0015] The capture device can be connected to or disconnected from the captured mechanism;

[0016] The connecting part is connected to the walking part at one end and to the catcher at the other end;

[0017] The power-guided device causes the catcher to move toward and approach the captured mechanism.

[0018] In some specific embodiments,

[0019] The catcher has a hook-like structure;

[0020] Correspondingly, the capture mechanism is a suspension structure installed on the rocket body, and the grappling hook structure can be connected to the suspension structure.

[0021] In some specific embodiments, the suspension structure includes:

[0022] The guide parachute is folded and placed inside the rocket body, and can be released from inside the rocket body to outside the rocket body;

[0023] The suspension cable is connected to the rocket body at one end and to the guide parachute at the other end.

[0024] After the guide parachute is released, it pulls the suspension cable upwards to the outside of the rocket body, where it can be grabbed or hooked by the grappling hook structure.

[0025] In some specific embodiments,

[0026] The catcher is a self-locking substructure, including,

[0027] The projectile, hemispherical in shape, is located at the tail end of the connecting part;

[0028] A self-locking mechanism is installed on the throwing body;

[0029] The captured mechanism is a self-locking female structure adapted to the self-locking substructure, including:

[0030] The receiver is located at the upper end of the rocket body and has an internal cavity. The upper end of the internal cavity is open, and the inner wall of the internal cavity is provided with a locking part. From the open end to the locking part, the inner wall of the internal cavity is a conical curved surface with a gradually decreasing diameter. When the projectile enters below the locking part along the conical curved surface, the self-locking body can be blocked at the lower end of the locking part to achieve self-locking.

[0031] In some specific embodiments,

[0032] Self-locking bodies include,

[0033] Self-locking rods, at least two, are arranged in a circular array on the upper surface of the throwing body, with the lower end slidingly connected to the upper surface of the throwing body and the upper end extending outward at an angle.

[0034] A return spring is radially disposed on the upper end face of the throwing body, with one end connected to the throwing body and the other end connected to the self-locking rod, and has an elastic force that can reset the self-locking rod;

[0035] Under the pressure of the locking part, the self-locking rod can move radially through the upper end face of the throwing body and pass through the locking part. Under the elastic force of the return spring, the self-locking rod returns to its original position and is locked at the lower end of the locking part.

[0036] In some specific embodiments, it also includes,

[0037] The support body is connected to the tail end of the connecting part, and the power guide device is installed on the support body;

[0038] The flexible connecting rod is fixedly connected to the support body at one end and to the throwing body at the other end.

[0039] In some specific embodiments, the connecting part is a flexible connecting cable or a rigid robotic arm.

[0040] The vertical recovery method for launch vehicles based on the same inventive concept, using the vertical recovery system for launch vehicles provided in any of the above specific embodiments, specifically includes the following steps:

[0041] S1. The rocket uses reverse thrust to decelerate, the engine flies downwards, and maneuvers to a landable area;

[0042] S2. Predict the rocket's landing point. The dynamic tracking mechanism tracks the rocket's landing point. When the top of the rocket lands near the dynamic tracking mechanism, the active capture mechanism is activated.

[0043] S3. The active capture mechanism establishes a connection with the captured mechanism, the rocket decelerates to zero, and the rocket is recovered.

[0044] The beneficial effects of this invention are as follows:

[0045] 1. The launch vehicle vertical recovery system of the present invention can dynamically track the rocket entering the landing area by setting a dynamic tracking mechanism in the rocket landing area. The area swept by the swing arm can be the landing area of ​​the rocket. Therefore, the actual landing area of ​​the rocket is larger than that of the traditional recovery scheme, and the requirement for rocket control accuracy can be greatly reduced.

[0046] 2. The launch vehicle vertical recovery system of the present invention installs an active capture mechanism on the dynamic tracking mechanism. The launch capture device can establish a connection with the falling rocket. The rocket can maintain a connection with the dynamic tracking system for a long time during the descent process. Therefore, the recovery time window is relatively long, providing enough time to adjust the capture device and the rocket's operating attitude, reducing the probability of errors.

[0047] 3. The vertical recovery system for launch vehicles of the present invention requires minimal additional modifications to the rocket body structure, does not increase the additional mass significantly, and can effectively improve the rocket's launch efficiency.

[0048] 4. This invention eliminates the need for recovery landing legs and parachutes, significantly reducing the rocket's mass and effectively increasing its carrying capacity. Furthermore, landing leg systems are costly to develop and require specialized retrieval procedures and tooling during recovery, as well as maintenance before re-flight, resulting in high operating and maintenance costs and long maintenance cycles. This invention, with its landing legless system, eliminates these development, operation, and maintenance costs.

[0049] 5. The ground support system of the vertical recovery system of the launch vehicle of the present invention is also relatively simple. The dynamic tracking mechanism adopts a structure similar to the tower crane commonly used in the construction field, which can realize modular assembly and dismantling, making it convenient to use and maintain and with low cost.

[0050] 6. The vertical recovery system for launch vehicles of the present invention can also be compatible with the rocket assembly or erection function of the rocket launch site, that is, it can be used at both the launch site and the rocket recovery site. This can greatly save the cost of rocket launch preparation and repeated launch after recovery, and greatly reduce the time for recovery transfer and reuse. Attached Figure Description

[0051] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the overall structure of the vertical recovery system for launch vehicles according to the present invention.

[0053] Figure 2 This is a schematic diagram of the vertical recovery system for launch vehicles according to the present invention.

[0054] Figure 3 This is a schematic diagram of the recycling area.

[0055] Figure 4 This is a schematic diagram showing the merging of the recovery area and the launch area.

[0056] Figure 5 This is a schematic diagram of the capture device entering the captured mechanism in one embodiment.

[0057] Figure 6 This is a schematic diagram of the capture device locking with the captured mechanism in one embodiment.

[0058] Figure 7 for Figure 6 A schematic diagram of the specific structure of the projectile.

[0059] Figure 8 for Figure 7 A schematic diagram of the structure of the upper surface of the projectile.

[0060] Figure 9 for Figure 7 Top view of the central load-bearing block.

[0061] Figure 10 This is a schematic diagram of a claw-type grasping and capturing structure in one embodiment.

[0062] Figure 11 This is a schematic diagram of the hook capture structure in one embodiment.

[0063] Figure 12 This is a schematic diagram of the robotic arm capture structure in one embodiment.

[0064] The following are the annotations in the figure: 100-Dynamic tracking mechanism, 110-Support part, 120-Swing arm, 130-Walking part, 200-Active capture mechanism, 210-Capturer, 211-Thrower, 212-Self-locking body, 2121-Self-locking rod, 2122-Reset spring, 2123-Bearing block, 2124-Radial groove, 213-Support body, 214-Flexible connecting rod, 220-Connecting part, 230-Power guiding device; 300-Captured mechanism, 310-Receiver seat, 320-Internal cavity, 330-Locking part, 340-Guiding parachute, 350-Suspension cable, 400-Rocket body, A-Rocket recovery area, B-Rocket launch area. Detailed Implementation

[0065] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0066] As mentioned in the background technology, current landing leg recovery schemes require the installation of landing leg systems on the rocket body, which increases structural mass, reduces rocket carrying efficiency, and the installation or maintenance of landing legs is relatively complex; parachute recovery schemes are only suitable for small launch vehicles, and their reliability needs further verification; the chopstick-style recovery scheme used by Starship requires a complex recovery tower and robotic arm mechanism; arresting cable recovery schemes also require a complex ground recovery arresting cable system, which is costly.

[0067] To address the aforementioned problems, this embodiment provides a vertical recovery system for launch vehicles, such as... Figure 1-12 As shown, the system includes a dynamic tracking mechanism 100, an active capture mechanism 200, and a captured mechanism 300. The dynamic tracking mechanism 100 is positioned above the predicted rocket landing area and can move within the area to dynamically track the rocket as it enters. The active capture mechanism 200 is mounted on the dynamic tracking mechanism 100 and moves with it to the vicinity of the rocket body 400. The captured mechanism 300 is mounted on the rocket body 400 and is used to connect to or disconnect from the active capture mechanism 200.

[0068] By positioning the dynamic tracking mechanism 100 within the pre-determined rocket landing area, the mechanism follows the moving rocket as it descends. Once the rocket approaches the tracking mechanism 100, the active capture mechanism 200 is activated. This mechanism connects with the captured mechanism 300 on the rocket, helping to buffer and decelerate the rocket. After the rocket's speed reaches zero, it is hoisted into the air for recovery. By connecting the active capture mechanism 200 with the captured mechanism 300, the rocket can maintain a connection with the dynamic tracking system for a considerable period during descent. This provides a longer recovery window, allowing sufficient time to adjust the active capture mechanism 200 and the rocket's attitude, reducing the probability of errors.

[0069] Specifically, in the exemplary embodiments, such as Figure 1 , Figure 2As shown, the dynamic tracking mechanism 100 includes a support 110, a swing arm 120, and a traveling part 130. The bottom of the support 110 is fixed to the ground, and the top extends upward perpendicularly to the ground. One end of the swing arm 120 is rotatably connected to the support 110, and the other end extends horizontally outward. A motor is mounted on the support 110, and the motor is connected to the rotating shaft of the swing arm 120. Driven by the motor, the swing arm 120 can perform circular motion around the support 110 or move horizontally. The traveling part 130 is mounted on the swing arm 120 and can move linearly along the swing arm 120 by itself, such as a traveling cart; or it can be pulled linearly along the swing arm 120 by other power sources, such as a motor-driven sprocket chain. To improve the safety of the traveling part 130, a track can be provided on the swing arm 120, within which the traveling part 130 moves linearly. An active capture mechanism 200 is mounted on the traveling part 130 and moves with it. The active capture mechanism 200 achieves free movement within the rocket's landing area through the circumferential swing of the swing arm 120 and the radial movement of the traveling part 130. The area swept by the rotation of the swing arm 120 is the rocket's landing zone; therefore, the actual landing zone is larger than that of traditional recovery schemes, significantly reducing the need for rocket control precision.

[0070] The support section 110 can adopt standard tower crane sections from existing technologies. The specific number of standard sections is set according to the height required for rocket recovery. The standard sections are connected to each other to form a support frame perpendicular to the ground. The lower end of the support section 110 can be fixed to the building structure on the ground or fixed to piles driven into the ground. This facilitates assembly and disassembly.

[0071] Specifically, in the exemplary embodiments, such as Figure 1 As shown, the active capture mechanism 200 includes a capture device 210, a connecting part 220, and a power guiding device 230. The capture device 210 can be connected to or disconnected from the captured mechanism 300. One end of the connecting part 220 is connected to the walking part 130, and the other end is connected to the capture device 210. The power guiding device 230 enables the capture device 210 to move towards and approach the captured mechanism 300. The power guiding device 230 can be a pneumatic catapult device, a small towing rocket, or a drone, etc.

[0072] Under the traction of the power guidance device 230, the capture device 210 moves toward and approaches the captured mechanism 300. After the capture device 210 establishes a connection with the captured mechanism 300, since the capture device 210 is connected to the traveling part 130 through the connecting part 220, the rocket can be connected to the traveling part 130, thereby helping the rocket to buffer and decelerate. After the rocket speed drops to zero, the rocket is hoisted into the air for recovery.

[0073] Specifically, in the exemplary embodiment, the catcher 210 is a hook-like structure, and correspondingly, the captured mechanism 300 is a suspension structure mounted on the rocket body 400. The hook-like structure can be connected to the suspension structure. In this embodiment, as shown... Figure 11 , Figure 12 As shown, the claw structure uses a hook, and the suspension structure uses a suspension point or a suspension net. By hooking the hook onto the corresponding suspension point or suspension net on the rocket, the capture device 210 can be connected to the rocket.

[0074] As an optional implementation, such as Figure 10 As shown, the hook structure can also adopt a claw-type grasping structure, and the suspension structure can adopt a suspension point or suspension net. By grasping the corresponding suspension point or suspension net on the rocket by the claw-type grasping structure, the capture device 210 can be connected to the rocket.

[0075] Specifically, in the exemplary embodiments, such as Figure 11 , Figure 12 As shown, the suspension structure includes a guide parachute 340 and a suspension cable 350. In the non-recovery state, the guide parachute 340 is folded and placed inside the rocket body 400. In the recovery state, the guide parachute 340 can be released from inside the rocket body 400 to the outside of the rocket body 400, and is pulled to the outside of the rocket body 400 by gas buoyancy. One end of the suspension cable 350 is connected to the rocket body 400, and the other end is connected to the guide parachute 340. After the guide parachute 340 is released, it pulls the suspension cable 350 upwards to the outside of the rocket body 400 under the traction of the guide parachute 340. The suspension cable 350 can be used by the grappling hook structure to grab or hook onto the rocket body 400. The number of suspension cables 350 can be increased to form a suspension cable net, which facilitates the grappling hook structure to grab or hook onto the rocket body 400 more smoothly.

[0076] Specifically, in the exemplary embodiments, such as Figure 5 , Figure 6As shown, the catcher 210 is a self-locking substructure, and the captured mechanism 300 is a self-locking nut structure adapted to the self-locking substructure. The connection between the catcher 210 and the captured mechanism 300 is achieved by the self-locking substructure and the self-locking nut structure locking each other. The self-locking substructure includes a thrower 211 and a self-locking body 212. The thrower 211 is hemispherical, with a flat upper surface and a spherical lower surface. The upper surface of the thrower 211 is connected to the tail end of the connecting part 220. The self-locking body 212 is disposed on the upper surface of the thrower 211 and is used to cooperate with the self-locking nut structure to achieve mutual locking. The self-locking nut structure includes a receiver 310, which is located at the upper end of the rocket body 400. The receiver 310 has an inner cavity 320 with an open upper end. The inner wall of the inner cavity 320 is provided with a locking part 330, and the inner diameter of the self-locking body 212 is larger than the diameter of the projectile 211 to ensure that the projectile 211 can pass through the self-locking body 212. From the open end to the locking part 330, the inner wall of the inner cavity 320 is a tapered surface with a gradually decreasing diameter. As long as the projectile 211 enters the upper end of the inner cavity 320, the projectile 211 will spiral downward on the tapered surface, ensuring that the projectile 211 passes through the locking part 330. When the projectile 211 enters below the locking part 330, the self-locking body 212 can be locked at the lower end of the locking part 330 to achieve self-locking.

[0077] To ensure that the projectile 211 remains vertical after passing through the locking part 330, the lower end of the projectile 211 is filled with a heavier material. Because the lower end of the projectile 211 is heavier, it will remain downward-facing as it rolls on the conical surface, allowing it to spiral and finally pass vertically through the locking part 330. This causes the self-locking element 212 on the upper surface of the projectile 211 to engage with the lower end of the locking part 330, achieving self-locking.

[0078] As an optional implementation, magnetic sheets can be provided at the lower end of the throwing body 211 and the lower end of the internal cavity 320, so that the throwing body 211 remains vertical after passing through the locking part 330 by magnetic attraction. This allows the self-locking body 212 on the upper surface of the throwing body 211 to lock itself at the lower end of the locking part 330.

[0079] Specifically, in the exemplary embodiments, such as Figure 7 , Figure 8 , Figure 9As shown, the self-locking body 212 includes a self-locking rod 2121 and a return spring 2122. There are at least two self-locking rods 2121, but three are used in this embodiment. They are arranged in a circular array on the upper surface of the throwing body 211. A radial groove 2124 is formed on the upper surface of the throwing body 211 corresponding to the self-locking rod 2121. The lower end of the self-locking rod 2121 is disposed in the radial groove 2124, and the upper end of the self-locking rod 2121 extends outward at an angle, such that the diameter of the circle containing the upper end of the self-locking rod 2121 is larger than the diameter of the upper surface of the throwing body 211. The return spring 2122 is disposed in the radial groove 2124. One end of the return spring 2122 is embedded in the spring groove of the throwing body 211, and the other end is fixedly connected to the self-locking rod 2121. The return spring 2122 is a compression spring. When there is no external force pressing the self-locking rod 2121, the return spring 2122 pushes the self-locking rod 2121 radially outward to the outermost end of the radial groove 2124, which is the original position of the self-locking rod 2121. At this time, the diameter of the circle where the upper end of the self-locking rod 2121 is located is larger than the inner diameter of the locking part 330. When pressed by the locking part 330, the self-locking rod 2121 can compress the return spring 2122 and move inward along the radial groove 2124 so that it can pass smoothly through the locking part 330. After passing through the locking part 330, the compression force of the return spring 2122 will push the self-locking rod 2121 radially outward to the outermost end of the radial groove 2124, so that the self-locking rod 2121 is reset. Thus, the upper end of the self-locking rod 2121 is locked at the lower end of the locking part 330 to achieve self-locking and prevent the projectile 211 from falling out of the locking part 330.

[0080] Each self-locking lever 2121 may also be fixedly provided with a load-bearing block 2123 at its upper end. The load-bearing blocks 2123 are arc-shaped, and all load-bearing blocks 2123 are on the same circumference. The ends of two adjacent load-bearing blocks 2123 do not contact each other, thereby providing a contraction gap when the locking part 330 squeezes the self-locking lever 2121 to allow it to pass smoothly through the locking part 330. After the self-locking lever 2121 and the load-bearing block 2123 have both passed through the locking part 330, the load-bearing block 2123 returns to its original position with the self-locking lever 2121 and resists the lower end of the locking part 330, evenly distributing the force from the locking part 330 and preventing the projectile 211 from coming out of the locking part 330.

[0081] Specifically, in the exemplary embodiments, such as Figure 5 , Figure 6As shown, it also includes a support body 213 and a flexible connecting rod 214. The support body 213 is connected to the tail end of the connecting part 220. A power guiding device 230 is installed on the support body 213. The power guiding device 230 uses a small traction rocket to provide traction force for the capture device 210. One end of the flexible connecting rod 214 is fixedly connected to the support body 213, and the other end is fixedly connected to the throwable body 211. The flexible connecting rod 214 can not only keep the support body 213 and the throwable body 211 connected, but also control the throwing direction of the throwable body 211 to be basically consistent with the movement direction of the support body 213, ensuring that the throwable body 211 smoothly enters the internal cavity 320.

[0082] Specifically, in the exemplary embodiment, the connecting part 220 is a flexible connecting cable or a rigid robotic arm. For example... Figure 5 , Figure 6 , Figure 10 , Figure 11 As shown, when the connecting part 220 is a flexible connecting cable, the power guiding device 230 can be a pneumatic catapult device, a small traction rocket, or a drone, etc., to provide traction force to the capture device 210, so that the capture device 210 is connected to the captured mechanism 300. Figure 12 As shown, when the connecting part 220 is a rigid robotic arm, the power guiding device 230 is not required. The capture device 210 can be connected to the captured mechanism 300 by controlling the rotation angle of the robotic arm.

[0083] Furthermore, the vertical recovery system for launch vehicles of the present invention is also compatible with rocket assembly or erection functions at rocket launch sites, such as... Figure 3 , Figure 4 As shown, the operating area where the dynamic tracking mechanism 100 moves is divided into rocket launch area B and rocket recovery area A, each occupying a semicircle. This allows it to be used as both a launch site and a rocket recovery site, which can greatly save the cost of rocket launch preparation and repeated launches after recovery, and significantly reduce the time for recovery transfer and reuse.

[0084] The vertical recovery method for launch vehicles based on the same inventive concept, employing the vertical recovery system for launch vehicles provided in any of the above specific embodiments, specifically includes the following steps: S1, the rocket decelerates using reverse thrust, the engine flies downwards, and it maneuvers to a landing area. S2, the rocket's landing point is predicted, and the dynamic tracking mechanism 100 tracks the rocket's landing point. During the rocket's descent, the landing point is tracked by the swing of the swing arm 120 and the linear movement of the traveling part 130. When the rocket lands at a suitable position near the dynamic tracking mechanism 100, the active capture mechanism 200 is activated. S3, the active capture mechanism 200 establishes a connection with the captured mechanism 300, the rocket decelerates to zero, and the rocket is recovered.

[0085] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0086] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0087] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0088] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0089] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A vertical recovery system for a launch vehicle, the system comprising: include: The dynamic tracking mechanism is positioned above the predicted rocket landing area and can move within the predicted landing area to dynamically track the rocket as it enters the landing area. An active capture mechanism is mounted on the dynamic tracking mechanism; The captured mechanism, mounted on the rocket body, is used to connect or disconnect from the active capture mechanism. The dynamic tracking mechanism includes: The support section is fixed to the ground at the bottom and extends upwards perpendicularly to the ground at the top. The swing arm has one end rotatably connected to the support part and the other end extends horizontally outward. The swing arm can make circular motion or swing arm motion around the support part. A walking unit is mounted on the swing arm and can move linearly along the swing arm; the active capture mechanism is mounted on the walking unit. The active capture mechanism includes: The catcher can be connected to or disconnected from the captured mechanism; The connecting part is connected at one end to the walking part and at the other end to the catcher; A power guiding device causes the catcher to move toward and approach the captured mechanism; The trap is a self-locking substructure including: The projectile, in the shape of a hemisphere, is located at the tail end of the connecting part; A self-locking body is provided on the throwing body; The captured mechanism is a self-locking female structure adapted to the self-locking substructure, including: The receiving base is located at the upper end of the rocket body and has an internal cavity with an open upper end. The inner wall of the internal cavity is provided with a locking part. From the open end to the locking part, the inner wall of the internal cavity is a conical curved surface with a gradually decreasing diameter. When the projectile enters below the locking part along the conical curved surface, the self-locking body can be locked at the lower end of the locking part to achieve self-locking. The self-locking body includes: At least two self-locking rods are arranged in a circular array on the upper surface of the throwing body, with the lower end slidably connected to the upper surface of the throwing body and the upper end extending outward at an angle. A return spring is radially disposed on the upper end face of the throwing body, with one end connected to the throwing body and the other end connected to the self-locking rod, and has an elastic force that can reset the self-locking rod; Under the pressure of the locking part, the self-locking rod can move radially through the upper end face of the throwing body and pass through the locking part. Under the elastic force of the return spring, the self-locking rod returns to its original position and is locked at the lower end of the locking part.

2. The launch vehicle vertical recovery system of claim 1, wherein, Also includes: A support body is connected to the tail end of the connecting part, and the power guiding device is mounted on the support body; The flexible connecting rod is fixedly connected at one end to the support body and at the other end to the throwing body.

3. The launch vehicle vertical recovery system of claim 1, wherein, The connecting part is a flexible connecting cable or a rigid robotic arm.

4. A method for vertical recovery of a launch vehicle, characterized by, The vertical recovery system for launch vehicles according to any one of claims 1-3 specifically includes the following steps: S1. The rocket uses reverse thrust to decelerate, the engine flies downwards, and maneuvers to a landable area; S2. Predict the rocket's landing point. The dynamic tracking mechanism tracks the rocket's landing point. When the top of the rocket lands near the dynamic tracking mechanism, the active capture mechanism is activated. S3. The active capture mechanism establishes a connection with the captured mechanism, the rocket decelerates to zero, and the rocket is recovered.

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