Rocket capture arm and recovery tower

Abstract

This invention relates to the field of rocket recovery, and discloses a rocket capture arm and a recovery tower. The rocket capture arm includes: a main body; a support member, which is vertically and flexibly mounted on the main body via a first link assembly and a second link assembly, and is used to support the rocket; the first link assembly includes at least two first links arranged vertically, one end of which is rotatably connected to the main body, and the other end is rotatably connected to the support member; the second link assembly includes at least two second links arranged vertically, one end of which is rotatably connected to the main body, and the other end is rotatably connected to the support member, the plane of the second link assembly being angled to the plane of the first link assembly; and a buffer assembly connected between the main body and the support member, used to provide resistance during the descent of the support member. The non-coplanar layout of the two sets of link assemblies constructs a composite support structure in three-dimensional space, so that the degree of freedom of the original single-planar four-link is offset by the rigid constraint of the cross-link.

Description

Technical Field

[0001] This invention relates to the field of rocket recovery technology, specifically to rocket capture arms and recovery towers. Background Technology

[0002] With the development of aerospace technology, the recovery and reuse of launch vehicles has become crucial for reducing launch costs. Traditional landing leg recovery methods rely on the rocket's autonomous attitude adjustment and cushioning mechanisms, which suffer from drawbacks such as structural dead weight, structural complexity, and limited reusability. New launch tower recovery technology directly grabs the rocket using a ground-based capture device, significantly improving recovery efficiency and safety.

[0003] In related technologies, the capture device employs a buffer structure composed of multiple sets of parallelogram linkages, achieving vertical buffering through the linkage within the plane of the linkages. This mechanism possesses good stability and buffering performance within its design plane.

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

[0005] In view of this, the present invention provides a rocket capture arm and recovery tower to solve or improve the problem of easy swaying in parallelogram linkage mechanisms.

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

[0007] main body;

[0008] The support component, which can be raised and lowered on the main body via a first link assembly and a second link assembly, is used to support the rocket;

[0009] The first linkage assembly includes at least two first linkages arranged in a vertical direction, one end of the first linkage being rotatably connected to the main body and the other end being rotatably connected to the support member;

[0010] The second link assembly includes at least two second links arranged in a vertical direction. One end of the second link is rotatably connected to the main body, and the other end is rotatably connected to the support member. The plane of the second link assembly is set at an angle to the plane of the first link assembly.

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

[0012] In one optional implementation, both the first link assembly and the second link assembly are configured as multiple, with one-to-one correspondence between the first link assembly and the second link assembly, and one-to-one correspondence between the first link assembly and the corresponding second link assembly.

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

[0014] A crossbeam, which is used to support the rocket;

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

[0016] In one alternative embodiment, the top surface of the crossbeam is provided with a flange near the edge of the rocket;

[0017] And / or, the support member further includes a reinforcing beam connected between the crossbeam and the column.

[0018] In one alternative embodiment, the main body is configured as a truss structure, and an accommodating space is formed inside the main body. The support member is disposed on the outside of the main body, and at least a portion of the first link assembly and at least a portion of the second link assembly are disposed within the accommodating space.

[0019] In one alternative embodiment, the first link is hinged to the main body and to the support member via ball joints.

[0020] And / or, the second link is hinged to the main body and to the support member by ball joints.

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

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

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

[0024] In one optional embodiment, a second mounting assembly is provided on the side wall of the main body, located below the support member. The second mounting assembly includes two spaced-apart second mounting plates, the top of which is used to limit the support member in the vertical direction.

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

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

[0027] The rocket capture arm provided by this invention arranges the first and second link assemblies at an angle, forming a dual-plane cross-constraint system. This means the non-coplanar layout of the two link assemblies constructs a composite support structure in three-dimensional space, offsetting the original single-plane four-link degrees of freedom through the rigid constraints of the cross-links. When dynamic loads induce out-of-plane oscillations, the spatial angular difference between the cross-link assemblies generates a counter-torque, significantly suppressing lateral displacement and thus improving the stability of the rocket capture arm.

[0028] Furthermore, since the first and second links can be configured with the same structure, they can be interchanged, increasing the system's flexibility and adaptability. Simultaneously, only one link needs to be designed and applied to both the first and second link assemblies, significantly reducing repetitive work in the design process, improving design efficiency, lowering production costs, and reducing maintenance difficulty and costs.

[0029] The recovery tower provided by the present invention incorporates all the advantages of the rocket capture arm described above. Attached Figure Description

[0030] 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.

[0031] Figure 1 This is a schematic diagram of the structure of a rocket capture arm provided in an embodiment of the present invention;

[0032] Figure 2 A front view of a rocket capture arm provided in an embodiment of the present invention;

[0033] Figure 3 for Figure 2 A three-dimensional angle diagram of the rocket capture arm shown;

[0034] Figure 4 for Figure 2 The right view of the rocket capture arm shown;

[0035] Figure 5 A schematic diagram of the connection between the support member and the first and second connecting rod assemblies provided in an embodiment of the present invention;

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

[0037] Explanation of reference numerals in the attached figures:

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

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, 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.

[0040] In related technologies, the capture device employs a buffer structure composed of multiple sets of parallelogram linkages, achieving vertical buffering through the linkage within the plane of the linkages. This mechanism possesses good stability and buffering performance within its design plane.

[0041] However, this parallelogram linkage mechanism is prone to out-of-plane coupling, that is, slight oscillations will occur in the direction perpendicular to the plane of the linkage, which will aggravate mechanical wear and reduce equipment reliability.

[0042] To address or improve the problem of swaying easily in parallelogram linkage mechanisms in related technologies, this invention provides a rocket capture arm and recovery tower.

[0043] The following is combined Figures 1 to 6 This describes the rocket capture arm provided in an embodiment of the present invention.

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

[0045] The main body 1 is used to connect to the tower of the recycling tower.

[0046] The support member 2 is vertically and elliptically mounted on the main body 1 via the first link assembly 3 and the second link assembly 4, and the support member 2 is used to support the rocket 7. For example, a landing hook is provided on the side wall of the rocket 7, and the support member 2 is used to support the landing hook of the rocket 7.

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

[0048] The second linkage assembly 4 includes at least two second linkages 401 arranged vertically, specifically, there is a gap between adjacent second linkages 401. Each second linkage 401 is rotatably connected at one end to the main body 1 and at the other end to the support member 2. It is understood that the second linkages 401 in the second linkage assembly 4 are parallel to each other.

[0049] Furthermore, the plane containing the second link assembly 4 is angled to the plane containing the first link assembly 3. The plane containing the first link assembly 3 is the plane formed by at least two first links 301, and the plane containing the second link assembly 4 is the plane formed by at least two second links 401. Optionally, the angle between the plane containing the second link assembly 4 and the plane containing the first link assembly 3 can be in the range of 10° to 90°.

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

[0051] In this embodiment, during the descent of rocket 7, rocket 7 contacts support member 2, and support member 2 moves downward under the constraint of first link assembly 3 and second link assembly 4. During the descent of support member 2, buffer assembly 5 provides a buffering and energy absorption function, which can dissipate the kinetic and potential energy of rocket 7, allowing rocket 7 to stop smoothly.

[0052] This configuration, by setting the first link assembly 3 and the second link assembly 4 at an angle, forms a dual-plane cross-constraint system. The non-coplanar layout of the two link assemblies constructs a composite support structure in three-dimensional space, thus offsetting the original single-plane four-link degree of freedom with the rigid constraints of the cross-links. When dynamic loads induce out-of-plane oscillations, the spatial angular difference between the cross-link assemblies generates a counter-torque, significantly suppressing lateral displacement and thereby improving the stability of the rocket's capture arm.

[0053] Furthermore, since the first link 301 and the second link 401 can be configured with the same structure and are interchangeable, the flexibility and adaptability of the system can be increased. Simultaneously, only one link needs to be designed and applied to the first link assembly 3 and the second link assembly 4, which can greatly reduce repetitive work in the design process, improve design efficiency, reduce production costs, and lower maintenance difficulty and costs.

[0054] In some embodiments provided by the present invention, multiple first link assemblies 3 and second link assemblies 4 are provided, with one-to-one correspondence between the first link assemblies 3 and the corresponding second link assemblies 4, and one-to-one correspondence between the first link assemblies 3 and the corresponding second link assemblies 4, with one-to-one correspondence between the first link assemblies 3 and the corresponding second link assemblies 4. For example, the first link 301 and the corresponding second link 401 are symmetrically arranged between the first link assemblies 3 and the corresponding second link assemblies 4.

[0055] In this embodiment, by making the first link 301 and the second link 401 correspond one-to-one, the structural symmetry of the entire link system can be ensured, thereby helping to distribute the force evenly, reducing stress concentration problems, and thus improving the stability and load-bearing capacity of the overall structure.

[0056] Furthermore, by forming a three-dimensional constraint system similar to a truss structure through multiple sets of spatially intersecting first link assemblies 3 and second link assemblies 4, a more balanced constraint force can be formed in the direction perpendicular to the plane of a single link, suppressing the swing of the link assembly along the plane perpendicular to the link, and solving the technical defect of traditional parallelogram links that are prone to out-of-plane swing.

[0057] In addition, multiple sets of corresponding connecting rods distribute the landing impact load of Rocket 7 to multiple force transmission paths. Each set of connecting rods bears the load independently and coordinates the force through spatial angles, avoiding single-point overload and improving structural redundancy.

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

[0059] Crossbeam 201 is used to support rocket 7. That is, crossbeam 201 is used to support the landing hook of rocket 7.

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

[0061] In this embodiment, multiple columns 202 are distributed along the axial direction of the crossbeam 201. Each column 202 is hinged to the main body 1 through two sets of non-planar connecting rod assemblies to form a space truss-like structure, thereby having higher structural strength and enabling the rocket capture arm to bear loads.

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

[0063] Since each column 202 and its corresponding connecting rod assembly can work independently, this design helps to optimize the distribution of force throughout the structure, avoids local stress concentration problems, and enhances the overall durability and reliability of the structure.

[0064] In addition, each column 202 is equipped with an independent first link assembly 3 and a second link assembly 4, which can significantly improve the load-bearing capacity of the entire system. For example, this layout allows the system to independently absorb and disperse energy at different locations, thereby better coping with complex stress conditions.

[0065] In some embodiments provided by the present invention, a flange 2011 is provided on the top surface of the crossbeam 201 near the edge of the rocket 7.

[0066] In this embodiment, the flange 2011 on the top surface of the crossbeam 201 extends beyond the top surface of the crossbeam 201, forming a blocking structure. This provides an additional physical barrier during rocket 7 landing, preventing the rocket 7 from detaching from the support member 2 due to accidental sideslip and improving the safety of the recovery process. For example, it can prevent the landing hook from accidentally slipping off the edge of the crossbeam 201 due to vibration, airflow, or attitude adjustment after rocket 7 lands, thus improving recovery stability.

[0067] In some embodiments provided by the present invention, the support member 2 further includes a reinforcing beam 203. The reinforcing beam 203 connects the crossbeam 201 and the column 202.

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

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

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

[0071] In this embodiment, by setting multiple sub-beam connection points at different heights of the column 202, the force can be evenly distributed along the length of the column 202, which can avoid excessive pressure on a single point, reduce the risk of structural failure, and enhance the overall load-bearing capacity of the structure.

[0072] In addition, the connection points of the first link 301 and the second link 401 with the column 202 are close to the connection points of the corresponding sub-beams with the column 202, which can more directly and effectively transfer the force from the link to the sub-beam, and then distribute it from the sub-beam to the entire support member 2. This arrangement can optimize the force transmission path, make the support member 2 as a whole bear the force evenly, and reduce stress concentration.

[0073] Optionally, reinforcing beams 203 are provided on both sides of the column 202 to ensure that the forces on both sides of the column 202 are balanced.

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

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

[0076] By creating a receiving space 101 inside the main body 1 and placing some of the connecting rod assemblies therein, the limited space inside the main body 1 can be effectively utilized, making the overall design more compact. This not only helps reduce the physical space occupied by the system, but also provides more installation positions for other necessary components or equipment.

[0077] Furthermore, placing portions of the first link assembly 3 and the second link assembly 4 within the receiving space 101 inside the main body 1 prevents the first link assembly 3 and the second link assembly 4 from protruding outside the main body 1, which helps reduce the risk of damage caused by accidental collisions.

[0078] In some embodiments provided by the present invention, the first link 301 is hinged to the main body 1 and to the support member 2 by ball hinges.

[0079] In this embodiment, the floating amount of the ball joint between the first link 301 and the main body 1, and between the first link 301 and the support member 2, can absorb manufacturing and installation deviations, making the assembly of the intersecting first link assembly 3 and second link assembly 4 easier and thus improving assembly efficiency.

[0080] In some embodiments provided by the present invention, the second link 401 is hinged to the main body 1 and to the support member 2 by ball hinges.

[0081] In this embodiment, the floating amount of the ball joint between the second link 401 and the main body 1, and between the second link 401 and the support member 2, can absorb manufacturing and installation deviations, making the assembly of the cross-set first link assembly 3 and second link assembly 4 easier and thus improving assembly efficiency.

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

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

[0084] In this embodiment, during the rocket 7 recovery preparation stage, the lifting cylinder 6 begins to inflate and lifts the support member 2 from a low position to a high position. The buffer assembly 5 extends accordingly, and the movement trajectory of the support member 2 is constrained by the two linkage assemblies.

[0085] During the landing of Rocket 7, the landing hooks on both sides of Rocket 7 first contact the support component 2 in its lifting state. Then, under the influence of Rocket 7's own weight and the remaining descent velocity, the landing hooks push the support component 2 downward. Under the constraint of the two linkage assemblies, the support component 2 rotates downward in the vertical direction, while compressing the buffer assembly 5 and the lifting cylinder 6.

[0086] During the movement of support component 2, the remaining potential and kinetic energy of rocket 7 is absorbed by buffer component 5, which eventually reduces the vertical velocity of rocket 7 to zero, completing the buffering process for rocket 7's landing.

[0087] Before the rocket 7 is recovered, the lifting cylinder 6 lifts the support component 2 and extends the buffer component 5. After the rocket 7 lands, the support component 2 remains in a low position and will not rise automatically. Thus, during the hoisting of the rocket 7, the support component 2 can be kept in a low position, avoiding problems such as interference caused by the support component 2 rising automatically.

[0088] In summary, this setup allows the lifting operation to be initiated only during the rocket 7 recovery preparation phase, raising support component 2 from a low position to a high position. This avoids the space occupation and accidental activation risks caused by support component 2 remaining in a high position for an extended period. During the lifting process, the buffer assembly 5 extends synchronously, providing preloading for subsequent buffering and improving energy absorption efficiency.

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

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

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

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

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

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

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

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

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

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

[0099] The fixed part of the buffer assembly 5 is rotatably connected to the second mounting plate 1031, and the telescopic part is rotatably connected to the support member 2. This allows the buffer assembly 5 to adjust its angle synchronously when the support member 2 moves (such as rotating vertically), avoiding motion interference or mechanical jamming caused by rigid connection and ensuring a smooth driving process. That is, the buffer assembly 5 only needs to bear axial load, and the radial load it bears is relatively small.

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

[0101] Furthermore, each buffer component 5 corresponds to a second mounting component 103, meaning that each buffer component 5 is provided with a corresponding second mounting component 103.

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

[0103] The main body 1 is used to connect to the tower of the recycling tower. The main body 1 is configured as a truss structure, and an accommodating space 101 is formed inside the main body 1. The support member 2 is located on the outside of the main body 1, and at least a portion of the first link assembly 3 and at least a portion of the second link assembly 4 are disposed within the accommodating space 101.

[0104] The support member 2 is vertically and elliptically mounted on the main body 1 via the first link assembly 3 and the second link assembly 4, and the support member 2 is used to support the rocket 7. For example, a landing hook is provided on the side wall of the rocket 7, and the support member 2 is used to support the landing hook of the rocket 7. The support member 2 includes a crossbeam 201 and a column 202.

[0105] Crossbeam 201 is used to support rocket 7. That is, crossbeam 201 is used to support the landing hook of rocket 7.

[0106] There are multiple columns 202, which are arranged at intervals along the axial direction of the crossbeam 201 and are all connected to the crossbeam 201, for example, the columns 202 can be welded to the crossbeam 201. Each column 202 is connected to a corresponding first link assembly 3 and second link assembly 4. It can be understood that there are multiple first link assemblies 3 and second link assemblies 4, and both the first link assembly 3 and the second link assembly 4 are rotatably connected to the corresponding column 202.

[0107] The first linkage assembly 3 includes at least two first links 301 arranged vertically, specifically, there is a gap between adjacent first links 301. The first links 301 in the first linkage assembly 3 are parallel to each other. Each first link 301 is rotatably connected at one end to the main body 1 and at the other end to the support member 2. The first links 301 and the main body 1, as well as the first links 301 and the support member 2, are hinged by ball joints.

[0108] The second linkage assembly 4 includes at least two second linkages 401 arranged vertically, specifically, there is a gap between adjacent second linkages 401. The second linkages 401 in the second linkage assembly 4 are parallel to each other. Each second linkage 401 is rotatably connected at one end to the main body 1 and at the other end to the support member 2. The second linkages 401 and the main body 1, as well as the second linkages 401 and the support member 2, are hinged by ball joints.

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

[0110] Multiple first link assemblies 3 and second link assemblies 4 are provided, with one-to-one correspondence between the first link assemblies 3 and the second link assemblies 4, and one-to-one correspondence between the first link assemblies 3 and the second link assemblies 4. For example, the first link 301 and the corresponding second link 401 are symmetrically arranged between the first link assemblies 3 and the second link assemblies 4.

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

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

[0113] The main body 1 has a first mounting assembly 102 located below the support member 2 on its side wall. The first mounting assembly 102 includes two spaced first mounting plates 1021. The top of the first mounting plates 1021 is used to limit the support member 2 in the vertical direction.

[0114] Furthermore, the fixing part of the lifting cylinder 6 is disposed between the two first mounting plates 1021 of the first mounting assembly 102 and is rotatably connected to at least one first mounting plate 1021, and the telescopic part of the lifting cylinder 6 is rotatably connected to the support member 2.

[0115] The side wall of the main body 1 is provided with a second mounting assembly 103 located below the support member 2. The second mounting assembly 103 includes two spaced second mounting plates 1031. The top of the second mounting plates 1031 is used to limit the support member 2 in the vertical direction.

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

[0117] In this embodiment, the rocket capture arm incorporates the features described in the above embodiments, thus gaining corresponding advantages.

[0118] This invention also provides a recycling tower.

[0119] Specifically, the recovery tower includes the rocket capture arm shown above.

[0120] It should be noted that the recovery tower includes the rocket capture arm, and therefore includes all the advantages of the rocket capture arm mentioned above, so it will not be elaborated further.

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

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

[0123] Furthermore, different types of rockets or different landing conditions may require different capture positions and angles. The rotary connection design allows the capture arm to be precisely adjusted according to specific mission requirements, enhancing the system's versatility and adaptability.

[0124] In some embodiments provided by this invention, there are two rocket capture arms, which are rotatably connected to the launch tower. The two rocket capture arms jointly support the rocket 7; that is, both sides of the rocket 7 are equipped with landing hooks, and the rocket capture arms support the corresponding landing hooks.

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

Claims

1. A rocket capture arm, characterized by, The utility model relates to a rocket launching platform, which comprises: a main body (1); a support (2) arranged on the main body (1) through a first linkage assembly (3) and a second linkage assembly (4) and used for supporting a rocket (7); the first linkage assembly (3) comprises at least two first linkages (301) arranged in a vertical direction, one end of each first linkage (301) is rotationally connected to the main body (1), the other end is rotationally connected to the support (2), and the first linkage (301) and the main body (1) and the first linkage (301) and the support (2) are connected through spherical hinges; the second linkage assembly (4) comprises at least two second linkages (401) arranged in a vertical direction, one end of each second linkage (401) is rotationally connected to the main body (1), the other end is rotationally connected to the support (2), and the second linkage (401) and the main body (1) and the second linkage (401) and the support (2) are connected through spherical hinges; the plane where the second linkage assembly (4) is arranged is arranged at an angle with the plane where the first linkage assembly (3) is arranged to form a double-plane intersection constraint, and the angle between the plane where the second linkage assembly (4) is arranged and the plane where the first linkage assembly (3) is arranged ranges from 10 degrees to 90 degrees; a buffer assembly (5) is connected between the main body (1) and the support (2) and used for providing resistance during the descent of the support (2).

2. The rocket capture arm of claim 1, wherein, The first linkage assembly (3) and the second linkage assembly (4) are arranged in a plurality of sets, the first linkage assembly (3) and the second linkage assembly (4) correspond to each other, and the first linkage (301) and the second linkage (401) correspond to each other between the first linkage assembly (3) and the corresponding second linkage assembly (4).

3. The rocket capture arm of claim 1, wherein, The support (2) comprises: a cross beam (201) used for supporting a rocket (7), a plurality of vertical columns (202) arranged in an axial direction at intervals along the cross beam (201) and connected to the cross beam (201), and each vertical column (202) is connected to a corresponding first linkage assembly (3) and a corresponding second linkage assembly (4).

4. The rocket capture arm of claim 3, wherein, The top surface of the cross beam (201) is provided with a flange (2011) close to the edge of the rocket (7); and / or, the support (2) further comprises a reinforcing beam (203) connected between the cross beam (201) and the vertical column (202).

5. The rocket capture arm of claim 1, wherein, The main body (1) is arranged in a truss structure, an accommodating space (101) is formed in the main body (1), the support (2) is arranged on the outer side of the main body (1), and at least part of the first linkage assembly (3) and at least part of the second linkage assembly (4) are arranged in the accommodating space (101).

6. The rocket capture arm of any of claims 1-5, wherein, The rocket capturing arm further comprises a jacking cylinder (6) connected between the support (2) and the main body (1), the jacking cylinder (6) being used to drive the support (2) to rise before the rocket (7) lands.

7. The rocket capture arm of claim 6, wherein, The side wall of the main body (1) is provided with a first mounting assembly (102) located below the support (2), the first mounting assembly (102) comprising two first mounting plates (1021) arranged at intervals, the top of the first mounting plate (1021) being used to limit the support (2) in the vertical direction; The fixed part of the jacking cylinder (6) is arranged between the two first mounting plates (1021) of the first mounting assembly (102) and is rotationally connected with at least one of the first mounting plates (1021), and the telescopic part of the jacking cylinder (6) is rotationally connected with the support (2).

8. The rocket capture arm of any of claims 1-5, wherein, The side wall of the main body (1) is provided with a second mounting assembly (103) located below the support (2), the second mounting assembly (103) comprising two second mounting plates (1031) arranged at intervals, the top of the second mounting plate (1031) being used to limit the support (2) in the vertical direction; The fixed part of the buffer assembly (5) is arranged between the two second mounting plates (1031) of the second mounting assembly (103) and is rotationally connected with at least one of the second mounting plates (1031), and the telescopic part of the buffer assembly (5) is rotationally connected with the support (2).

9. A recovery column characterized by, A rocket capturing arm as claimed in any one of claims 1-8.

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