Delta type rocket recovery mechanism based on empty ring buffer moving platform

Abstract

The invention relates to a Delta-type rocket recovery mechanism based on an empty ring buffer moving platform. The Delta-type rocket recovery mechanism is mainly used for meeting the actual requirements of heavy carrier rocket recovery. The device comprises a tower system, a force bearing column, a novel moving pair, a parallelogram connecting rod mechanism and an empty ring moving platform. Two-dimensional capturing motion in the horizontal plane and lowering motion in the vertical direction of the rocket are achieved through the space symmetric three-dimensional motion characteristic of the Delta mechanism, the requirement for rocket control precision is lowered, and capturing stability is effectively improved. By means of one degree of freedom of the air ring moving platform, buffering and energy absorption at the capturing moment of the rocket can be achieved, and the collision force between the rocket and the air ring moving platform is effectively reduced. The passive locking mechanism is embedded in the novel sliding pair, so that the dynamic and static states of driving can be quickly switched at the moment of impact of the rocket, and the transmission of impact load to the driver is blocked.

Description

Technical Field

[0001] The present invention relates to the field of rocket recovery technology, and in particular to a Delta-type rocket recovery mechanism based on an empty ring buffer dynamic platform. Background Art

[0002] Rocket recovery can significantly increase the frequency of rocket launches and reduce the cost of space exploration. Rocket recovery technology has become an important practical demand of major countries in the world, and it is also the basis for countries to ensure the high-frequency and safe use of rockets. As the competition among major countries in the aerospace field becomes increasingly fierce, rocket recovery technology has developed rapidly. At present, the Space Exploration Technology Company (SpaceX) of the United States has successfully completed the tower-mechanical arm recovery test of the super-heavy rocket "Starship" many times. Its recovery process relies on high-precision attitude control of the rocket. The trajectory and attitude of the rocket are continuously adjusted through the bottom engine and attitude control engine. When approaching the launch tower, the peripheral engine is turned off to further slow down the rocket sub-stage and approach vertical hovering. Finally, the mechanical arm on the launch tower accurately grasps the pin under the rocket grid wing, so that it lands smoothly on the launch tower. This recovery technology requires extremely high control accuracy of the speed, trajectory and attitude of the rocket during landing. In addition, some domestic experts proposed to recover the rocket vertically based on the principle of ground arrest, relying on an adjustable flat closed mesh area surrounded by multiple arresting cables to always follow the falling position of the rocket. After the rocket body falls vertically into the area, the arresting hook on the rocket is used to hang on the arresting cable. This ground recovery system reduces the impact on the rocket during the recovery process and reduces the control accuracy requirements for the rocket, but the multi-rope system is too complicated, and the arresting cable will produce coupled alternating loads due to shaking during movement, which will interfere with the control system. Summary of the invention

[0003] The purpose of the present invention is to propose a Delta-type rocket recovery mechanism based on an empty ring buffer dynamic platform, which utilizes the two-dimensional freedom of movement of the empty ring dynamic platform of the Delta-type recovery mechanism in the horizontal plane to meet the needs of rocket recovery, capture and positioning, and its vertical freedom of movement can meet the needs of lowering the rocket after capture. The empty ring dynamic platform can achieve buffering energy absorption at the moment of rocket capture, effectively reducing the collision force between the rocket and the dynamic platform. The passive locking mechanism in the new mobile pair can achieve instantaneous switching of the dynamic and static state of the drive, blocking the transmission of the impact load to the drive. The Delta-type rocket recovery mechanism can effectively reduce the control accuracy requirements for the rocket and improve the stability of the recovery.

[0004] The technical solution adopted by the present invention is as follows.

[0005] The invention provides a Delta rocket recovery mechanism based on an empty ring buffer moving platform, comprising a tower system, a load-bearing column, a novel moving pair, a parallelogram connecting rod mechanism and an empty ring moving platform.

[0006] There are three tower systems in total, which are symmetrically distributed at 120 degrees in a circle and fixed to the ground. The tower system includes a tower, a first winch, a second winch, a first guide pulley, a second guide pulley, a first towing cable, a second towing cable, a guide rail fixing plate, and a first guide rail.

[0007] Furthermore, the guide rail fixing plate is fixedly installed on one side of the tower for fixing the first guide rail. The first winch and the second winch respectively drive the first towing cable and the second towing cable, thereby pulling the new moving pair to move up and down along the first guide rail.

[0008] Furthermore, the new moving pair includes a support structure, a locking mechanism, a first slider, a second slider, a third slider, a second guide rail, a third guide rail, a tension-compression spring, a tension-compression spring upper connecting seat, a tension-compression spring lower connecting seat, and a parallelogram link mechanism connecting seat.

[0009] Furthermore, the support structure includes an upper plate, side plates, a lower plate, a first column, a second column, and a third column.

[0010] Furthermore, the upper plate is fixedly connected to the first towing cable connecting seat. A first breaking pin is provided between the first towing cable connecting seat and the first towing cable joint, and the first towing cable joint is fixedly connected to the first towing cable. The lower plate is fixedly connected to the second towing cable connecting seat. A second breaking pin is provided between the second towing cable connecting seat and the second towing cable joint, and the second towing cable joint is fixedly connected to the second towing cable. The side plates, the first column, the second column, and the third column are all fixedly installed between the upper plate and the lower plate. The first slider is fixedly connected to the outside of the side plate and is slidably connected to the first guide rail. The second guide rail is respectively fixedly connected to the inside of the side plate, the second column, the third column, and the outside of the first column. The four third guide rails are fixedly connected to the lower plate, point to the center of the round hole of the lower plate, and are symmetrically distributed in a circle.

[0011] Furthermore, the locking mechanism includes an active slider, a first follower slider, a second follower slider, a third follower slider, a connecting ring arm, a locking rod connecting seat, a locking rod, a blocking plate connecting seat, and a blocking plate.

[0012] Further, second sliders are fixedly connected to the active slider, the first follower slider, the second follower slider, and the third follower slider, and are respectively slidably connected to second guide rails on the first column, the second column, the side plate, and the third column. The inner sides of the active slider, the first follower slider, the second follower slider, and the third follower slider are respectively fixedly connected to locking rod connection seats. One end of the locking rod is rotatably connected to the locking rod connection seat, and the other end is rotatably connected to the blocking plate connection seat. The upper and lower ends of the blocking plate are respectively fixedly connected to the blocking plate connection seat and the third slider. The third slider is slidably connected to the third guide rail. The four connecting ring arms sequentially fixedly connect the active slider, the first follower slider, the second follower slider, and the third follower slider to form a circular ring structure. Y (Y≥4) tension and compression springs are provided between the connecting ring arm and the upper plate, and the upper and lower ends of the tension and compression spring are respectively fixedly connected to the tension and compression spring upper connection seat and the tension and compression spring lower connection seat. The tension and compression spring upper connection seat and the tension and compression spring lower connection seat are respectively fixedly connected to the upper plate and the connecting ring arm. The outer side of the active slider is fixedly connected to the parallelogram link mechanism connection seat.

[0013] Further, the three load-bearing columns are fixed on the ground and respectively pass through the middle circular holes of the three lower plates.

[0014] Further, the parallelogram link mechanism includes an upper link mechanism connector, a lower link mechanism connector, two link mechanism steel frames, four steel frame connection seats, X intermediate links, 2X intermediate link side connection seats, 2X intermediate link connection bases, and 2X positioning discs, where X≥2.

[0015] Further, one side of the lower link mechanism connector is rotatably connected to the parallelogram link mechanism connection seat, and the two ends of the other side are respectively fixedly connected to two steel frame connection seats. A through hole is provided on one side of the upper link mechanism connector, and the two ends of the other side are also respectively fixedly connected to the other two steel frame connection seats. The two link mechanism steel frames are parallel to each other, and the two ends of each are respectively rotatably connected to the steel frame connection seats on the upper link mechanism connector and the lower link mechanism connector. The 2X intermediate link connection bases are fixedly connected to the upper ends of the link mechanism steel frames and are evenly distributed along the length direction of the link mechanism steel frames. The intermediate link side connection seat is rotatably connected to the intermediate link connection base. The X intermediate links are parallel to the upper link mechanism connector and the lower link mechanism connector of the parallelogram link mechanism, and the two ends of each intermediate link are respectively fixedly connected to the intermediate link side connection seats installed on the two link mechanism steel frames. The positioning disc is fixedly connected to the upper end of the intermediate link connection base.

[0016] Further, the hollow-ring moving platform includes three moving-platform connecting seats, an upper moving platform, a lower moving platform, kZ buffer cylinders, kZ upper buffer-cylinder connecting seats, and kZ lower buffer-cylinder connecting seats, where k≥1 and Z≥3.

[0017] Further, the three moving-platform connecting seats are fixedly connected to the lower moving platform, are symmetrically arranged at 120° in a circle, and are respectively rotationally connected to one side with through holes of the three upper connecting pieces of the link mechanisms. The k buffer cylinders are parallel and inclined inward to form a set of buffer mechanisms. The Z sets of buffer mechanisms are evenly arranged in a circle between the upper moving platform and the lower moving platform. The two ends of the buffer cylinders are respectively rotationally connected to the upper buffer-cylinder connecting seats and the lower buffer-cylinder connecting seats, and the rotation axes are arranged tangentially along the circumference of the lower moving platform. The upper buffer-cylinder connecting seats and the lower buffer-cylinder connecting seats are respectively fixedly connected to the upper moving platform and the lower moving platform.

[0018] Further, the entire working process of a Delta-type rocket recovery mechanism based on a hollow-ring buffer moving platform disclosed by the present invention is as follows.

[0019] During the falling process of the rocket, the three new moving pairs transmit the motion to the hollow-ring moving platform through the parallelogram link mechanism, enabling the hollow-ring moving platform to move two-dimensionally in the horizontal plane, so as to always follow the position of the rocket. When the rocket body passes through the hollow-ring moving platform, the blocking hook on the rocket hooks on the hollow-ring moving platform, and the upper moving platform moves downward relative to the lower moving platform, and the buffer cylinders are compressed by force, playing a role in buffering and energy absorption. The impact load of the rocket is transmitted to the new moving pairs through the parallelogram link mechanism. The locking mechanism reacts instantaneously. The active slider moves downward. Driven by the connecting-ring arm, the three follower sliders move downward together, and then the blocking plate moves horizontally in the direction of the load-bearing column until they contact. At the same time as the active slider moves downward, the tension-compression spring will also be stretched, and the new moving pair as a whole will also move downward, causing the breaking pin to be broken and the traction force of the traction cable to fail, thus avoiding the winch from being damaged due to the impact of the rocket. As the new moving pair moves downward, the four blocking plates will fall on the protruding table surface of the load-bearing column, blocking the new moving pair from continuing to move downward, and the hollow-ring moving platform will be fixed, and at the same time transmit the force exerted by the rocket on the mechanism to the load-bearing column, so that the rocket can land smoothly on the hollow-ring moving platform. When the locking mechanism is unlocked, the hollow-ring moving platform can move vertically downward to lower the rocket.

[0020] The present invention has the following beneficial technical effects:

[0021] 1. A Delta-type rocket recovery mechanism based on a hollow-ring buffer moving platform disclosed by the present invention utilizes the three-dimensional movement characteristics of the Delta-type mechanism to achieve two-dimensional capture of the rocket in the horizontal plane and downward movement in the vertical direction, reduces the requirement for the rocket control accuracy, avoids the problem of interference with control caused by the shaking of the multi-rope system, and improves the stability of rocket recovery.

[0022] 2. A Delta - type rocket recovery mechanism based on an air - ring buffer moving platform disclosed by the present invention adopts the designed single - degree - of - freedom air - ring moving platform, which can achieve buffering and energy absorption at the moment of rocket capture, effectively reducing the collision force between the rocket and the air - ring moving platform.

[0023] 3. A Delta - type rocket recovery mechanism based on an air - ring buffer moving platform disclosed by the present invention adopts the designed new type of moving pair with a passive locking mechanism, which can realize the instantaneous dynamic - static switching of the drive, block the transmission of impact loads to the driver, and make the rocket landing more stable. Description of the Drawings

[0024] Figure 1 is the overall structural schematic diagram of a Delta - type rocket recovery mechanism based on an air - ring buffer moving platform of the present invention;

[0025] Figure 2 is the structural schematic diagram of the tower system of the present invention;

[0026] Figure 3 is the structural schematic diagram of the side of the new type of moving pair of the present invention;

[0027] Figure 4 is the structural schematic diagram of the inner support structure of the new type of moving pair of the present invention;

[0028] Figure 5 is the structural schematic diagram of the inner locking mechanism of the new type of moving pair of the present invention;

[0029] Figure 6 is the structural schematic diagram of the parallelogram link mechanism of the present invention;

[0030] Figure 7 is the structural schematic diagram of the air - ring moving platform with buffering and energy - absorption function of the present invention;

[0031] Wherein: 1 - tower system, 2 - load-bearing column, 3 - new type of moving pair, 4 - parallelogram linkage mechanism, 5 - empty ring moving platform, 101 - first winch, 102 - tower, 103 - first guiding pulley, 104 - first towing cable, 105 - guide rail fixing plate, 106 - first guide rail, 107 - second towing cable, 108 - second winch, 109 - second guiding pulley, 301 - support structure, 302 - second guide rail, 303 - locking mechanism, 304 - parallelogram linkage connection seat, 305 - third guide rail, 306 - third slider, 307 - second towing cable connection seat, 308 - second pull-off pin, 309 - second towing cable joint, 310 - second towing cable, 311 - second slider, 312 - first slider, 313 - first towing cable, 314 - first towing cable joint, 315 - first pull-off pin, 316 - first towing cable connection seat, 317 - lower connection seat of tension and compression spring, 318 - upper connection seat of tension and compression spring, 319 - tension and compression spring, 320 - upper plate, 321 - first column, 322 - lower plate, 323 - second column, 324 - side plate, 325 - third column, 326 - active slider, 327 - blocking plate, 328 - first follower slider, 329 - blocking plate connection seat, 330 - locking rod, 331 - locking rod connection seat, 332 - second follower slider, 333 - connecting ring arm, 334 - third follower slider, 401 - upper connection seat of linkage mechanism, 402 - steel frame connection seat, 403 - intermediate connecting rod, 404 - side connection seat of intermediate connecting rod, 405 - positioning disc, 406 - lower connection base of intermediate connecting rod, 407 - linkage mechanism steel frame, 408 - lower connecting member of linkage mechanism, 501 - upper moving platform, 502 - lower moving platform, 503 - lower connection seat of buffer cylinder, 504 - buffer cylinder, 505 - upper connection seat of buffer cylinder, 506 - moving platform connection seat. Detailed implementation mode

[0032] In order to better understand a Delta-type rocket recovery mechanism based on an empty ring buffer moving platform provided by the present invention, the present invention will be specifically described below in conjunction with the accompanying drawings and examples.

[0033] Figure 1Schematic diagram of the overall structure of a Delta - type rocket recovery mechanism based on an air - ring buffer moving platform provided by the present invention, including a tower system 1, a load - bearing column 2, a new type of moving pair 3, a parallelogram link mechanism 4, and an air - ring moving platform 5. There are three tower systems 1 in total, which are symmetrically distributed at 120 degrees in a circle and fixed to the ground. The new type of moving pair 3 is slidably connected to the tower system 1 and rotatably connected to the lower end of the parallelogram link mechanism 4. The air - ring moving platform 5 is rotatably connected to the upper end of the parallelogram link mechanism 4. Therefore, the mechanism composed of the three tower systems 1, the new type of moving pair 3, the parallelogram link mechanism 4, and one air - ring moving platform 5 can be equivalent to a 3 - PRPaR Delta - type parallel mechanism. By driving the three new type of moving pairs 3 to move up and down, the air - ring moving platform 5 can have three - dimensional movement degrees of freedom in space, so as to realize two - dimensional capture of the rocket in the horizontal plane and lowering movement in the vertical direction.

[0034] Figure 2 Schematic diagram of the tower system structure of a Delta - type rocket recovery mechanism based on an air - ring buffer moving platform provided by the present invention, including a tower 102, a first winch 101, a second winch 108, a first guide pulley 103, a second guide pulley 109, a first towing cable 104, a second towing cable 107, a guide rail fixing plate 105, and a first guide rail 106. The tower 102 is fixed to the ground. The guide rail fixing plate 105 is fixedly connected to one side of the tower 102 for fixing the first guide rail 106. The first winch 101 and the second winch 108 are respectively fixed to the third layer and the ninth layer of the tower 102 by bolts. The first guide pulley 103 and the second guide pulley 109 are respectively fixed to the top layer and the second layer of the tower 102 by bolts. The first towing cable 104 bypasses the first guide pulley 103 and is connected to the first winch 101, so as to pull the new type of moving pair 3 to move upward along the first guide rail 106. The second towing cable 107 bypasses the second guide pulley 109 and is connected to the second winch 108, so as to pull the new type of moving pair 3 to move downward along the first guide rail 106.

[0035] Figure 3 、 Figure 4 、 Figure 5 Schematic diagram of the new type of moving pair structure of a Delta - type rocket recovery mechanism based on an air - ring buffer moving platform provided by the present invention, including a support structure 301, a locking mechanism 303, a first slider 312, a second slider 311, a third slider 306, a second guide rail 302, a third guide rail 305, a tension - compression spring 319, a tension - compression spring upper connecting seat 318, a tension - compression spring lower connecting seat 317, and a parallelogram link mechanism connecting seat 304.

[0036] The support structure includes an upper plate 320, side plates 324, a lower plate 322, a first upright column 321, a second upright column 323, and a third upright column 325. The upper plate 320 is fixedly connected to the first cable connection seat 316 by bolts. A first breaking pin 315 is provided between the first cable connection seat 316 and the first cable joint 314. The first cable joint 314 is fixedly connected to the first cable 313. The lower plate 322 is fixedly connected to the second cable connection seat 307 by bolts. A second breaking pin 308 is provided between the second cable connection seat 307 and the second cable joint 309. The second cable joint 309 is fixedly connected to the second cable 310. The side plates 324, the first upright column 321, the second upright column 323, and the third upright column 325 are all fixedly installed between the upper plate 320 and the lower plate 322 by bolts. The first slider 312 is fixedly connected to the outer side of the side plate 324 and is slidably connected to the first guide rail 106. The second guide rail 302 is fixedly connected to the inner sides of the side plate 324, the second upright column 323, and the third upright column 325 and the outer side of the first upright column 321 by bolts respectively. Four of the third guide rails 305 are fixedly connected to the lower plate 322 by bolts, with their directions pointing to the center of the circular hole and being symmetrically distributed in a circle. Three of the load-bearing columns 2 are fixed on the ground and respectively pass through the middle circular holes of the three lower plates 322.

[0037] The locking mechanism includes a driving slider 326, a first follower slider 328, a second follower slider 332, a third follower slider 334, a connecting ring arm 333, a locking rod connecting seat 331, a locking rod 330, a blocking plate connecting seat 329, and a blocking plate 327. Second sliders 311 are fixedly connected to the driving slider 326, the first follower slider 328, the second follower slider 332, and the third follower slider 334 by bolts respectively, and are slidably connected to second guide rails 302 on a first upright column 321, a second upright column 323, a side plate 324, and a third upright column 325 respectively. The second guide rails 302 pass through the interior of the driving slider 326. The driving slider 326 is divided into two parts and is fixedly connected by bolts. The inner sides of the driving slider 326, the first follower slider 328, the second follower slider 332, and the third follower slider 334 are fixedly connected to the locking rod connecting seat 331 by bolts respectively. One end of the locking rod 330 is rotatably connected to the locking rod connecting seat 331, and the other end is rotatably connected to the blocking plate connecting seat 329. The upper and lower ends of the blocking plate 327 are fixedly connected to the blocking plate connecting seat 329 and a third slider 306 by bolts respectively. The third slider 306 is slidably connected to a third guide rail 305. Therefore, the mechanism composed of the driving slider 326 (or the first follower slider 328 or the second follower slider 332 or the third follower slider 334), the locking rod 330, and the blocking plate 327 can be equivalent to a PRRP planar linkage mechanism, and the vertical movement of the driving slider 326 (or the first follower slider 328 or the second follower slider 332 or the third follower slider 334) can achieve the horizontal movement of the blocking plate 327. The four connecting ring arms 333 fixedly connect the driving slider 326, the first follower slider 328, the second follower slider 332, and the third follower slider 334 by bolts in sequence to form a circular ring structure, which can move vertically together, so that the four blocking plates 327 move together towards the direction of the load-bearing column 2 until they contact, realizing locking. There are Y (Y≥4) tension and compression springs 319 between the connecting ring arm 333 and the upper plate 320. The upper and lower ends of the tension and compression springs 319 are fixedly connected to a tension and compression spring upper connecting seat 318 and a tension and compression spring lower connecting seat 317 respectively. The tension and compression spring upper connecting seat 318 and the tension and compression spring lower connecting seat 317 are fixedly connected to the upper plate 320 and the connecting ring arm 333 by bolts respectively. The outer side of the driving slider 326 is fixedly connected to a parallelogram linkage connecting seat 304 by bolts. During the process of following the falling position of the rocket, the connecting ring arm 333 is relatively stationary with the upper plate 320 under the action of the tension and compression springs 319, and the locking mechanism 303 does not work.When the empty-ring moving platform 5 is impacted by the rocket, the impact load is transmitted to the active slider 326 through the parallelogram linkage mechanism 4. The active slider 326 moves downward, the tension-compression spring 319 is stretched, driving the upper plate 320 to move downward. After the locking mechanism 303 is locked, it lands on the protruding tabletop of the load-bearing column 2. Under the action of the tension-compression spring 319, the upper plate 320 and even the entire new type of moving pair 3 will remain stationary, and the empty-ring moving platform 5 and the rocket will remain stable.

[0038] Figure 6 The figure is a schematic structural diagram of the parallelogram linkage mechanism of a Delta-type rocket recovery mechanism based on an empty-ring buffer moving platform provided by the present invention, including an upper connecting member 401 of the linkage mechanism, a lower connecting member 408 of the linkage mechanism, two steel frames 407 of the linkage mechanism, four steel frame connecting seats 402, X intermediate connecting rods 403, 2X intermediate connecting rod side connecting seats 404, 2X intermediate connecting rod connecting bases 406 and 2X positioning discs 405, where X≥2. A through hole is provided on one side of the lower connecting member 408 of the linkage mechanism, and the through hole is rotatably connected to the active slider 326. The two ends of the other side of the lower connecting member 408 of the linkage mechanism are respectively fixedly connected to the two steel frame connecting seats 402 by bolts, and the steel frame connecting seat 402 is rotatably connected to one end of the steel frame 407 of the linkage mechanism. The two ends of the side without the through hole of the upper connecting member 401 of the linkage mechanism are respectively fixedly connected to the other two steel frame connecting seats 402 by bolts, and the steel frame connecting seat 402 is rotatably connected to the other end of the steel frame 407 of the linkage mechanism, forming a parallelogram mechanism. X intermediate connecting rods 403 are evenly and parallelly distributed between the two steel frames 407 of the linkage mechanism to improve the anti-buckling ability of the mechanism. The two sides of the intermediate connecting rod 403 are respectively fixedly connected to the two intermediate connecting rod side connecting seats 404 by bolts, the intermediate connecting rod side connecting seat 404 is rotatably connected to the intermediate connecting rod connecting base 406, and the intermediate connecting rod connecting bases 406 installed on both sides of the intermediate connecting rod 403 are respectively fixedly connected to the two steel frames 407 of the linkage mechanism by bolts. A positioning disc 405 is fixedly installed on the intermediate connecting rod connecting base 406 to play a role in axial positioning.

[0039] Figure 7Schematic diagram of the structure of the annular moving platform of a Delta-type rocket recovery mechanism based on an annular buffer moving platform provided by the present invention, including an upper moving platform 501, a lower moving platform 502, a moving platform connecting seat 506, a buffer cylinder 504, an upper connecting seat 505 of the buffer cylinder, and a lower connecting seat 503 of the buffer cylinder. There are three moving platform connecting seats 506 in total, which are fixedly connected to the lower moving platform 502 by bolts and are symmetrically arranged at 120° in a circle. The three moving platform connecting seats 506 are respectively rotationally connected to one side with through holes of the upper connecting parts 401 of the three link mechanisms. Z (Z≥3) groups of buffer mechanisms are evenly arranged in a circle between the upper moving platform 501 and the lower moving platform 502. Each group is composed of k (k≥1) buffer cylinders 504 that are parallel and inclined inward. The two ends of the buffer cylinder 504 are respectively rotationally connected to the upper connecting seat 505 of the buffer cylinder and the lower connecting seat 503 of the buffer cylinder. The rotation axis is arranged along the tangential direction of the circumference of the lower moving platform 502. Thus, each group of buffer mechanisms constitutes a k-RPR mechanism. The upper connecting seat 505 of the buffer cylinder and the lower connecting seat 503 of the buffer cylinder are respectively fixedly connected to the upper moving platform 501 and the lower moving platform 502 by bolts. The annular moving platform 5 has one degree of freedom inside. When the annular moving platform 5 is impacted by the rocket instantaneously, the upper moving platform 501 moves vertically downward passively relative to the lower moving platform 502, and the Z groups of buffer cylinders 504 are compressed, playing a role in buffering and absorbing energy, and effectively reducing the collision force between the rocket and the annular moving platform 5.

[0040] The working process of a Delta - type rocket recovery mechanism based on an empty - ring buffer moving platform provided by the present invention is as follows. During the falling process of the rocket, the first winch 101 and the second winch 108 respectively and coordinately pull the new moving pair 3 up and down through the first towing cable 104 and the second towing cable 107. Then, the movement is transmitted to the empty - ring moving platform 5 through the parallelogram link mechanism 4, enabling the empty - ring moving platform 5 to move two - dimensionally in the horizontal plane, so as to always follow the position of the rocket. When the rocket body passes through the empty - ring moving platform 5, the arresting hook on the rocket hooks onto the upper - layer moving platform 501. Under the impact of the rocket, the upper - layer moving platform 501 moves downward relative to the lower - layer moving platform 502, and the buffer cylinder 504 is compressed under force, playing a role in buffering and energy absorption. The impact load of the rocket is transmitted to the new moving pair 3 through the parallelogram link mechanism 4. The locking mechanism 303 reacts instantaneously. The active slider 326 moves downward. Driven by the connecting - ring arm 333, the first follower slider 328, the second follower slider 332, and the third follower slider 334 move downward together. Then, the blocking plate 327 moves horizontally towards the load - bearing column 2 until the four blocking plates 327 come into contact. At the same time as the active slider 326 moves downward, the tension - compression spring 319 will also be stretched, and the new moving pair 3 as a whole will move downward, causing the first shear pin 315 and the second shear pin 308 to be sheared off. Thus, the traction forces of the first towing cable 313 and the second towing cable 310 become ineffective, thereby preventing the first winch 101 and the second winch 108 from being damaged due to the impact of the rocket. As the new moving pair 3 moves downward, the four blocking plates 327 will fall onto the protruding tabletop of the load - bearing column 2, blocking the further downward movement of the new moving pair 3. The empty - ring moving platform 5 will be fixed, and at the same time, the force exerted by the rocket on the mechanism is transmitted to the load - bearing column 2, so that the rocket can land smoothly on the empty - ring moving platform 5. When the locking mechanism 303 is unlocked, the empty - ring moving platform 5 can move vertically downward to lower the rocket.

[0041] The above description is only for describing the preferred specific embodiments of the present invention, and does not limit the protection scope of the present invention. Any modifications, equivalent replacements, etc. made to the technical solutions of the present invention without departing from the spirit and principles of the present invention shall be included in the protection scope determined by the claims of the present invention.

Claims

1. A Delta - type rocket recovery mechanism based on an empty - loop buffer moving platform, characterized in that Comprising: An empty ring moving platform, three parallelogram link mechanisms, three new types of moving pairs, three load-bearing columns and three tower systems; the tower systems are symmetrically arranged on the ground at 120 degrees in a circle; one side of the new type of moving pair is slidably connected to the tower system, and the other side is rotatably connected to the lower end of the parallelogram link mechanism; the empty ring moving platform is rotatably connected to the upper end of the parallelogram link mechanism; the load-bearing columns are fixed on the ground and pass through the middle circular holes of the lower plates of the parallelogram link mechanisms.

2. The Delta rocket recovery mechanism based on the empty ring buffer moving platform according to claim 1, wherein: The tower system includes a tower, a first winch, a first guiding pulley, a first towing cable, a second winch, a second guiding pulley, a second towing cable, a guide rail fixing plate, and a first guide rail; one side of the tower is fixedly connected to the guide rail fixing plate; the first guide rail arranged vertically is installed on the guide rail fixing plate; the first winch and the first pulley are arranged at the upper end of the tower; the second winch and the second pulley are arranged at the lower end of the tower; the first winch and the second winch respectively pull the first towing cable and the second towing cable; the first towing cable and the second towing cable respectively bypass the first pulley and the second pulley and are fixed to a first towing cable joint and a second towing cable joint; the first towing cable joint is connected to a first towing cable connection seat through a first breaking pin; the second towing cable joint is connected to a second towing cable connection seat through a second breaking pin.

3. The Delta - type rocket recovery mechanism based on an empty - ring buffer moving platform according to claim 1, wherein: The support structure of the novel moving pair includes an upper plate, side plates, a lower plate, a first column, a second column, and a third column; the first cable connecting seat and the second cable connecting seat are respectively fixedly connected to the upper end of the upper plate and the lower end of the lower plate; the side plates, the first column, the second column, and the third column are all fixedly installed between the upper plate and the lower plate; second guide rails are fixedly installed on the inner sides of the side plates, the first column, the second column, and the third column, and the four second guide rails are placed parallel and vertically; four third guide rails are fixedly installed on the lower plate, and the four third guide rails point to the central circular hole of the lower plate; a first slider is installed on the outer side of the side plate, and there is a groove on the first slider, and the groove is slidably connected to the first guide rail; a locking mechanism is arranged inside the novel moving pair, and the locking mechanism includes: a driving slider, a first follower slider, a second follower slider, a third follower slider, a connecting ring arm, a locking rod connecting seat, a locking rod, a blocking plate connecting seat, and a blocking plate; there are four connecting ring arms in total, which sequentially fixedly connect the driving slider, the first follower slider, the second follower slider, and the third follower slider to form a circular ring structure; second sliders are installed on the driving slider, the first follower slider, the second follower slider, and the third follower slider, and are respectively installed on the second guide rails on the first column, the second column, the side plate, and the third column, and can slide along the second guide rails together; there are four locking rod connecting seats, four locking rods, four blocking plate connecting seats, and four blocking plates respectively; the driving slider, the first follower slider, the second follower slider, and the third follower slider are respectively fixedly connected to the four locking rod connecting seats; the four locking rod connecting seats are respectively rotatably connected to the four locking rods; the four locking rods are respectively rotatably connected to the four blocking plate connecting seats; the four blocking plate connecting seats are respectively fixedly connected to the four blocking plates; third sliders are respectively fixed to the lower ends of the four blocking plates, and the third sliders are respectively slidably connected to the third guide rails; the driving slider (or the first follower slider or the second follower slider or the third follower slider), the locking rod connecting seat, the locking rod, the blocking plate connecting seat, and the blocking plate constitute a PRRP planar link mechanism (P represents a moving pair, and R represents a rotating pair); there are Y (Y≥4) tension-compression springs between the connecting ring arm and the upper plate; one side of the tension-compression spring is fixedly connected to the tension-compression spring upper connecting seat, and the tension-compression spring upper connecting seat is fixedly connected to the inner side of the upper plate; the other side of the tension-compression spring is fixedly connected to the tension-compression spring lower connecting seat, and the tension-compression spring lower connecting seat is fixedly connected to the connecting ring arm.

4. The Delta - type rocket recovery mechanism based on an air - ring buffer moving platform according to claim 1, wherein: The parallelogram link mechanism includes: an upper connecting member of the link mechanism, a lower connecting member of the link mechanism, two link mechanism steel frames, four steel frame connecting seats, X intermediate links, 2X intermediate link side connecting seats, 2X intermediate link connecting bases, and 2X positioning discs, where X≥2; a through hole is provided on one side of the lower connecting member of the link mechanism, and the through hole is rotatably connected to the active slider; both ends of the other side of the lower connecting member of the link mechanism are fixedly connected to two of the steel frame connecting seats respectively, and the steel frame connecting seat is rotatably connected to one end of the link mechanism steel frame; both ends of one side of the upper connecting member of the link mechanism are fixedly connected to the other two steel frame connecting seats respectively, and the steel frame connecting seat is rotatably connected to the other end of the link mechanism steel frame; X of the intermediate links are evenly and parallelly distributed between the two link mechanism steel frames, and both sides of the intermediate link are fixedly connected to two of the intermediate link side connecting seats respectively; the intermediate link side connecting seat is rotatably connected to the intermediate link connecting base; the positioning disc is fixed on the intermediate link connecting base; the intermediate link connecting bases installed on both sides of the intermediate link are fixedly connected to the two link mechanism steel frames respectively.

5. The Delta - type rocket recovery mechanism based on an air - ring buffer moving platform according to claim 1, wherein: The hollow ring moving platform includes: an upper moving platform, a lower moving platform, a moving platform connecting seat, a buffer cylinder, a buffer cylinder upper connecting seat, and a buffer cylinder lower connecting seat; there are three moving platform connecting seats in total, which are fixedly connected to the lower moving platform and are arranged symmetrically at 120° in a circle; the three moving platform connecting seats are respectively rotatably connected to one side with a through hole of the three upper connecting members of the link mechanism; Z (Z≥3) groups of buffer mechanisms are evenly arranged in a circle between the upper moving platform and the lower moving platform, and each group consists of k (k≥1) buffer cylinders that are parallel and inclined inward; both ends of the buffer cylinder are respectively rotatably connected to the buffer cylinder upper connecting seat and the buffer cylinder lower connecting seat, and the rotation axis is arranged tangentially along the circumference of the lower moving platform, so that each group of buffer cylinders constitutes a k-RPR mechanism; the buffer cylinder upper connecting seat and the buffer cylinder lower connecting seat are respectively fixedly connected to the upper moving platform and the lower moving platform.

6. A Delta - type rocket recovery mechanism based on an air - ring buffer moving platform according to any one of claims 1 to 5, characterized in that: The hollow ring moving platform, the parallelogram link mechanism, the new moving pair, and the tower system constitute a linearly driven Delta parallel mechanism (PRPaR mechanism, where Pa represents the parallelogram link mechanism); the upper winch and the lower winch can control the new moving pair to move along the first guide rail; the new moving pair transmits the motion to the hollow ring moving platform through the parallelogram link mechanism, enabling the hollow ring moving platform to perform three-dimensional movement in space, so as to realize two-dimensional capture of the rocket in the horizontal plane and lowering movement in the vertical direction; when the three new moving pairs are locked, the hollow ring moving platform will also be fixed, enabling the rocket to land smoothly on the hollow ring moving platform.

7. A Delta - type rocket recovery mechanism based on an air - ring buffer moving platform according to claim 5, characterized in that: The air-ring dynamic platform has a passive degree of freedom; after the rocket body passes through the air-ring dynamic platform, the moment the arresting hook on the rocket hits the upper dynamic platform, the upper dynamic platform can move vertically downward relative to the lower dynamic platform, compressing the buffer cylinder to play a role in buffering and absorbing energy, which can effectively reduce the collision force between the rocket and the air-ring dynamic platform.

8. A Delta - type rocket recovery mechanism based on an air - ring buffer moving platform according to claim 2, characterized in that: The first breaking pin and the second breaking pin will break when subjected to an impact load exceeding the load that the winch can withstand, thereby preventing the winch from being damaged under the impact.

9. A Delta - type rocket recovery mechanism based on an air - ring buffer moving platform according to claim 1 or 3, characterized in that: The locking mechanism can be locked with the load-bearing column at the moment of being impacted by a rocket, so that the freedom of movement of the new movable pair is locked, blocking the impact load from being transmitted to the driver; when not impacted by a rocket, under the action of the tension and compression spring, the locking mechanism does not work and only follows the movement of the new movable pair; after being impacted by a rocket, the active slider moves downward, and driven by the connecting ring arm, the first follower slider, the second follower slider, and the third follower slider move downward along the second guide rail following the active slider, and the upper plate is subjected to the tension of the tension and compression spring, driving the new movable pair to move downward, and at the same time, the four blocking plates move toward the direction of the load-bearing column until the four blocking plates contact and fall on the table surface of the load-bearing column, preventing the locking mechanism from continuing to move downward; under the action of the tension and compression spring, the new movable pair will also be locked as the locking mechanism is stationary.

10. A Delta - type rocket recovery mechanism based on an empty - ring buffer moving platform according to claim 1 or 3, characterized in that: The load-bearing column is a cylindrical structure, and the table surface is evenly distributed along the axial direction of the cylindrical surface. The locking mechanism does not contact the table surface when it is not locked. After locking, the impact load of the rocket will act entirely on the table surface.

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