Double-tower type rocket recovery mechanism based on novel buffering movable platform
By using a dual-tower rocket recovery mechanism based on a novel buffer dynamic platform, and employing two-dimensional movement and redundant drive technology, stable rocket capture and buffer energy absorption are achieved. This solves the problems of high control precision and swaying interference in existing technologies, and improves the stability and fault tolerance of the system.
Patent Information
- Application Number
- CN202511435402.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-09
- Publication Date
- 2025-11-18
AI Technical Summary
Existing rocket recovery technology requires high precision in controlling the speed, trajectory, and attitude of the rocket during descent. The multi-tether system is complex and susceptible to swaying interference, and it also puts a burden on the control system.
A dual-tower rocket recovery mechanism based on a novel buffer dynamic platform is adopted. The rocket is captured and positioned using two-dimensional translational degrees of freedom, and the system fault tolerance is ensured through redundant drive. The mechanism combines planar five-bar linkage and parallelogram linkage to achieve two-dimensional capture of the rocket in the horizontal plane and vertical descent motion. Hydraulic cylinders and pneumatic spring dampers are used for buffering and energy absorption.
It reduces the requirements for rocket control precision, improves recovery stability and system fault tolerance, reduces the collision force between the rocket and the moving platform, and avoids swaying interference from the multi-rope system.
Smart Images
Figure CN120964075A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of rocket recovery, in particular to a double-tower rocket recovery mechanism based on a new type of buffer moving platform. BACKGROUND
[0002] Rocket recovery can significantly improve the launch frequency of rockets and reduce the cost of space exploration. Rocket recovery technology has become an important practical demand for major countries in the world and is the basis for ensuring the safe use of high-frequency rockets. With the increasingly fierce competition in the field of space exploration among major countries in the world, rocket recovery technology has developed rapidly. At present, the Space Exploration Technology Corporation (SpaceX) of the United States has successfully completed the tower-arm recovery test of the super-heavy rocket "Starship" many times. Its recovery process relies on high-precision pose control of the rocket, and the trajectory and attitude of the rocket are constantly adjusted by the bottom engine and attitude control engine, the peripheral engine is turned off when approaching the launch tower, the rocket substage is further slowed down and approaches vertical hovering, and finally the mechanical arm on the launch tower accurately grabs the pin under the grid wing of the rocket, so as to land smoothly on the launch tower. This recovery technology has very high control accuracy requirements for the speed, trajectory and attitude of the rocket during landing. In addition, some domestic experts propose to recover the rocket vertically based on the ground arresting principle, and rely on the adjustable planar closed net-shaped area surrounded by multiple arresting ropes to follow the position of the falling rocket at all times. When the rocket body falls vertically into the area, the arresting hook on the rocket is hung on the arresting rope. This ground recovery system makes the rocket bear less impact during recovery and reduces the control accuracy requirements of the rocket, but the multi-rope system is too complex, and the arresting ropes will produce coupled alternating loads due to shaking during movement, which will interfere with the control system. SUMMARY
[0003] The purpose of the present application is to provide a double-tower rocket recovery mechanism based on a new type of buffer moving platform, which uses the two-dimensional movement freedom of the new type of buffer moving platform of the recovery mechanism in the horizontal plane to meet the needs of rocket recovery capture positioning, and the vertical movement freedom can meet the needs of lowering after rocket capture. The new type of buffer moving platform can realize buffer energy absorption at the moment of rocket capture, effectively reducing the collision force between the rocket and the moving platform. The introduction of redundant drive ensures the normal operation of the system when one of the drives fails, improving the system fault tolerance and carrying capacity. The counterweight block and winch drive in the tower system can realize the instantaneous switching of the system between static and dynamic states while ensuring the carrying capacity, blocking the transmission of impact loads to the drive. The rocket recovery mechanism can effectively reduce the control accuracy requirements of the rocket and improve the stability of the recovery.
[0004] The technical scheme adopted by the present application is as follows.
[0005] The application provides a double-tower rocket recovery mechanism based on a novel buffer dynamic platform, which comprises a tower system, a planar five-link mechanism, a parallelogram linkage mechanism and the novel buffer dynamic platform.
[0006] The tower system comprises two towers, first winches, first guide pulleys, second guide pulleys, third guide pulleys, first traction ropes, second winches, fourth guide pulleys, fifth guide pulleys, sixth guide pulleys, second traction ropes, guide rail fixing plates, first guide rails, second guide rails, first counterweights, first groups of guide pulleys, second groups of guide pulleys, first groups of traction ropes, second counterweights, second groups of guide pulleys, third groups of guide pulleys and second groups of traction ropes.
[0007] Further, the guide rail fixing plates are fixedly installed on one side of the tower and used for fixing the first guide rails and the second guide rails. Further, the first traction ropes are fixed at both ends with upper and lower traction rope connectors, the second traction ropes are fixed at both ends with upper and lower traction rope connectors, the upper and lower traction rope connectors of the first traction ropes are fixedly connected with first guide rail sliders, the upper and lower traction rope connectors of the first traction ropes are provided with bearing pins, the upper and lower traction rope connectors of the first traction ropes are fixedly connected with the first traction ropes, the upper and lower traction rope connectors of the second traction ropes are fixedly connected with second guide rail sliders, the upper and lower traction rope connectors of the second traction ropes are provided with bearing pins, and the upper and lower traction rope connectors of the second traction ropes are fixedly connected with the second traction ropes.
[0008] Further, the first winches and the second winches drive the first traction ropes and the second traction ropes respectively, so as to drive the first guide rail sliders and the second guide rail sliders to move up and down along the first guide rails and the second guide rails respectively.
[0009] Further, the first counterweights and the second counterweights are fixedly connected with lower and upper traction rope connectors of the first and second groups of traction ropes, the first and second groups of traction ropes are fixedly connected with lower and upper traction rope connectors of the first and second groups of traction ropes, and the lower and upper traction rope connectors of the first and second groups of traction ropes are connected with the lower and upper traction rope connectors of the first and second groups of traction ropes through the first and second groups of bearing pins.
[0010] Furthermore, the first upper traction cable connecting seat and the first lower traction cable connecting seat are fixedly connected to the upper and lower ends of the first guide rail slider, respectively. The second upper traction cable connecting seat and the second lower traction cable connecting seat are fixedly connected to the upper and lower ends of the second guide rail slider, respectively. The first set of upper traction cable connecting seats and the second set of lower traction cable connecting seats are fixedly connected to the upper ends of the first guide rail slider and the upper ends of the second guide rail slider.
[0011] Furthermore, the planar five-bar linkage includes a first guide rail slider, a second guide rail slider, a first Pratt truss link, a second Pratt truss link, and a cross truss link.
[0012] Furthermore, the first Pratt truss connecting seat and the second Pratt truss connecting seat, which are fixedly connected to the first Pratt truss connecting rod and the second Pratt truss connecting rod, are respectively rotatably connected to the first guide rail slider and the second guide rail slider, which are fixedly connected to the first guide rail slider and the second guide rail slider, respectively, via load-bearing pins. The cross truss connecting seat and the cross truss connecting seat, which are fixed at both vertical ends, are rotatably connected to the first Pratt truss connecting rod lower connecting seat and the second Pratt truss connecting rod upper connecting seat, which are fixed to the first Pratt truss connecting rod and the second Pratt truss connecting rod, respectively, via load-bearing pins.
[0013] Furthermore, the parallelogram linkage mechanism includes a first bowstring truss link, a second bowstring truss link, and a cross truss link.
[0014] Furthermore, the first bowstring truss connecting seat and the second bowstring truss connecting seat, which are fixed on the first bowstring truss connecting rod and the second bowstring truss connecting rod, are rotatably connected to the left connecting seat and the right connecting seat of the cross truss connecting rod, which are fixed to the horizontal ends of the cross truss connecting rod through load-bearing pins.
[0015] Furthermore, the novel buffer moving platform includes a frustum-shaped moving platform crossbeam, a circular buffer crossbeam, a hydraulic cylinder, a pneumatic spring damper, a high-elasticity rigid spring, a small guide rail, a moving platform connecting seat, and a rigid spring connecting seat.
[0016] Further, the circular platform type moving platform cross beam frame comprises an upper layer circular platform, a lower layer circular platform and twelve groups of triangular trusses, wherein the upper layer circular platform and the lower layer circular platform are fixedly connected through the twelve groups of triangular trusses; two small guide rails are symmetrically arranged on both sides of the vertical truss in the triangular truss; a circular buffer cross beam is slidably connected with the small guide rails through twelve guide rail sliders on the circular buffer cross beam; four hydraulic cylinders are fixedly arranged on the inner side of the vertical truss in the triangular truss in a circular cross shape; the upper part of the piston rod of the hydraulic cylinder is fixedly connected with the circular buffer cross beam; eight pneumatic spring dampers are fixedly arranged around the four hydraulic cylinders in a circular and uniform manner; the upper part of the piston rod of the pneumatic spring damper is fixedly connected with the circular buffer cross beam; twelve rigid spring connecting seats are fixedly arranged on the bottom of the circular buffer cross beam in a circular and corresponding uniform manner; twelve rigid spring connecting seats are fixedly arranged on the upper layer circular platform in a circular and corresponding uniform manner; and two ends of the twelve high-elastic rigid springs are fixedly connected with the rigid spring connecting seats.
[0017] Further, the dynamic platform left connecting seat and the dynamic platform right connecting seat, which are fixedly connected to one side of the right-angle frame and welded to the bottom of the circular platform type moving platform cross beam frame, are rotationally connected with the first and second bowstring truss connecting rods through the bearing pin and the first and second bowstring truss connecting rod lower connecting seats fixedly arranged on the first and second bowstring truss connecting rods.
[0018] Further, the whole working process of the double-tower type rocket recovery mechanism based on the novel buffer dynamic platform is as follows.
[0019] During the falling process of the rocket, the winch drives the four guide rail sliders through the traction cable, the guide rail sliders transmit the movement to the parallelogram mechanism through the planar five-link mechanism, and then the movement is transmitted to the circular platform type moving platform, so that the circular platform type moving platform can move in two dimensions in the horizontal plane, thereby following the position of the rocket at all times. After the rocket body passes through the circular platform type moving platform, the circular buffer cross beam rises by a buffer distance under the action of the hydraulic cylinder, and then the blocking column on the rocket falls on the circular buffer cross beam, the circular buffer cross beam moves downward relative to the circular platform type moving platform cross beam frame, the pneumatic spring damper is compressed under stress, and the rigid spring is stretched, thereby playing a role in buffering and absorbing energy. The remaining impact load of the rocket is transmitted to the guide rail sliders through the parallelogram connecting rod mechanism and the planar five-link mechanism, and in the instant of contact, the winch driving motor is cut off and the winch is contacted, the winch is idled, and the traction force of the traction cable is invalid, thereby avoiding the winch from being damaged due to the impact of the rocket, and then the counterweight starts to work, the guide rail sliders move downward by a distance and tend to be stationary, and the circular platform type moving platform is also stationary. After the mechanism is stable, the winch driving motor is established and contacted with the winch, and the circular platform type moving platform is controlled to move vertically downward to lower the rocket.
[0020] The present application has the following beneficial technical effects:
[0021] 1. The double-tower rocket recovery mechanism based on the novel buffer dynamic platform, the planar three-dimensional movement characteristics of the novel double 2PRR-Pa parallel recovery mechanism can realize two-dimensional capture of the rocket in the horizontal plane and lowering movement in the vertical direction, the requirement for rocket control precision is reduced, the problem of interference in control caused by swinging of the multi-rope system is avoided, and the stability of rocket recovery is improved.
[0022] 2. The double-tower rocket recovery mechanism based on the novel buffer dynamic platform, the single-degree-of-freedom circular platform designed can realize buffer energy absorption at the moment of rocket capture, and effectively reduces the collision force between the rocket and the space ring dynamic platform.
[0023] 3. The double-tower rocket recovery mechanism based on the novel buffer dynamic platform, the introduction of redundant drive ensures normal operation of the system when one of the drives fails, and improves the system fault tolerance and carrying capacity. DETAILED DESCRIPTION
[0024] Figure 1 is a whole structure schematic diagram of the double-tower rocket recovery mechanism based on the novel buffer dynamic platform of the present application;
[0025] Figure 2 is a structure schematic diagram of the tower system of the present application;
[0026] Figure 3 is a structure schematic diagram of the planar five-bar mechanism of the present application;
[0027] Figure 4 is a structure schematic diagram of the parallelogram linkage mechanism of the present application;
[0028] Figure 5 is a structure schematic diagram of the novel dynamic platform with buffer energy absorption function of the present application;
[0029] Wherein: 1-tower system, 2-counterweight, 3-five-bar linkage, 4-parallelogram linkage, 5-round table type moving platform, 201-tower, 202-first winch, 203-first guide pulley, 204-second guide pulley, 205-third guide pulley, 206-first traction cable, 207-second winch, 208-fourth guide pulley, 209-fifth guide pulley, 210-sixth guide pulley, 211-second traction cable, 212-rail fixing plate, 213-first rail, 214-second rail, 215-first counterweight block, 216-first set of guide pulleys, 217-second set of guide pulleys, 218-first set of traction cables, 219-second counterweight block, 220-third set of guide pulleys, 221-fourth set of guide pulleys, 222-second set of traction cables, 223 first traction cable upper joint, 224-first set of traction cable upper joint, 224-first set of traction cable lower joint, 226-first counterweight block connecting seat, 227-second traction cable lower joint, 228-second traction cable upper joint, 229-second set of traction cable lower joint, 230-second counterweight block connecting seat, 231-second set of traction cable upper joint, 232-second traction cable lower joint, 301-first rail slider, 302-first Pratt truss link, 303-cross truss link, 304-first traction cable upper connecting seat, 305-first traction cable lower connecting seat, 306-first set of traction cable connecting seat, 307-first rail slider connecting seat, 308-first Pratt truss link upper connecting seat, 309-first Pratt truss link lower connecting seat, 310-cross truss link upper connecting seat, 311-second Pratt truss link, 312-second rail slider, 313-second traction cable upper connecting seat, 314-second traction cable lower connecting seat, 315-second set of traction cable connecting seat, 316-second rail slider connecting seat, 317-second Pratt truss link lower connecting seat, 318-second Pratt truss link upper connecting seat, 319-cross truss link lower connecting seat, 401-cross truss link right connecting seat, 402-first bowstring truss link upper connecting seat, 403-first bowstring truss link, 404-first bowstring truss link lower connecting seat, 405-moving platform right connecting seat, 406-cross truss link left connecting seat, 407-second bowstring truss link upper connecting seat, 408-second bowstring truss link, 409-second bowstring truss link lower connecting seat, 410-moving platform left connecting seat, 501-upper moving platform, 502-lower moving platform, 503-triangle truss, 504-hydraulic cylinder, 505-pneumatic spring damper, 506-high elasticity rigid spring, 507-rigid spring upper connecting seat, 508-rigid spring lower connecting seat, 509-small rail, 510-rail slider, 511-right angle frame, 512-circular buffer cross beam. DETAILED DESCRIPTION
[0030] In order to better understand the double-tower rocket recovery mechanism based on the novel buffer dynamic platform provided by the application, the application is specifically described below in combination with the drawings and examples.
[0031] Figure 1 The overall structure schematic diagram of the double-tower rocket recovery mechanism based on the novel buffer dynamic platform provided by the application comprises a tower system 1, a counterweight 2, a planar five-link mechanism 3, a parallelogram linkage 4 and a novel dynamic platform 5. The tower system 1 is two in total, is vertically distributed by 90 degrees in a circle and is fixed to the ground. The planar five-link mechanism 3 is slidingly connected with the tower system 2 and is rotatably connected with one end of the parallelogram linkage 4. The novel dynamic platform 5 is rotatably connected with the other end of the parallelogram linkage 4. Therefore, the mechanism composed of the two tower systems 1, the planar five-link mechanism 3, the parallelogram linkage 4 and the novel dynamic platform 5 can be equivalent to a 2PRR-Pa parallel mechanism (Pa represents the parallelogram linkage), the novel dynamic platform 5 has the freedom of three-dimensional movement in space by driving the guide rail slider in the two planar five-link mechanisms 3 to move up and down, and thus the two-dimensional capture in the horizontal plane of the rocket and the lowering movement in the vertical direction are realized.
[0032] Figure 2A tower system structure schematic diagram of a double-tower rocket recovery mechanism based on a novel buffer dynamic platform is provided, comprising a tower 201, a first winch 202, a first guide pulley 203, a second guide pulley 204, a third guide pulley 205, a first traction cable 206, a second winch 207, a fourth guide pulley 208, a fifth guide pulley 209, a sixth guide pulley 210, a second traction cable 211, a guide rail fixing plate 212, a first guide rail 213, a second guide rail 214, a first counterweight 215, a first set of guide pulleys 216, a second set of guide pulleys 217, a first set of traction cables 218, a second counterweight 219, a third set of guide pulleys 220, a fourth set of guide pulleys 221, a second set of traction cables 222, a first traction cable upper joint 223, a first set of traction cable upper joints 224, a first set of traction cable lower joints 225, a first set of counterweight connecting seats 226, a second traction cable lower joint 227, a second traction cable upper joint 228, a second set of traction cable lower joints 229, a second set of counterweight connecting seats 230, a second set of traction cable upper joints 231, and a second traction cable lower joint 232. The tower 201 is fixed to the ground. The guide rail fixing plate 212 is fixedly connected to one side of the tower 201 and used for fixing the first guide rail 213 and the second guide rail 214. The first winch 101 and the second winch 108 are fixed to the ninth layer and the eleventh layer of the tower 201 by bolts, respectively. The first guide pulley 203 and the third guide pulley 204 are fixed to the top layer and the ninth layer of the tower 102 by pulley connecting seats, respectively. The second guide pulley 204 is fixed to the second layer of the tower 201 by a bolt. The fourth guide pulley 208 and the sixth guide pulley 210 are fixed to the eleventh layer and the bottom layer of the tower 102 by pulley connecting seats, respectively. The fifth guide pulley 209 is fixed to the eighteenth layer of the tower 201 by a bolt. One end of the first traction cable 206 is fixedly connected to the first traction cable upper joint 223, passes through the first guide pulley 203 and the second guide pulley 204, is connected to the first winch 202, passes through the third guide pulley 204, and is fixedly connected to the first set of traction cable lower joints 225, so as to pull the first guide rail sliding block 301 to move up and down along the first guide rail 213. One end of the second traction cable 211 is fixedly connected to the second traction cable lower joint 232, passes through the sixth guide pulley 210 and the fifth guide pulley 209, is connected to the second winch 207, passes through the fourth guide pulley 221, and is fixedly connected to the second traction cable upper joint 228, so as to pull the second guide rail sliding block 312 to move up and down along the second guide rail 214. The first set of guide pulleys 216 and the second set of guide pulleys 217 are fixed to the outside and the inside of the top layer of the tower 102 by pulley connecting seats. The third set of guide pulleys 220 and the fourth set of guide pulleys 221 are fixed to the outside and the inside of the bottom layer of the tower 102 by pulley connecting seats.The first group of traction ropes 218 is fixedly connected at one end to a first group of traction rope upper connectors 224, passes around a first group of guide pulleys 216 and a second group of guide pulleys 217, and is fixedly connected at the other end to a first group of traction rope lower connectors 225. The second group of traction ropes 222 is fixedly connected at one end to a second group of traction rope lower connectors 229, passes around a third group of guide pulleys 220 and a fourth group of guide pulleys 221, and is fixedly connected at the other end to a second group of traction rope upper connectors 228. The first group of weight connecting seats 226 are fixedly connected to the first weights 215 by bolts, and are connected to the first group of traction rope lower connectors 225 by load-bearing pins. The second group of weight connecting seats 230 are fixedly connected to the second weights 219 by bolts, and are connected to the second group of traction rope upper connectors 228 by load-bearing pins.
[0033] Figure 3A structure diagram of a planar five-link mechanism of a double-tower rocket recovery mechanism based on a new buffer moving platform is provided, including a first guide rail sliding block 301, a first Pratt truss link 302, a cross truss link 303, a first traction cable upper connecting seat 304, a first traction cable lower connecting seat 305, a first group of traction cable connecting seats 306, a first guide rail sliding block connecting seat 307, a first Pratt truss link upper connecting seat 308, a first Pratt truss link lower connecting seat 309, a cross truss link upper connecting seat 310, a second Pratt truss link 311, a second guide rail sliding block 312, a second traction cable upper connecting seat 313, a second traction cable lower connecting seat 314, a second group of traction cable connecting seats 315, a second guide rail sliding block connecting seat 316, a second Pratt truss link lower connecting seat 317, a second Pratt truss link upper connecting seat 318, and a cross truss link lower connecting seat 319. The first guide rail sliding block 301 is in sliding connection with a first guide rail 213, and the second guide rail sliding block 312 is in sliding connection with a second guide rail 214. The first traction cable upper connecting seat 304 is fixedly connected with the first guide rail sliding block 301 through bolts, and a load-bearing pin is arranged between the first traction cable upper connecting seat 304 and a first traction cable upper joint 223. The first traction cable lower connecting seat 305 is fixedly connected with the first guide rail sliding block 301 through bolts, and a load-bearing pin is arranged between the first traction cable lower connecting seat 305 and a first traction cable lower joint 225. The second traction cable upper connecting seat 313 is fixedly connected with the second guide rail sliding block connecting seat 316 through bolts, and a load-bearing pin is arranged between the second traction cable upper connecting seat and a second traction cable lower joint 227. The second traction cable lower connecting seat 314 is fixedly connected with the second guide rail sliding block connecting seat 316 through bolts, and a load-bearing pin is arranged between the second traction cable lower connecting seat and a second traction cable upper joint 228. The first group of traction cable connecting seats 306 is fixedly connected with the first guide rail sliding block 301 through bolts, and a load-bearing pin is arranged between the first group of traction cable connecting seats 306 and a first group of traction cable upper joints 224. The second group of traction cable connecting seats 315 is fixedly connected with the second guide rail sliding block 312 through bolts, and a load-bearing pin is arranged between the second group of traction cable connecting seats 315 and a second group of traction cable lower joints 229. The first guide rail sliding block connecting seat 307 is fixedly connected to the side surface of the first guide rail sliding block 301 through bolts and is rotationally connected with the first Pratt truss link upper connecting seat 308 fixedly connected to the first Pratt truss link 302 through bolts. The second guide rail sliding block connecting seat 316 is fixedly connected to the side surface of the second guide rail sliding block 312 through bolts and is rotationally connected with the second Pratt truss link lower connecting seat 317 fixedly connected to the second Pratt truss link 311 through bolts. The first Pratt truss link lower connecting seat 309 is fixedly connected to the lower end of the first Pratt truss link 302 through bolts and is rotationally connected with the cross truss link upper connecting seat 310 fixedly connected to the cross truss link 303 through bolts.The second Pratt truss connecting rod upper connecting seat 318 is fixedly connected to the upper end of the second Pratt truss connecting rod 311 by bolts and is rotationally connected with the cross truss connecting rod lower connecting seat 319 fixedly connected to the cross truss connecting rod 303 by bolts.
[0034] Figure 4 A parallelogram connecting rod mechanism structure schematic diagram of a double-tower rocket recovery mechanism based on a novel buffering moving platform is provided, which comprises a cross truss connecting rod right connecting seat 401, a first bowstring truss connecting rod upper connecting seat 402, a first bowstring truss connecting rod 403, a first bowstring truss connecting rod lower connecting seat 404, a moving platform right connecting seat 405, a cross truss connecting rod left connecting seat 406, a second bowstring truss connecting rod upper connecting seat 407, a second bowstring truss connecting rod 408, a second bowstring truss connecting rod lower connecting seat 409 and a moving platform left connecting seat 410. The cross truss connecting rod right connecting seat 401 is fixedly connected to the cross truss connecting rod 303 by bolts and is rotationally connected with the first bowstring truss connecting rod upper connecting seat 402 fixedly connected to the first bowstring truss connecting rod 403 by bolts. The cross truss connecting rod left connecting seat 406 is fixedly connected to the cross truss connecting rod 303 by bolts and is rotationally connected with the second bowstring truss connecting rod upper connecting seat 407 fixedly connected to the second bowstring truss connecting rod 408 by bolts. The moving platform right connecting seat 405 is fixedly connected to the right angle frame 511 by bolts and is rotationally connected with the first bowstring truss connecting rod lower connecting seat 404 fixedly connected to the first bowstring truss connecting rod 403 by bolts. The moving platform left connecting seat 410 is fixedly connected to the left angle frame 511 by bolts and is rotationally connected with the second bowstring truss connecting rod lower connecting seat 409 fixedly connected to the second bowstring truss connecting rod 408 by bolts.
[0035] Figure 5The application provides a new dynamic platform structure diagram of a double-tower rocket recovery mechanism based on a new buffer dynamic platform, which comprises an upper dynamic platform 501, a lower dynamic platform 502, triangular trusses 503, hydraulic cylinders 504, pneumatic spring dampers 505, high-elastic rigid springs 506, upper rigid spring connecting seats 507, lower rigid spring connecting seats 508, small guide rails 509, guide rail sliders 510, right-angle frames 511 and circular buffer cross beams 512. The upper dynamic platform 501 is fixedly connected with the lower dynamic platform 502 through twelve groups of triangular trusses 503. The small guide rails 509 are twelve groups in total, two in each group, and each group is fixedly connected to the two sides of the vertical truss in the triangular truss 503 through bolts. The guide rail sliders 510 are fixedly connected to the bottom circumferential surface of the circular buffer cross beam 512, and there are twelve groups in total, two in each group, and each group of guide rail sliders 510 is in sliding connection with a corresponding group of small guide rails 509. The hydraulic cylinders 504 are four in total, are fixedly connected to the outer sides of the vertical trusses in the corresponding triangular trusses 503 in a cross shape through bolts, and the top pistons of the hydraulic cylinders 504 are fixedly connected to the bottom of the circular buffer cross beam 512. The pneumatic spring dampers 505 are eight in total, are fixedly connected to the outer sides of the vertical trusses in the remaining triangular trusses 503 through bolts, and the top pistons of the pneumatic spring dampers 505 are fixedly connected to the bottom of the circular buffer cross beam 512. The upper rigid spring connecting seats 507 are fixedly connected to the inner side of the upper dynamic platform 501 through bolts, are evenly distributed in a circle, and there are twelve in total. The lower rigid spring connecting seats 508 are fixedly connected to the outer surface of the bottom of the circular buffer cross beam 512 through bolts, are evenly distributed in a circle and correspond to the upper rigid spring connecting seats 507, and there are twelve in total. The high-elastic rigid springs 506 are twelve in total and are connected to the upper rigid spring connecting seats 507 and the lower rigid spring connecting seats 508 at both ends. The new dynamic platform 5 has one active degree of freedom, when the rocket top just passes through the new buffer dynamic platform, the circular buffer cross beam 512 rises by a buffer displacement under the action of the hydraulic cylinders 504, then the alloy column head on the rocket contacts the upper surface of the circular buffer cross beam 512, the circular buffer cross beam 512 moves vertically downward, the pneumatic spring dampers 505 are compressed, the high-elastic rigid springs 506 are stretched, and the buffering and energy absorption effects are achieved, so that the collision force between the rocket and the new dynamic platform 5 can be effectively reduced.
[0036] The working process of the double-tower rocket recovery mechanism based on the novel buffering dynamic platform is as follows: in the falling process of the rocket, the first winch 201 and the second winch 207 respectively drive the first guide rail slider 301 and the second guide rail slider 312 to move up and down through the first traction cable 206 and the second traction cable 211, and then the movement is transmitted to the cross truss connecting rod 303 through the planar five-link mechanism 3, and then the movement is transmitted to the novel dynamic platform 5 through the parallelogram connecting rod mechanism 4, so that the novel dynamic platform 5 can move in two dimensions in the horizontal plane, thereby following the position of the rocket at all times. After the rocket body passes through the novel dynamic platform 5, the circular buffering cross beam 512 rises by a buffering distance under the action of the hydraulic cylinder 504, and then the blocking column on the rocket falls on the circular buffering cross beam 512, the circular buffering cross beam 512 moves downward relative to the novel dynamic platform 5, the pneumatic spring damper 505 is compressed under stress, and the high-elasticity rigid spring 506 is stretched, thereby playing a buffering and energy-absorbing role. The remaining impact load of the rocket is transmitted to the guide rail slider through the parallelogram connecting rod mechanism 4 and the planar five-link mechanism 3, and at the moment of contact, the first winch 201 and the second winch 207 are disconnected from the driving motor and the winch, and the first winch 201 and the second winch 207 are idling, so that the traction force of the first traction cable 206 and the second traction cable 211 is disabled, thereby avoiding damage to the first winch 201 and the second winch 207 due to the impact of the rocket. At the moment of disconnection, the first counterweight 215 and the second counterweight 219 start to work, and the first guide rail slider 301 and the second guide rail slider 312 move downward by a distance under the impact and tend to be stationary, and the novel dynamic platform 5 is also stationary. After the mechanism is stable, the winch driving motor is connected with the first winch 202 and the second winch 203, and then the novel dynamic platform is controlled to move vertically downward to lower the rocket.
[0037] The above merely describes the preferred specific embodiments of the present application, and does not limit the protection scope of the present application, and any modification and equivalent replacement of the technical solutions of the present application without departing from the spirit and principles of the present application shall be included in the protection scope determined by the claims of the present application.
Claims
1. A dual-tower rocket recovery mechanism based on a novel buffer dynamic platform, characterized in that, include: The system comprises a novel buffer platform, two parallelogram linkages, two planar five-bar linkages, and two tower systems. The tower systems are arranged vertically on the ground at 90-degree angles around their circumference. One side of each planar five-bar linkage has two active sliders that are slidably connected to the tower system, while the other side is rotatably connected to one end of each parallelogram linkage. The novel buffer platform is rotatably connected to the other end of each parallelogram linkage.
2. The dual-tower rocket recovery mechanism based on a novel buffer dynamic platform according to claim 1, characterized in that: The tower system includes a tower, a first winch, a first guide pulley, a second guide pulley, a third guide pulley, a first traction cable, a second winch, a fourth guide pulley, a fifth guide pulley, a sixth guide pulley, a second traction cable, a guide rail fixing plate, a first guide rail, a second guide rail, a first counterweight, a first set of guide pulleys, a second set of guide pulleys, a first set of traction cables, a second counterweight, a second set of guide pulleys, a third set of guide pulleys, and a second set of traction cables; one side of the tower is fixedly connected to the guide rail fixing plate; the guide rail fixing plate is equipped with the first guide rail and the second guide rail, which are arranged symmetrically in a central manner. Guide rail; the first winch and the second winch are symmetrically arranged near the center inside the tower; the first guide pulley and the fourth guide pulley are symmetrically arranged near both ends inside the tower; the second guide pulley and the fifth guide pulley are symmetrically arranged at both ends outside the tower; the third guide pulley and the sixth guide pulley are arranged near the center outside the tower; one end of the first traction cable passes over the first pulley and the second pulley and is fixed to the upper joint of the first traction cable, and the other end passes over the third guide pulley and is fixed to the lower joint of the first traction cable, forming a closed loop; the second traction... One end of the traction cable passes over the fourth and fifth pulleys and is fixed to the lower connector of the second traction cable; the other end passes over the third pulley and is fixed to the upper connector of the second traction cable, forming a closed loop. The first winch and the second winch respectively pull the first traction cable and the second traction cable. The upper connector of the first traction cable is connected to the upper connecting seat of the first traction cable via a load-bearing pin. The lower connector of the first traction cable is connected to the lower connecting seat of the first traction cable via a load-bearing pin. The upper connector of the second traction cable is connected to the upper connecting seat of the second traction cable via a load-bearing pin. The lower connector of the second traction cable is connected to the lower connecting seat of the second traction cable via a load-bearing pin. The connecting seats are connected; the first set of traction cables passes around the first set of guide pulleys and the second set of guide pulleys and is fixed to the upper connector of the first set of traction cables; the second set of traction cables passes around the third set of guide pulleys and the fourth set of guide pulleys and is fixed to the lower connector of the second set of traction cables; the first counterweight and the second counterweight are fixedly connected to the lower connecting seat of the first set of traction cables and the upper connecting seat of the second set of traction cables; the first set of traction cables and the second set of traction cables are fixedly connected to the lower connector of the first set of traction cables and the upper connector of the second set of traction cables, and are connected to the lower connecting seat of the first set of traction cables and the upper connecting seat of the second set of traction cables through a load-bearing pin.
3. The dual-tower rocket recovery mechanism based on a novel buffer dynamic platform according to claim 1, characterized in that: The planar five-bar linkage includes: a first guide rail slider, a second guide rail slider, a first Pratt truss link, a second Pratt truss link, and a cross truss link; the first guide rail slider and the second guide rail slider are slidably connected to the first guide rail and the second guide rail, respectively; the first guide rail slider and the second guide rail slider are fixedly connected to a first guide rail slider connecting seat and a second guide rail slider connecting seat; one end of the first Pratt truss link and the second Pratt truss link are fixedly connected to an upper connecting seat of the first Pratt truss link and a lower connecting seat of the second Pratt truss link, and the other end is fixedly connected to a lower connecting seat of the first Pratt truss link and an upper connecting seat of the second Pratt truss link; the upper connecting seat of the first Pratt truss link and the lower connecting seat of the second Pratt truss link are respectively connected to the cross truss link via a load-bearing pin. The first guide rail slider connecting seat and the second guide rail slider connecting seat are rotatably connected; the vertical ends of the cross truss connecting rod are fixed with the upper connecting seat and the lower connecting seat of the cross truss connecting rod; the upper connecting seat and the lower connecting seat of the cross truss connecting rod are rotatably connected to the lower connecting seat of the first Pratt truss connecting rod and the upper connecting seat of the second Pratt truss connecting rod respectively through load-bearing pins; the upper connecting seat of the first traction cable and the lower connecting seat of the first traction cable are fixedly connected to the upper end and the lower end of the first guide rail slider respectively; the upper connecting seat of the second traction cable and the lower connecting seat of the second traction cable are fixedly connected to the upper end and the lower end of the second guide rail slider respectively; the first set of upper connecting seats of the traction cable and the second set of lower connecting seats of the traction cable are fixedly connected to the upper end of the first guide rail slider and the upper end of the second guide rail slider.
4. The dual-tower rocket recovery mechanism based on a novel buffer dynamic platform according to claim 1, characterized in that: The parallelogram linkage mechanism includes: a first bowstring truss link, a second bowstring truss link, and a cross truss link; the cross truss link is fixedly connected to a left cross truss link connecting seat and a right cross truss link connecting seat at both horizontal ends; the first bowstring truss link is fixedly connected to an upper first bowstring truss link connecting seat and a lower first bowstring truss link connecting seat at both ends; the second bowstring truss link is fixedly connected to an upper second bowstring truss link connecting seat and a lower second bowstring truss link connecting seat at both ends; the left cross truss link connecting seat and the right cross truss link connecting seat are rotatably connected to the upper first bowstring truss link connecting seat and the upper second bowstring truss link connecting seat respectively via load-bearing pins.
5. A dual-tower rocket recovery mechanism based on a novel buffer dynamic platform according to claim 1, characterized in that: The novel buffer platform includes: a frustum-shaped platform crossbeam, a circular buffer crossbeam, a hydraulic cylinder, a pneumatic spring damper, a high-elasticity rigid spring, small guide rails, a platform connecting seat, and a rigid spring connecting seat. There are four platform connecting seats, fixedly connected to right-angle brackets welded to the bottom of the frustum-shaped platform crossbeam, with two seats arranged on each of the two right-angle sides. Two platform connecting seats are rotatably connected to the lower connecting seat of the first bowstring truss link and the lower connecting seat of the second bowstring truss link via load-bearing pins. The frustum-shaped platform crossbeam includes an upper circular platform, a lower circular platform, and twelve sets of triangular trusses, wherein the upper and lower circular platforms are fixedly connected by the twelve sets of triangular trusses. There are twenty-four small guide rails, arranged symmetrically in pairs. The components are placed on both sides of the vertical truss in the triangular truss; the circular buffer beam is slidably connected to the small guide rail via twelve guide rail sliders on it; there are four hydraulic cylinders, which are arranged in a circumferential cross shape and fixed inside the vertical truss in the triangular truss, with the upper part of the piston rod fixedly connected to the circular buffer beam; there are eight pneumatic spring dampers, which are evenly arranged in a circumferential shape around the four hydraulic cylinders, with the upper part of the piston rod fixedly connected to the circular buffer beam; there are twenty-four rigid spring connecting seats, of which twelve are evenly arranged in a circumferential shape on the upper circular platform, and the other twelve are evenly arranged in a circumferential shape at the bottom of the circular buffer beam; there are twelve high-elasticity rigid springs, with both ends fixedly connected to the rigid spring connecting seats.
6. A twin-tower rocket recovery mechanism based on a novel buffer dynamic platform according to any one of claims 1 to 5, characterized in that: The tower system, the planar five-bar linkage, the parallelogram linkage, and the novel buffer platform constitute a linearly driven 2PRR-Pa parallel mechanism (Pa represents the parallelogram linkage). The first winch controls the first guide rail slider to move up and down along the first guide rail; the second winch controls the second guide rail slider to move up and down along the second guide rail. The first and second guide rail sliders transmit motion to the parallelogram linkage through the planar five-bar linkage, and then transmit the motion to the novel buffer platform, enabling the novel buffer platform to move in three dimensions in space, thereby achieving two-dimensional capture of the rocket in the horizontal plane and vertical lowering motion. When the four guide rail sliders are locked, the novel buffer platform will also be fixed, allowing the rocket to land smoothly on the novel buffer platform.
7. A twin-tower rocket recovery mechanism based on a novel buffer dynamic platform according to claim 5, characterized in that: The novel buffer platform has one active degree of freedom. When the rocket tip just passes through the novel buffer platform, the buffer beam rises a certain distance under the action of the hydraulic cylinder. Then, the alloy column on the rocket contacts the upper surface of the buffer beam, and the buffer beam moves vertically downward, causing the pneumatic spring damper to compress and the high-elasticity rigid spring to stretch, which plays a role in buffering and absorbing energy, effectively reducing the collision force between the rocket and the air-circular platform.
8. A twin-tower rocket recovery mechanism based on a novel buffer dynamic platform according to claim 2, characterized in that: When the guide rail slider receives the impact generated at the moment of contact with the rocket, the winch drive motor disconnects from the winch, the winch idles, and the traction force of the traction cable is lost, thus preventing the winch from being damaged by the impact of the rocket. Then the counterweight starts to work, the guide rail slider moves down a certain distance and tends to stop, and the frustum-shaped moving platform also stops, so that the mechanism successfully and smoothly captures the rocket. After the mechanism stabilizes, the winch drive motor establishes a connection with the winch and controls the frustum-shaped moving platform to move vertically downward to lower the rocket.