A mobile medium-large liquid carrier rocket capture and recovery system

Abstract

This invention discloses a mobile capture and recovery system for medium-to-large liquid-propellant launch vehicles, relating to the field of rocket recovery technology. This mobile capture and recovery system includes a mobile platform design that utilizes a crane to mount a connecting truss, transfer frame, and capture arm. It incorporates a camera module and rocket position sensors to acquire real-time rocket information, which is transmitted to a ground control center via a data transmission module. A control module precisely manipulates the transmission components to adjust the capture arm, while a buffer component absorbs impact, replacing the parachute method and improving control accuracy. Its mobility reduces reliance on fixed land or sea recovery sites, lowers site construction and maintenance costs, and reduces the impact of environmental factors on recovery. It solves the problems of difficult parachute control, high land / sea recovery costs, and significant environmental impact in existing medium-to-large liquid-propellant launch vehicle recovery technologies.

Description

Technical Field

[0001] This invention relates to the field of rocket recovery technology, specifically to a mobile capture and recovery system for medium and large liquid-fueled launch vehicles. Background Technology

[0002] Rocket recovery technologies mainly include the following:

[0003] Parachute recovery: Compared to complex propulsion systems and sophisticated control systems, parachute recovery may be technically simpler. Parachute recovery can reduce reliance on ground facilities and lower the need for specific landing areas.

[0004] Land-based recovery: This is currently the most common recovery method. It involves the rocket undergoing powered deceleration after launch and landing vertically. This technology requires a high-precision navigation and control system.

[0005] Offshore recovery: Some companies use offshore platforms for recovery, taking advantage of the wind and waves at sea to reduce reliance on land-based recovery and reduce landing risks.

[0006] Fixed Launch Pad Capture Technology: The launch pad primarily supports the launch, landing, and recovery of Starship. It not only provides a launch platform for the rocket but also supports its landing and securing during recovery. SpaceX developed a mechanical gripping device for Starship called Mechazilla, inspired by the structure of chopsticks, using two long arms for gripping and securing. After Starship completes its mission, returns to Earth, and lands, Mechazilla will precisely grasp it using its telescopic arms. This process requires a high degree of automation and precise control to ensure successful capture of the falling rocket in a fast-moving environment. Once successfully grasped, Mechazilla will securely hold Starship on the launch pad, allowing for subsequent maintenance and repairs, preparing it for the next launch.

[0007] However, existing technologies have many shortcomings: parachute recovery is difficult to control, parachute opening is affected by weather, landing accuracy is low and cost is high; land-based recovery is technically difficult, has a large loss of carrying capacity, a long development cycle, and high cost, has stringent requirements for navigation and control, is easily affected by environmental factors, has high costs for construction and maintenance of recovery facilities, and also poses safety risks and resource pressures; sea-based recovery requires huge investments to build and maintain dedicated recovery vessels, has high technical requirements, is greatly affected by the marine environment, recovery accuracy, safety and response time are constrained, personnel safety risks are high and development costs are high; fixed capture arm recovery has high requirements for rocket landing point and attitude control, and has poor flexibility. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides a mobile capture and recovery system for medium and large liquid-propellant launch vehicles, which solves the problems of difficult parachute control, high land / sea recovery costs, and significant environmental impact in existing medium and large liquid-propellant launch vehicle recovery technologies.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a mobile medium-to-large liquid launch vehicle capture and recovery system, comprising a crane, wherein a transfer frame is provided on the boom of the crane via a connecting truss, and a capture arm is provided on the transfer frame via a transmission assembly; a buffer assembly is provided on the capture arm.

[0010] It also includes: a data transmission module; a control module; and a camera module mounted on the capture arm. The camera module is used to acquire real-time images and send them to the ground center via the data transmission module. The data transmission module is also used to send the capture arm opening angle to the ground center. The ground center processes the real-time images and makes a decision based on the capture arm opening angle to determine whether capture can be initiated. If capture can be initiated, the data transmission module receives the instruction sent by the ground center and forwards it to the control module, which then controls the crane and transmission components. If capture cannot be initiated, a backup device is switched on.

[0011] Furthermore, a standard flange is welded to the boom of the crane, one side of the connecting truss is fixedly connected to the boom of the crane through the standard flange, and the other side of the connecting truss is fixedly connected to the transition frame.

[0012] Furthermore, the capture arm on the adapter frame is configured as one.

[0013] Furthermore, the adapter frame has two capture arms.

[0014] Furthermore, the transmission assembly includes a rotary cylinder and a rotating pin. One side of the rotary cylinder is connected to the adapter frame, and the other side of the rotary cylinder is connected to the capture arm. The adapter frame and the capture arm are movably connected by the rotating pin.

[0015] Furthermore, the buffer assembly includes a buffer beam, a connecting rod seat, and a nitrogen buffer cylinder. The connecting rod seat is fixedly welded to the capture arm, and a steel tie rod is fixedly connected to the connecting rod seat. The end of the steel tie rod away from the connecting rod seat is connected to the buffer beam.

[0016] The nitrogen buffer cylinder is fixedly connected to the mounting bracket, which is fixedly mounted on the capture arm. The end of the nitrogen buffer cylinder is connected to the bottom of the buffer beam.

[0017] Furthermore, a rocket position sensor is installed at the bottom of the capture arm.

[0018] Furthermore, the capture arm is also equipped with a lead screw centering mechanism.

[0019] Furthermore, the process of determining whether to initiate the capture is as follows:

[0020] The real-time image is analyzed and detected to detect the arrow body. If the arrow body is detected, the descent speed of the arrow body is obtained.

[0021] Determine if the arrow's descent speed has dropped to the set speed:

[0022] If not, the speed is insufficient and capture will not be performed;

[0023] If so, then determine whether the opening angle of the capture arm has reached the set value:

[0024] If not, the geometry is not up to standard and no capture will be performed;

[0025] If so, then the geometry meets the standard, and the structural safety signal value is obtained:

[0026] If the structural safety signal value is not the set value, it will not be captured;

[0027] If the structural safety signal value is a set value, then it will be captured.

[0028] The present invention has the following beneficial effects:

[0029] This mobile medium-to-large liquid-propellant launch vehicle capture and recovery system employs a crane-mounted mobile platform design that integrates the connecting truss, transfer frame, and capture arm. Combined with camera modules and rocket position sensors, it acquires real-time rocket information, which is transmitted to the ground control center via a data transmission module. The control module precisely manipulates the transmission components to adjust the capture arm, while a buffer component absorbs impact, improving control accuracy by replacing parachute descent. Its mobility reduces reliance on fixed land or sea recovery sites, lowers site construction and maintenance costs, and reduces the impact of environmental factors on recovery. It solves the problems of difficult parachute control, high land / sea recovery costs, and significant environmental impact in existing medium-to-large liquid-propellant launch vehicle recovery technologies.

[0030] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the rotary cylinder of the present invention.

[0032] Figure 2 This is a schematic diagram of the connecting rod seat structure of the present invention.

[0033] Figure 3 This is a schematic diagram of the structure of the lead screw centering mechanism of the present invention.

[0034] Figure 4 This is a schematic diagram of the first embodiment of the present invention.

[0035] Figure 5 This is a schematic diagram from another perspective of the first embodiment of the present invention.

[0036] Figure 6 This is a schematic diagram of the second embodiment of the present invention.

[0037] Figure 7 This is a schematic diagram of the rocket launch and recovery process according to the second embodiment of the present invention.

[0038] Figure 8 This is a schematic diagram of the rocket launch and recovery process according to the first embodiment of the present invention.

[0039] Figure 9 This is a schematic diagram of rocket recovery clamping from another angle, representing a second embodiment of the present invention.

[0040] Figure 10 This is a flowchart illustrating the process by which the present invention determines whether capture can be initiated.

[0041] Figure 11 A flowchart illustrating the construction of the identification and detection technology for the rocket body of this invention.

[0042] Figure 12 This is a schematic diagram of the emergency stop execution link of the present invention.

[0043] In the diagram, 1 is the connecting truss; 2 is the adapter frame; 3 is the capture arm; 4 is the rotary cylinder; 5 is the rotating pin; 6 is the buffer beam; 7 is the connecting rod seat; 8 is the nitrogen buffer cylinder; 9 is the steel tie rod; 10 is the mounting bracket; 11 is the rocket position sensor; and 12 is the lead screw centering mechanism. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0046] Please see Figures 1-3The present invention provides a technical solution: a mobile medium and large liquid launch vehicle capture and recovery system, including a crane, a transfer frame 2 is provided on the boom of the crane through a connecting truss 1, and a capture arm 3 is provided on the transfer frame 2 through a transmission component; a buffer component is provided on the capture arm 3;

[0047] It also includes: a data transmission module; a control module; and a camera module mounted on the capture arm 3. The camera module is used to acquire real-time images and send them to the ground center through the data transmission module. The data transmission module is also used to send the opening and closing angle of the capture arm to the ground center.

[0048] The ground control center processes the real-time images and makes a decision based on the opening and closing angle of the capture arm to determine whether capture can be initiated. If capture can be initiated, the data transmission module receives the instructions sent by the ground control center and forwards them to the control module, which then controls the crane and transmission components. If capture cannot be initiated, the backup equipment is switched on.

[0049] like Figure 9 As shown, the process of determining whether capture can be initiated is as follows:

[0050] The real-time image is analyzed and detected to detect the arrow body. If the arrow body is detected, the descent velocity of the arrow body is obtained, for example, when it is 1.0±0.2m / s.

[0051] Determine if the arrow's descent speed has dropped to the set speed:

[0052] If not, the speed is insufficient and capture will not be performed;

[0053] If so, then determine whether the opening angle of the capture arm has reached the set value. The formula for calculating the set value is:

[0054] ;

[0055] For setting value, The diameter of the arrow body, The length from the clamping point of the capture arm 3 to the rotating pin 5.

[0056] Alternatively, a kinematic model of capture arm 3 can be established to calculate joint angles in real time, using the following formula:

[0057] ;

[0058] To capture the angles of the i-th joint of arm 3, , and These are the x, y, and z coordinates of the target position that capture arm 3 needs to reach in a three-dimensional Cartesian coordinate system. The characteristic angle of the target's posture. The inverse kinematic mapping function is solved using the damped least squares method.

[0059] If not, the geometry is not up to standard and no capture will be performed;

[0060] If so, the geometry meets the standard, and the structural safety signal value is obtained. Damage to the rocket body surface can be detected using a laser interferometer. If the structure of the clamping area is intact, the structural safety signal value is 1; otherwise, it is 0.

[0061] If the structural safety signal value is not the set value (the set value is 1), then no capture will be performed.

[0062] If the structural safety signal value is a set value, then it will be captured.

[0063] It should be noted that this embodiment can also be equipped with a magnetorheological damper, which is activated during the pre-contact phase of the robotic arm 3:

[0064] ;

[0065] The damping force output by the magnetorheological damper is denoted by k, which is the damping coefficient related to the power term of the relative velocity, and is taken as 500 Ns / m. Let c be the relative velocity between the moving parts of the damper, and c be the damping coefficient related to the velocity direction, with a value of 200 Ns / m. It is a symbolic function.

[0066] In addition, three sets of two-dimensional lidar (±30° scanning angle, sampling rate 500Hz) are arranged on the crane boom to construct the rocket cone profile point cloud. The IMU receives the attitude angles output by the rocket landing inertial navigation system (pitch / yaw accuracy ±0.1°, update rate 200Hz). The lidar point cloud and IMU data are fused by a Kalman filter to generate the rocket bottom coordinate system (with the grid fins as the reference point). Based on this, the rocket landing point can be determined, and then the crane position can be determined.

[0067] After the crane arrives at the recovery site, it mounts capture arm 3 onto the truck crane. The control system for capture arm 3 is integrated into the bottom of the truck crane's cab. Once the recovery equipment is deployed, personnel leave the site. After the rocket decelerates, it lands on capture arm 3 and comes to a stop via a buffer assembly, thus achieving recovery.

[0068] During the crane boom extension process, the load is gradually transferred through tension sensors:

[0069] ;

[0070] To gradually transfer the load, the actual load tension transmitted by the tension sensor is used. The tension that the crane itself can provide, This refers to the weight of the rocket.

[0071] Specifically, the crane boom is welded with a standard flange, such as an ISO 9409 standard flange (160mm in diameter, 12×M20 bolt holes). One side of the connecting truss 1 is fixedly connected to the crane boom through the standard flange. Four sets of hydraulically driven positioning pins (50mm in diameter, shear strength ≥800MPa) are set to achieve a rigid connection between the capture arm base and the hook. The other side of the connecting truss 1 is fixedly connected to the transition frame 2.

[0072] A three-axis attitude platform can be integrated on the connecting truss 1. The drive method and stroke range are shown in Table 1 below:

[0073] Table 1. Three-axis attitude platform, drive method and travel range

[0074]

[0075] One specific form of the connecting truss 1 includes a first base connected to the hook, a second base that can be tilted and rotated and connected to the base via a horizontal connecting shaft, a hydraulic cylinder connected between the first and second bases, the second base connected to a third base via an axial connecting shaft, electric push rods connected to the second and third bases respectively, set on both sides, and achieving lateral rolling by contraction and extension, while the third base is connected to a fourth base via a gear and rack structure, and the fourth base is fixedly connected to the adapter frame 2.

[0076] The control module has multiple redundant MEMS inertial measurement units (IMUs) for real-time detection of the levelness of the capture arm 3, with a measurement accuracy of 0.01° and a sampling frequency of 200Hz. The control module adjusts the parameters of the three-axis attitude platform in real time based on the IMU data.

[0077] In this implementation scheme, the connecting truss 1 can be installed and disassembled using a standard flange, facilitating replacement.

[0078] Specifically, such as Figure 4-5 As shown, the capture arm 3 on the adapter frame 2 is configured as one. Figure 8 This is a schematic diagram of the rocket launch and recovery process in this embodiment, which requires the use of two cranes.

[0079] In this implementation scheme, when the capture arm 3 on the transfer frame 2 is set to one, two cranes are used to capture the rocket body.

[0080] Specifically, such as Figure 6 As shown, there are two capture arms 3 on the adapter frame 2. Figure 7 This is a schematic diagram of the rocket launch and recovery process in this embodiment. Figure 8This is another angle of the clamping and retraction state in this embodiment.

[0081] In this implementation scheme, when two capture arms 3 are set on the transfer frame 2, a crane is used to capture the rocket body.

[0082] Specifically, the transmission assembly includes a rotary cylinder 4 and a rotating pin 5. One side of the rotary cylinder 4 is connected to the adapter frame 2, and the other side of the rotary cylinder 4 is connected to the capture arm 3. The adapter frame 2 and the capture arm 3 are movably connected by the rotating pin 5.

[0083] In this embodiment, the extension or shortening of the rotary cylinder 4 can cause the capture arm 3 to rotate around the rotating pin 5, thereby adjusting the angle of the capture arm 3.

[0084] Specifically, the buffer assembly includes a buffer beam 6, a connecting rod seat 7, and a nitrogen buffer cylinder 8. The connecting rod seat 7 is fixedly welded to the capture arm 3. A steel tie rod 9 is fixedly connected to the connecting rod seat 7. The end of the steel tie rod 9 away from the connecting rod seat 7 is connected to the buffer beam 6.

[0085] The nitrogen buffer cylinder 8 is fixedly connected to the mounting bracket 10, which is fixedly mounted on the capture arm 3. The end of the nitrogen buffer cylinder 8 is connected to the bottom of the buffer beam 6.

[0086] In this embodiment, the nitrogen buffer cylinder 8 can absorb the vibration when the buffer beam 6 comes into contact with the rocket body, thus achieving a buffering effect.

[0087] Specifically, a rocket position sensor 11 is installed at the bottom of the capture arm 3.

[0088] In this embodiment, the rocket position sensor 11 can detect the positional relationship between the rocket body and the capture arm 3.

[0089] Specifically, the capture arm 3 is also equipped with a lead screw centering mechanism 12.

[0090] In this embodiment, the lead screw centering mechanism 12 may include a motor, a lead screw, and an adjustment frame. When the rocket is captured and stationary, the motor uses the lead screw to make the adjustment frame move linearly, causing the rocket body to rotate and adjust its position so that it can be located in the middle of the capture arm 3.

[0091] In this embodiment, the rocket dynamic capture process is broken down as shown in Table 2 below:

[0092] Table 2 Rocket Dynamic Acquisition Process

[0093]

[0094] During the initial contact phase (0-50ms), apply a preload of 5-8kN along the arrow's axial direction. The tension curve of the hoisting slings should transition smoothly (rate of change ≤50kN / s).

[0095] The verification process for attitude stability is as follows:

[0096] Contact verification: The laser rangefinder sensor group detects the gap between the gripper and the rocket body (threshold < 2 mm);

[0097] Mechanical verification: A six-dimensional force sensor verifies the force symmetry (lateral force difference ≤ 5%). The six-dimensional force sensor detects asymmetrical loads and activates the differential speed compensation algorithm.

[0098] ;

[0099] in, The difference that needs to be compensated. This is the proportional gain coefficient. The load force detected by the six-dimensional force sensor on the left. The load force detected by the six-dimensional force sensor on the right. This is the differential gain coefficient.

[0100] Visual verification: High-speed camera captures the engagement state of arm 3 (image recognition matching degree ≥98%).

[0101] During the capture process, the camera module assists capture arm 3 in performing precise capture actions. Using images captured by the camera at the top of the tower, it identifies and detects the falling arrow. Once the arrow is detected, a capture command is sent to capture arm 3. This process needs to eliminate interference from complex weather conditions (fog, rain, etc.) and meet real-time requirements (approximately 3 seconds of inference time). Therefore, a lightweight detection network such as YOLO is needed, with a rain and fog handling process added beforehand. Figure 10 As shown.

[0102] This invention also establishes a dynamic prediction model for rocket trajectories, part of which is shown below:

[0103] class TrajectoryPredictor:

[0104] def __init__(self):

[0105] self.kalman_gain = [0.85, 0.15] # Motion model weights

[0106] self.wind_model = WindField(altitude=30m) # Load real-time wind field data

[0107] def predict_next_position(self, current_state):

[0108] # Calculate trajectory deviation considering aerodynamic disturbances

[0109] dx = self.wind_model.get_lateral_force() * 0.12 # Lateral wind correction factor

[0110] return adjusted_position

[0111] A sensor redundancy system is also implemented, as shown in Table 3:

[0112] Table 3 Sensor Redundancy System

[0113]

[0114] The force sensing system is used to detect pressure data during the capture process of the capture arm 3 capturing the rocket. When the six-dimensional force sensor detects an asymmetric load, the differential compensation algorithm is activated for compensation.

[0115] In addition to the sensor redundancy system, a dual-channel fault-tolerant control system is also implemented. The main control channel is based on a Xilinx Zynq UltraScale+ FPGA (ASIL-D level), while the emergency channel uses an independent ARM Cortex-R52 processor (fault detection cycle of 10ms). Emergency stop execution link. Figure 12 As shown.

[0116] Redundancy design of powertrain:

[0117] Hydraulic system: Dual pump stations in parallel (A / B circuits can work independently) + accumulator pressure holding (maintaining 25MPa pressure for ≥30 seconds);

[0118] Emergency power: The supercapacitor bank (300kW / 5s) can drive critical valves when the main power supply is interrupted;

[0119] Mechanical backup: The capture arm joint is equipped with a spring-loaded mechanical lock (automatically triggered when power is lost).

[0120] The emergency response mechanism in case of an anomaly is shown in Table 4:

[0121] Table 4. Emergency Response Mechanism

[0122]

[0123] Typical Failure Scenario Handling Strategies

[0124] Scenario 1: Main IMU failure

[0125] The redundancy management unit detects a data deviation of >0.3° between the two IMUs and automatically switches to the fiber optic gyroscope-dominated mode, reconstructing the control loop via the EtherCAT bus (reconstruction time <15ms).

[0126] Scenario 2: Unilateral hydraulic failure

[0127] When the pressure sensor detects that the pressure on line A has dropped to zero, the pump station on line B is immediately started and the output pressure is increased to 120%, while the control cycle is shortened (from 1kHz to 2kHz) to compensate for the response speed.

[0128] Scenario 3: Capture Desynchronization

[0129] The six-dimensional force sensor detects an asymmetrical load (difference > 10%) and activates the differential speed compensation algorithm. If the error is not corrected within 10ms, the emergency disconnect mechanism is triggered.

[0130] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0131] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A mobile medium-large liquid carrier rocket capture and recovery system comprising a crane, characterized in that, The crane boom is provided with a transfer frame (2) via a connecting truss (1), and the transfer frame (2) is provided with a capture arm (3) via a transmission assembly. The capture arm (3) is provided with a buffer assembly; Also includes: Data transmission module; Control module; A camera module is installed on the capture arm (3). The camera module is used to acquire real-time images and send them to the ground center through the data transmission module. The data transmission module is also used to send the opening and closing angle of the capture arm to the ground center. The ground center processes the real-time images and, in conjunction with the opening and closing angle of the capture arm, makes a decision on whether to initiate capture. The process is as follows: The real-time image is analyzed and detected to detect the arrow body. If the arrow body is detected, the descent speed of the arrow body is obtained. Determine if the arrow's descent speed has dropped to the set speed: If not, the speed is insufficient and capture will not be performed; If so, then determine whether the opening angle of the capture arm has reached the first set value. The formula for calculating the first set value is: wherein, is a first set value, is the diameter of the arrow body, is the length of the capture arm (3) from the grip point to the rotation pin (5); If not, the geometry is not up to standard and capture will not be performed. The geometry not up to standard means that the opening angle of the capture arm has not reached the first set value. If so, the geometry meets the standard, and the structural safety signal value is obtained by detecting surface damage in the arrow body clamping area using a laser interferometer. If the clamping area structure is intact, the structural safety signal value is 1; otherwise, it is 0. If the structural safety signal value is not the second set value, it will not be captured, where the second set value is 1; If the structural safety signal value is the second preset value, then capture it; If capture is possible, the data transmission module receives instructions sent from the ground center and forwards them to the control module, which then controls the crane and transmission components. If capture is not possible, switch to the backup device; The crane boom is welded with a standard flange. One side of the connecting truss (1) is fixedly connected to the crane boom through the standard flange, and the other side of the connecting truss (1) is fixedly connected to the transition frame (2). The capture arm (3) on the adapter frame (2) is configured to be one or two; The transmission assembly includes a rotary cylinder (4) and a rotating pin (5). One side of the rotary cylinder (4) is connected to the adapter frame (2), and the other side of the rotary cylinder (4) is connected to the capture arm (3). The adapter frame (2) and the capture arm (3) are movably connected by the rotating pin (5).

2. The mobile medium-to-large liquid-fueled launch vehicle capture and recovery system according to claim 1, characterized in that: The buffer assembly includes a buffer beam (6), a connecting rod seat (7) and a nitrogen buffer cylinder (8). The connecting rod seat (7) is fixedly welded to the capture arm (3). A steel tie rod (9) is fixedly connected to the connecting rod seat (7). The end of the steel tie rod (9) away from the connecting rod seat (7) is connected to the buffer beam (6). The nitrogen buffer cylinder (8) is fixedly connected to the mounting bracket (10), which is fixedly mounted on the capture arm (3). The end of the nitrogen buffer cylinder (8) is connected to the bottom of the buffer beam (6).

3. The mobile medium-to-large liquid-fueled launch vehicle capture and recovery system according to claim 1, characterized in that: The bottom of the capture arm (3) is equipped with a rocket position sensor (11).

4. A mobile medium-to-large liquid-fueled launch vehicle capture and recovery system according to claim 3, characterized in that: The capture arm (3) is also equipped with a lead screw centering mechanism (12).

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