Reusable carrier rocket marine landing recovery device

Abstract

The invention discloses a reusable carrier rocket marine landing recovery device which comprises a tower body, a driving module, a first mechanical capturing arm, a second mechanical capturing arm, a first clamping arm and a second clamping arm. The tower body comprises first to fourth stand columns and first to eighth cross beams; the driving module comprises first to twelfth driving units; each of the first to twelfth driving units comprises a driving motor, a working track, a lead screw nut, a first bearing, a second bearing, a first bearing seat and a second bearing seat. On the premise that a simple electric control system is adopted, marine recovery of the carrier can be achieved, the structure is simple, response is rapid, good reliability and maintainability are achieved, the device is suitable for recovery tasks of carrier rockets of various models, and the launching cost is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of space launch vehicle recovery technology, and in particular to a mechanical capture and buffer device for realizing the landing and recovery of reusable launch vehicles on a sea platform, which falls under the category of launch vehicle soft landing and recovery technology. Background Technology

[0002] With the development of reusable launch vehicle technology, achieving safe, reliable, and precise recovery of launch vehicles on maritime platforms has become a key technology for reducing launch costs and increasing launch frequency. Current technologies often employ landing leg buffer structures in conjunction with an autonomous positioning system on the maritime platform to achieve rocket landing and recovery. However, this method requires high landing accuracy and carries risks such as platform instability, rocket slippage, or capsizing in complex sea conditions, resulting in high system complexity and limited reliability.

[0003] Therefore, designing a reusable launch vehicle sea landing and recovery device can achieve flexible adjustment in planar space, thereby achieving higher recovery alignment accuracy, improving the recovery success rate, and thus promoting the further development of launch vehicle recovery technology. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the deficiencies mentioned in the background art by providing a reusable launch vehicle sea landing and recovery device.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A reusable launch vehicle sea landing and recovery device includes a tower body, a drive module, a first mechanical capture arm, a second mechanical capture arm, a first clamping arm, and a second clamping arm. The tower body includes first to fourth columns and first to eighth crossbeams; the first to fourth columns have the same structure, and their lower ends are all vertically fixed to the outer deck; the first to eighth crossbeams have the same structure, wherein the first to fourth crossbeams are coplanar, one end of the first crossbeam is vertically fixed to the first column, and the other end is vertically fixed to the second column; one end of the second crossbeam is vertically fixed to the second column, and the other end is vertically fixed to the third column; one end of the third crossbeam is vertically fixed to the third column, and the other end is vertically fixed to the fourth column. One end of the fourth crossbeam is perpendicularly fixed to the fourth column, and the other end is perpendicularly fixed to the first column; the fifth to eighth crossbeams are coplanar and located above the first to fourth crossbeams. One end of the fifth crossbeam is perpendicularly fixed to the first column, and the other end is perpendicularly fixed to the second column; one end of the sixth crossbeam is perpendicularly fixed to the second column, and the other end is perpendicularly fixed to the third column; one end of the seventh crossbeam is perpendicularly fixed to the third column, and the other end is perpendicularly fixed to the fourth column; one end of the eighth crossbeam is perpendicularly fixed to the fourth column, and the other end is perpendicularly fixed to the first column. The drive module includes first to twelfth drive units; Each of the first to twelfth drive units includes a drive motor, a working track, a lead screw nut, a first bearing, a second bearing, a first bearing housing, and a second bearing housing. The working track has a groove along its length, within which a freely sliding slider is located. The slider has a threaded through hole parallel to the working track for engaging with the lead screw nut. The outer ring of the first bearing is fixed to one end of the working track via the first bearing housing, and the outer ring of the second bearing is fixed to the other end of the working track via the second bearing housing. The lead screw nut is positioned along the working track, with one end coaxially connected to the inner ring of the first bearing, and the other end passing through the threaded through hole of the slider on the working track and coaxially connected to the inner ring of the second bearing. The lead screw nut and the slider are threadedly connected. The drive motor is fixed on the working track, and its output shaft is coaxially connected to the end of the lead screw nut near the first bearing, for driving the slider on the working track to move. The working tracks of the first and second drive units are each vertically fixed at one end to the top of the first column and at the other end to the top of the second column; the working tracks of the third and fourth drive units are each vertically fixed at one end to the top of the third column and at the other end to the top of the fourth column; the working tracks of the fifth and sixth drive units are each fixed at one end to the slider on the working track of the first drive unit and at the other end to the slider on the working track of the third drive unit; the working tracks of the seventh and eighth drive units are each fixed at one end to the slider on the working track of the second drive unit and at the other end to the slider on the working track of the fourth drive unit; the working tracks of the ninth and tenth drive units are each set on the fifth crossbeam, each vertically fixed at one end to the first column and at the other end to the second column; the working tracks of the eleventh and twelfth drive units are each set on the seventh crossbeam, each vertically fixed at one end to the third column and at the other end to the fourth column. The first and second mechanical capture arms have the same structure, both including a support frame, a landing track and M buffer components, where M is a natural number greater than or equal to 3; M hinge seats are evenly spaced on the landing track; The M buffer units have the same structure and correspond one-to-one with the M hinge seats. Each unit includes a buffer, a first connecting rod, and a second connecting rod. The buffer is fixed on the support frame, and its output end is hinged to the hinge seat corresponding to the buffer structure. The upper end of the first connecting rod is vertically fixed to the landing track. The second connecting rod is perpendicular to the output shaft of the buffer, with one end fixed to the support frame and the other end hinged to the side wall of the second connecting rod. The first links of the M buffer units are parallel to each other, the second links of the M buffer units are parallel to each other, and the buffers of the M buffer units are parallel to each other. One end of the support frame of the first mechanical capture arm is fixedly connected to the slider on the working track of the fifth drive unit, and the other end is fixedly connected to the slider on the working track of the seventh drive unit. One end of the support frame of the second mechanical capture arm is fixedly connected to the slider on the working track of the sixth drive unit, and the other end is fixedly connected to the slider on the working track of the eighth drive unit, so that the landing tracks of the first and second mechanical capture arms are located between the support frames of the first and second mechanical capture arms. The landing tracks of the first and second mechanical capture arms are used to cooperate in capturing and supporting the landing support of the rocket; The first clamping arm and the second clamping arm have the same structure, both being strip-shaped. One end of the first clamping arm is fixedly connected to the slider on the working track of the ninth drive unit, and the other end is fixedly connected to the slider on the working track of the eleventh drive unit. One end of the second clamping arm is fixedly connected to the slider on the working track of the tenth drive unit, and the other end is fixedly connected to the slider on the working track of the twelfth drive unit. The first clamping arm and the second clamping arm are used to cooperate with each other to fix the lower part of the recovered rocket and prevent it from swinging.

[0006] As a further optimization of the reusable launch vehicle sea landing and recovery device of the present invention, M is set to 5.

[0007] As a further optimization of the reusable launch vehicle sea landing and recovery device of the present invention, the first clamping arm, the second clamping arm and the recovery rocket are provided with a rubber layer for cushioning.

[0008] Compared with the prior art, the present invention, employing the above technical solution, has the following technical effects: This invention provides a reusable launch vehicle sea landing and recovery device. Compared with traditional landing methods, the method proposed in this invention significantly reduces the structural weight of the launch vehicle and frees up internal and external installation space by removing the landing leg assembly (including support structure, buffer mechanism and drive components) at the bottom of the launch vehicle body. This improves the effective payload capacity of the launch vehicle or expands the propellant storage capacity. At the same time, the same launch tower can recover more types of launch vehicles by changing the capture arm interface module. Its structure is simple, responsive, reliable and maintainable, and can effectively reduce launch costs. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the first mechanical capture arm and the second mechanical capture arm in this invention; Figure 3This is a partial structural schematic diagram of the first mechanical capture arm in this invention.

[0010] In the diagram, 1-Outer deck, 2-First column, 3-Second column, 4-Third column, 5-First crossbeam, 6-Second crossbeam, 7-Fifth crossbeam, 8-First mechanical capture arm, 9-Second mechanical capture arm, 10-First clamping arm, 11-Second clamping arm, 12-Rocket, 13-Bearing frame of the first mechanical capture arm, 14-Buffer of the first mechanical capture arm, 15-Landing track of the first mechanical capture arm, 16-Second link, 17-First link. Detailed Implementation

[0011] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings: This invention can be implemented in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the invention to those skilled in the art. In the drawings, components are enlarged for clarity.

[0012] like Figure 1 As shown, the present invention discloses a reusable launch vehicle sea landing and recovery device, including a tower body, a drive module, a first mechanical capture arm, a second mechanical capture arm, a first clamping arm, and a second clamping arm; The tower body includes first to fourth columns and first to eighth crossbeams; the first to fourth columns have the same structure, and their lower ends are all vertically fixed to the outer deck; the first to eighth crossbeams have the same structure, wherein the first to fourth crossbeams are coplanar, one end of the first crossbeam is vertically fixed to the first column, and the other end is vertically fixed to the second column; one end of the second crossbeam is vertically fixed to the second column, and the other end is vertically fixed to the third column; one end of the third crossbeam is vertically fixed to the third column, and the other end is vertically fixed to the fourth column. One end of the fourth crossbeam is perpendicularly fixed to the fourth column, and the other end is perpendicularly fixed to the first column; the fifth to eighth crossbeams are coplanar and located above the first to fourth crossbeams. One end of the fifth crossbeam is perpendicularly fixed to the first column, and the other end is perpendicularly fixed to the second column; one end of the sixth crossbeam is perpendicularly fixed to the second column, and the other end is perpendicularly fixed to the third column; one end of the seventh crossbeam is perpendicularly fixed to the third column, and the other end is perpendicularly fixed to the fourth column; one end of the eighth crossbeam is perpendicularly fixed to the fourth column, and the other end is perpendicularly fixed to the first column. The drive module includes first to twelfth drive units; Each of the first to twelfth drive units includes a drive motor, a working track, a lead screw nut, a first bearing, a second bearing, a first bearing housing, and a second bearing housing. The working track has a groove along its length, within which a freely sliding slider is located. The slider has a threaded through hole parallel to the working track for engaging with the lead screw nut. The outer ring of the first bearing is fixed to one end of the working track via the first bearing housing, and the outer ring of the second bearing is fixed to the other end of the working track via the second bearing housing. The lead screw nut is positioned along the working track, with one end coaxially connected to the inner ring of the first bearing, and the other end passing through the threaded through hole of the slider on the working track and coaxially connected to the inner ring of the second bearing. The lead screw nut and the slider are threadedly connected. The drive motor is fixed on the working track, and its output shaft is coaxially connected to the end of the lead screw nut near the first bearing, for driving the slider on the working track to move. The working tracks of the first and second drive units are each vertically fixed at one end to the top of the first column and at the other end to the top of the second column; the working tracks of the third and fourth drive units are each vertically fixed at one end to the top of the third column and at the other end to the top of the fourth column; the working tracks of the fifth and sixth drive units are each fixed at one end to the slider on the working track of the first drive unit and at the other end to the slider on the working track of the third drive unit; the working tracks of the seventh and eighth drive units are each fixed at one end to the slider on the working track of the second drive unit and at the other end to the slider on the working track of the fourth drive unit; the working tracks of the ninth and tenth drive units are each set on the fifth crossbeam, each vertically fixed at one end to the first column and at the other end to the second column; the working tracks of the eleventh and twelfth drive units are each set on the seventh crossbeam, each vertically fixed at one end to the third column and at the other end to the fourth column. The first and second mechanical capture arms have the same structure, both including a support frame, a landing track and M buffer components, where M is a natural number greater than or equal to 3; M hinge seats are evenly spaced on the landing track; The M buffer units have the same structure and correspond one-to-one with the M hinge seats. Each unit includes a buffer, a first connecting rod, and a second connecting rod. The buffer is fixed on the support frame, and its output end is hinged to the hinge seat corresponding to the buffer structure. The upper end of the first connecting rod is vertically fixed to the landing track. The second connecting rod is perpendicular to the output shaft of the buffer, with one end fixed to the support frame and the other end hinged to the side wall of the second connecting rod. The first links of the M buffer units are parallel to each other, the second links of the M buffer units are parallel to each other, and the buffers of the M buffer units are parallel to each other. One end of the support frame of the first mechanical capture arm is fixedly connected to the slider on the working track of the fifth drive unit, and the other end is fixedly connected to the slider on the working track of the seventh drive unit. One end of the support frame of the second mechanical capture arm is fixedly connected to the slider on the working track of the sixth drive unit, and the other end is fixedly connected to the slider on the working track of the eighth drive unit, so that the landing tracks of the first and second mechanical capture arms are located between the support frames of the first and second mechanical capture arms. The landing tracks of the first and second mechanical capture arms are used to cooperate in capturing and supporting the landing support of the rocket; The first clamping arm and the second clamping arm have the same structure, both being strip-shaped. One end of the first clamping arm is fixedly connected to the slider on the working track of the ninth drive unit, and the other end is fixedly connected to the slider on the working track of the eleventh drive unit. One end of the second clamping arm is fixedly connected to the slider on the working track of the tenth drive unit, and the other end is fixedly connected to the slider on the working track of the twelfth drive unit. The first clamping arm and the second clamping arm are used to cooperate with each other to fix the lower part of the recovered rocket and prevent it from swinging.

[0013] The preferred value for M is 5.

[0014] The first clamping arm, the second clamping arm, and the contact point with the recovery rocket are provided with a rubber layer for cushioning.

[0015] In the buffer units of the first and second mechanical capture arms of this invention, the first link, the second link, and the buffer, together with the landing track, form a parallelogram linkage mechanism, which ensures that the landing track maintains a constant posture with the mechanical capture arms during the retraction and deployment processes. The first to eighth drive units cooperate to control the free movement of the first and second mechanical capture arms. The ninth to twelfth drive units cooperate to control the free movement of the first and second clamping arms.

[0016] During operation, the first and second mechanical capture arms are initially fully extended to maximize the capture window and improve dynamic response efficiency. Once the system receives key parameters such as attitude, spatial position, and descent speed from the launch vehicle in real time, the control system coordinates the movement of the first and second mechanical capture arms to adaptively compensate for drift errors caused by the launch vehicle in the dynamic maritime environment, achieving precise alignment and stable capture of the booster rocket body. In the later stages of recovery, the control system coordinates the movement of the first and second clamping arms to perform a stable clamping operation on the rocket body. The rubber layers of the first and second clamping arms form a flexible buffer during clamping, preventing deformation of the rocket body due to excessive rigid clamping force.

[0017] This invention can both protect the integrity of the rocket body structure and effectively avoid interference from environmental factors such as wind, waves and currents during sea landing, thus providing a double guarantee for the stability of the launch vehicle after landing.

[0018] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0019] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A reusable launch vehicle sea landing and recovery device, characterized in that, It includes a tower body, a drive module, a first mechanical capture arm, a second mechanical capture arm, a first clamping arm, and a second clamping arm; The tower body includes first to fourth columns and first to eighth crossbeams; the first to fourth columns have the same structure, and their lower ends are all vertically fixed to the outer deck; the first to eighth crossbeams have the same structure, wherein the first to fourth crossbeams are coplanar, one end of the first crossbeam is vertically fixed to the first column, and the other end is vertically fixed to the second column; one end of the second crossbeam is vertically fixed to the second column, and the other end is vertically fixed to the third column; one end of the third crossbeam is vertically fixed to the third column, and the other end is vertically fixed to the fourth column. One end of the fourth crossbeam is perpendicularly fixed to the fourth column, and the other end is perpendicularly fixed to the first column; the fifth to eighth crossbeams are coplanar and located above the first to fourth crossbeams. One end of the fifth crossbeam is perpendicularly fixed to the first column, and the other end is perpendicularly fixed to the second column; one end of the sixth crossbeam is perpendicularly fixed to the second column, and the other end is perpendicularly fixed to the third column; one end of the seventh crossbeam is perpendicularly fixed to the third column, and the other end is perpendicularly fixed to the fourth column; one end of the eighth crossbeam is perpendicularly fixed to the fourth column, and the other end is perpendicularly fixed to the first column. The drive module includes first to twelfth drive units; Each of the first to twelfth drive units includes a drive motor, a working track, a lead screw nut, a first bearing, a second bearing, a first bearing housing, and a second bearing housing. The working track has a groove along its length, within which a freely sliding slider is located. The slider has a threaded through hole parallel to the working track for engaging with the lead screw nut. The outer ring of the first bearing is fixed to one end of the working track via the first bearing housing, and the outer ring of the second bearing is fixed to the other end of the working track via the second bearing housing. The lead screw nut is positioned along the working track, with one end coaxially connected to the inner ring of the first bearing, and the other end passing through the threaded through hole of the slider on the working track and coaxially connected to the inner ring of the second bearing. The lead screw nut and the slider are threadedly connected. The drive motor is fixed on the working track, and its output shaft is coaxially connected to the end of the lead screw nut near the first bearing, for driving the slider on the working track to move. The working tracks of the first and second drive units are each vertically fixed at one end to the top of the first column and at the other end to the top of the second column; the working tracks of the third and fourth drive units are each vertically fixed at one end to the top of the third column and at the other end to the top of the fourth column; the working tracks of the fifth and sixth drive units are each fixed at one end to the slider on the working track of the first drive unit and at the other end to the slider on the working track of the third drive unit; the working tracks of the seventh and eighth drive units are each fixed at one end to the slider on the working track of the second drive unit and at the other end to the slider on the working track of the fourth drive unit; the working tracks of the ninth and tenth drive units are each set on the fifth crossbeam, each vertically fixed at one end to the first column and at the other end to the second column; the working tracks of the eleventh and twelfth drive units are each set on the seventh crossbeam, each vertically fixed at one end to the third column and at the other end to the fourth column. The first and second mechanical capture arms have the same structure, both including a support frame, a landing track and M buffer components, where M is a natural number greater than or equal to 3; M hinge seats are evenly spaced on the landing track; The M buffer units have the same structure and correspond one-to-one with the M hinge seats. Each unit includes a buffer, a first connecting rod, and a second connecting rod. The buffer is fixed on the support frame, and its output end is hinged to the hinge seat corresponding to the buffer structure. The upper end of the first connecting rod is vertically fixed to the landing track. The second connecting rod is perpendicular to the output shaft of the buffer, with one end fixed to the support frame and the other end hinged to the side wall of the second connecting rod. The first links of the M buffer units are parallel to each other, the second links of the M buffer units are parallel to each other, and the buffers of the M buffer units are parallel to each other. One end of the support frame of the first mechanical capture arm is fixedly connected to the slider on the working track of the fifth drive unit, and the other end is fixedly connected to the slider on the working track of the seventh drive unit. One end of the support frame of the second mechanical capture arm is fixedly connected to the slider on the working track of the sixth drive unit, and the other end is fixedly connected to the slider on the working track of the eighth drive unit, so that the landing tracks of the first and second mechanical capture arms are located between the support frames of the first and second mechanical capture arms. The landing tracks of the first and second mechanical capture arms are used to cooperate in capturing and supporting the landing support of the rocket; The first clamping arm and the second clamping arm have the same structure, both being strip-shaped. One end of the first clamping arm is fixedly connected to the slider on the working track of the ninth drive unit, and the other end is fixedly connected to the slider on the working track of the eleventh drive unit. One end of the second clamping arm is fixedly connected to the slider on the working track of the tenth drive unit, and the other end is fixedly connected to the slider on the working track of the twelfth drive unit. The first clamping arm and the second clamping arm are used to cooperate with each other to fix the lower part of the recovered rocket and prevent it from swinging.

2. The reusable launch vehicle sea landing and recovery device according to claim 1, characterized in that, M is set to 5.

3. The reusable launch vehicle sea landing and recovery device according to claim 1, characterized in that, The first clamping arm, the second clamping arm, and the contact point with the recovery rocket are provided with a rubber layer for cushioning.

Images