An integrated recovery device and method for rocket substage capture docking

Abstract

This application provides an integrated recovery device and method for capturing and docking a rocket's first stage, comprising: a movable and lifting launch platform, a detachable horizontal clamping arm assembly, and a recovery frame. The detachable horizontal clamping arm assembly is movably mounted on the recovery frame to provide radial lateral constraint on the rocket's first stage load-bearing structure. The recovery frame is fixedly mounted on a foundation, transferring the load on the detachable horizontal clamping arm to both the recovery frame and the foundation. The movable and lifting launch platform has horizontal and vertical lifting capabilities, used for docking with the bottom of the rocket's first stage and bearing the axial load of the rocket body. According to the technical solution of this application, full lateral constraint can be provided without the need for rope consumables. After capture, the rocket can directly dock with the launch base and be moved as a whole to the launch position, significantly simplifying the recovery process and shortening the reuse cycle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of launch vehicle vertical recovery and ground support equipment, in particular to an integrated recovery device and method for capturing and docking of a rocket substage. BACKGROUND

[0002] With the rapid development of reusable launch vehicle technology, ground recovery and rapid reuse of rocket substage have become a key link to reduce launch cost and improve launch frequency. At present, existing recovery technology solutions at home and abroad mainly include:

[0003] The first type is a barrier recovery technology, among which the flexible barrier cable net recovery scheme is more typical. Related research proposes a ground barrier type rocket recovery scheme, which uses four barrier cables to form a capture area, cooperates with dampers to consume the kinetic energy of the falling rocket, and realizes braking recovery through the hooking cable of the rocket body. However, this scheme has several inherent defects: under the eccentric landing condition, the unilateral tension of the barrier cable and the barrier hook will be greatly amplified, when the landing point is eccentric, the unilateral tension is much larger than that in the central condition, which leads to the need for large-scale strengthening and weight increase of the local hook seat of the rocket body; the barrier cable is a consumable part, which needs to be replaced regularly due to long-term burning and impact fatigue wear by the rocket exhaust, and the maintenance cost is high; after the capture is completed, the rocket is in a flexible suspension state, and external lifting equipment must be called to lift the rocket away from the recovery device and then transported to the launch site, and the multiple lifting docking process is complicated and the reuse cycle is long; in addition, the hooking instant has rope elastic impact shock, and the rocket body is greatly affected by the vibration load.

[0004] The second type is a tower mechanical arm capture technology, which uses a large-amplitude mechanical arm on the launch tower to clamp the rocket in the air and then lower it along the tower to the launch base. However, this scheme also has inherent defects: the mechanical arm is a large-angle swing hinge structure, the overall mechanism is large in size and has large overturning moment, which requires high strength of the tower; only one pair of clamping arms provides radial constraint, and the lateral constraint perpendicular to the arm body is weak, and the wind disturbance resistance during suspension is poor; the buffer mechanism is concentrated at the arm root hinge, and there is no special buffer stroke for the clamping contact surface, which requires high suspension accuracy of the rocket.

[0005] The third type is a recovery leg type vertical landing technology, which sets up expandable landing legs at the bottom of the rocket substage, and realizes vertical soft landing by supporting the landing legs after engine reverse thrust deceleration. This requires the rocket body to be equipped with landing legs, expansion locking mechanisms and bottom reinforcement structures, which increases the dead weight of the rocket body and causes a loss of carrying capacity, and also requires high guidance accuracy, attitude control and engine deep throttling capability of the flight control system, with a small landing point fault tolerance window. The leg and rocket structure are also prone to fatigue damage under hard landing conditions, which affects the maintenance cost after multiple reuse.

[0006] Therefore, a technical solution is needed that can achieve integrated recovery without rope consumables, full lateral restraint, direct docking with the launch base after capture, and no free fall. Summary of the Invention

[0007] This application aims to provide an integrated recovery device and method for capturing and docking a rocket's first stage, which can provide full lateral restraint without the need for rope consumables. After capture, it can be directly docked with the launch pad and moved out as a whole to the launch site, significantly simplifying the recovery process and shortening the reuse cycle.

[0008] According to one aspect of this application, an integrated recovery device for capturing and docking a rocket's first stage is provided, comprising: a movable and elevating launch platform, a detachable horizontal clamping arm assembly, and a recovery frame, wherein...

[0009] The detachable horizontal clamping arm assembly is movably mounted on the recovery frame and includes a pair of symmetrically arranged detachable horizontal clamping arms and a movable support member. By changing the distance between the two detachable horizontal clamping arms, radial lateral constraint is provided to the load-bearing structure of the rocket's first stage.

[0010] The recycling frame is fixedly installed on the foundation and includes a horizontal guide rail. The horizontal guide rail cooperates with the movable support of the detachable horizontal clamping arm to drive the two detachable horizontal clamping arms to open and close, and transfer the load on the detachable horizontal clamping arms to the recycling frame and the foundation.

[0011] The movable and lifting launch platform has horizontal movement capability and vertical lifting capability. The movable and lifting launch platform can be moved to below the first stage of the rocket and includes a docking support part that can be raised and lowered in the vertical direction for docking with the bottom of the first stage of the rocket and bearing the axial load of the rocket body.

[0012] According to some embodiments, the detachable horizontal clamping arm assembly adopts a sandwich structure, with the upper and lower layers being rigid load-bearing plates, and the middle layer including: a clamping and buffering unit disposed between the upper and lower rigid load-bearing plates; the opposing surfaces of the two horizontal clamping arms are arranged along the contact surface between the horizontal clamping arms and the rocket body of the first stage; the middle layer includes buffering elements and damping elements for absorbing the vertical residual impact kinetic energy of the rocket body during capture and suppressing rebound.

[0013] The buffer element and the damping element are selected from any one or a combination of hydraulic buffers, oil-gas buffers, disc springs, helical springs and rubber elements.

[0014] According to some embodiments, the drive method of the detachable horizontal clamping arm assembly includes any one of hydraulic drive, screw and nut drive, and gear and rack drive.

[0015] According to some embodiments, the lifting drive method of the movable lifting launch platform includes any one of hydraulic cylinder drive, lead screw and nut drive, gear and rack drive, and chain lifting drive.

[0016] According to some embodiments, the movable lifting launch platform includes a mobile base, which adopts any one of a track-type walking structure, a tracked walking structure, or a wheeled walking structure.

[0017] According to some embodiments, the docking support of the movable lifting launch platform is also provided with a guide horn and a positioning structure, thereby correcting the attitude deviation of the bottom of the first stage of the rocket during the docking process.

[0018] According to some embodiments, it also includes localized heat insulation layers, replaceable contacts, and maintainable buffer modules located at positions subjected to high temperatures and impacts during the recycling process to adapt to the usage environment of the recycling station.

[0019] According to some embodiments, the detachable horizontal clamping arm assembly supports the complete removal and / or removal only of sections obstructing the removal channel.

[0020] According to another aspect of this application, a method for recovering a rocket first stage based on an integrated recovery device as described in any of the preceding claims is provided, comprising:

[0021] Open the detachable horizontal clamping arm assembly and move the movable lifting launch platform outside the capture area to stand by.

[0022] The detachable horizontal clamping arm assembly is driven to move towards each other to a position that cooperates with the rocket body load-bearing structure. The rocket body load-bearing structure presses against the buffer element and the damping element, causing the buffer element and the damping element to generate vertical displacement to take over the load, while maintaining necessary lateral restraint.

[0023] After confirming that the capture is stable, the platform entry path and the exhaust plume environment are permissible, the movable lift-up launch platform is horizontally moved under the first stage of the rocket for positioning and holding.

[0024] The docking support of the movable lifting launch platform is raised, and the load is gradually borne through guided contact. After confirming that the bottom connection, platform load-bearing and stable support are established, the capture load-bearing connection between the detachable horizontal clamping arm assembly and the first stage of the rocket is released. During this period, the movable lifting launch platform maintains the necessary lateral constraints until the platform side can continue to be constrained.

[0025] According to some embodiments, it also includes:

[0026] After confirming that the movable lift-and-launch platform is capable of independent load-bearing and rocket-carrying movement, the detachable horizontal clamping arm or the section of the detachable horizontal clamping arm obstructing the exit channel on the exit side is removed, the connection between the rocket's first stage and the recovery frame is released, and the movable lift-and-launch platform carries the rocket out to the designated launch position to re-enter the fueling and launch preparation process; and / or

[0027] The detachable horizontal clamps on both sides are retracted to the sides respectively. After confirming that the takeoff passage and corresponding clearance meet the requirements, the movable lift-and-launch platform remains in its original position and directly enters the fueling and relaunch preparation process.

[0028] According to the embodiments of this application, the present invention, through the cooperation of a recovery frame, a detachable horizontal clamping arm assembly, and a movable lifting launch platform, uses a horizontally linearly moving clamping arm to directly clamp and capture a vertically descending rocket. From the moment of capture, the rocket is laterally constrained throughout the entire process and does not need to be released for free fall and landing, fundamentally eliminating the risk of landing impact and rollover. The clamping arm load is directly transmitted to the recovery frame and the foundation via a horizontal guide rail, resulting in a short force transmission path, small overturning moment, simple and compact device structure, and low construction cost. After capture, the movable lifting launch platform moves under the rocket and docks with the bottom of the rocket via a docking support to bear the axial load, realizing the integrated connection between aerial capture and bottom docking, significantly shortening the turnaround cycle for recovery and relaunch.

[0029] According to some embodiments, by integrating the clamping buffer unit into the contact surface of the clamping arm, the vertical residual impact kinetic energy of the rocket body during capture is absorbed and the rebound is suppressed. This actively shares the eccentric landing load, reduces the peak stress on the local structure of the rocket body, and reduces the requirements for the hovering accuracy of the rocket terminal. By setting the guide horn and positioning structure in the docking support, the positional deviation of the bottom of the rocket body can be automatically corrected during the docking process.

[0030] According to some embodiments, by setting local heat insulation protective layers, replaceable contacts, and maintainable buffer modules in areas subjected to high temperatures and impacts, the device can adapt to the operating environment of the recovery station. Loss components can be quickly replaced to restore capture capability, making maintenance convenient and the total life cycle cost low. The clamping arm drive, platform lifting drive, and mobile base walking structure provide multiple options, allowing for flexible selection as needed. The clamping arm assembly supports the complete removal or removal of only the section blocking the removal channel, providing a through channel for the platform to move out with the arrow.

[0031] According to some embodiments, the present invention standardizes the recovery method into a process. Before the platform enters, it undergoes multiple confirmations. After confirming that all connections are established, the clamp arm load-bearing connection is released, achieving a seamless handover of load and constraint, ensuring safe and reliable operation. After capture, the platform can move the rocket out to the designated launch position, or the clamp arm can be retracted and the platform can directly enter the fueling and relaunch preparation process in its original position, improving the number of launches and the economic efficiency of reusable rockets.

[0032] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0034] Figure 1 The diagram illustrates an integrated recovery device for capturing and docking a rocket first stage, according to an example embodiment.

[0035] Figure 2 The diagram shows a detachable horizontal clamping arm structure in an integrated recovery device for capturing and docking a rocket first stage, according to an example embodiment.

[0036] Figure 3 The diagram illustrates an integrated recovery method for capture and docking of a rocket first stage, according to an example embodiment.

[0037] Figure 4 The diagram illustrates the ready-to-use state of an integrated recovery method for capturing and docking a rocket first stage, according to an example embodiment.

[0038] Figure 5 The diagram illustrates the clamping state of a detachable horizontal clamping arm in an integrated recovery method for capturing and docking a rocket first stage, according to an example embodiment.

[0039] Figure 6 The diagram illustrates the docking of a rocket first stage with a mobile launch platform in an integrated recovery method for capturing and docking a rocket first stage, according to an example embodiment.

[0040] Figure 7 This diagram illustrates a relaunch in an integrated recovery method for capturing and docking a rocket first stage, according to an example embodiment. Detailed Implementation

[0041] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0042] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0043] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0044] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0045] It should be understood that although the terms first, second, third, etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0046] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0047] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily essential for implementing this application, and therefore cannot be used to limit the scope of protection of this application.

[0048] Reusable launch vehicles are an important direction for reducing launch costs and increasing launch frequency, with rocket first-stage recovery and rapid reuse being key components. Existing technologies mainly include two types of ground recovery solutions: flexible arresting cable net recovery and tower-based robotic arm capture. However, in practical applications, these solutions still suffer from problems such as insufficient capture reliability, complex reuse and turnaround processes, and inadequate lateral constraints.

[0049] To this end, this application proposes an integrated recovery device and method for capturing and docking a rocket's first stage, which can provide full-process lateral restraint without the need for rope consumables. After capture, it can be directly docked with the launch pad and moved out as a whole to the launch site, significantly simplifying the recovery process and shortening the reuse cycle. According to the embodiment, through the cooperation of the recovery frame, the detachable horizontal clamping arm assembly, and the movable lifting launch platform, the horizontal linear moving clamping arm directly clamps and captures the vertically descending rocket body. The two clamping arms provide radial lateral constraint to the load-bearing structure of the rocket body by changing the distance between them. The rocket body is laterally constrained throughout the entire process from the moment of capture and does not need to be released for free fall and landing, which fundamentally eliminates the risk of landing impact and rollover. Moreover, there is no need for a rope arresting system, and there is no risk of rope ablation, wear, or breakage. The load on the clamping arm is directly transmitted to the recovery frame and the foundation through the moving support and the horizontal guide rail. The force transmission path is short, the overturning moment is small, the device structure is simple and compact, and the construction cost is low. After capture, the movable lifting launch platform moves to the bottom of the rocket body and docks with the bottom of the rocket body through the vertical lifting of the docking support and bears the axial load, realizing the integrated connection of aerial capture and bottom docking. This eliminates intermediate links such as hoisting, transportation, and secondary docking, which significantly shortens the turnaround cycle of reusable rocket recovery and relaunch.

[0050] According to some embodiments, the technical solution of the present invention integrates the clamping buffer unit into the contact surface of the clamping arm, absorbs the vertical residual impact kinetic energy of the rocket body during capture and suppresses rebound, actively shares the eccentric landing load, reduces the peak stress of the local structure of the rocket body, and moderately reduces the stringent requirements for the hovering accuracy of the rocket terminal; by setting the guide horn and positioning structure in the docking support, the bottom attitude deviation of the rocket body can be automatically corrected during docking, reducing the requirements for control accuracy of the docking operation.

[0051] According to some embodiments, by setting local heat insulation protective layers, replaceable contacts, and maintainable buffer modules in areas subjected to high temperatures and impacts, the device can adapt to the high-temperature, impact, and repeated use environment of the recovery station. Wearing parts can be quickly replaced to restore capture capability, making maintenance convenient and the total life cycle cost low. By providing multiple options for the clamping arm drive, platform lifting drive, and mobile base walking structure, the device can be flexibly selected according to the rocket tonnage, site conditions, and construction costs. The clamping arm assembly supports complete removal or removal of only the section blocking the removal channel, providing a through channel for the platform to move horizontally with the rocket, with minimal disassembly and assembly workload and quick resetting.

[0052] According to some embodiments, the technical solution of the present invention forms a standardized process for the recovery method. Before the platform enters, it undergoes multiple confirmations of capture stability, entry path, and exhaust plume environment. The docking support gradually bears the load, and after confirming the establishment of various connections, the load-bearing connection of the clamping arms is released. During this period, the platform maintains necessary lateral constraints until the corresponding constraints are connected on the platform side, achieving seamless handover of load and constraints. The entire operation is safe and reliable. After capture, the platform can be moved out with the rocket to the designated launch position, or the clamping arms on both sides can be retracted, and the platform can directly enter the fueling and relaunch preparation process in its original position. This realizes the integrated connection of the recovery station and the launch station or the parallel scheduling of multiple stations, further improving the number of launches and the economic efficiency of reusable rockets.

[0053] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application.

[0054] Figure 1 The diagram illustrates an integrated recovery device for capturing and docking a rocket first stage, according to an example embodiment.

[0055] See Figure 1 The figure shows an integrated recovery device for capturing and docking a rocket's first stage, including: a movable lifting launch platform 3, a detachable horizontal clamping arm assembly 2, and a recovery frame 1, wherein the rocket's first stage 4 is the target of the device for capture and recovery.

[0056] According to some embodiments, the recovery frame 1 is fixedly installed on the foundation and includes a horizontal guide rail. The horizontal guide rail cooperates with the movable support of the detachable horizontal clamping arms to drive the two detachable horizontal clamping arms to open and close, transferring the load on the detachable horizontal clamping arms to the recovery frame 1 and the foundation. Specifically, the recovery frame 1 is fixedly installed on the foundation and is a portal truss structure, including columns and crossbeams located on the upper part of the columns, serving as the main load-bearing body of the entire device. The recovery frame 1 is provided with a horizontal guide rail, which is fixed to the crossbeam. The columns and crossbeams of the recovery frame 1 form a capture space for the vertical descent of the first stage 4 of the rocket.

[0057] According to some embodiments, the detachable horizontal clamping arm assembly 2 is movably mounted on the recovery frame 1, including a pair of symmetrically arranged detachable horizontal clamping arms and a movable support member. By changing the distance between the two detachable horizontal clamping arms, radial lateral constraint is provided to the load-bearing structure of the rocket's first stage. Specifically, the detachable horizontal clamping arm assembly 2 is movably mounted on the recovery frame 1, including a pair of symmetrically arranged detachable horizontal clamping arms and a movable support member. The two detachable horizontal clamping arms span the capture space in parallel, and their ends are respectively mounted on the horizontal guide rails of the crossbeams on both sides of the recovery frame 1 via the movable support member, and can perform horizontal linear reciprocating motion along the horizontal guide rails. The two detachable horizontal clamping arms move towards or away from each other, and the opening and closing of the clamping arms is achieved by changing the distance between them, thereby clamping the load-bearing structure of the vertically descending rocket's first stage 4, providing radial lateral constraint to the rocket body, and suppressing the swaying and deflection of the rocket body after capture. The horizontal guide rail cooperates with the movable support to guide the opening and closing of the clamping arm, and to transfer the load on the detachable horizontal clamping arm to the recovery frame 1 via the movable support and the horizontal guide rail, and then to the foundation via the recovery frame 1.

[0058] According to some embodiments, the driving method of the detachable horizontal clamping arm assembly 2 includes any one of hydraulic drive, screw and nut drive, and rack and pinion drive. Optionally, when hydraulic drive is used, the cylinder body of the hydraulic cylinder is fixed to the crossbeam of the recovery frame 1, and the extended end of the piston rod is connected to the movable support. The reciprocating extension and retraction of the piston rod drives the movable support and the detachable horizontal clamping arm on it to perform horizontal linear reciprocating motion along the horizontal guide rail. Regardless of the driving method used, the two detachable horizontal clamping arms can be moved synchronously towards or away from each other through the synchronous control of the two driving mechanisms. The opening and closing of the clamping arms is achieved by changing the distance between the two detachable horizontal clamping arms, thereby clamping the load-bearing structure of the vertically descending first stage 4 of the rocket and providing radial lateral constraint. After the horizontal clamping arm reaches the bearing position, it maintains its position, and the displacement tendency caused by the clamping load is borne by the self-locking characteristics of the driving mechanism. Among them, the hydraulic drive has a large output thrust and smooth movement, suitable for the rapid capture of large-tonnage rockets; the screw and nut drive has high transmission accuracy and self-locking performance, facilitating precise adjustment and position holding of the clamping arm spacing; the gear and rack drive has strong load-bearing capacity and good stroke adaptability, suitable for large-stroke opening and closing conditions. In practical applications, the appropriate drive can be selected according to the rocket tonnage, capture stroke, and response speed requirements. The linear opening and closing movement of the detachable horizontal clamping arms is achieved through the cooperation of the moving support and the horizontal guide rail. The structure is simple, the transmission is reliable, and it ensures that the two clamping arms exert uniform force on the rocket body, avoiding additional lateral loads on the rocket body caused by asynchronous clamping arm movements.

[0059] Figure 2 The diagram shows a detachable horizontal clamping arm structure in an integrated recovery device for capturing and docking a rocket first stage, according to an example embodiment.

[0060] According to some embodiments, see Figure 2 The detachable horizontal clamping arm assembly 2 adopts a sandwich structure, with upper and lower rigid load-bearing plates 201 and a middle layer including a clamping buffer unit 202. This unit is positioned between the upper and lower rigid load-bearing plates 201, with the opposing surfaces of the two horizontal clamping arms arranged along the contact surface between the horizontal clamping arms and the rocket's first stage body. It includes buffering and damping elements to absorb the vertical residual impact kinetic energy of the rocket body during capture and suppress rebound. The buffering and damping elements are selected from any one or a combination of hydraulic buffers, oil-pneumatic buffers, disc springs, coil springs, and rubber elements. This allows the rocket body to directly contact the clamping buffer unit 202 during clamping, absorbing the vertical residual impact kinetic energy of the rocket body during capture and suppressing rebound. The buffering and damping elements can be any one of hydraulic buffers, oil-pneumatic buffers, disc springs, coil springs, or rubber elements, or a combination of these elements. The selection of rubber elements must consider the suitability for the thermal environment, load-bearing capacity, and lifespan conditions of the recovery station.

[0061] In practical applications, during capture, the two detachable horizontal clamping arms move towards each other to a position that mates with the rocket's load-bearing structure. The rocket's load-bearing structure presses against the clamping buffer unit 202, causing the buffer and damping elements to compress vertically. This maintains necessary lateral restraint on the rocket while continuing to bear load. The residual vertical impact kinetic energy at capture is absorbed by the buffer element, and the rebound motion after capture is suppressed by the damping element. The main vertical load path during capture is: rocket load-bearing structure → upper load-bearing plate of horizontal clamping arms → buffer element, damping element and their mounting support → lower load-bearing plate of horizontal clamping arms → moving support and horizontal guide rail → recovery frame 1 → foundation.

[0062] By directly integrating the clamping buffer unit 202 onto the clamping contact surface, an independent buffer stroke is provided for the rocket body. This absorbs a small amount of residual vertical velocity during rocket capture, thereby moderately reducing the stringent requirements for the rocket's terminal hovering accuracy. Furthermore, the compression deformation of the clamping buffer unit 202 can actively share the vertical impact load caused by eccentric descent, preventing a sharp amplification of force on one side of the clamping arm, reducing the peak stress on the local structure of the rocket body, and suppressing rebound oscillations after capture, thus reducing the impact of vibration loads on the rocket body.

[0063] According to some embodiments, the movable lifting launch platform 3 has horizontal movement capability and vertical lifting capability. The movable lifting launch platform 3 can be moved to below the first stage of the rocket and includes a docking support section that can be raised and lowered vertically for docking with the bottom of the first stage of the rocket and bearing the axial load of the rocket body. Specifically, the movable lifting launch platform 3 has horizontal movement capability and vertical lifting capability, and can autonomously move to the capture space. In a preferred embodiment, the movable lifting launch platform 3 includes a bottom support tower, a vertical climbing guide rail disposed on the bottom support tower, and a docking support section disposed on the bottom support tower and movably connected to the vertical climbing guide rail, which can be raised and lowered vertically. This docking support section is used to dock with the bottom of the first stage of the rocket 4, bear the axial load of the rocket body, and serve as a support base for the relaunch of the first stage of the rocket 4.

[0064] According to some embodiments, the lifting drive method of the movable lifting launch platform 3 includes any one of hydraulic cylinder drive, screw and nut drive, gear and rack drive, and chain lifting drive. Optionally, when using hydraulic cylinder drive, the hydraulic cylinder is vertically installed on the platform body of the movable lifting launch platform 3, and the extended end of the piston rod of the cylinder is connected to the docking support part. The reciprocating extension and retraction of the piston rod drives the docking support part to rise and fall in the vertical direction. Regardless of the lifting drive method used, the synchronous control of multiple lifting drive mechanisms can ensure that all points of the docking support part are synchronized during the lifting process and that the top surface remains horizontal. This allows the docking support part to smoothly dock with the bottom of the first stage 4 of the rocket when it rises, and gradually bear all the axial loads of the rocket body. After docking, the docking support part remains in the bearing position, and the self-locking characteristics of the drive mechanism or a separate mechanical locking mechanism bears the displacement trend caused by the weight of the rocket body, ensuring the stability and reliability of the docking support. Among them, the hydraulic cylinder drive has strong load-bearing capacity, smooth lifting and lowering and has a certain overload buffering capacity, which is suitable for docking and bearing large tonnage rocket bodies; the screw nut drive has high positioning accuracy and good self-locking performance, which facilitates precise control of the docking process; the gear and rack drive has good transmission rigidity and strong stroke adaptability; the chain lifting drive has a compact structure and a large lifting stroke. In practical applications, it can be selected according to the rocket body tonnage, docking stroke and positioning accuracy requirements, so as to complete the precise docking with the bottom of the rocket body and the axial load bearing through the rise of the docking support, and realize the smooth transfer of rocket body load from the clamping arm to the platform.

[0065] According to some embodiments, the docking support of the movable lifting launch platform 3 is also provided with a guide horn and a positioning structure, thereby correcting the attitude deviation of the bottom of the first stage of the rocket during the docking process. Optionally, the guide horn is located at the top of the docking support and has a tapered guide surface structure that is larger at the top and smaller at the bottom. The larger end faces upward and the smaller end connects with the bearing surface of the docking support. In coordination with the guide horn, the bottom of the first stage 4 of the rocket has a corresponding tapered mating section, or the bottom structure of the rocket body, such as the landing leg outriggers or the thermal protection bottom edge, is adapted to the taper of the tapered guide surface. The positioning structure may include a positioning pin fixed to the bearing surface of the docking support and a positioning hole opened at the bottom of the first stage 4 of the rocket, thereby providing mechanical self-guiding capability for the docking of the rocket body and the platform. The positional deviation can be automatically corrected during the rising process of the docking support, without relying on the high-precision positioning of the rocket body hovering at the end or the repeated fine-tuning of the platform. This reduces the stringent requirements for control accuracy during the docking process and shortens the docking time. At the same time, after the positioning pin is inserted into the positioning hole, a clear positioning reference is formed, ensuring that the bottom of the rocket body and the docking support are subjected to uniform force and reliable connection. This avoids abnormal force on the local structure of the rocket body caused by docking misalignment, and improves the success rate of docking and the operating efficiency under reusable conditions.

[0066] In practical applications, after the first stage 4 of the rocket completes its return braking, it descends vertically into the capture space in a near-vertical posture. When the rocket body falls to the preset clamping height, two detachable horizontal clamping arms move towards each other along the horizontal guide rail, clamping the rocket body's load-bearing structure on the side wall. During capture, the vertical residual impact and clamping load of the rocket body are transmitted to the recovery frame 1 and the foundation through the clamping arms, the moving support, and the horizontal guide rail. The clamping arms maintain the clamping state, providing continuous radial and lateral constraints for the rocket body. After confirming stable capture, the movable lifting launch platform 3 moves horizontally below the first stage 4 of the rocket and maintains its position. Its docking support slowly rises vertically, precisely docking with the bottom of the rocket body and gradually absorbing all the axial load of the rocket body. After docking, the rocket body load is smoothly transferred from the clamping arms to the platform. The movable lifting launch platform 3 can carry the first stage 4 of the rocket to the designated launch position, or it can remain at the original position and directly enter the fueling and relaunch preparation process.

[0067] Using the above structure, capture is directly completed in mid-air by the horizontal clamping arm, eliminating the need for arresting cables and other rope consumables, and eliminating the risks of rope ablation, wear, and breakage. Furthermore, the rocket body is radially and laterally constrained by the clamping arm from the moment of capture, eliminating the need for free fall and landing impact risks. More importantly, after capture, the rocket body does not require hoisting, transportation, or secondary docking; docking and position transfer can be completed via the movable lifting launch platform 3. The recovery position is also the launch position, significantly shortening the turnaround cycle of reusable rockets. In addition, the clamping arm moves and opens / closes along a horizontal straight line, resulting in a simpler structure, smaller overturning moment, and lower ground equipment size and construction costs compared to a large-amplitude articulated robotic arm.

[0068] According to some embodiments, the device further includes localized heat insulation layers, replaceable contacts, and maintainable buffer modules located at positions subjected to high temperatures and impacts during recovery, to adapt to the operating environment of the recovery station. Optionally, these locations include: the surfaces of the crossbeams and horizontal guide rails of the recovery frame 1 facing the capture space; the outer surface and ends of the detachable horizontal clamping arm 2 away from the clamping surface; the peripheral area of ​​the docking support of the movable lifting launch platform 3 facing the bottom of the rocket body; and the foundation surface within the capture space adjacent to the landing area of ​​the rocket body—areas subjected to high-temperature radiation from the bottom heat shield of the first stage 4 and the heat flow from the engine exhaust during recovery.

[0069] The localized heat insulation layer can be made of high-temperature resistant heat insulation materials such as ceramic fiber felt, aerogel heat insulation felt, or ablation-type heat-resistant materials. It is applied to the surface of the aforementioned structural components via bolt connections, clamp fixation, or bonding to block and weaken the heat transfer of high-temperature heat flow to the load-bearing structure, preventing the recovery frame 1, horizontal guide rails, moving support components, and clamping arms from strength degradation, deformation, and failure due to repeated thermal effects. The replaceable contact components can be located at contact points that bear impact and wear during recovery. Optionally, these could be the outermost layer of the clamping contact surface where the two detachable horizontal clamping arms contact the load-bearing structure of the rocket's first stage 4, or the bearing surface where the docking support directly contacts the bottom of the rocket body.

[0070] The replaceable contact can be made of high temperature and wear resistant materials and installed on the contact surface by means of detachable connection such as bolts or clips. The squeezing, friction and ablation damage in the recycling operation are concentrated at the contact part. When the contact is worn, indented or ablated, only the damaged contact needs to be removed and replaced with a new one. There is no need to replace the entire horizontal clamping arm or docking support. After replacement, the clamping contact surface and bearing surface will be restored to the design state.

[0071] The maintainable buffer module can be a standardized module integrating the buffer element and damping element in the clamping buffer unit 202. The buffer module is installed in the mounting cavity between the upper and lower rigid load-bearing plates 201 of the horizontal clamping arm via a quick-release connection structure, and is arranged along the contact surface between the clamping arm and the rocket body. After each recovery operation or when the specified number of uses is reached, the buffer module can be inspected. When the buffer element shows plastic deformation, fatigue damage, or the damping element's performance deteriorates, the buffer module can be directly removed from the mounting cavity for repair or replacement. After installation, the buffering performance can be restored without disassembling the entire horizontal clamping arm, resulting in short maintenance time and simple operation.

[0072] Through the above-mentioned design, the localized heat insulation layer isolates the high-temperature structural components from the heat flow, ensuring the structural performance stability of the device under the thermal environment of rocket reentry. Replaceable contact components are designed as easily replaceable parts in areas of concentrated impact and wear, ensuring that impact damage during recovery is controlled within a rapidly recoverable range. The maintainable buffer module ensures that the buffering and damping performance remains at its design state, maintaining the ability to absorb the vertical residual impact kinetic energy of the rocket body and suppress rebound. Therefore, the entire device maintains reliable performance under repeated high-temperature and impact load recovery conditions, with rapid component replacement, low maintenance costs, and shortened ground support operation time between launches. It adapts to the operating environment of the recovery site and improves the economy and turnaround efficiency of the reusable rocket recovery support system.

[0073] According to some embodiments, the detachable horizontal clamping arm assembly 2 supports the complete removal and / or removal of only the section obstructing the exit channel, so that the movable lifting launch platform 3 can carry the rocket's first stage 4 horizontally out of the capture space. Specifically, both ends of each detachable horizontal clamping arm are supported on the horizontal guide rails of the crossbeams on both sides of the recovery frame 1 by movable support members. The clamping arm ends and the movable support members are connected by a quick-release connection structure with pin positioning and bolt fastening. During complete removal, the quick-release connection between the clamping arm ends and the movable support members is released, allowing the entire detachable horizontal clamping arm to be removed or lifted out of the capture space. Subsequently, the two movable support members move along the horizontal guide rails to the clearance positions on both sides of the frame, forming a completely clear exit channel within the capture space.

[0074] Furthermore, the detachable horizontal clamping arm can also adopt a segmented structure, that is, it is composed of multiple arm segments connected sequentially along the arm length direction by detachable splicing joints. Each splicing joint is connected by flanges and secured by locating pins. The joints are positioned to avoid the contact area between the clamping arm and the first stage 4 of the rocket, so as to ensure the structural continuity of the clamping contact surface and the complete arrangement of the clamping buffer unit 202. When only the blocking section is removed, the splicing joints at both ends of the middle arm segment blocking the removal channel are first removed, and the arm segment is removed separately. The two arm segments located outside the removal channel, together with the moving support components, are left on the horizontal guide rail and can be further moved along the horizontal guide rail to the sides of the channel to avoid obstruction, so that the removal channel can be opened with minimal disassembly and modification of the clamping arm. The entire arm can be removed or partially removed according to the actual transportation needs, minimizing the disassembly and assembly workload and shortening the station changeover time. The quick-release connection and splicing joint have high repeatability and positioning accuracy, and are convenient and reliable to disassemble and assemble. After removal, it can be quickly restored to the capture state, further improving the turnover efficiency of reusable rocket recovery and relaunch.

[0075] According to some embodiments, the load-bearing structure of the rocket body adopts discrete load-bearing parts or circumferential load-bearing parts that cooperate with the bearing surface of the clamping arm. This allows the clamping load to be diffused and transferred to the main structure of the rocket body through the load-bearing structure, avoiding direct application of the clamping load to the thin-walled shell of the rocket body. During operation, the clamping arm does not directly contact the thin-walled shell of the rocket body. The concentrated clamping force is diffused through the discrete load-bearing parts or circumferential load-bearing parts and then transferred to the main load-bearing components of the rocket body. This avoids local crushing, denting, or instability damage to the shell, ensuring the integrity of the rocket body structure after multiple capture and recovery operations. Preferably, the discrete load-bearing part can be arranged only at the corresponding clamping position, resulting in a compact structure, minimal weight increase, and minimal impact on the carrying capacity of the rocket's first stage 4. The circumferential load-bearing part can be arranged continuously around the circumference, allowing the clamping arm to clamp at any circumferential position, accommodating circumferential attitude deviations during rocket recovery and landing, eliminating the need for precise circumferential orientation adjustment before landing, thus improving the capture tolerance and the device's versatility for different rocket configurations. The outer surface of the load-bearing part matches the bearing surface of the clamping arm, resulting in a large contact area and uniform force distribution. Combined with the energy absorption of the clamping buffer unit 202, this further reduces the peak stress of the rocket's local structure at the moment of capture.

[0076] Figure 3 The diagram illustrates an integrated recovery method for capture and docking of a rocket first stage, according to an example embodiment.

[0077] See Figure 3 The figure illustrates a method for recovering a rocket first stage based on an integrated recovery device as described in any of the preceding claims, comprising:

[0078] In S101, the detachable horizontal clamping arm assembly is opened, and the movable lifting launch platform is moved outside the capture area to stand by.

[0079] According to some embodiments, capture preparation is performed. The two detachable horizontal clamping arms, driven by the movable support, move back-to-back along the horizontal guide rail of the recovery frame 1 to their maximum opening, creating a clear vertical descent channel within the capture space. The movable lifting launch platform 3 is moved horizontally outside the capture area via the movable base to await deployment, and its docking support is adjusted to a retracted or low-position state to ensure that the highest point of the platform does not encroach on the descent envelope of the capture space. After completing return braking, the first stage 4 of the rocket descends into the capture space in a near-vertical attitude.

[0080] In S103, the detachable horizontal clamping arm assembly is driven to move towards each other to a position that engages with the rocket body load-bearing structure. The rocket body load-bearing structure presses against the buffer element and the damping element, causing the buffer element and the damping element to generate vertical displacement to take over the load, while maintaining necessary lateral restraint.

[0081] According to some embodiments, capture and buffering are performed. See also Figure 4 When the first stage 4 of the rocket descends to the preset clamping height corresponding to the height of the clamping arms on the rocket body's load-bearing structure, the two detachable horizontal clamping arms are driven to move towards each other along the horizontal guide rail via the movable support to a position that mates with the rocket body's load-bearing structure. The rocket body's load-bearing structure presses against the clamping buffer unit 202, causing the buffer and damping elements in the clamping buffer unit 202 to generate vertical compressive displacement to absorb the load. The vertical residual impact kinetic energy at the moment of capture is absorbed by the buffer elements, and the rebound motion is suppressed by the damping elements. At the same time, the two clamping arms maintain the necessary lateral restraint on the rocket body via the clamping buffer unit 202, providing radial lateral constraint for the rocket body. The capture load is sequentially transferred to the recovery frame 1 and the foundation via the rocket body's load-bearing structure, the detachable horizontal clamping arms, the movable support, and the horizontal guide rail. After the two clamping arms reach the clamping position, they maintain the clamping state. See [link to relevant documentation]. Figure 5 Example.

[0082] In S105, after confirming that the capture is stable, the platform entry path and the exhaust plume environment are permissible, the movable lift-up launch platform is moved horizontally under the first stage of the rocket for positioning and holding.

[0083] According to some embodiments, the movable launch platform is moved in. The following steps are performed to confirm that capture stability, platform entry path, and exhaust plume environment are permissible: It is confirmed that the rocket body's swaying is attenuated under the radial lateral constraint of the clamping arm, rebound is suppressed, and the compression displacement of the clamping buffer unit 202 tends to stabilize, i.e., capture stability; it is confirmed that the platform entry path is permissible, meaning the highest point of the movable lifting launch platform 3 in its docking support configuration is lower than the height of the clamping arm, allowing the platform to pass under the clamping arm to directly beneath the rocket body; it is confirmed that the exhaust plume environment is permissible, i.e., the engine is shut down, exhaust plume heat dissipates, and the temperature at the recovery station drops to within the equipment's permissible range. Subsequently, the movable lifting launch platform 3 is horizontally moved under the first stage 4 of the rocket. After the moving base is in place, it is fixed to the ground by the positioning and locking mechanism, completing the positioning and holding process. (See [link to relevant documentation]).Figure 6 Example.

[0084] In S107, the docking support of the movable lifting launch platform is raised, and the load is gradually borne through guided contact. After confirming that the bottom connection, platform load-bearing and stable support are established, the capture load-bearing connection between the detachable horizontal clamping arm assembly 2 and the first stage of the rocket is released. During this period, the movable lifting launch platform 3 maintains the necessary lateral constraints until the platform side can continue to be constrained.

[0085] According to some embodiments, docking and load transfer are performed. The docking support of the movable, lifting launch platform 3 rises vertically under the drive of the lifting mechanism. The bottom of the rocket body first contacts the conical guide surface of the guide horn, automatically correcting horizontal attitude deviations. Then, the positioning pin is guided through a conical or chamfered ball guide section into the positioning hole at the bottom of the rocket body, completing circumferential precision positioning. The docking support gradually bears the axial load of the rocket body through the aforementioned guide contact. After confirming the establishment of the bottom connection, platform load-bearing capacity, and stable support—that is, after the positioning pin is fully inserted into the positioning hole, the docking support bears all the axial load of the rocket body, and the platform is locked and stable—the capture and load-bearing connection between the detachable horizontal clamping arm assembly 2 and the first stage 4 of the rocket is released. The two clamping arms are released and move away from each other along the horizontal guide rail to avoid collisions. During the process, the movable and lifting launch platform 3 maintains necessary lateral constraints until the platform side can connect to the corresponding constraints. That is, before the clamping arm is released, the docking support and the bottom of the rocket body have established horizontal and circumferential constraints through the fit of the positioning structure and the bearing surface. The radial lateral constraints of the clamping arm and the platform side constraints are seamlessly connected. The rocket body does not lose lateral constraints or fall freely throughout the process. The axial load and lateral constraints of the rocket body are borne by the movable and lifting launch platform 3. If transportation is required, the arm section blocking the removal channel is completely or partially removed in the aforementioned manner to form a removal channel. The movable and lifting launch platform 3 carries the rocket's first stage 4 horizontally out of the capture space and is transported to the launch position. After that, it directly enters the fueling and relaunch preparation process, realizing the integrated connection between the recovery position and the launch position.

[0086] Using the above-mentioned recovery method, capture is directly completed in the air by two detachable horizontal clamping arms. From the moment of capture, the rocket body is buffered and energy absorbed by the clamping buffer unit 202 and radially and laterally constrained, eliminating the need to release the rocket body for free fall and eliminating the risk of landing impact and rollover. The timing of the entry of the movable launch platform is confirmed by triple confirmation of capture stability, entry path and exhaust plume environment, ensuring high operational safety. The docking support is completed by two-stage correction through the guide horn and positioning structure, reducing the requirements for the control accuracy of the rocket body's end. The load and lateral constraint are always constrained during the handover between the clamping arms and the platform. There is no lifting equipment involved or rope consumables throughout the process, which significantly shortens the recovery and relaunch turnaround cycle of the reusable rocket.

[0087] According to some embodiments, the method further includes: after confirming that the movable lift-launch platform 3 has the conditions for independent load-bearing and rocket-carrying movement, removing the detachable horizontal clamp arm on one side of the removal direction or the section of the detachable horizontal clamp arm that blocks the removal channel, disconnecting the rocket sub-stage from the recovery frame, allowing the movable lift-launch platform 3 to move out with the rocket and proceed to the designated launch position to re-enter the fueling and launch preparation process, and / or retracting the detachable horizontal clamp arms on both sides to confirm that the takeoff channel and corresponding clearance meet the requirements, and leaving the movable lift-launch platform 3 at its original position to directly enter the fueling and re-launch preparation process. After recovery is completed, the position can be changed and re-launch preparation can be performed, see [link to relevant documentation]. Figure 7 Optionally, it includes two selectable modes: transfer mode and in-situ launch mode. One mode can be selected according to the launch mission schedule, or it can be used in different batches of missions.

[0088] In practical work scenarios, when using the transfer mode, first confirm that the movable lifting launch platform 3 has the conditions for independent load-bearing and rocket-carrying movement. That is, the docking support has borne all the axial load of the rocket's first stage 4, the lifting drive mechanism is mechanically locked or a separate mechanical locking mechanism is locked, the positioning and locking mechanism of the moving base is locked, the platform is horizontal, and the walking drive and braking are normal. Using the aforementioned quick-release connection method, remove the detachable horizontal clamping arm on the side of the removal direction, or only remove the arm section that blocks the removal channel, so that the removal channel of the platform carrying the rocket body is open. After the movable lifting launch platform 3 is released from its positioning lock, it carries the rocket's first stage 4 horizontally out of the capture space along the removal channel to the designated launch position. After arriving at the designated position, it is re-locked and positioned, and the fueling and launch preparation process begins.

[0089] When using the in-situ launch mode, the two detachable horizontal clamping arms are retracted to the sides along the horizontal guide rail under the drive of the moving support components and locked. It is confirmed that the takeoff passage and corresponding clearance meet the requirements, including that there are no obstacles within the takeoff and ascent envelope of the rocket body, the retracted clamping arms do not intrude into the range of action of the rocket body and the exhaust plume flow field, the part of the recovery frame 1 that bears the heat flow of the takeoff exhaust plume is within the protection range of the local heat insulation protection layer, and the surrounding equipment has been evacuated or protected in place. After confirming that the requirements are met, the movable lifting launch platform 3 remains in the original position, and the recovery position becomes the launch position, directly entering the fueling and relaunch preparation process.

[0090] In any of the above modes, subsequent operations are carried out according to the selected mode and actual maintenance needs: First-stage inspection and maintenance, upper-stage assembly, interface connection, fueling, and launch condition confirmation are completed, and relevant connections are disconnected according to the launch procedure. For the transport mode, the rocket takes off from the designated launch location; for the in-situ launch mode, the rocket takes off directly from the movable launch platform 3, with the docking support serving as the launch support base. After takeoff, the movable launch platform 3 is moved away from the exhaust plume area or protected on-site.

[0091] By setting up transfer and in-situ launch modes, the conversion method for the recovered launch site can be flexibly selected: the transfer mode separates the capture area from the launch area, allowing multiple recovery and launch sites to operate in parallel and be coordinated, improving the overall turnaround capacity of the launch site; the in-situ launch mode eliminates the rocket body transfer process, with the recovery site serving as the launch site, resulting in the shortest turnaround path. Neither mode requires hoisting equipment to lift the rocket body over obstacles; the complete or partial removal of the clamping arms and their retraction to the sides provide a clear path for the rocket body removal and launch; ground-side maintenance and rocket-side maintenance can be carried out in parallel, further reducing the ground support cycle between launches and increasing the number of launches and the economic efficiency of reusable rockets.

[0092] According to some embodiments, the technical solution of the present invention completely eliminates the arresting cable and pulley system in existing rope arresting schemes. The capture process is free from the risks of rope ablation, wear, and breakage, eliminating the need to inspect and replace the rope after each retrieval, thus eliminating the hidden danger of capture failure due to rope failure. It also eliminates the need for tensioning, releasing, and maintenance of the rope system. During capture, the rocket's load-bearing structure presses against the clamping buffer unit 202, causing the buffer and damping elements to undergo vertical compression displacement. The compression deformation of the clamping buffer unit 202 actively shares the vertical impact load caused by eccentric descent, preventing a sharp amplification of the force on one side of the clamping arm under eccentric conditions. The concentrated clamping force is diffused through the clamping buffer unit 202 and the rocket's load-bearing structure (discrete load-bearing part or circumferential load-bearing part) and then transmitted to the main load-bearing components of the rocket, reducing the peak stress on the local structure of the rocket and preventing localized crushing, denting, or instability damage to the thin-walled shell of the rocket.

[0093] After capture, the two detachable horizontal clamping arms remain in a clamping state. From the moment of capture, the rocket body is subject to radial and lateral constraints provided by the clamping arms, eliminating the need for the rocket body to be released for free fall before settling on the receiving platform. This fundamentally eliminates the risk of landing impact and rocket body rollover. When the load and lateral constraints are transferred between the clamping arms and the movable lifting launch platform 3, the docking support first completes the docking through the guide horn and positioning structure to establish horizontal and circumferential constraints on the platform side. Then, the capture load-bearing connection of the clamping arms is released, achieving seamless continuity of constraints. The rocket body remains constrained throughout the entire process, without any uncontrolled degrees of freedom, significantly improving recovery safety.

[0094] After capture, the axial load of the rocket body is smoothly transferred to the docking support of the movable and lifting launch platform 3 via the clamping arm. The rocket body docking is completed directly through the bottom lifting base, forming a continuous operation chain of "aerial capture - bottom docking - overall transportation / in-situ launch". The recovery position is also the launch position, or the platform can carry the rocket body horizontally to the launch position directly, eliminating all intermediate links such as external hoisting, transportation, and secondary docking. There is no hoisting equipment involved and no rope consumables throughout the process. The clamping arm can be completely removed, only the obstructing section can be removed, or it can be retracted to both sides to provide a through channel for the platform to move out with the rocket and for the rocket to take off. Ground-side maintenance and rocket-side maintenance can be carried out in parallel, which greatly shortens the ground support cycle between two launches and significantly improves the rocket reuse efficiency and the overall turnover capacity of the launch site.

[0095] According to some embodiments, in the technical solution of the present invention, the buffer unit is integrated on the clamping contact surface, providing an independent buffer stroke for the rocket body. It can absorb a small amount of vertical residual velocity at the moment of rocket capture and suppress rebound, thereby moderately reducing the stringent requirements on the hovering accuracy of the rocket's terminal phase. In conjunction with the guide horn and positioning structure of the docking support, the horizontal position deviation and angle tilt of the bottom of the rocket body can be automatically corrected during the docking process, forming a two-stage attitude correction mechanism of first guiding and then positioning. This eliminates the need for precise centering of the rocket body or repeated fine-tuning of the platform, reducing the accuracy pressure and propellant consumption of the guidance, navigation and control system, and improving the success rate and fault tolerance of capture and docking.

[0096] According to some embodiments, the technical solution of the present invention uses horizontal linear moving grippers to achieve capture opening and closing. Two detachable horizontal grippers move towards or away from each other along a horizontal guide rail via a moving support. Compared with a large-amplitude articulated robotic arm, it has fewer degrees of freedom of movement, a shorter transmission chain, and a simpler structure. The clamping load is transmitted along a direct path of "arrow body load-bearing structure → gripper → moving support → horizontal guide rail → recovery frame 1 → foundation". It does not require a tall boom to bear bending moment, has a small overturning moment, low requirements for the bearing capacity of the foundation, lower ground equipment volume and construction cost, and correspondingly improves the inherent reliability and maintainability of the device.

[0097] According to some embodiments, the technical solution of the present invention isolates the load-bearing components such as the recovery frame 1, horizontal guide rail, detachable horizontal clamping arm, and docking support from the exhaust heat flow and high-temperature radiation during the return of the first stage 4 of the rocket through a local heat insulation protective layer, ensuring the structural performance of the device is stable under repeated thermal effects; the clamping contact surface and load-bearing contact part, which are subject to concentrated impact and wear and wear out quickly, are designed as replaceable contact parts, and the buffer element and damping element are integrated into a maintainable buffer module. After wear, ablation, or buffer performance decay occurs, only the corresponding parts need to be quickly replaced to restore the capture capability without major overhaul of the overall structure, which significantly reduces the total life cycle cost of the device and is suitable for the harsh environment of high temperature, impact, and repeated use at the recovery station.

[0098] Furthermore, those skilled in the art will understand that the above-described device may contain only the components necessary to implement the embodiments of this specification, and need not contain all the components shown in the figures.

[0099] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0100] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0104] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0105] The exemplary embodiments of this application have been specifically shown and described above. It should be understood that this application is not limited to the detailed structures, arrangements, or implementation methods described herein; rather, this application is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended provisions.

Claims

1. An integrated recovery device for capturing and docking a rocket's first stage, characterized in that, include: The system includes a mobile, elevating launch platform, a detachable horizontal clamping arm assembly, and a recovery frame. The detachable horizontal clamping arm assembly is movably mounted on the recovery frame and includes a pair of symmetrically arranged detachable horizontal clamping arms and a movable support member. By changing the distance between the two detachable horizontal clamping arms, radial lateral constraint is provided to the load-bearing structure of the rocket's first stage. The recycling frame is fixedly installed on the foundation and includes a horizontal guide rail. The horizontal guide rail cooperates with the movable support of the detachable horizontal clamping arm to drive the two detachable horizontal clamping arms to open and close, and transfer the load on the detachable horizontal clamping arms to the recycling frame and the foundation. The movable lifting launch platform can be moved to below the first stage of the rocket and includes a docking support that can be raised and lowered in the vertical direction, for docking with the bottom of the first stage of the rocket and bearing the axial load of the rocket body.

2. The integrated recycling device according to claim 1, characterized in that, The detachable horizontal clamping arm assembly adopts a sandwich structure, with upper and lower layers being rigid load-bearing plates. The middle layer includes a clamping and buffering unit disposed between the upper and lower rigid load-bearing plates. The opposing surfaces of the two horizontal clamping arms are arranged along the contact surface between the horizontal clamping arms and the rocket body of the first stage. This unit includes buffering elements and damping elements to absorb the vertical residual impact kinetic energy of the rocket body during capture and suppress rebound. The buffer element and the damping element are selected from any one or a combination of hydraulic buffers, oil-gas buffers, disc springs, helical springs and rubber elements.

3. The integrated recycling device according to claim 1, characterized in that, The drive method of the detachable horizontal clamping arm assembly includes any one of hydraulic drive, screw and nut drive, and gear and rack drive.

4. The integrated recycling device according to claim 1, characterized in that, The lifting drive method of the movable lifting launch platform includes any one of the following: hydraulic cylinder drive, screw and nut drive, gear and rack drive, and chain lifting drive.

5. The integrated recycling device according to claim 1, characterized in that, The movable lifting and launching platform includes a mobile base, which can be any one of a track-type walking structure, a tracked walking structure, or a wheeled walking structure.

6. The integrated recycling device according to claim 1, characterized in that, The docking support of the movable lifting launch platform is also equipped with a guide horn and a positioning structure, thereby correcting the attitude deviation of the bottom of the first stage of the rocket during the docking process.

7. The integrated recycling device according to claim 1, characterized in that, It also includes localized heat insulation layers, replaceable contacts, and maintainable buffer modules installed in locations subjected to high temperatures and impacts during the recycling process to adapt to the operating environment of the recycling station.

8. The integrated recycling device according to claim 1, characterized in that, The detachable horizontal clamping arm assembly supports the complete removal and / or removal of only the section obstructing the removal channel.

9. A method for recovering a rocket first stage based on the integrated recovery device according to any one of claims 1 to 8, characterized in that, include: Open the detachable horizontal clamping arm assembly and move the movable lifting launch platform outside the capture area to stand by. The detachable horizontal clamping arm assembly is driven to move towards each other to a position that cooperates with the rocket body load-bearing structure. The rocket body load-bearing structure presses against the buffer element and the damping element, causing the buffer element and the damping element to generate vertical displacement to take over the load, while maintaining necessary lateral restraint. After confirming that the capture is stable, the platform entry path and the exhaust plume environment are permissible, the movable lift-up launch platform is horizontally moved under the first stage of the rocket for positioning and holding. The docking support of the movable lifting launch platform is raised, and the load is gradually borne through guided contact. After confirming that the bottom connection, platform load-bearing and stable support are established, the capture load-bearing connection between the detachable horizontal clamping arm assembly and the first stage of the rocket is released. During this period, the movable lifting launch platform maintains the necessary lateral constraints until the platform side can continue to be constrained.

10. The method for recovering a rocket's first stage according to claim 9, characterized in that, Also includes: After confirming that the movable lift-and-launch platform is capable of independent load-bearing and rocket-carrying movement, the detachable horizontal clamping arm or the section of the detachable horizontal clamping arm obstructing the exit channel on the exit side is removed, the connection between the rocket's first stage and the recovery frame is released, and the movable lift-and-launch platform carries the rocket out to the designated launch position to re-enter the fueling and launch preparation process; and / or The detachable horizontal clamps on both sides are retracted to the sides respectively. After confirming that the takeoff passage and corresponding clearance meet the requirements, the movable lift-and-launch platform remains in its original position and directly enters the fueling and relaunch preparation process.

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