An omnidirectional transfer device for vertical recovery of a missile body

Abstract

The utility model discloses a kind of for arrow body vertical recovery omnidirectional transfer device, it is related to rocket recovery technical field, for arrow body vertical recovery omnidirectional transfer device includes automatic positioning locking mechanism, and several automatic positioning locking mechanism is arranged at the circumferential outside of arrow body;Automatic positioning locking mechanism includes: vehicle body, the top surface of vehicle body is slidably arranged slider;Vertical electric cylinder is rotatably arranged at the top surface of vehicle body, and the upper end of vertical electric cylinder is connected locking hook by first piston rod;Turnover electric cylinder, the first end of turnover electric cylinder is rotatably connected slider, and the second end of turnover electric cylinder is rotatably connected locking hook by second piston rod.The above for arrow body vertical recovery omnidirectional transfer device solves the technical problem that current arrow body locking process operation is complicated, needs manual intervention, has higher requirement to operating space, high security risk, time-consuming is longer, and cannot be flexibly adjusted according to the diameter of arrow body, and the scope of application is smaller.

Description

Technical Field

[0001] This utility model relates to the field of rocket recovery technology, and in particular to an omnidirectional transfer device for vertical recovery of rocket bodies. Background Technology

[0002] Rockets typically support single-module or cluster-type recovery. Currently, the omnidirectional moving devices used for rocket bodies and spacecraft are usually "horizontal," requiring the rocket body to be flipped and hoisted to a vertical position before launch. During hoisting, operators must use a lift to climb to the top to connect the hoisting frame and then the shackles, making the entire rocket body locking process cumbersome, requiring manual intervention, demanding ample operating space, posing significant safety risks, and being time-consuming. Furthermore, it cannot be flexibly adjusted according to the rocket body's diameter, limiting its applicability. Therefore, this paper proposes an omnidirectional transfer device for the vertical recovery of rocket bodies to address these issues. Utility Model Content

[0003] The purpose of this invention is to provide an omnidirectional transfer device for vertical recovery of rocket bodies, which solves the technical problems of existing rocket body locking processes being cumbersome to operate, requiring manual intervention, having high requirements for operating space, posing high safety hazards, taking a long time, and not being able to flexibly adjust according to the diameter of the rocket body, thus having a limited range of applications.

[0004] To achieve the above objectives, this utility model provides an omnidirectional transfer device for vertical recovery of an arrow body, comprising: an automatic positioning and locking mechanism, wherein a plurality of automatic positioning and locking mechanisms are disposed on the circumferential outer side of the arrow body, and each of the automatic positioning and locking mechanisms is disposed between two adjacent legs of the arrow body.

[0005] The automatic positioning and locking mechanism includes:

[0006] The vehicle body has a slider slidably mounted on its top surface.

[0007] A vertical electric cylinder is rotatably mounted on the top surface of the vehicle body, and the upper end of the vertical electric cylinder is connected to a locking hook via a first piston rod;

[0008] A tilting electric cylinder, the first end of which is rotatably connected to the slider, and the second end of which is rotatably connected to the locking hook via a second piston rod.

[0009] Preferably, the first end of the locking hook is provided with a first hinge frame, the first hinge frame is rotatably connected to a first telescopic rod, a first drive motor is provided on the first hinge frame, the output end of the first drive motor is connected to the first end of the first telescopic rod, and a first gripper is provided at the second end of the first telescopic rod; the second end of the locking hook is provided with a first hinge frame, the second hinge frame is provided with a first drive motor, the output end of the second drive motor is connected to the first end of the second telescopic rod, and a second gripper is provided at the second end of the second telescopic rod.

[0010] Preferably, the locking hook is T-shaped, and a positioning block is provided on the side of the locking hook facing the arrow body, the positioning block engaging with the positioning groove on the outer peripheral side of the arrow body.

[0011] Preferably, a second hinge frame is provided at each of the two ends of the locking hook, the second hinge frame is rotatably connected to the positioning claw, a third drive motor is provided on the second hinge frame, and the output end of the third drive motor is connected to one end of the positioning claw.

[0012] Preferably, the bottom surface of the slider is provided with a plurality of grooves, and the top surface of the vehicle body is provided with a plurality of guide rails, each guide rail being slidably connected to one of the grooves.

[0013] Preferably, the acute angle between the top surface of the slider and the axis of the second piston rod is between 20° and 60°.

[0014] Preferably, a horizontal support is provided on the top surface of the slider, and the horizontal support is hinged to the second end of the tilting electric cylinder.

[0015] Preferably, the top surface of the vehicle body is provided with two vertical supports, and the two vertical supports are respectively hinged to the lower end of one of the vertical electric cylinders.

[0016] Preferably, the side of the vehicle body is provided with a plurality of fixing mechanisms, the fixing mechanism including: a mounting bracket, provided on the side of the vehicle body, the mounting bracket being slidably connected to a vertical moving column, and a magnetic block being provided at the lower end of the vertical moving column.

[0017] Preferably, a fourth drive motor is provided on the side of the vehicle body, a drive shaft is provided at the output end of the fourth drive motor, a drive gear is sleeved on the drive shaft, and a driven tooth is provided on one side of the vertical moving column, the driven tooth meshing with the drive gear.

[0018] Preferably, several of the automatic positioning and locking mechanisms are arranged at equal angles on the outer periphery of the arrow body.

[0019] Compared with the above-mentioned background technology, the omnidirectional transfer device for vertical recovery of rocket bodies provided by this utility model has the following beneficial effects:

[0020] (1) This utility model controls the vertical electric cylinder to drive the first piston rod to extend and retract, thereby moving the locking hook up and down until the locking hook is aligned with the locking position of the arrow body. At the same time, it controls the tilting electric cylinder to drive the second piston rod to extend and retract, thereby moving the locking hook horizontally, so that the locking hook presses against the locking position of the arrow body to lock the arrow body. The entire arrow body locking process is simple to operate, requires no manual intervention, is safer, and does not require a large operating space. It can meet the requirements of lifting the arrow body in harsh outdoor environments, effectively shortening the locking time of the arrow body and improving the locking efficiency of the arrow body.

[0021] (2) By adjusting the position of each automatic positioning and locking mechanism relative to the arrow body and the distance between each automatic positioning and locking mechanism, this utility model can lock arrow bodies of different diameters, making the overall omnidirectional transfer device more widely applicable. Moreover, after each automatic positioning and locking mechanism locks the arrow body, by driving each automatic positioning and locking mechanism to move synchronously, the arrow body can be transferred to the set position, which is more practical. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0023] Figure 1 A plan view of the omnidirectional transfer device for vertical recovery of the rocket body provided in an embodiment of this utility model;

[0024] Figure 2 A three-dimensional structural diagram of the automatic positioning and locking mechanism provided in an embodiment of this utility model;

[0025] Figure 3 A three-dimensional structural view of the automatic positioning and locking mechanism provided in this embodiment of the present invention after it is hidden in the vehicle body;

[0026] Figure 4 This is a three-dimensional structural view of the automatic positioning and locking mechanism provided in the second embodiment of the present invention, after it is hidden in the vehicle body.

[0027] Figure 5 This is a schematic diagram of the automatic positioning and locking mechanism provided in the second embodiment of the present invention after it is fixed around the arrow body;

[0028] Figure 6 This is a three-dimensional structural diagram of the automatic positioning and locking mechanism provided in the third embodiment of the present invention, after it is hidden in the vehicle body.

[0029] Specifically, 1-Arrow body; 101-Legs; 2-Vehicle body; 3-Vertical electric cylinder; 4-Tilting electric cylinder; 5-Slider; 6-Locking hook; 601-Positioning block; 7-Drive wheel; 8-Fixing mechanism; 801-Mounting frame; 802-Vertical moving column; 803-Magnetic block; 804-Fourth drive motor; 9-Horizontal support; 10-Vertical support; 11-Guide rail; 12-First hinge frame; 13-First telescopic rod; 14-First drive motor; 15-First gripper; 16-Second hinge frame; 17-Second telescopic rod; 18-Second drive motor; 19-Second gripper; 20-Arc-shaped fixing frame; 21-Positioning hook; 22-Third drive motor. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 , Figure 2 and Figure 3 As shown, in order to achieve the above objectives, this utility model provides an omnidirectional transfer device for vertical recovery of the rocket body, comprising: a plurality of automatic positioning and locking mechanisms disposed on the outer periphery of the rocket body 1, each automatic positioning and locking mechanism being disposed between two adjacent legs 101 of the rocket body 1. Optionally, taking a rocket body 1 with four legs 101 as an example, an automatic positioning and locking mechanism is disposed between every two adjacent legs 101, and the four automatic positioning and locking mechanisms are disposed at equal angles on the outer periphery of the rocket body 1.

[0033] The automatic positioning and locking mechanism includes: a vehicle body 2, with two vertical electric cylinders 3 rotatably mounted on the top surface of the vehicle body 2. The upper ends of the two vertical electric cylinders 3 are connected to locking hooks 6 via first piston rods. A vertical motor is mounted on each vertical electric cylinder 3 to provide power to the cylinders. By controlling the vertical electric cylinders 3 to drive the first piston rod to extend and retract, the locking hooks 6 move up and down until they are aligned with the locking position of the arrow body 1. Additionally, a slider 5 is slidably mounted on the top surface of the vehicle body 2. The first end of a tilting electric cylinder 4 is rotatably connected to the slider 5, and the second end of the tilting electric cylinder 4 is rotatably connected to the locking hooks 6 via second piston rods. Optionally, the locking hooks 6 are T-shaped to accommodate the locking position of the arrow body 1. It should be noted that the locking hooks 6 are detachably connected to the first and second piston rods, and the locking hooks 6 can also be changed to a shape suitable for the arrow body 1 depending on its locking position. By controlling the tilting electric cylinder 4 to drive the second piston rod to extend and retract, the locking hook 6 moves horizontally, causing the locking hook 6 to press against the locking position of the arrow body 1, thus locking the arrow body 1. The entire locking process of the arrow body 1 is simple to operate, requires no manual intervention, is safer, and does not require a large operating space, which can meet the requirements of lifting the arrow body 1 in harsh outdoor environments, effectively shortening the locking time of the arrow body 1 and improving the locking efficiency of the arrow body 1.

[0034] It should be noted that several drive wheels 7 are provided on the bottom surface of the vehicle body 2. The drive wheels 7 are used to drive the vehicle body 2 forward or backward, so as to adjust the position of each automatic positioning and locking mechanism relative to the arrow body 1.

[0035] In use, adjust the position of the four automatic positioning and locking mechanisms relative to the arrow body 1, control the vertical electric cylinder 3 in the four automatic positioning and locking mechanisms to drive the first piston rod to extend and retract, thereby moving the locking hook 6 up and down until the locking hook 6 is aligned with the locking position of the arrow body 1. Then, control the flipping electric cylinder 4 in the four automatic positioning and locking mechanisms to drive the second piston rod to extend and retract, thereby moving the locking hook 6 horizontally, so that the locking hook 6 presses against the locking position of the arrow body 1, thus completing the locking of the arrow body 1.

[0036] It should be noted that by adjusting the position of each automatic positioning and locking mechanism relative to the arrow body 1 and the spacing between each automatic positioning and locking mechanism, arrow bodies 1 of different diameters can be locked, making the overall omnidirectional transfer device more widely applicable. Furthermore, after the arrow body 1 is locked by the four automatic positioning and locking mechanisms, the four automatic positioning and locking mechanisms can be moved synchronously by the program setting control, which can transfer the arrow body 1 to the set position. The program setting can control the positioning accuracy of each automatic positioning and locking mechanism relative to the arrow body 1 to within 5mm, so as to ensure that each automatic positioning and locking mechanism will not detach from the arrow body 1.

[0037] It should be further explained that a visual recognition system (not shown in the figure) is installed on the vehicle body 2. The visual recognition system can detect the position of the vehicle body 2 relative to the arrow body 1. When the arrow body 1 needs to be locked, the visual recognition system assists each automatic positioning and locking mechanism to automatically navigate to the four sets of outriggers 101 of the arrow body 1 and adjust the position of each automatic positioning and locking mechanism relative to the arrow body 1. Combined with the above-mentioned locking process of the arrow body 1, the entire locking process of the arrow body 1 does not require manual intervention, has a higher degree of intelligence, further shortens the locking time of the arrow body 1, and improves the locking efficiency of the arrow body 1.

[0038] like Figure 4 and Figure 5As shown, in some embodiments of this utility model, the first end of the locking hook 6 is provided with a first hinge frame 12, which is rotatably connected to a first telescopic rod 13. The first telescopic rod 13 can be a hydraulic telescopic rod, a pneumatic telescopic rod, or an electric push rod. A first drive motor 14 is provided on the first hinge frame 12, and the output end of the first drive motor 14 is connected to the first end of the first telescopic rod 13. A first gripper 15 is provided at the second end of the first telescopic rod 13. The second end of the locking hook 6 is provided with a second hinge frame 16, which is rotatably connected to a second telescopic rod 17. The second telescopic rod 17 can be a hydraulic telescopic rod, a pneumatic telescopic rod, or an electric push rod. A first drive motor 14 is provided on the second hinge frame 16, and the output end of the second drive motor 18 is connected to the first end of the second telescopic rod 17. A second gripper 19 is provided at the second end of the second telescopic rod 17. Optionally, the first drive motor 14 and the second drive motor 18 are stepper motors. Initially, the first telescopic rod 13 and the second telescopic rod 17 are far apart, not affecting the locking position of the locking hooks 6 in each automatic positioning and locking mechanism pressing the arrow body 1. After the locking hooks 6 in each automatic positioning and locking mechanism press the arrow body 1 into the locking position, the first telescopic rod 13 and the second telescopic rod 17 in each automatic positioning and locking mechanism are extended to a first preset length. First, the first drive motor 14 is controlled to rotate the first telescopic rod 13 forward by a first preset angle, and then the second drive motor 18 is controlled to rotate the second telescopic rod 17 forward by a second preset angle, so that the first gripper 15 on the first telescopic rod 13 abuts against the second telescopic rod 17, and the second gripper 19 on the second telescopic rod 17 abuts against the first telescopic rod 13. Finally, the first telescopic rod 13 and the second telescopic rod 17 in each automatic positioning and locking mechanism are retracted to a second preset length, at which point the first gripper 15 and the second gripper 19 are engaged. The control drives the four automatic positioning and locking mechanisms to move synchronously. During the transfer of the arrow body 1, the fixed connection between the first telescopic rod 13 and the second telescopic rod 17 enables each locking hook 6 to be fixedly connected, thereby forming a fixed connection between each automatic positioning and locking mechanism. This ensures that the position of each automatic positioning and locking mechanism relative to the arrow body 1 remains unchanged, preventing any automatic positioning and locking mechanism from being disturbed and delayed in movement and detaching from the arrow body 1. This prevents the arrow body 1 from losing its balance and effectively ensures the stability and safety of the arrow body 1 during the transfer process.

[0039] In some embodiments of this utility model, the locking hook 6 is T-shaped, and a positioning block 601 is provided on the side of the locking hook 6 facing the arrow body 1. Correspondingly, a positioning groove (not shown in the figure) is provided on the outer peripheral side of the arrow body 1. Each positioning groove corresponds to a positioning block 601. After the locking hook 6 presses the arrow body 1 into the locking position, the positioning block 601 engages with the positioning groove on the outer peripheral side of the arrow body 1 to limit the locking hook 6, ensuring that the locking hook 6 will not easily disengage from the locking position of the arrow body 1, and further ensuring the stability of the arrow body 1 after locking.

[0040] like Figure 6 As shown, in some embodiments of this utility model, arc-shaped fixing frames 20 are respectively provided at both ends of the locking hook 6. The arc-shaped fixing frames 20 are rotatably connected to the positioning claws 21. A third drive motor 22 is provided on the arc-shaped fixing frames 20. Optionally, the third drive motor 22 is a stepper motor. The output end of the third drive motor 22 is connected to one end of the positioning claws 21. Correspondingly, hook grooves (not shown in the figure) are provided on the outer peripheral side of the arrow body 1. Each hook groove corresponds to one positioning claw 21. After the locking hook 6 presses the arrow body 1 into the locking position, the third drive motor 22 drives the corresponding positioning claws 21 to rotate forward by a certain angle until the positioning claws 21 connect with the hook grooves on the outer peripheral side of the arrow body 1. Through the engagement and cooperation between the positioning claws 21 and the hook grooves on the outer peripheral side of the arrow body 1, the locking hook 6 can also be limited to ensure that the locking hook 6 will not easily disengage from the locking position of the arrow body 1, further ensuring the stability of the arrow body 1 after locking. Meanwhile, each automatic positioning and locking mechanism is connected to the arrow body 1, and the arrow body 1 forms a fixed connection between each automatic positioning and locking mechanism, ensuring that the position of each automatic positioning and locking mechanism relative to the arrow body 1 remains unchanged. This prevents one of the automatic positioning and locking mechanisms from being disturbed and delayed in movement, thus preventing the arrow body 1 from losing its balance and ensuring the stability and safety of the arrow body 1 during the transplantation process.

[0041] It should be noted that the acute angle between the top surface of the slider 5 and the axis of the second piston rod is between 20-60°. By controlling the vertical electric cylinder 3 to drive the first piston rod to extend and retract, the locking hook 6 moves up and down. After the locking hook 6 is aligned with the locking position of the arrow body 1, the flipping electric cylinder 4 is controlled to drive the second piston rod to extend and retract, so that the locking hook 6 moves horizontally and presses the locking position of the arrow body 1. It should be noted that when locking different types of arrow bodies 1, the locking position height of arrow body 1 on arrow body 1 may be inconsistent. To ensure that the second piston rod can properly hold the locking hook 6 when it extends to its longest stroke, it is necessary to control the slider 5 to move towards the vertical electric cylinder 3. At the same time, to ensure that the second piston rod can properly hold the locking hook 6 when it retracts to its shortest stroke, it is necessary to control the slider 5 to move away from the vertical electric cylinder 3. At this time, the acute angle between the top surface of the slider 5 and the axis of the second piston rod will change. By limiting the acute angle between the top surface of the slider 5 and the axis of the second piston rod to between 20-60°, it can be ensured that the flipping electric cylinder 4 and the second piston rod apply sufficient holding force to the locking hook 6.

[0042] Optionally, the bottom surface of the slider 5 is provided with several grooves, and the top surface of the vehicle body 2 is provided with several guide rails 11. Each guide rail 11 is slidably connected to a groove. Through the sliding cooperation between the guide rail 11 and the groove, the movement path of the slider 5 can be limited and corrected.

[0043] It should be noted that a horizontal support 9 is provided on the top surface of the slider 5. The horizontal support 9 is hinged to the second end of the tilting electric cylinder 4 to ensure that the tilting electric cylinder 4 can rotate freely relative to the vehicle body 2. In addition, two vertical supports 10 are provided on the top surface of the vehicle body 2. The two vertical supports 10 are respectively hinged to the lower end of a vertical electric cylinder 3 to ensure that the vertical electric cylinder 3 can rotate freely relative to the vehicle body 2, thereby allowing the locking hook 6 to move horizontally under the extension and retraction of the second piston rod.

[0044] In some embodiments of this utility model, a plurality of fixing mechanisms 8 are provided on the side of the vehicle body 2. The fixing mechanism 8 includes: a mounting bracket 801 provided on the side of the vehicle body 2. Optionally, the mounting bracket 801 is welded to the side of the vehicle body 2. A through hole is provided on the top surface of the mounting bracket 801. A vertical moving column 802 is slidably arranged in the through hole. That is, each vertical moving column 802 is located on one side of a drive wheel 7. A magnetic block 803 is provided at the lower end of the vertical moving column 802. When it is necessary to lock the arrow body 1 on the hull deck, the visual recognition system assists each automatic positioning and locking mechanism to automatically navigate to the four sets of support legs 101 of the arrow body 1. After adjusting the position of each automatic positioning and locking mechanism relative to the arrow body 1, the vertical moving columns 802 set on the side of the vehicle body 2 are controlled to move downward relative to the mounting bracket 801, so that the magnetic block 803 holds the hull deck and magnetically connects with the hull deck, so that each drive wheel 7 leaves the ground, and the fixing device extends downward and magnetically connects with the upper surface of the hull deck to ensure the downward drag force of the arrow body 1, thereby stably locking the arrow body 1.

[0045] It should be noted that a fourth drive motor 804 is installed on the side of the vehicle body 2. The fourth drive motor 804 is horizontally positioned, and a drive shaft is installed at the output end of the fourth drive motor 804. A drive gear (not shown in the figure) is sleeved on the drive shaft. At the same time, a driven tooth (not shown in the figure) is installed on one side of the vertical moving column 802. The driven tooth meshes with the drive gear. The fourth drive motor 804 drives the drive shaft to rotate back and forth. The drive shaft drives the vertical moving column 802 to move up and down through the meshing of the drive gear and the driven tooth, so as to flexibly adjust the height of the magnetic block 803 relative to the vehicle body 2.

[0046] The working principle of this utility model is as follows: The fourth drive motor 804 drives the drive shaft to rotate reciprocally. The drive shaft drives the vertical moving column 802 to move up and down through the meshing of the drive gear and the driven gear. With the assistance of the vision recognition system, each automatic positioning and locking mechanism is automatically navigated to the four sets of support legs 101 of the rocket body 1 and the position of each automatic positioning and locking mechanism relative to the rocket body 1 is adjusted. The fourth drive motor 804 drives the drive shaft to rotate forward. The drive shaft drives the vertical moving column 802 to move upward through the meshing of the drive gear and the driven gear until the magnetic block 803 presses against the ship deck and is magnetically connected to the ship deck, so that each drive wheel 7 leaves the ground. The fixing device extends downward and is magnetically connected to the upper surface of the ship deck. The vertical electric cylinder 3 is controlled to drive the first piston rod to extend and retract to drive the locking hook 6 to move up and down, so that the locking hook 6 is aligned with the locking position of the rocket body 1. At the same time, the flipping electric cylinder 4 is controlled to drive the second piston rod to extend and retract to drive the locking hook 6 to move horizontally, so that the locking hook 6 presses against the locking position of the rocket body 1 and locks the rocket body 1.

[0047] In summary, the entire locking process for the rocket body 1 is simple to operate, requires no manual intervention, offers higher safety, and does not require a large operating space. It can meet the requirements for hoisting the rocket body 1 in harsh outdoor environments, effectively shortening the locking time and improving the locking efficiency. Furthermore, it can lock rocket bodies 1 of different diameters, broadening the applicability of the overall omnidirectional transfer device.

[0048] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0049] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. An omnidirectional transfer device for the vertical recovery of an arrow body, characterized in that, include: An automatic positioning and locking mechanism is provided, with several automatic positioning and locking mechanisms arranged on the circumferential outer side of the arrow body, and each of the automatic positioning and locking mechanisms is respectively arranged between two adjacent legs of the arrow body; The automatic positioning and locking mechanism includes: The vehicle body has a slider slidably mounted on its top surface. A vertical electric cylinder is rotatably mounted on the top surface of the vehicle body, and the upper end of the vertical electric cylinder is connected to a locking hook via a first piston rod; A tilting electric cylinder, the first end of which is rotatably connected to the slider, and the second end of which is rotatably connected to the locking hook via a second piston rod.

2. The omnidirectional transfer device for vertical recovery of rocket bodies according to claim 1, characterized in that, The locking hook has a first hinge frame at its first end, which is rotatably connected to a first telescopic rod. A first drive motor is mounted on the first hinge frame, and the output end of the first drive motor is connected to the first end of the first telescopic rod. A first gripper is mounted on the second end of the first telescopic rod. The locking hook also has a first hinge frame at its second end, which is mounted on the second hinge frame. A first drive motor is mounted on the second hinge frame, and the output end of the second drive motor is connected to the first end of the second telescopic rod. A second gripper is mounted on the second end of the second telescopic rod.

3. The omnidirectional transfer device for vertical recovery of rocket bodies according to claim 1, characterized in that, The locking hook is T-shaped, and a positioning block is provided on the side of the locking hook facing the arrow body. The positioning block engages with the positioning groove on the outer peripheral side of the arrow body.

4. An omnidirectional transfer device for vertical recovery of a rocket body according to claim 1, characterized in that, The locking hook is provided with a second hinge frame at each end. The second hinge frame is rotatably connected to the positioning claw. A third drive motor is provided on the second hinge frame. The output end of the third drive motor is connected to one end of the positioning claw.

5. An omnidirectional transfer device for vertical recovery of a rocket body according to claim 1, characterized in that, The bottom surface of the slider is provided with several grooves, and the top surface of the vehicle body is provided with several guide rails, each guide rail being slidably connected to one groove.

6. An omnidirectional transfer device for vertical recovery of a rocket body according to claim 5, characterized in that, A horizontal support is provided on the top surface of the slider, and the horizontal support is hinged to the second end of the tilting electric cylinder.

7. An omnidirectional transfer device for vertical recovery of a rocket body according to claim 1, characterized in that, Two vertical supports are provided on the top surface of the vehicle body, and the two vertical supports are respectively hinged to the lower end of one of the vertical electric cylinders.

8. An omnidirectional transfer device for vertical recovery of a rocket body according to any one of claims 1-7, characterized in that, The side of the vehicle body is provided with several fixing mechanisms, each including a mounting bracket located on the side of the vehicle body. The mounting bracket is slidably connected to a vertical moving column, and a magnetic block is provided at the lower end of the vertical moving column.

9. An omnidirectional transfer device for vertical recovery of a rocket body according to claim 8, characterized in that, A fourth drive motor is provided on the side of the vehicle body. A drive shaft is provided at the output end of the fourth drive motor. A drive gear is sleeved on the drive shaft. A driven tooth is provided on one side of the vertical moving column. The driven tooth meshes with the drive gear.

10. An omnidirectional transfer device for vertical recovery of a rocket body according to claim 1, characterized in that, Several of the aforementioned automatic positioning and locking mechanisms are arranged at equal angles on the outer periphery of the arrow body.

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