Fixed unit, projectile support device, and projectile recovery vessel

Abstract

The present invention provides a fixing device, a projectile support device, and a projectile recovery vessel that can stably secure a rocket at sea. [Solution] A projectile recovery vessel according to one embodiment of the present invention comprises a hull, a deck crane, an arm, and a gripping part. The hull has a deck on which projectiles can land. The deck crane is configured to be movable on the deck. The arm is installed at a predetermined height position on the deck crane. The gripping part is attached to the tip of the arm and is configured to grip the body of a projectile standing upright on the vessel.

Description

Technical Field

[0001] The present invention relates to a fixing unit, a flying object support device, and a flying object recovery ship, and more particularly to a fixing technique for a flying object landed on the ocean.

Background Art

[0002] For the purpose of reducing the manufacturing cost or launch cost of rockets, research on reusable rockets is underway. As an example of such a method, a technique has been proposed in which, instead of the conventional operation of discarding a first-stage rocket into the ocean after separating it from a two-stage rocket, the first-stage rocket is returned to a landing site and reused (see, for example, Patent Document 1).

[0003] Also, a technique is disclosed in which an unmanned self-propelled robot is moved to the bottom of a rocket that has landed in a vertical posture on a recovery ship on the ocean, and the rocket is fixed to the recovery ship by the fixing function of this robot (see, for example, Non-Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

[0005]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The technology described in Non-Patent Document 1 involves a robot positioned at the bottom of the rocket to secure it from below. Therefore, in areas with severe sea conditions such as high waves, the ship may rock violently, potentially making it impossible to secure the rocket stably.

[0007] In view of the above circumstances, the object of the present invention is to provide a fixing device, a projectile support device, and a projectile recovery vessel that can stably fix a rocket at sea. [Means for solving the problem]

[0008] A fixing unit according to one embodiment of the present invention is a fixing unit that is detachably attached to a deck crane that is movable on the ship and supports a flying object that stands upright on the ship, and comprises an arm portion and a gripping portion. The aforementioned arm portion is configured to be detachably attached to the deck crane. The gripping portion is attached to the tip of the arm portion and grips the body of the flying object.

[0009] The fixing unit according to the present invention is attached to a deck crane that can move on the ship and is equipped with a gripping part that grips the fuselage of the flying vehicle. Therefore, compared to a structure that fixes the bottom of the flying vehicle, it can stably fix the flying vehicle.

[0010] A flying object support device according to one embodiment of the present invention comprises a deck crane, an arm section, and a gripping section. The aforementioned deck crane is configured to be movable on the ship. The arm portion is installed at a predetermined height position on the deck crane. The gripping portion is attached to the tip of the arm unit and grips the fuselage of the flying object standing upright on the ship.

[0011] A projectile recovery vessel according to one embodiment of the present invention comprises a hull, a deck crane, an arm section, and a gripping section. The hull has a deck on which flying objects can land. The deck crane is configured to be movable on the deck. The arm portion is installed at a predetermined height position on the deck crane. The gripping portion is attached to the tip of the arm portion and grips the body of the flying object standing upright on the ship.

[0012] According to the above-described fixing unit, since it is equipped with a gripping part that grasps the body of the projectile, the rocket can be stably fixed in place at sea.

[0013] The arm portion may include a pair of horizontally opposing arm portions, and the gripping portion may be configured to be attached to the tips of the pair of arm portions, respectively.

[0014] The fixed unit may further include a movable mechanism. The movable mechanism is configured to move at least one of the pair of arm portions relative to the deck crane in a direction that brings the pair of arm portions closer to or further apart from each other.

[0015] At least one of the arm portion and the gripping portion may be configured as a multi-joint mechanism.

[0016] A flying object support device according to one embodiment of the present invention comprises a deck crane, an arm section, and a gripping section. The aforementioned deck crane is configured to be movable on the ship. The arm portion is installed at a predetermined height position on the deck crane. The gripping portion is attached to the tip of the arm portion and is configured to grip the body of a flying object standing upright on the ship.

[0017] The aforementioned deck crane may also be a gantry-type crane.

[0018] The deck crane may have a lifting device for lifting the flying object.

[0019] The deck crane may have a lightning rod to protect the projectile from lightning strikes.

[0020] The predetermined height position may be the height position of the center of gravity of the flying object.

[0021] The flying object support device may further include a control unit that controls the deck crane, the arm portion, and the gripping portion respectively in response to an external command.

[0022] A flying object recovery ship according to an aspect of the present invention includes a hull, a deck crane, an arm portion, and a gripping portion. The hull has a deck on which the flying object can land. The deck crane is configured to be movable on the deck. The arm portion is installed at a predetermined height position of the deck crane. The gripping portion is attached to the tip of the arm portion and is configured to be able to grip the body of the flying object standing upright on the ship.

[0023] The hull may be a marine structure that can be towed.

Advantages of the Invention

[0024] According to the present invention, a rocket can be stably fixed on the ocean.

Brief Description of the Drawings

[0025] [Figure 1] It is a schematic side view showing a flying object recovery ship according to a first embodiment of the present invention. [Figure 2] It is a schematic plan view of the above-mentioned flying object recovery ship. [Figure 3] It is a schematic side view showing a configuration example of a flying object to be recovered. [Figure 4] It is a schematic side view for explaining a method of fixing a flying object landed on the above-mentioned flying object recovery ship. [Figure 5] It is a schematic perspective view of a main part showing a configuration example of a fixing unit in the above-mentioned flying object recovery ship. [Figure 6] It is a schematic plan view of a main part of the above-mentioned fixing unit. [Figure 7] Both (A) and (B) are plan views of the main parts showing examples of the configuration of the above-mentioned fixed unit. [Figure 8] This is a schematic side view illustrating one of the functions of the above-mentioned projectile recovery vessel. [Figure 9] This is a schematic perspective view showing a projectile recovery vessel according to a second embodiment of the present invention. [Figure 10] A schematic perspective view showing another configuration example of the above-mentioned projectile recovery vessel. [Figure 11] This is a schematic side view illustrating the installation process of the fixing unit on the above-mentioned projectile recovery vessel. [Figure 12] Figure 11 is a schematic plan view of the projectile recovery vessel. [Figure 13] This is a schematic side view illustrating the towing process of the above-mentioned projectile recovery vessel. [Figure 14] Figure 13 is a schematic plan view of the projectile recovery vessel. [Figure 15] This is a schematic side view of the above-mentioned projectile recovery vessel, illustrating the landing process of the projectile. [Figure 16] Figure 15 is a schematic plan view of the projectile recovery vessel. [Figure 17] This is a schematic side view of a projectile recovery vessel illustrating the process of fixing the projectile described above. [Figure 18] Figure 17 is a schematic plan view of the projectile recovery vessel. [Figure 19] This is a schematic side view of a projectile recovery vessel illustrating the transport process for the above-mentioned projectile. [Figure 20] Figure 19 is a schematic plan view of the projectile recovery vessel. [Figure 21] This is a schematic side view of a projectile recovery vessel illustrating the process of unloading the above-mentioned projectile. [Figure 22] Figure 21 is a schematic plan view of the projectile recovery vessel. [Figure 23] This is a schematic side view of a projectile recovery vessel illustrating the process of moving the projectile on board the ship. [Figure 24] Figure 23 is a schematic plan view of the projectile recovery vessel. [Figure 25]This is a schematic side view of a projectile recovery vessel illustrating the process of loading the above-mentioned projectile onto the recovery vehicle. [Figure 26] Figure 25 is a schematic plan view of the projectile recovery vessel. [Figure 27] This is a schematic side view of a projectile recovery vessel illustrating the process of tilting the projectile onto the recovery vehicle mentioned above. [Figure 28] Figure 27 is a schematic plan view of the projectile recovery vessel. [Figure 29] This is a schematic plan view of the main parts showing another configuration example of the above-mentioned fixed unit. [Modes for carrying out the invention]

[0026] Embodiments of the present invention will be described below with reference to the drawings.

[0027] <First Embodiment> Figure 1 is a schematic side view showing a projectile recovery vessel 100 (hereinafter also referred to as the recovery vessel 100) according to the first embodiment of the present invention. Figure 2 is a schematic top view of the recovery vessel 100. Figure 3 is a schematic side view showing one example configuration of a projectile to be recovered (hereinafter also referred to as the rocket 10). Figure 4 is a schematic side view illustrating a method for securing the rocket 10 after it has landed on the recovery vessel 100.

[0028] In each figure, the X, Y, and Z axes represent three mutually orthogonal axes. The X axis corresponds to the front-to-back direction (length direction) of the recovery vessel 100, the Y axis corresponds to its left-to-right direction (width direction), and the Z axis corresponds to its height direction.

[0029] [Flying object recovery ship] The recovery vessel 100 is a ship for recovering the rocket 10, which has been launched into space, at sea. The rocket 10 is, for example, a single-stage propulsion rocket that has been separated from a two-stage rocket in orbit, and is capable of landing in an upright position on the recovery vessel 100, which is waiting at a predetermined recovery point S at sea (see Figure 4).

[0030] As shown in Figures 1 and 2, the recovery vessel 100 includes a wheelhouse 110, a deck 120, a projectile support device 130 (hereinafter also referred to as the support device 130) for supporting the rocket 10 that has landed on the deck 120, and a propulsion unit 140 including a rudder and a propeller.

[0031] The deck 120 is a flat floor on which the rocket 10 lands, and its size is not particularly limited as long as the rocket 10 can land on it, for example, it has an area of ​​50m x 50m or more. The deck 120 is made of a material (typically a high-melting-point metal material) that has sufficient strength to support the rocket 10 and heat resistance to the fuel ejection when the rocket 10 lands.

[0032] As shown in Figure 3, the rocket 10 has a roughly cylindrical body 11 and a plurality of landing legs 12 provided on the bottom side of the body 11. As described above, the rocket 10 corresponds to a single-stage rocket for propulsion, with the top 11a of the body 11 serving as a detachable connection point to the second-stage rocket, and the bottom 11b of the body 11 serving as an exhaust nozzle.

[0033] Multiple landing legs 12 are attached around the base 11b at equal angular intervals. The multiple landing legs 12 are configured to be able to open and close between a state where the tip is open outward from the diameter of the fuselage 11 (see Figure 3) and a state where the tip is closed inward from the diameter of the fuselage 11. When landing, the multiple landing legs 12 are opened as shown in Figure 3, and the tip of each leg contacts the deck 120 to maintain the rocket 10 in an upright position. In the open state, the multiple landing legs 12 are formed to be such that the base 11b of the fuselage 11 faces the deck 120 at a predetermined height distance.

[0034] The height (total length) H1 and width W of the rocket 10 are not particularly limited; for example, the height H1 is 30m to 50m, and the width W with the landing gear 12 extended is 10m to 20m. The diameter D of the fuselage 11 is, for example, 1m to 5m, and the height H2 of the center of gravity position 13 of the rocket 10 is, for example, 15m to 25m.

[0035] The support device 130 includes a deck crane 20 and a fixed unit 30. The type of deck crane 20 is not particularly limited, but typically a gantry-type crane that can move in the longitudinal direction (X-axis direction) on the deck of the recovery vessel 100 is used. The fixed unit 30 is attached to the deck crane 20 and is configured to support the fuselage 11 of the rocket 10 that has landed on the deck 120 (see Figure 4).

[0036] [Flying object support device] The details of the support device 130 will be described below.

[0037] The deck crane 20 is movable along a pair of guide rails 40 (see Figure 2) that extend linearly in the X-axis direction on the deck of the recovery vessel 100. The pair of guide rails 40 are laid from the cabin 110 to the stern 100R of the deck 120. The deck crane 20 has a pair of legs 21 that extend in the Z-axis direction, and these legs 21 are equipped with sliders 22 that are movable along the guide rails 40. The deck crane 20 is able to move forward and backward along the guide rails 40 relative to the deck 120 via these sliders 22.

[0038] The deck crane 20 further comprises a bridge section 23 spanning between a pair of legs 21, and a crane section 24 attached to the bridge section 23. The bridge section 23 is located at a predetermined height from the deck 120 and supports the fixed unit 30 so as to be able to move horizontally in the Y-axis direction. The crane section 24 is installed so as to be able to pivot around the Z-axis relative to the bridge section 23. The number of crane sections 24 is not particularly limited and may be one or more.

[0039] The fixed unit 30 has a pair of arm sections 31 and a pair of gripping sections 32. The pair of arm sections 31 are detachably attached to the bridge section 23 of the deck crane 20 so as to extend in the X-axis direction. The pair of arm sections 31 are typically arranged opposite each other in the Y-axis direction (horizontal direction). The fixed unit 30 may include a movable mechanism that allows at least one of the pair of arm sections 31 to be moved along the bridge section 23 of the deck crane 20 in a direction (Y-axis direction) in which the pair of arm sections 31 move closer to or further apart from each other. The movable mechanism is not particularly limited, and typically a linear motion mechanism 39 (see Figure 9) including a guide rail and a slider can be employed.

[0040] Each gripping section 32 is attached to the tip of each arm section 31 and is configured to grip the body 11 of the rocket 10 by moving the arm section 31 in the Y-axis direction. In this embodiment, the bridge section 23 of the deck crane 20 is installed at a height from the deck 120 to near the center of gravity 13 of the projectile 10, and the rocket 10 is gripped by the gripping section 32 at a position near its center of gravity 13 (see Figure 4).

[0041] As will be described later, the fixing unit 30 may be attached to the bridge section 23 of the deck crane 20 in a way that allows for adjustment of its height. Furthermore, the fixing position of the rocket 10 by the fixing unit 30 is not limited to the center of gravity of the rocket 10, but may be, for example, a relatively rigid area of ​​the fuselage 11.

[0042] Since the fixed unit 30 is configured to be detachable from the deck crane 20, a deck crane equipped on a general-purpose cargo ship can be used as the deck crane 20. In other words, by attaching the fixed unit 30 to a ship that is normally used as a cargo ship, the ship can be effectively utilized as a rocket 10 recovery vessel.

[0043] Figure 5 is a schematic perspective view showing one example configuration of the arm portion 31 and gripping portion 32 on one side, and Figure 6 is a schematic plan view thereof. In this embodiment, each arm portion 31 and each gripping portion 32 is composed of a multi-joint mechanism.

[0044] The arm section 31 can be constructed by combining a plurality of shaft sections 31a and a plurality of rotating mechanism sections 31b that connect them. In this example, the arm section 31 is constructed by connecting two shaft sections 31a between adjacent rotating mechanism sections 31b. The rotating mechanism section 31b has a pivot axis parallel to the Z-axis direction. The length and number of shaft sections 31a and the number of rotating mechanism sections 31b can be arbitrarily set according to the required length and strength of the arm section 31. The end of the arm section 31 opposite to the gripping section 32 is connected to the deck crane 20 (bridge section 23) or the linear motion mechanism 39 (see Figure 9) via a connecting section 33.

[0045] Similarly, the gripping portion 32 can be constructed by combining a plurality of shaft portions 32a and a plurality of pivot axes 32b that connect them. In this example, the shaft portions 32a that form the gripping portion 32 are attached to a pivot mechanism portion 31c attached to the tip of the arm portion 31. The pivot mechanism portion 32b has a pivot axis parallel to the Z-axis direction. The length and number of shaft portions 32a and the number of pivot mechanism portions 32b can be arbitrarily set according to the required length and strength of the gripping portion 32. As shown in Figure 6, a cushioning material 34 such as a rubber sheet may be attached to the gripping surface of the gripping portion 32. This can reduce damage to the surface of the rocket body 11 caused by contact with the gripping portion 32.

[0046] According to the above configuration, the rotational movement of the rotating mechanisms 31b and 32b allows the respective shafts 31a and 32a of the arm portion 31 and the gripping portion 32 to rotate within a predetermined angular range around the Z axis. For example, each rotating mechanism 31b of the arm portion 31 is driven when moving the arm portion 32 closer to the other arm portion 32 or away from the other arm portion 32. On the other hand, each rotating mechanism 32b of the gripping portion 32 is driven when retracting the gripping portion 32 in a curved shape or extending it in a straight line. Each rotating mechanism 31b and 32b may be individually controlled, or they may be driven in conjunction with each other.

[0047] Figures 7(A) and 7(B) are plan views of key parts showing specific examples of the configuration of the rotating mechanism sections 31b and 32b. For example, the rotating mechanism section 31b(32b) shown in Figure 7(A) includes a pivot shaft 35 that connects two adjacent shaft sections 31a(32a), a hydraulic linear cylinder 36 mounted between the two shaft sections 31a(32a) straddling the pivot shaft 35, and a damping material 37 also mounted between the two shaft sections 31a(32a) straddling the pivot shaft 35. In this rotating mechanism section 31b(32b), one shaft section 31a(32a) is rotatable relative to the other shaft section 31a(32a) by the extension and retraction of the linear cylinder 36.

[0048] On the other hand, in the rotating mechanism 31b(32b) shown in Figure 7(B), the rotating shaft 38 connecting two adjacent shaft portions 31a(32a) is composed of a rotary actuator M. In this rotating mechanism 31b(32b), one shaft portion 31a(32a) is made rotatable relative to the other shaft portion 31a(32a) by the rotation of the rotary actuator M.

[0049] As described above, in this embodiment, the rocket 10 is gripped by a pair of gripping parts 32, but the invention is not limited to this, and the gripping parts may be configured so that the rocket 10 can be gripped by a single gripping part 32, as will be described later (see Figure 29). In addition, at least one of the arm part 31 and the gripping part 32 may be configured as the multi-joint mechanism described above, and the other one may be configured as a non-joint structure.

[0050] The deck crane 20 and the fixing unit 30 can be driven by input operations performed by crew members inside the cabin 110. Alternatively, the driving of the deck crane 20 and the fixing unit 30 may be controlled by wireless remote operation from outside the recovery vessel 100. In this case, the driving of the deck crane 20 and the fixing unit 30 is controlled by a control unit 111 installed in the cabin 110. The control unit 111 is not limited to the cabin 110, but may also be installed on the deck crane 20.

[0051] The deck crane 20 may also be equipped with a camera (not shown) for photographing the rocket 10. In this case, the deck crane 20 can perform forward and backward movement in the X-axis direction, linear movement of the fixing unit 30 in the Y-axis direction, and gripping operations of the rocket 10 with a pair of gripping parts 32 based on the images captured by the camera. In this case, a series of operations of the support device 130 (deck crane 20 and fixing unit 30) may be performed automatically by the control unit 111.

[0052] Furthermore, the crane section 24 may also have a lightning rod 25 (see Figure 8). In this case, the recovery vessel 100 can be navigated with the crane section 24 moved to a position directly above the top 11a of the rocket 10, thereby protecting the rocket 10 from the impact of a lightning strike.

[0053] As described above, the support device 130 of this embodiment is configured such that the fixing unit 30 grips the rocket 10 near its center of gravity 13 on the body 11. This allows for more stable fixing than the conventional method described in Non-Patent Document 1, which fixes the rocket from its bottom. For example, as shown in Figure 8, even when the recovery vessel 100 is navigating on rough seas S with significant rocking, the support device 130 can stably fix the rocket 10 on the deck 120.

[0054] Furthermore, since the existing deck crane 20 can be used, the recovery vessel 100 can be constructed at a low cost. In particular, in the method described in Non-Patent Document 1, when moving an unmanned self-propelled robot to the bottom of the rocket, it is necessary to avoid the landing legs 12 of the rocket 10. However, in this embodiment, the fixing unit 30 (gripping part 32) can approach the rocket 10 by only moving it in the forward / backward direction (X-axis direction) and the left / right direction (Y-axis direction), making it easy to fix the rocket 10 in place.

[0055] Furthermore, the fixing unit 30 allows the rocket 10 to be fixed, for example, near its center of gravity, thereby reducing the load applied to the rocket 10 during transport when it is fixed. This minimizes the need to reinforce the rocket 10 for fixing, contributing to a lighter rocket 10. In addition, sufficient space can be secured at the bottom 11b of the rocket 10, increasing the design freedom of the rocket 10, including the landing gear 12, engine, and ailerons. This also improves access to the lower part of the rocket (bottom 11b), making maintenance easier.

[0056] On the other hand, the crane section 24 of the deck crane 20 can be used as a lifting device for the rocket 10. In this case, by connecting a lifting device to the top 11a of the rocket 10 and lifting it upward, the rocket 10 can be moved to any position on the deck 120, or the rocket 10 can be changed from an upright position to a reclined position on the deck 120. This allows the rocket 10 to be transported not only in an upright position but also in a reclined position, which stabilizes the transport position of the rocket 10, allows for maintenance of the upper part of the rocket (top 11a), and enables smooth unloading after arrival at the quay. Furthermore, as will be described later, the crane section 24 can also be used when attaching and detaching the fixing unit 30 to the deck crane 20.

[0057] <Second Embodiment> Figures 9 and 10 are schematic perspective views showing a projectile recovery vessel 200 (hereinafter also referred to as recovery vessel 200) according to a second embodiment of the present invention. In the following description, parts corresponding to those in the first embodiment described above are denoted by the same reference numerals, and their detailed descriptions are omitted or simplified.

[0058] The recovery vessel 200 of this embodiment comprises a hull 220 and a projectile support device 230 (hereinafter also referred to as the support device 230) installed on the upper surface of the hull 220.

[0059] The hull 220 is an offshore structure towed by a tugboat 1, and is a mega-float with a sufficient area, for example, 50m x 50m or more, on which the rocket 10 can land. The hull 220 functions as a deck on which the rocket 10 can land, and is equipped with an automatic ship positioning device (DP) 201 at its bottom for keeping the hull 220 at a fixed point on the open sea.

[0060] The support device 230 includes a deck crane 20 and a fixed unit 30. The deck crane 20 is a gantry-type crane that can move along guide rails 40 laid on the hull 220 in the longitudinal direction (X-axis direction) of the hull 220. The deck crane 20 differs from the first embodiment described above (Figures 1 and 2) in that it has two left and right legs 21 and bridge sections 23 connecting them in the longitudinal direction, and the crane section 24 is supported between the two bridge sections 23, but the basic configuration is the same as the first embodiment, so a detailed explanation is omitted.

[0061] The fixing unit 30 is detachably attached to one of the bridge sections 23 of the deck crane 20. The fixing unit 30 is configured as described with reference to Figures 5 and 6 and has a pair of arm sections 31 and gripping sections 32 provided at their ends. The pair of arm sections 31 are configured to be movable along the extending direction (Y-axis direction) of the bridge section 23 via a linear motion mechanism 39 including a guide rail and a slider.

[0062] Similar to the first embodiment, the fixing unit 30 securely fixes the rocket 10 to the hull 220 by gripping the body 11 of the rocket 10, which has landed on the hull 220, at a predetermined height position (for example, near the center of gravity). The fixing unit 30 is configured to be able to adjust its height relative to the deck crane 20 according to the height of the rocket 10.

[0063] For example, as shown in Figure 10, the deck crane 20 may be equipped with an adjustment jig 27 to adjust the height position of the fixed unit 30 in order to set the fixed unit 30 at the desired height position. This allows the fixed unit 30 to be set at any height position according to the height of the rocket 10 to be recovered. In the example shown in the figure, the adjustment jig 27 is composed of multiple columnar members that position the linear motion mechanism 39, which supports the fixed unit 30 so as to be movable in the left-right direction (Y-axis direction), at a predetermined height above the bridge section 23. The form of the adjustment jig 27 is not limited to the example described above and can be arbitrarily set according to the specifications of the deck crane 20, etc.

[0064] The recovery vessel 200 is further equipped with a control device 50 that controls the drive of the support device 230 by remote operation from an external source such as a tugboat 1. The control device 50 has a communication unit that can communicate with the outside and a control unit that generates a control signal to drive the support device 230 based on instructions from the outside. The control device 50 may be installed at a predetermined position on the hull 220 of the recovery vessel 200, or at any position on the deck crane 20.

[0065] [How to recover the rocket] Next, the method for recovering the rocket using the recovery vessel 200 will be explained with reference to Figures 11 to 28.

[0066] (Installation process for fixed units) Figure 11 is a schematic side view of the recovery vessel 200 illustrating the installation process of the fixed unit, and Figure 12 is a schematic top view thereof. The diagram shows the recovery vessel 200 docked at quay P. The deck crane 20 carries the fixing unit 30 from quay P into the ship. The fixing unit 30 is lifted by the crane section 24 and attached to the deck crane 20.

[0067] (Towing process of the recovery vessel) Figure 13 is a schematic side view illustrating the towing process of the recovery vessel 200, and Figure 14 is a schematic top view thereof. As shown in the figure, the recovery vessel 200 is towed by the tugboat 1 to a predetermined rocket recovery location. After the recovery vessel 200 arrives at the recovery location, the tugboat 1 takes in the crew of the recovery vessel 200 and retreats to a position away from the recovery vessel 200.

[0068] The recovery vessel 200 is controlled by an automatic position-holding device 201 to prevent it from deviating from its fixed point (recovery position) due to external forces such as wind and currents. The support device 230 moves to a predetermined evacuation position outside the landing area 220a of the rocket 10 on the recovery vessel 200.

[0069] (Rocket landing process) Figure 15 is a schematic side view of the recovery vessel 200 illustrating the landing process of rocket 10, and Figure 16 is a schematic top view thereof. The rocket 10 lands in an upright position in the landing area 200a on the recovery ship 200. The support device 230 photographs the landing position of the rocket 10 with a camera (not shown) and moves the deck crane 20 and the fixing unit 30 toward the landing position of the rocket 10 based on the captured image.

[0070] (Rocket fixing process) Figure 17 is a schematic side view of the recovery vessel 200 illustrating the process of fixing rocket 10, and Figure 18 is a schematic top view thereof. The support device 230 grips the body 11 of the rocket 10 with a pair of gripping parts 32 of the fixing unit 30. This securely fixes the rocket 10 on the hull 220. After the rocket 10 is secured, the tugboat 1 docks alongside the hull 220, and the crew boards the hull 220 again.

[0071] (Rocket transport process) Figure 19 is a schematic side view of the recovery vessel 200 illustrating the transport process of rocket 10, and Figure 20 is a schematic top view thereof. The recovery vessel 200 is transported to the landing site by tugboat 1. The rocket 10 is supported by support device 230 and is therefore stably fixed to the hull 220 regardless of sea conditions at sea. In the event of a thunderstorm, the deck crane 20 positions its crane section 24 near the rocket 10 and protects the rocket 10 from lightning strikes with a lightning rod 25.

[0072] Furthermore, during the transport of the rocket 10, maintenance of the rocket 10 and removal of the landing gear 12 may be performed by workers on the hull 220. In this case, the fixing unit 30 may grip the rocket 10 while it is lifted to a predetermined height by the crane section 24 via a lifting device 24a (see Figure 21) connected to the top 11a of the rocket 10. This makes it easier to remove the landing gear 12 and allows the rocket 10 to be supported stably without increasing the gripping force of the fixing unit 30 excessively.

[0073] (Rocket landing process) Figure 21 is a schematic side view of the recovery vessel 200 illustrating the process of landing rocket 10, and Figure 22 is a schematic top view thereof. After the recovery vessel 200 docks, the rocket recovery vehicle 3 enters the hull 220 from the quay P along the X-axis, near the center of the hull 20. The recovery vehicle 3 is an unmanned or manned vehicle with a length greater than or equal to the overall length of the rocket 10.

[0074] Figure 23 is a schematic side view of the recovery vessel 200 illustrating the movement process of the rocket 10 on the hull 220, and Figure 24 is a schematic top view thereof. The deck crane 20 releases the gripping operation of the rocket 10 by the fixing unit 30 while the rocket 10 is lifted by the crane section 24. Then, the crane section 24 is rotated to a position where the recovery vehicle 3 can pass directly beneath the deck crane 20. The height to which the rocket 10 is lifted by the crane section 24 is not particularly limited as long as it is high enough for the recovery vehicle 3 to move directly beneath the rocket 10.

[0075] Figure 25 is a schematic side view of the recovery vessel 200 illustrating the process of loading the rocket 10 onto the recovery vehicle 3, and Figure 26 is a schematic top view thereof. The recovery vehicle 3 stops when the fixed base 3a attached to the upper rear surface faces the bottom 11b of the rocket 10. The crane unit 24 lowers the rocket 10 until the bottom 11b of the rocket 10 is supported by the fixed base 3a.

[0076] Figure 27 is a schematic side view of the recovery vessel 200 illustrating the process of tilting the rocket 10 onto the recovery vehicle 3, and Figure 28 is a schematic top view thereof. The fixed platform 3a of the recovery vehicle 3 supports the bottom 11b of the rocket 10 so that the rocket 10 can tilt around the Y-axis. After the bottom 11b of the rocket 10 is supported by the fixed platform 3a, the recovery vehicle 3 moves backward along the X-axis, and at the same time, the crane unit 24 lowers the lifting height of the rocket 10. This causes the rocket 10 to tip over onto the recovery vehicle 3. Subsequently, the recovery vehicle 3 drives onto the quay P, and the rocket 10 is unloaded. After that, the fixed unit 30 is removed from the deck crane 20 using the crane unit 24. The removed fixed unit 20 is transported to the quay P.

[0077] As described above, the recovery vessel 200 of this embodiment can also obtain the same effects and advantages as those of the first embodiment described above.

[0078] Although embodiments of the present invention have been described above, it goes without saying that the present invention is not limited to the embodiments described above and can be modified in various ways.

[0079] For example, in the above embodiments, we have described the case where the target of recovery is a single-stage rocket, but the present invention is also applicable to the recovery of other spacecraft and aircraft other than rockets.

[0080] Furthermore, although the above embodiments have been described using the example of recovering one projectile by a recovery vessel, the invention is not limited to this, and two or more projectiles (for example, a first-stage rocket and a second-stage rocket) may be recovered. In this case, the recovery vessel is equipped with a deck crane 20 or fixing unit 30 capable of fixing two or more projectiles simultaneously.

[0081] Furthermore, although the above embodiments have described the case in which the rocket 10 is gripped by a fixing unit 30 having a pair of arm portions 31, the invention is not limited to this, and for example, as shown in Figure 29, the fixing unit 30 may consist of a single arm portion 31 and a single gripping portion 32 attached to its tip. In this case, the gripping portion 32 is formed to be large enough to grip an area of ​​at least half of the circumference of the rocket body 11, and the rocket 10 is gripped by the opening and closing operation of the gripping portion 32.

[0082] Furthermore, it is possible to attach multiple fixing units 30 to the deck crane 20 so that the rocket 10 can be gripped at different height positions.

[0083] Furthermore, in the second embodiment described above, the rocket 10 was laid on its side after the hull 220 had docked, but it is also possible to lay the rocket 10 on its side at sea after it has landed. In this case, the recovery vehicle 3 is loaded onto the recovery vessel in advance. This allows the rocket 10 to be transported to the quay in a more stable and secure state. [Explanation of Symbols]

[0084] 10… Rocket (flying object) 11… Torso 12...Landing gear 20… Deck crane 22... Slider 24... Crane section (lifting device) 25...Lightning rod 30…Fixed unit 31... Arm section 32...Gripping part 39…Linear motion mechanism (movable mechanism) 40… Guide rail 50…Control device (control unit) 100,200... Projectile recovery ships 120...Deck 111... Control Unit 130,230…Plane supporting device 220...hull

Claims

1. A fixed unit that is detachably attached to a deck crane that is movable on the ship and supports a flying object that stands upright on the ship, The aforementioned deck crane includes an arm section that is detachably configured to be attached to the deck crane, A gripping portion is attached to the tip of the arm portion and is configured to be able to grasp the body of the flying object. A fixed unit equipped with the following.

2. A fixed unit according to claim 1, The aforementioned arm portion includes a pair of arm portions that face each other in the horizontal direction. The gripping portion is attached to the tip of each of the pair of arm portions. Fixed unit.

3. A fixed unit according to claim 2, The system further comprises a movable mechanism capable of moving at least one of the pair of arm portions relative to the deck crane in a direction that brings the pair of arm portions closer to or further apart from each other. Fixed unit.

4. A fixed unit according to claim 1, The aforementioned arm portion includes a single arm portion, The gripping portion includes a single gripping portion attached to the tip of the single arm portion. Fixed unit.

5. A fixed unit according to claim 1, At least one of the arm portion and the gripping portion is configured as a multi-joint mechanism. Fixed unit.

6. A deck crane that can be moved on the ship, The arm portion of the deck crane is installed at a predetermined height position, A gripping portion is attached to the tip of the arm portion and is configured to be able to grasp the body of a flying object standing upright on the ship. A projectile support device equipped with the following.

7. A projectile support device according to claim 6, The aforementioned deck crane is a gantry-type crane. Projectile support device.

8. A projectile support device according to claim 6, The deck crane has a lifting device for lifting the flying object. Projectile support device.

9. A projectile support device according to claim 8, The deck crane has a lightning rod to protect the projectile from lightning strikes. Projectile support device.

10. A projectile support device according to claim 6, The predetermined height position is the height of the center of gravity of the flying object. Projectile support device.

11. A projectile support device according to claim 6, The system further comprises control units that control the deck crane, the arm section, and the gripping section, respectively, in response to external commands. Projectile support device.

12. A hull having a deck on which projectiles can land, A deck crane that can move on the aforementioned deck, The arm portion of the deck crane is installed at a predetermined height position, A gripping portion is attached to the tip of the arm portion and is configured to be able to grasp the body of a flying object standing upright on the ship. A projectile recovery ship equipped with the following features.

13. A projectile recovery vessel according to claim 12, The aforementioned hull is a towable marine structure. A ship that recovers flying objects.

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