CN117963181A

CN117963181A - I-shaped rocket recovery system

Info

Publication number: CN117963181A
Application number: CN202211308988.9A
Authority: CN
Inventors: 杨卫杰; 黎定仕; 许学雷; 王华吉; 张智; 徐洪平; 张筱; 张海联; 吴润生; 吴梦强; 邓鹏程; 贾延奎; 王伟洋; 吴鹏辉; 杨堃; 孙振莲; 刘迁
Original assignee: Beijing Institute of Space Launch Technology
Current assignee: Beijing Institute of Space Launch Technology
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2024-05-03

Abstract

The invention discloses an I-shaped rocket recovery system which comprises four recovery platforms, wherein sliding rails are arranged between two adjacent recovery platforms, the four recovery platforms and the four sliding rails are arranged in a rectangular mode, a pulley is arranged on each sliding rail in a sliding mode, a blocking rope is connected between pulleys on the two opposite sliding rails, a traction device is arranged between the two adjacent recovery platforms, and the traction device can pull the pulley between the two adjacent recovery platforms to slide along the sliding rails. The I-shaped rocket recycling system can reduce the requirements on the posture and the speed of rocket recycling and improve the success rate of rocket recycling.

Description

I-shaped rocket recovery system

Technical Field

The invention relates to the technical field of rocket recovery, in particular to a system for recovering a rocket.

Background

Rocket recovery technology refers to technology of recovering and reusing after rocket is launched. The launch cost of the disposable carrier rocket is high, and the launch cost can be reduced by using the rocket recycling technology. Space X corporation, blue origin corporation in the united states has successfully performed rocket recovery for a number of times. For example, the rocket recovery technology adopted by Space X company in several shots is: in the process of rocket sub-stage landing, the main engine is ignited to realize deceleration, and the attitude control engine is used for adjusting the flying attitude of the rocket sub-stage, so that the rocket is ensured to fall in an almost vertical attitude. As the falling rocket sub-stage approaches the ground, the support legs in the collapsed state are opened, thereby allowing the rocket to be smoothly supported on the landing surface (e.g., the ground or an offshore platform). Specifically, retractable support legs are arranged at the bottom of the rocket stage. In the process of rocket flight, the supporting legs can be always in a furled state. After the rocket stage works and is separated from the rocket body, the main engine is shut down, and the rocket stage flies to a preset landing area or flies back to a launching field. When approaching the ground, the main engine is restarted, and the rocket is decelerated. The support legs are unfolded and locked under the action of high-pressure gas before landing. At the final touchdown instant, the rocket stage is controlled to be reduced to 0 by the main engine and is stabilized on the recovery site or recovery vessel by the deployed support legs. The vertical recovery technology of the rocket sub-stage has high requirements on the control of the posture and the speed of the rocket during the falling of the rocket, and if the posture or the speed of the falling of the rocket sub-stage is not well controlled, the falling or the explosion of the rocket is likely to be caused, so that the complete failure of the rocket recovery is caused.

Disclosure of Invention

The technical problem to be solved by the invention is to provide the I-shaped rocket recycling system, which can reduce the requirements on the posture and the speed of rocket recycling and improve the success rate of rocket recycling.

The invention relates to an I-shaped rocket recycling system, which comprises a first recycling platform, a second recycling platform, a third recycling platform and a fourth recycling platform, wherein a first sliding rail is arranged between the first recycling platform and the second recycling platform, a second sliding rail is arranged between the second recycling platform and the third recycling platform, a third sliding rail is arranged between the third recycling platform and the fourth recycling platform, a fourth sliding rail is arranged between the fourth recycling platform and the first recycling platform, the first sliding rail, the second sliding rail, the third sliding rail and the fourth sliding rail are in rectangular arrangement, a first pulley and a second pulley are arranged on the first sliding rail in a sliding manner, a third pulley and a fourth pulley are arranged on the second sliding rail in a sliding manner, a fifth pulley and a sixth pulley are arranged on the third sliding rail in a sliding manner, a seventh pulley and an eighth pulley are arranged on the fourth sliding rail in a sliding manner, a first blocking cable is connected between the first pulley and the sixth pulley, the second blocking cable is connected between the second pulley and the fifth pulley, the first blocking cable and the second blocking cable are arranged in parallel, the third blocking cable is connected between the third pulley and the eighth pulley, the fourth blocking cable is connected between the fourth pulley and the seventh pulley, the third blocking cable and the fourth blocking cable are arranged in parallel, a first traction device and a second traction device are respectively arranged between the first recovery platform and the second recovery platform, the first traction device can pull the first pulley to slide back and forth along the first sliding rail, the second traction device can pull the second pulley to slide back and forth along the first sliding rail, a third traction device and a fourth traction device are respectively arranged between the second recovery platform and the third recovery platform, the third traction device can pull the third pulley to slide back and forth along the second sliding rail, the fourth traction device can pull the fourth pulley to slide back and forth along the second sliding rail, a fifth traction device and a sixth traction device are respectively arranged between the third recovery platform and the fourth recovery platform, the fifth traction device can pull the fifth pulley to slide back and forth along the third sliding rail, the sixth traction device can pull the sixth pulley to slide back and forth along the third sliding rail, a seventh traction device and an eighth traction device are respectively arranged between the fourth recovery platform and the first recovery platform, the seventh traction device can pull the seventh pulley to slide back and forth along the fourth sliding rail, and the eighth traction device can pull the eighth pulley to slide back and forth along the fourth sliding rail.

The invention relates to an I-shaped rocket recycling system, wherein a first traction device comprises a first traction winch, a first traction fixed pulley and a first traction rope, the first traction winch is fixedly arranged on a first recycling platform, the first traction fixed pulley is fixedly arranged on a second recycling platform, one end of the first traction rope is fixedly connected with one end of a first pulley, the other end of the first traction rope is fixedly connected with the other end of the first pulley after sequentially bypassing the first traction winch and the first traction fixed pulley, the second traction device comprises a second traction winch, a second traction fixed pulley and a second traction rope, the second traction winch is fixedly arranged on a second recycling platform, the second traction fixed pulley is fixedly arranged on the first recycling platform, one end of the second traction rope is fixedly connected with one end of a second pulley, the other end of the second traction rope is fixedly connected with the other end of the second pulley after sequentially winding around the second traction winch and the second traction fixed pulley, the third traction device comprises a third traction winch, a third traction fixed pulley and a third traction rope, the third traction winch is fixedly arranged on the second recovery platform, the third traction fixed pulley is fixedly arranged on the third recovery platform, one end of the third traction rope is fixedly connected with one end of the third pulley, the other end of the third traction rope is fixedly connected with the other end of the third pulley after sequentially winding around the third traction winch and the third traction fixed pulley, the fourth traction device comprises a fourth traction winch, a fourth traction fixed pulley and a fourth traction rope, the fourth traction winch is fixedly arranged on the third recovery platform, the fourth traction fixed pulley is fixedly arranged on the second recovery platform, one end of the fourth traction rope is fixedly connected with one end of the fourth pulley, the other end of the fourth traction rope sequentially winds around the fourth traction winch and the fourth traction fixed pulley and then is fixedly connected with the other end of the fourth pulley, the fifth traction device comprises a fifth traction winch, a fifth traction fixed pulley and a fifth traction rope, the fifth traction winch is fixedly arranged on a third recovery platform, the fifth traction fixed pulley is fixedly arranged on the fourth recovery platform, one end of the fifth traction rope is fixedly connected with one end of the fifth pulley, the other end of the fifth traction rope sequentially winds around the fifth traction winch and the fifth traction fixed pulley and then is fixedly connected with the other end of the fifth pulley, the sixth traction device comprises a sixth traction winch, a sixth traction fixed pulley and a sixth traction rope, the sixth traction winch is fixedly arranged on the fourth recovery platform, the sixth traction fixed pulley is fixedly arranged on the third recovery platform, one end of the sixth traction rope is fixedly connected with one end of the sixth pulley, the other end of the sixth traction rope sequentially winds around the sixth traction winch and the sixth traction fixed pulley and is then fixedly connected with the other end of the sixth pulley, the seventh traction device comprises a seventh traction winch, a seventh traction fixed pulley and a seventh traction rope, the seventh traction winch is fixedly arranged on the fourth recovery platform, the seventh traction fixed pulley is fixedly arranged on the first recovery platform, one end of the seventh traction rope is fixedly connected with one end of the seventh pulley, the other end of the seventh traction rope sequentially winds around the seventh traction winch and the seventh traction fixed pulley and is then fixedly connected with the other end of the seventh pulley, the eighth traction device comprises an eighth traction winch, an eighth traction fixed pulley and an eighth traction rope, the eighth traction winch is fixedly arranged on the first recovery platform, the eighth traction fixed pulley is fixedly arranged on the fourth recovery platform, one end of the eighth traction rope is fixedly connected to one end of the eighth pulley, and the other end of the eighth traction rope sequentially bypasses the eighth traction winch and the eighth traction fixed pulley and is then fixedly connected to the other end of the eighth pulley.

The invention relates to an I-shaped rocket recycling system, wherein a first pulley, a second pulley, a third pulley, a fourth pulley, a fifth pulley, a sixth pulley, a seventh pulley and an eighth pulley all comprise a pulley frame, a first sliding block is fixedly arranged below the pulley frame, a buffer pulley and an elastic locking mechanism are arranged on the pulley frame, the buffer pulley is rotatably arranged on the buffer pulley frame, the buffer pulley frame is connected with one end of a second sliding block, the other end of the second sliding block passes through a sliding hole on the pulley frame and then is connected with the elastic locking mechanism, the elastic locking mechanism comprises two locking brackets which are oppositely arranged, the locking brackets are fixedly arranged on the pulley frame, each locking bracket is provided with a first elastic clamping arm, the two elastic clamping arms are oppositely arranged, when the second sliding block slides towards the elastic locking mechanism along the sliding hole, the other end of the second sliding block can be clamped between the two elastic clamping arms, when the second sliding block slides along the sliding hole, the other end of the second sliding block can be separated from the two elastic clamping arms, and respectively arranged on the first sliding rail and the second sliding block through the second sliding rail respectively, the second sliding block and the fifth sliding rail are respectively arranged on the first sliding rail and the fifth sliding rail respectively, the second sliding block and the fifth sliding block are respectively arranged on the fourth sliding rail respectively, the two ends of the third blocking rope are respectively connected to the buffer pulley frames of the third pulley and the eighth pulley, the two ends of the fourth blocking rope are respectively connected to the buffer pulley frames of the fourth pulley and the seventh pulley, a first buffer rope is arranged between the first recovery platform and the second recovery platform, a first buffer fixed pulley is fixedly arranged on the first recovery platform, a first mass block is arranged below the first recovery platform, a second buffer fixed pulley is fixedly arranged on the second recovery platform, a second mass block is arranged below the second recovery platform, one end of the first buffer rope is connected with the first mass block after bypassing the first buffer fixed pulley, the other end of the first buffer rope is connected with the second mass block after bypassing the second buffer fixed pulley, the first buffer rope bypasses one side of the buffer pulleys of the first pulley and the second pulley, which is far away from the elastic locking mechanism, a second buffer rope is arranged between the second recovery platform and the third recovery platform, a third buffer fixed pulley is fixedly arranged on the second recovery platform, a third buffer cable is arranged below the second recovery platform, a fourth buffer fixed pulley is fixedly arranged on the third recovery platform, a fourth mass block is arranged below the third recovery platform, one end of the second buffer rope bypasses the third buffer fixed pulley and is connected with the third mass block, the other end of the second buffer rope bypasses the fourth buffer fixed pulley and is connected with the fourth mass block, the second buffer rope bypasses one side, far away from the elastic locking mechanism, of the buffer pulleys of the third pulley and the fourth pulley, a third buffer rope is arranged between the third recovery platform and the fourth recovery platform, a fifth buffer fixed pulley is fixedly arranged on the third recovery platform, a fifth mass block is arranged below the third recovery platform, the fourth recovery platform is fixedly provided with a sixth buffer fixed pulley, the lower part of the fourth recovery platform is provided with a sixth mass block, one end of a third buffer cable bypasses the fifth buffer fixed pulley and is connected with the fifth mass block, the other end of the third buffer cable bypasses the sixth buffer fixed pulley and is connected with the sixth mass block, the third buffer cable bypasses one side, far away from an elastic locking mechanism, of the buffer pulleys of the fifth pulley and the sixth pulley, a fourth buffer cable is arranged between the fourth recovery platform and the first recovery platform, the fourth recovery platform is fixedly provided with a seventh buffer fixed pulley, the lower part of the fourth recovery platform is provided with a seventh mass block, the first recovery platform is fixedly provided with an eighth buffer fixed pulley, the lower part of the first recovery platform is provided with an eighth mass block, one end of the fourth buffer cable bypasses the seventh buffer fixed pulley and is connected with the seventh mass block, the other end of the fourth buffer cable bypasses the eighth buffer fixed pulley and is connected with the eighth mass block, and the fourth buffer cable bypasses one side, far away from the elastic locking mechanism, far away from the eighth pulley.

The invention discloses an I-shaped rocket recycling system, wherein an elastic clamping arm comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to a locking bracket, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to a third sliding block, a sliding groove is formed in the locking bracket, a guide post is fixedly arranged in the sliding groove, the third sliding block is positioned in the sliding groove and sleeved on the guide post, the sliding groove and the guide post are both arranged along the sliding direction of the second sliding block, a spring is arranged in the sliding groove of one side of the third sliding block, which is far away from the first connecting rod, and is sleeved on the guide post, a clamping groove is respectively formed in two opposite sides of the other end of the second sliding block, and when the other end of the second sliding block is clamped between the two elastic clamping arms, the hinged positions of the first connecting rod and the second connecting rod of the two elastic clamping arms are respectively clamped in the two clamping grooves of the other end of the second sliding block.

The invention discloses an I-shaped rocket recycling system, wherein a through hole for a second sliding block to pass through is formed in a trolley frame, a first sleeve and a second sleeve are respectively arranged on the trolley frame on two opposite sides of the through hole, barrel cavities of the first sleeve and the second sleeve are communicated with the through hole, the first sleeve is fixedly arranged on one side of the trolley frame close to an elastic locking mechanism, the second sleeve is rotatably arranged on one side of the trolley frame close to a buffer pulley, the barrel cavities of the second sleeve, the through hole of the trolley frame and the barrel cavity of the first sleeve form a sliding hole together, and the other end of the second sliding block sequentially passes through the barrel cavities of the second sleeve, the through hole of the trolley frame and the barrel cavity of the first sleeve and then is connected with the elastic locking mechanism.

The invention discloses an I-shaped rocket recycling system, wherein two opposite sides of a buffer pulley are respectively provided with a tensioning pulley, the tensioning pulleys are arranged on a trolley frame through tensioning pulley frames, a first buffer rope is tensioned on one side, far away from an elastic locking mechanism, of each buffer pulley through the tensioning pulleys, a third pulley and a fourth pulley are respectively used for tensioning a second buffer rope on one side, far away from the elastic locking mechanism, of each buffer pulley through the tensioning pulleys, a fifth pulley and a sixth pulley are respectively used for tensioning a third buffer rope on one side, far away from the elastic locking mechanism, of each buffer pulley through the tensioning pulleys, and a seventh pulley and an eighth pulley are respectively used for tensioning a fourth buffer rope on one side, far away from the elastic locking mechanism, of each buffer pulley through the tensioning pulleys.

The invention relates to an I-shaped rocket recycling system, wherein more than two first buffer fixed pulleys are arranged, at least one first buffer movable pulley is arranged on a first mass block, a first lowering winch is arranged on a first recycling platform, one end of a first buffer rope is wound on the first lowering winch after sequentially and alternately winding around the first buffer fixed pulleys and the first buffer movable pulleys, more than two second buffer fixed pulleys are arranged on a second mass block, at least one second buffer movable pulley is arranged on the second mass block, a second lowering winch is arranged on the second recycling platform, the other end of the first buffer rope is wound on the second lowering winch after sequentially and alternately winding around the second buffer fixed pulleys and the second buffer movable pulleys, more than two third buffer fixed pulleys are arranged on a third mass block, at least one third buffer movable pulley is arranged on the third mass block, the second recovery platform is provided with a third lowering winch, one end of the second buffer rope sequentially and alternately winds around the third buffer fixed pulleys and the third buffer movable pulleys and then winds on the third lowering winch, the fourth buffer fixed pulleys are more than two, the fourth mass block is provided with at least one fourth buffer movable pulley, the third recovery platform is provided with a fourth lowering winch, the other end of the second buffer rope sequentially and alternately winds around the fourth buffer fixed pulleys and the fourth buffer movable pulleys and then winds on the fourth lowering winch, the fifth buffer fixed pulleys are more than two, the fifth mass block is provided with at least one fifth buffer movable pulley, the third recovery platform is provided with a fifth lowering winch, one end of the third buffer rope sequentially and alternately winds around the fifth buffer fixed pulleys and the fifth buffer movable pulleys and then winds on the fifth lowering winch, the sixth buffer fixed pulleys are more than two, at least one sixth buffer movable pulley is arranged on the sixth mass block, a sixth lowering winch is arranged on the fourth recovery platform, the other end of the third buffer rope is wound on the sixth lowering winch after sequentially and alternately winding around the sixth buffer fixed pulleys and the sixth buffer movable pulleys, the seventh buffer fixed pulleys are more than two, at least one seventh buffer movable pulley is arranged on the seventh mass block, a seventh lowering winch is arranged on the fourth recovery platform, one end of the fourth buffer rope is wound on the seventh lowering winch after sequentially winding around the seventh buffer fixed pulleys and the seventh buffer movable pulleys, the eighth buffering fixed pulleys are arranged to be more than two, at least one eighth buffering movable pulley is arranged on the eighth mass block, an eighth lowering winch is arranged on the first recovery platform, the other end of the fourth buffering rope is wound on the eighth lowering winch after bypassing the eighth buffering fixed pulleys and the eighth buffering movable pulleys in turn, and the bottoms of the first mass block, the second mass block, the third mass block, the fourth mass block, the fifth mass block, the sixth mass block, the seventh mass block and the eighth mass block are all supported through a hydraulic cylinder or an electric cylinder.

The I-shaped rocket recycling system comprises a first mass block, a second mass block, a third mass block, a fourth mass block, a fifth mass block, a sixth mass block, a seventh mass block and an eighth mass block which are respectively arranged on guide rails in a sliding manner.

According to the I-shaped rocket recycling system, two ends of the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley are fixedly provided with one pull sensor respectively, two pull sensors on the first pulley are fixedly connected with two ends of a first traction rope through first basket bolts respectively, two pull sensors on the second pulley are fixedly connected with two ends of a second traction rope through second basket bolts respectively, two pull sensors on the third pulley are fixedly connected with two ends of the third traction rope through third basket bolts respectively, two pull sensors on the fourth pulley are fixedly connected with two ends of the fourth traction rope through fourth basket bolts respectively, two pull sensors on the fifth pulley are fixedly connected with two ends of the fifth traction rope through fifth basket bolts respectively, two pull sensors on the sixth pulley are fixedly connected with two ends of the sixth traction rope through sixth basket bolts respectively, and two pull sensors on the seventh pulley are fixedly connected with two ends of the eighth traction rope through seventh basket bolts respectively.

According to the I-shaped rocket recycling system, the first barrier rope, the second barrier rope, the third barrier rope and the fourth barrier rope are all connected with ninth basket bolts.

The I-shaped rocket recycling system is different from the prior art in that when the I-shaped rocket recycling system is used, the recycling platform and the sliding rail are fixedly arranged on the ground, a ship or other places suitable for recycling rockets (of course, when the I-shaped rocket recycling system is specifically arranged, the recycling platform and the sliding rail can be fixedly arranged on the places through the supporting frame), and when a rocket sub-stage falls to an area surrounded by the first sliding rail, the second sliding rail, the third sliding rail and the fourth sliding rail, the first traction device, the second traction device, the third traction device, the fourth traction device, the fifth traction device, the sixth traction device, the seventh traction device and the eighth traction device are started. The first traction device pulls the first pulley to slide along the first sliding rail, meanwhile, the sixth traction device pulls the sixth pulley to slide along the third sliding rail, the first pulley and the sixth pulley slide synchronously in the same direction, and then the first blocking cable starts to translate along the first sliding rail and the third sliding rail; the second traction device pulls the second pulley to slide along the first sliding rail, meanwhile, the fifth traction device pulls the fifth pulley to slide along the third sliding rail, the second pulley and the fifth pulley synchronously slide in the same direction, and then the second blocking cable starts to translate along the first sliding rail and the third sliding rail; the third traction device pulls the third pulley to slide along the second sliding rail, meanwhile, the eighth traction device pulls the eighth pulley to slide along the fourth sliding rail, and the third pulley and the eighth pulley synchronously slide in the same direction, so that the third blocking cable starts to translate along the second sliding rail and the fourth sliding rail; the fourth traction device pulls the fourth pulley to slide along the second sliding rail, meanwhile, the seventh traction device pulls the seventh pulley to slide along the fourth sliding rail, the fourth pulley and the seventh pulley slide synchronously in the same direction, and then the fourth blocking cable starts to translate along the second sliding rail and the fourth sliding rail. According to the drop points of the rocket stages, the first barrier rope, the second barrier rope, the third barrier rope and the fourth barrier rope are respectively moved to the periphery of the rocket stages, namely, the rocket stages are positioned in square areas surrounded by the first barrier rope, the second barrier rope, the third barrier rope and the fourth barrier rope, and along with the gradual falling of the rocket stages, the four barrier ropes are gradually close to the rocket stages until the barriers on the rocket stages are hooked on the barrier ropes (in order to complete recovery, barrier hooks are arranged around the rocket bodies of the rocket stages), so that the recovery of the rocket stages is completed. Because the four blocking ropes are adopted and are positioned around the rocket sub-stage during recovery, even if the posture and the speed of the rocket sub-stage do not reach the ideal state of recovery, the four blocking ropes can also be easily hooked on the rocket sub-stage to complete recovery, so that the invention can reduce the requirements on the posture and the speed of rocket recovery and improve the success rate of rocket recovery.

The invention is further described below with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of the structure of the I-shaped rocket recovery system of the present invention;

FIG. 2 is a schematic structural view of a first recycling platform according to the present invention;

FIG. 3 is a schematic view of a second recycling platform according to the present invention;

FIG. 4 is a schematic structural view of a third recycling platform according to the present invention;

FIG. 5 is a schematic view of a fourth recycling platform according to the present invention;

FIG. 6 is a schematic view of the first recycling platform, the first sliding rail, the first pulley, the second pulley and the second recycling platform according to the present invention;

FIG. 7 is a schematic view of the first and second pulleys of FIG. 6;

FIG. 8 is a schematic structural view of a second recovery platform, a second rail, a third sled, a fourth sled, and a third recovery platform according to the present invention;

FIG. 9 is a schematic view of the third and fourth carriages of FIG. 8;

FIG. 10 is a schematic view of the third recycling platform, the third sliding rail, the fifth pulley, the sixth pulley and the fourth recycling platform according to the present invention;

FIG. 11 is a schematic view of the fifth and sixth pulleys of FIG. 10;

FIG. 12 is a schematic view of the fourth recovery platform, the fourth rail, the seventh sled, the eighth sled, and the first recovery platform according to the present invention;

FIG. 13 is a schematic view of the seventh and eighth pulleys of FIG. 12;

FIG. 14 is a view showing the installation state of the first carriage (and also showing the installation state of the second carriage, the third carriage, the fourth carriage, the fifth carriage, the sixth carriage, the seventh carriage and the eighth carriage) according to the present invention;

FIG. 15 is a schematic view of the structure of the first carriage (and also the second carriage, the third carriage, the fourth carriage, the fifth carriage, the sixth carriage, the seventh carriage and the eighth carriage) according to the present invention;

FIG. 16 is a schematic view of the structure of the present invention after the first carriage is hidden (and also the second carriage, the third carriage, the fourth carriage, the fifth carriage, the sixth carriage, the seventh carriage and the eighth carriage are hidden);

FIG. 17 is a schematic view of a frame of the present invention;

FIG. 18 is a perspective view of a locking bracket of the present invention;

FIG. 19 is a top view of the locking bracket of the present invention;

FIG. 20 is a front view of the locking bracket of the present invention;

fig. 21 is a cross-sectional view taken along line A-A of fig. 20.

Detailed Description

As shown in fig. 1, and combined with fig. 2-21, the i-shaped rocket recovery system of the invention comprises a first recovery platform 1, a second recovery platform 2, a third recovery platform 3 and a fourth recovery platform 4, wherein a first sliding rail 5 is arranged between the first recovery platform 1 and the second recovery platform 2, a second sliding rail 6 is arranged between the second recovery platform 2 and the third recovery platform 3, a third sliding rail 7 is arranged between the third recovery platform 3 and the fourth recovery platform 4, a fourth sliding rail 8 is arranged between the fourth recovery platform 4 and the first recovery platform 1, and the first sliding rail 5, the second sliding rail 6, the third sliding rail 7 and the fourth sliding rail 8 are arranged in a rectangular shape. The first sliding rail 5 is provided with a first sliding rail 9 and a second sliding rail 10 in a sliding manner, the second sliding rail 6 is provided with a third sliding rail 11 and a fourth sliding rail 12 in a sliding manner, the third sliding rail 7 is provided with a fifth sliding rail 13 and a sixth sliding rail 14 in a sliding manner, and the fourth sliding rail 8 is provided with a seventh sliding rail 15 and an eighth sliding rail 16 in a sliding manner. A first blocking cable 17 is connected between the first pulley 9 and the sixth pulley 14, a second blocking cable 18 is connected between the second pulley 10 and the fifth pulley 13, the first blocking cable 17 and the second blocking cable 18 are arranged in parallel, a third blocking cable 19 is connected between the third pulley 11 and the eighth pulley 16, a fourth blocking cable 20 is connected between the fourth pulley 12 and the seventh pulley 15, and the third blocking cable 19 and the fourth blocking cable 20 are arranged in parallel. A first traction device and a second traction device are respectively arranged between the first recovery platform 1 and the second recovery platform 2, the first traction device can pull the first pulley 9 to slide back and forth along the first sliding rail 5, the second traction device can pull the second pulley 10 to slide back and forth along the first sliding rail 5, a third traction device and a fourth traction device are respectively arranged between the second recovery platform 2 and the third recovery platform 3, the third traction device can pull the third pulley 11 to slide back and forth along the second sliding rail 6, the fourth traction device can pull the fourth pulley 12 to slide back and forth along the second sliding rail 6, a fifth traction device and a sixth traction device are respectively arranged between the third recovery platform 3 and the fourth recovery platform 4, the fifth traction device can pull the fifth pulley 13 to slide back and forth along the third sliding rail 7, the sixth traction device can pull the sixth pulley 14 to slide back and forth along the third sliding rail 7, a seventh traction device and an eighth traction device are respectively arranged between the fourth recovery platform 4 and the first recovery platform 1, the seventh traction device can pull the seventh pulley 8 to slide back and forth along the fourth sliding rail 8 can slide back and forth along the seventh sliding rail 8.

As shown in fig. 1, when the i-shaped rocket recovery system of the present invention is in use, the recovery platform and the sliding rail are both fixedly disposed on the ground, the ship or other suitable rocket recovery sites (of course, when the recovery platform and the sliding rail are both fixedly disposed on the sites by the supporting frame, the first traction device, the second traction device, the third traction device, the fourth traction device, the fifth traction device, the sixth traction device, the seventh traction device and the eighth traction device are started when the rocket stage falls to the area surrounded by the first sliding rail 5, the second sliding rail 6, the third sliding rail 7 and the fourth sliding rail 8. The first traction device pulls the first pulley 9 to slide along the first slide rail 5, meanwhile, the sixth traction device pulls the sixth pulley 14 to slide along the third slide rail 7, and the first pulley 9 and the sixth pulley 14 slide synchronously in the same direction, so that the first blocking cable 17 starts to translate along the first slide rail 5 and the third slide rail 7; the second traction device pulls the second pulley 10 to slide along the first sliding rail 5, meanwhile, the fifth traction device pulls the fifth pulley 13 to slide along the third sliding rail 7, and the second pulley 10 and the fifth pulley 13 slide synchronously in the same direction, so that the second blocking cable 18 starts to translate along the first sliding rail 5 and the third sliding rail 7; the third traction device pulls the third pulley 11 to slide along the second slide rail 6, meanwhile, the eighth traction device pulls the eighth pulley 16 to slide along the fourth slide rail 8, and the third pulley 11 and the eighth pulley 16 slide synchronously in the same direction, so that the third blocking cable 19 starts to translate along the second slide rail 6 and the fourth slide rail 8; the fourth traction means pulls the fourth trolley 12 to slide along the second slide rail 6, and at the same time, the seventh traction means pulls the seventh trolley 15 to slide along the fourth slide rail 8, and the fourth trolley 12 and the seventh trolley 15 are slid in the same direction simultaneously, so that the fourth blocking cable 20 starts to translate along the second slide rail 6 and the fourth slide rail 8. According to the falling point of the rocket stage, the first barrier rope 17, the second barrier rope 18, the third barrier rope 19 and the fourth barrier rope 20 are respectively moved to the periphery of the rocket stage, namely, the rocket stage is positioned in a square area surrounded by the first barrier rope 17, the second barrier rope 18, the third barrier rope 19 and the fourth barrier rope 20, along with the gradual falling of the rocket stage, the four barrier ropes are gradually close to the rocket stage until the barrier on the rocket stage is hooked on the barrier rope (in order to complete recovery, barrier hooks are arranged around the rocket body of the rocket stage), and the recovery of the rocket stage is completed. Because the four blocking ropes are adopted and are positioned around the rocket sub-stage during recovery, even if the posture and the speed of the rocket sub-stage do not reach the ideal state of recovery, the four blocking ropes can also be easily hooked on the rocket sub-stage to complete recovery, so that the invention can reduce the requirements on the posture and the speed of rocket recovery and improve the success rate of rocket recovery.

As shown in fig. 2,3, 6 and 7, the first traction device comprises a first traction winch 37, a first traction fixed pulley 48 and a first traction rope 75, the first traction winch 37 is fixedly arranged on the first recovery platform 1, the first traction fixed pulley 48 is fixedly arranged on the second recovery platform 2, one end of the first traction rope 75 is fixedly connected with one end of the first pulley 9, and the other end of the first traction rope 75 sequentially bypasses the first traction winch 37 and the first traction fixed pulley 48 and is then fixedly connected with the other end of the first pulley 9. When the first traction winch 37 rotates in the forward direction, the first traction rope 75 pulls the first trolley 9 to slide along the first slide rail 5 from the first recovery platform 1 to the second recovery platform 2, and when the first traction winch 37 rotates in the reverse direction, the first traction rope 75 pulls the first trolley 9 to slide along the first slide rail 5 from the second recovery platform 2 to the first recovery platform 1. The first traction winch 37 belongs to the prior art, and the specific structure and operation principle thereof will not be described again.

As shown in fig. 2, 3, 6 and 7, the second traction device includes a second traction winch 46, a second traction fixed pulley 35 and a second traction rope 76, the second traction winch 46 is fixedly arranged on the second recovery platform 2, the second traction fixed pulley 35 is fixedly arranged on the first recovery platform 1, one end of the second traction rope 76 is fixedly connected with one end of the second pulley 10, and the other end of the second traction rope 76 sequentially bypasses the second traction winch 46 and the second traction fixed pulley 35 and is then fixedly connected with the other end of the second pulley 10. When the second traction winch 46 rotates in the forward direction, the second traction rope 76 pulls the second trolley 10 to slide along the first slide rail 5 from the first recovery platform 1 to the second recovery platform 2, and when the second traction winch 46 rotates in the reverse direction, the second traction rope 76 pulls the second trolley 10 to slide along the first slide rail 5 from the second recovery platform 2 to the first recovery platform 1. The second traction winch 46 belongs to the prior art, and the specific structure and operation thereof will not be described in detail.

As shown in fig. 3, 4, 8 and 9, the third traction device includes a third traction winch 44, a third traction fixed pulley 52 and a third traction rope 79, the third traction winch 44 is fixedly arranged on the second recovery platform 2, the third traction fixed pulley 52 is fixedly arranged on the third recovery platform 3, one end of the third traction rope 79 is fixedly connected to one end of the third pulley 11, and the other end of the third traction rope 79 sequentially bypasses the third traction winch 44 and the third traction fixed pulley 52 and is then fixedly connected to the other end of the third pulley 11. When the third traction winch 44 rotates in the forward direction, the third traction rope 79 pulls the third trolley 11 to slide along the second slide rail 6 from the second recovery platform 2 to the third recovery platform 3, and when the third traction winch 44 rotates in the reverse direction, the third traction rope 79 pulls the third trolley 11 to slide along the second slide rail 6 from the third recovery platform 3 to the second recovery platform 2. The third traction winch 44 is of the prior art, and the specific structure and operation thereof will not be described in detail.

As shown in fig. 3, 4, 8 and 9, the fourth traction device includes a fourth traction winch 56, a fourth traction fixed pulley 47 and a fourth traction rope 80, the fourth traction winch 56 is fixedly arranged on the third recovery platform 3, the fourth traction fixed pulley 47 is fixedly arranged on the second recovery platform 2, one end of the fourth traction rope 80 is fixedly connected to one end of the fourth pulley 12, and the other end of the fourth traction rope 80 sequentially bypasses the fourth traction winch 56 and the fourth traction fixed pulley 47 and is then fixedly connected to the other end of the fourth pulley 12. When the fourth traction winch 56 rotates in the forward direction, the fourth traction rope 80 pulls the fourth trolley 12 to slide along the second slide rail 6 from the second recovery platform 2 to the third recovery platform 3, and when the fourth traction winch 56 rotates in the reverse direction, the fourth traction rope 80 pulls the fourth trolley 12 to slide along the second slide rail 6 from the third recovery platform 3 to the second recovery platform 2. The fourth traction winch 56 belongs to the prior art, and the specific structure and operation principle thereof will not be described again.

As shown in fig. 4, 5, 10 and 11, the fifth traction device includes a fifth traction winch 54, a fifth traction fixed pulley 66 and a fifth traction rope 82, the fifth traction winch 54 is fixedly arranged on the third recovery platform 3, the fifth traction fixed pulley 66 is fixedly arranged on the fourth recovery platform 4, one end of the fifth traction rope 82 is fixedly connected to one end of the fifth pulley 13, and the other end of the fifth traction rope 82 sequentially bypasses the fifth traction winch 54 and the fifth traction fixed pulley 66 and is then fixedly connected to the other end of the fifth pulley 13. When the fifth traction winch 54 rotates in the forward direction, the fifth traction rope 82 pulls the fifth trolley 13 to slide along the third slide rail 7 from the third recovery platform 3 to the fourth recovery platform 4, and when the fifth traction winch 54 rotates in the reverse direction, the fifth traction rope 82 pulls the fifth trolley 13 to slide along the third slide rail 7 from the fourth recovery platform 4 to the third recovery platform 3. The fifth traction winch 54 is of the prior art, and the specific structure and operation thereof will not be described in detail.

As shown in fig. 4, 5, 10 and 11, the sixth traction device includes a sixth traction winch 68, a sixth traction fixed pulley 59 and a sixth traction rope 81, the sixth traction winch 68 is fixedly arranged on the fourth recovery platform 4, the sixth traction fixed pulley 59 is fixedly arranged on the third recovery platform 3, one end of the sixth traction rope 81 is fixedly connected to one end of the sixth pulley 14, and the other end of the sixth traction rope 81 sequentially bypasses the sixth traction winch 68 and the sixth traction fixed pulley 59 and is then fixedly connected to the other end of the sixth pulley 14. When the sixth traction winch 68 rotates in the forward direction, the sixth traction rope 81 pulls the sixth trolley 14 to slide along the third slide rail 7 from the third recovery platform 3 to the fourth recovery platform 4, and when the sixth traction winch 68 rotates in the reverse direction, the sixth traction rope 81 pulls the sixth trolley 14 to slide along the third slide rail 7 from the fourth recovery platform 4 to the third recovery platform 3. The sixth traction winch 68 is of the prior art, and the specific structure and operation thereof will not be described in detail.

As shown in fig. 2,5, 12 and 13, the seventh traction device includes a seventh traction winch 70, a seventh traction fixed pulley 36 and a seventh traction rope 77, the seventh traction winch 70 is fixedly arranged on the fourth recovery platform 4, the seventh traction fixed pulley 36 is fixedly arranged on the first recovery platform 1, one end of the seventh traction rope 77 is fixedly connected to one end of the seventh pulley 15, and the other end of the seventh traction rope 77 sequentially bypasses the seventh traction winch 70 and the seventh traction fixed pulley 36 and is then fixedly connected to the other end of the seventh pulley 15. When the seventh traction winch 70 rotates in the forward direction, the seventh traction rope 77 pulls the seventh trolley 15 to slide along the fourth slide rail 8 from the fourth recovery platform 4 to the first recovery platform 1, and when the seventh traction winch 70 rotates in the reverse direction, the seventh traction rope 77 pulls the seventh trolley 15 to slide along the fourth slide rail 8 from the first recovery platform 1 to the fourth recovery platform 4. The seventh traction winch 70 belongs to the prior art, and the specific structure and operation principle thereof will not be described again.

As shown in fig. 2,5, 12 and 13, the eighth traction device includes an eighth traction winch 32, an eighth traction fixed pulley 65 and an eighth traction rope 78, the eighth traction winch 32 is fixedly arranged on the first recovery platform 1, the eighth traction fixed pulley 65 is fixedly arranged on the fourth recovery platform 4, one end of the eighth traction rope 78 is fixedly connected to one end of the eighth pulley 16, and the other end of the eighth traction rope 78 sequentially bypasses the eighth traction winch 32 and the eighth traction fixed pulley 65 and is then fixedly connected to the other end of the eighth pulley 16. When the eighth traction winch 32 rotates in the forward direction, the eighth traction rope 78 pulls the eighth carriage 16 to slide along the fourth slide rail 8 from the fourth recovery platform 4 to the first recovery platform 1, and when the eighth traction winch 32 rotates in the reverse direction, the eighth traction rope 78 pulls the eighth carriage 16 to slide along the fourth slide rail 8 from the first recovery platform 1 to the fourth recovery platform 4. The eighth traction winch 32 belongs to the prior art, and the specific structure and operation principle thereof will not be described again.

When the first traction rope 75, the second traction rope 76, the third traction rope 79, the fourth traction rope 80, the fifth traction rope 82, the sixth traction rope 81, the seventh traction rope 77, and the eighth traction rope 78 are wound around the first traction winch 37, the second traction winch 46, the third traction winch 44, the fourth traction winch 56, the fifth traction winch 54, the sixth traction winch 68, the seventh traction winch 70, and the eighth traction winch 32, respectively, each traction rope is wound around the respective traction winches for a plurality of turns.

It should be noted that, besides the traction winch, the traction fixed pulley and the traction rope, the traction device may also adopt other structural forms, such as: the traction device comprises a traction motor, a traction driving wheel, a traction driven wheel and a conveying belt, wherein the traction motor and the traction driving wheel are arranged on one recovery platform, the traction driven wheel is arranged on the other recovery platform, the conveying belt is sleeved on the traction driving wheel and the traction driven wheel, and the pulley is fixedly arranged on the conveying belt. Thus, when the traction motor drives the traction driving wheel to rotate, the traction driving wheel drives the traction driven wheel to rotate through the conveying belt, and meanwhile, the conveying belt also rotates, so that a pulley fixed on the conveying belt slides along the sliding rail. Of course, the traction driving wheel and the traction driven wheel can both adopt chain wheels, and the conveying belt can adopt chains.

As shown in fig. 14, and in combination with fig. 15 to 21, the first pulley 9, the second pulley 10, the third pulley 11, the fourth pulley 12, the fifth pulley 13, the sixth pulley 14, the seventh pulley 15 and the eighth pulley 16 all include a pulley frame 87, a first sliding block 90 is fixedly arranged below the pulley frame 87, a buffer pulley 94 and an elastic locking mechanism are installed on the pulley frame 87, the buffer pulley 94 is rotatably installed on the buffer pulley frame 93, the buffer pulley frame 93 is connected with one end of the second sliding block 88 (specifically, the buffer pulley frame 93 can rotate up and down relative to the second sliding block 88 in a hinged manner), and the other end of the second sliding block 88 passes through a sliding hole on the pulley frame 87 and is connected with the elastic locking mechanism (connection here means that the other end of the second sliding block 88 is locked with the elastic locking mechanism). The elastic locking mechanism comprises two locking brackets 86 which are oppositely arranged, the locking brackets 86 are fixedly arranged on the trolley frame 87, each locking bracket 86 is provided with an elastic clamping arm 89, the two elastic clamping arms 89 are oppositely arranged, when the second sliding block 88 slides towards the elastic locking mechanism along the sliding hole, the other end of the second sliding block 88 can be clamped between the two elastic clamping arms 89, and when the second sliding block 88 slides away from the elastic locking mechanism along the sliding hole, the other end of the second sliding block 88 can be separated from between the two elastic clamping arms 89. The first trolley 9 and the second trolley 10 are respectively slidably mounted on the first slide rail 5 through respective first slide blocks 90, the third trolley 11 and the fourth trolley 12 are respectively slidably mounted on the second slide rail 6 through respective first slide blocks 90, the fifth trolley 13 and the sixth trolley 14 are respectively slidably mounted on the third slide rail 7 through respective first slide blocks 90, and the seventh trolley 15 and the eighth trolley 16 are respectively slidably mounted on the fourth slide rail 8 through respective first slide blocks 90. In this embodiment, the first slide rail 5, the second slide rail 6, the third slide rail 7 and the fourth slide rail 8 are dual slide rails, and in accordance with this, 4 first sliders 90,4 and 4 first sliders 90 are fixedly arranged below the carriage 87 of each pulley, and are arranged on the dual slide rails of the first slide rail 5/the second slide rail 6/the third slide rail 7/the fourth slide rail 8.

As shown in fig. 1 and combined with fig. 2 to 13, two ends of the first blocking rope 17 are respectively connected to the buffer pulley frames 93 of the first pulley 9 and the sixth pulley 14, two ends of the second blocking rope 18 are respectively connected to the buffer pulley frames 93 of the second pulley 10 and the fifth pulley 13, two ends of the third blocking rope 19 are respectively connected to the buffer pulley frames 93 of the third pulley 11 and the eighth pulley 16, and two ends of the fourth blocking rope 20 are respectively connected to the buffer pulley frames 93 of the fourth pulley 12 and the seventh pulley 15. The first buffer rope 21 is arranged between the first recovery platform 1 and the second recovery platform 2, the first buffer fixed pulley 38 is fixedly arranged on the first recovery platform 1, the first mass block 27 is arranged below the first recovery platform 1, the second buffer fixed pulley 45 is fixedly arranged on the second recovery platform 2, the second mass block 40 is arranged below the second recovery platform 2, one end of the first buffer rope 21 bypasses the first buffer fixed pulley 38 and then is connected with the first mass block 27, the other end of the first buffer rope 21 bypasses the second buffer fixed pulley 45 and then is connected with the second mass block 40, and the first buffer rope 21 bypasses one side, far away from the elastic locking mechanism, of the buffer pulleys 94 of the first pulley 9 and the second pulley 10. The second buffer cable 22 is arranged between the second recovery platform 2 and the third recovery platform 3, the third buffer fixed pulley 49 is fixedly arranged on the second recovery platform 2, the third mass block 39 is arranged below the second recovery platform 2, the fourth buffer fixed pulley 58 is fixedly arranged on the third recovery platform 3, the fourth mass block 61 is arranged below the third recovery platform 3, one end of the second buffer cable 22 bypasses the third buffer fixed pulley 49 and then is connected with the third mass block 39, the other end of the second buffer cable 22 bypasses the fourth buffer fixed pulley 58 and then is connected with the fourth mass block 61, and the second buffer cable 22 bypasses one side, far away from the elastic locking mechanism, of the buffer pulleys 94 of the third pulley 11 and the fourth pulley 12. A third buffer rope 23 is arranged between the third recovery platform 3 and the fourth recovery platform 4, a fifth buffer fixed pulley 53 is fixedly arranged on the third recovery platform 3, a fifth mass block 62 is arranged below the third recovery platform 3, a sixth buffer fixed pulley 72 is fixedly arranged on the fourth recovery platform 4, a sixth mass block 63 is arranged below the fourth recovery platform 4, one end of the third buffer rope 23 bypasses the fifth buffer fixed pulley 53 and is connected with the fifth mass block 62, the other end of the third buffer rope 23 bypasses the sixth buffer fixed pulley 72 and is connected with the sixth mass block 63, and the third buffer rope 23 bypasses one side, far away from the elastic locking mechanism, of the buffer pulleys 94 of the fifth pulley 13 and the sixth pulley 14. A fourth buffer rope 24 is arranged between the fourth recovery platform 4 and the first recovery platform 1, a seventh buffer fixed pulley 67 is fixedly arranged on the fourth recovery platform 4, a seventh mass block 64 is arranged below the fourth recovery platform 4, an eighth buffer fixed pulley 34 is fixedly arranged on the first recovery platform 1, an eighth mass block 30 is arranged below the first recovery platform 1, one end of the fourth buffer rope 24 bypasses the seventh buffer fixed pulley 67 and is connected with the seventh mass block 64, the other end of the fourth buffer rope 24 bypasses the eighth buffer fixed pulley 34 and is connected with the eighth mass block 30, and the fourth buffer rope 24 bypasses one side, far away from the elastic locking mechanism, of the buffer pulleys 94 of the seventh pulley 15 and the eighth pulley 16.

Since the first buffer cable 21 is disposed between the first recovery platform 1 and the second recovery platform 2, the third buffer cable 23 is disposed between the third recovery platform 3 and the fourth recovery platform 4, the first buffer cable 21 is parallel to the third buffer cable 23, and since the first barrier cable 17 is connected between the first trolley 9 and the sixth trolley 14, it can be obtained that the first barrier cable 17, the first buffer cable 21 and the third buffer cable 23 together form an i-shaped arrangement, and similarly, the second barrier cable 18, the first buffer cable 21 and the third buffer cable 23 together form an i-shaped arrangement, and the third barrier cable 19, the second buffer cable 22 and the fourth buffer cable 24 together form an i-shaped arrangement, and the fourth barrier cable 20, the second buffer cable 22 and the fourth buffer cable 24 together form an i-shaped arrangement.

Before the rocket stage is recovered, the other end of the second slider 88 is clamped between the two elastic clamping arms 89 of the elastic locking mechanism for each sled, that is, the other end of the second slider 88 is locked with the elastic locking mechanism. When the rocket stage is recovered, after the blocking hook of the rocket stage is hooked on the first blocking rope 17, the second blocking rope 18, the third blocking rope 19 and the fourth blocking rope 20, the rocket stage can pull the blocking rope obliquely downwards under the action of the dead weight of the rocket stage, the blocking rope is connected to the buffer pulley frame 93, the buffer pulley frame 93 is connected with one end of the second sliding block 88, the second sliding block 88 slides along the sliding hole away from the elastic locking mechanism, the other end of the second sliding block 88 is separated from the two elastic clamping arms 89 of the elastic locking mechanism to realize unlocking, and finally the other end of the second sliding block 88 slides out of the sliding hole, in the process, the buffer pulley 94 moves in the direction away from the elastic locking mechanism, and because the buffer rope bypasses one side of the buffer pulley 94 away from the elastic locking mechanism, therefore, the buffer pulley 94 pulls the buffer rope in a direction away from the elastic locking mechanism, resulting in that both ends of the buffer rope pull up the mass blocks respectively (i.e., both ends of the first buffer rope 21 pull up the first mass block 27 and the second mass block 40 respectively, both ends of the second buffer rope 22 pull up the third mass block 39 and the fourth mass block 61 respectively, both ends of the third buffer rope 23 pull up the fifth mass block 62 and the sixth mass block 63 respectively, both ends of the fourth buffer rope 24 pull up the seventh mass block 64 and the eighth mass block 30 respectively), until the rocket sub-stage and the mass blocks reach balance, both of them do not move up and down any more, thereby it can be seen that the buffer rope and the mass blocks can play a role of buffering when the rocket sub-stage is recovered, and damage of the recovery system and the rocket sub-stage can be prevented in the recovery process.

As shown in fig. 1, after the blocking rope of the rocket stage is hooked on the first blocking rope 17, the second blocking rope 18, the third blocking rope 19 and the fourth blocking rope 20, and the blocking rope is pulled obliquely downward under the dead weight of the rocket stage, the obliquely downward refers to the obliquely downward direction in the area surrounded by the first slide rail 5, the second slide rail 6, the third slide rail 7 and the fourth slide rail 8, that is, the two ends of the blocking rope pulled by the rocket stage move from the slide rail to the area surrounded by the four slide rails, and the buffer pulley frame 93 and the buffer pulley 94 also move from the slide rail to the area surrounded by the four slide rails (that is, the buffer pulley frame 93 and the buffer pulley 94 also move away from the elastic locking mechanism), at the same time, the buffer pulley frame 93 pulls the second slide block 88 along the slide hole also from the slide rail to the area surrounded by the four slide rails (that is, the second slide block 88 moves away from the other end of the slide block 88 along the slide hole), so that the elastic locking mechanism is disengaged from the two ends of the second slide block 88. Since the buffer cable passes around the center side of the area surrounded by the four slide rails of the buffer pulley 94 (i.e., the buffer cable passes around the side of the buffer pulley 94 away from the elastic locking mechanism), the buffer pulley 94 pulls the buffer cable toward the area surrounded by the four slide rails (i.e., the buffer pulley 94 pulls the buffer cable toward the direction away from the elastic locking mechanism), resulting in that both ends of the buffer cable respectively pull up the mass block.

As shown in fig. 14 and in combination with fig. 15-21, the elastic clamping arm 89 includes a first connecting rod 113 and a second connecting rod 114, one end of the first connecting rod 113 is hinged on the locking bracket 86, the other end of the first connecting rod 113 is hinged with one end of the second connecting rod 114, the other end of the second connecting rod 114 is hinged on the third sliding block 115, a sliding groove is formed in the locking bracket 86, a guiding post 117 is fixedly arranged in the sliding groove, the third sliding block 115 is located in the sliding groove and sleeved on the guiding post 117, the sliding groove and the guiding post 117 are both arranged along the sliding direction of the second sliding block 88, a spring 118 is arranged in the sliding groove of one side, far away from the first connecting rod 113, of the third sliding block 115, the spring 118 is sleeved on the guiding post 117, two clamping grooves are respectively formed in the opposite sides of the other end of the second sliding block 88, and when the other end of the second sliding block 88 is clamped between the two elastic clamping arms 89, the hinged positions of the first connecting rod 113 and the second connecting rod 114 of the two elastic clamping arms 89 are respectively clamped in the two clamping grooves of the other end of the second sliding block 88.

One end of the first connecting rod 113 is hinged on the locking bracket 86 through a hinge seat 112, namely, the hinge seat 112 is fixed on the locking bracket 86, a first hinge lug is arranged on the hinge seat 112, and one end of the first connecting rod 113 is hinged on the first hinge lug through a pin shaft. The other end of the first link 113 is also hinged to one end of the second link 114 by a pin. The third slider 115 is provided with a second hinge lug, and the other end of the second connecting rod 114 is hinged to the second hinge lug through a pin shaft.

A sleeve 120 is fixedly arranged on the locking bracket 86, two pipe orifices of the sleeve 120 are respectively fixedly provided with an end cover 119, the pipe wall of the sleeve 120 is provided with an axially arranged notch 116, the notch 116 and the pipe cavity of the sleeve 120 jointly form a chute for accommodating the third sliding block 115, a guide post 117 axially arranged along the sleeve 120 is arranged in the pipe cavity of the sleeve 120, and the guide post 117 is fixedly arranged between the two end covers 119. When the spring 118 is not compressed by the third slider 115, a pre-tightening force is applied to the spring 118, under the action of the pre-tightening force, the spring 118 pushes the third slider 115 against one end of the chute close to the first connecting rod 113, at this time, the first connecting rod 113 and the second connecting rod 114 keep a small included angle, and the two elastic clamping arms 89 keep a small gap; when the third slider 115 compresses the spring 118 along the chute, that is, when the third slider 115 slides from the end of the chute close to the first link 113 to the end far from the first link 113, the angle between the first link 113 and the second link 114 becomes large, and the gap between the two elastic clip arms 89 also becomes large.

When the second slider 88 is locked with the elastic locking mechanism, the second slider 88 slides along the sliding hole toward the elastic locking mechanism, so that the other end of the second slider 88 slides between the two elastic clamp arms 89, and as the second slider 88 continues to slide, the other end of the second slider 88 stretches the two elastic clamp arms 89, that is, the gap between the two elastic clamp arms 89 becomes larger, more specifically, the gap between the hinge joint of the first link 113 and the second link 114 in the two elastic clamp arms 89 becomes larger. In the process of increasing the gap between the two elastic clamping arms 89, the third slider 115 compresses the spring 118, and the hinge joint of the first link 113 and the second link 114 of the elastic clamping arms 89 is always kept in abutment with the second slider 88, and as the second slider 88 continues to slide, the hinge joint of the first link 113 and the second link 114 of the two elastic clamping arms 89 is clamped in the two clamping grooves at the other end of the second slider 88, respectively, at this time, the gap between the two elastic clamping arms 89 is reduced again, and the spring 118 is restored (i.e., the spring 118 is restored to a state not compressed by the third slider 115), thereby realizing the locking of the second slider 88 and the elastic locking mechanism. When the second slider 88 and the elastic locking mechanism are unlocked, the second slider 88 slides along the sliding hole away from the elastic locking mechanism, the other end head of the second slider 88 re-opens the two elastic clamping arms 89, so that the gap between the two elastic clamping arms 89 is enlarged, in the process, the third slider 115 compresses the spring 118, the second slider 88 is separated from the two elastic clamping arms 89 along with the continuous sliding of the second slider 88, the spring 118 is restored, and the gap between the two elastic clamping arms 89 is reduced again, so that the unlocking of the second slider 88 and the elastic locking mechanism is realized. It should be noted that, in order to facilitate the other end of the second slider 88 to open the two elastic clamping arms 89, the side between the end of the other end of the second slider 88 and the clamping groove facing the two elastic clamping arms is in a wedge structure.

As shown in fig. 16 and 17, a through hole 109 for the second slider 88 to pass through is provided on the trolley frame 87, a first sleeve 105 and a second sleeve 106 are respectively provided on the trolley frame 87 on opposite sides of the through hole 109, the cylinder chambers of the first sleeve 105 and the second sleeve 106 are all communicated with the through hole 109, the first sleeve 105 is fixedly provided on one side of the trolley frame 87 close to the elastic locking mechanism, the second sleeve 106 is rotatably provided on one side of the trolley frame 87 close to the buffer pulley 94, the cylinder chamber of the second sleeve 106, the through hole 109 of the trolley frame 87 and the cylinder chamber of the first sleeve 105 together form the slide hole, and the other end of the second slider 88 sequentially passes through the cylinder chamber of the second sleeve 106, the through hole 109 of the trolley frame 87 and the cylinder chamber of the first sleeve 105 and then is connected with the elastic locking mechanism.

The opposite sides of the buffer pulleys 94 are respectively provided with a tensioning pulley 92, the tensioning pulleys 92 are arranged on the pulley frame 87 through tensioning pulley frames 91, the first pulley 9 and the second pulley 10 respectively tension the first buffer rope 21 on the side, far away from the elastic locking mechanism, of the buffer pulleys 94 through the tensioning pulleys 92, the third pulley 11 and the fourth pulley 12 respectively tension the second buffer rope 22 on the side, far away from the elastic locking mechanism, of the buffer pulleys 94 through the tensioning pulleys 92, the fifth pulley 13 and the sixth pulley 14 respectively tension the third buffer rope 23 on the side, far away from the elastic locking mechanism, of the buffer pulleys 94 through the tensioning pulleys 92, and the seventh pulley 15 and the eighth pulley 16 respectively tension the fourth buffer rope 24 on the side, far away from the elastic locking mechanism, of the buffer pulleys 94 through the tensioning pulleys 92.

The trolley frame 87 comprises a bottom plate 103 and a mounting beam 104 fixedly arranged above the bottom plate 103, the first sliding block 90 is fixedly arranged below the bottom plate 103, the arrangement direction of the mounting beam 104 is the same as the sliding direction of the trolley frame 87, the through hole 109 is formed in the mounting beam 104, the first sleeve 105 is fixedly arranged on one side of the mounting beam 104, the second sleeve 106 is rotatably arranged on the other side of the mounting beam 104, and the first sleeve 105 and the second sleeve 106 are oppositely arranged with the through hole 109. The second sleeve 106 is rotatably mounted to the mounting beam 104 in the following manner: the opposite side of the mounting beam 104 is provided with a mounting groove 110, two opposite groove walls of the mounting groove 110 are respectively provided with a blind hole 111, the wall of the second sleeve 106 is provided with two oppositely arranged rotating shafts 107, the second sleeve 106 is mounted on the two blind holes 111 of the mounting groove 110 through the two rotating shafts 107, the rotating shafts 107 and the blind holes 111 are in clearance fit, and therefore the second sleeve 106 can be rotatably arranged on the mounting beam 104 through the rotating shafts 107 and the blind holes 111. The second sleeve 106 is rotatably mounted to the mounting beam 104 for the purpose of: when the rocket stage pulls the blocking cable obliquely downward in the area surrounded by the four sliding rails, the blocking cable also pulls the buffer pulley frame 93 obliquely downward, the buffer pulley frame 93 pulls the second sliding block 88 obliquely downward, that is, the second sliding block 88 slides along the sliding hole away from the elastic locking mechanism, when the other end of the second sliding block 88 slides through the first sleeve 105 and the through hole 109 in turn and then reaches the barrel cavity of the second sleeve 106, the pulling force exerted by the second sliding block 88 is inclined obliquely downward, if the second sleeve 106 is fixedly arranged on the mounting beam 104, the other end of the second sliding block 88 may be blocked in the second sleeve 106, so that the second sliding block 88 cannot slide out from the second sleeve 106, and conversely, if the second sleeve 106 is rotatably arranged on the mounting beam 104, the other end of the second sliding block 88 slides to the second sleeve 106, under the action of the oblique downward pulling force, the other end of the second sliding block 88 drives the second sleeve 106 to slide out from the second sleeve 106, so that the second sliding block 88 slides out from the second sleeve 106.

Both locking brackets 86 are also fixed to one side of the mounting beam 104, i.e. the locking brackets 86 are fixed to the same side of the mounting beam 104 as the first sleeve 105, and the first sleeve 105 is located between the two locking brackets 86. Two tensioning pulley frames 91 are mounted on the other side of the mounting beam 104, a tensioning pulley 92 is rotatably mounted on each tensioning pulley frame 91, the tensioning pulley frames 91 are hinged to the other side of the mounting beam 104 through pins, that is, the tensioning pulley frames 91 can rotate up and down relative to the mounting beam 104, the tensioning pulley frames 91 and the second sleeves 106 are located on the same side of the mounting beam 104, and the second sleeves 106 are located between the two tensioning pulley frames 91. After the second slider 88 is inserted into the slide hole, one end of the second slider 88 is located between the two tensioning pulleys 91 outside the second sleeve 106, and since the buffering pulley frame 93 is hinged with one end of the second slider 88, the buffering pulley 94 is located between the two tensioning pulleys 92; the other end of the second slider 88 is located between two locking brackets 86 outside the first sleeve 105, and each locking bracket 86 is provided with an elastic clamping arm 89, and the two elastic clamping arms 89 can clamp the other end of the second slider 88.

A baffle plate 102 is fixedly arranged on the trolley frame 87 of each trolley, the baffle plate 102 is fixedly connected between the mounting beam 104 and the bottom plate 103, and a rope hole 108 is formed in the baffle plate 102. The function of the rope hole 108 will be described below by taking the first traction rope 75 and the second traction rope 76 as examples: the first traction rope 75 and the second traction rope 76 each form a loop structure, that is, the first traction rope 75 and the second traction rope 76 each include an upper traction rope and a lower traction rope, as shown in fig. 7, the lower traction ropes of the first traction rope 75 and the second traction rope 76 each pass through a rope passing hole 108 on a baffle plate 102 of the first pulley 9 and the second pulley 10, so that arrangement of the first traction rope 75 and the second traction rope 76 can be facilitated, and the first traction rope 75 and the second traction rope 76 do not interfere with each other. Similarly, the rope holes 108 on the third pulley 11 and the fourth pulley 12 can also facilitate the arrangement of the third traction rope 79 and the fourth traction rope 80 in the annular structure, the rope holes 108 on the fifth pulley 13 and the sixth pulley 14 can also facilitate the arrangement of the fifth traction rope 82 and the sixth traction rope 81 in the annular structure, and the rope holes 108 on the seventh pulley 15 and the eighth pulley 16 can also facilitate the arrangement of the seventh traction rope 77 and the eighth traction rope 78 in the annular structure.

As shown in fig. 1, and in combination with fig. 2 to 13, the number of the first buffer fixed pulleys 38 is more than two, at least one first buffer movable pulley 25 is arranged on the first mass block 27, a first lowering winch 31 is arranged on the first recovery platform 1, one end of the first buffer rope 21 sequentially and alternately bypasses the first buffer fixed pulleys 38 and the first buffer movable pulleys 25 and then winds on the first lowering winch 31, the number of the second buffer fixed pulleys 45 is more than two, at least one second buffer movable pulley 41 is arranged on the second mass block 40, a second lowering winch 43 is arranged on the second recovery platform 2, and the other end of the first buffer rope 21 sequentially and alternately bypasses the second buffer fixed pulleys 45 and the second buffer movable pulleys 41 and then winds on the second lowering winch 43. The third buffer fixed pulleys 49 are more than two, at least one third buffer movable pulley 50 is arranged on the third mass block 39, a third lowering winch 42 is arranged on the second recovery platform 2, one end of the second buffer rope 22 sequentially and alternately bypasses the third buffer fixed pulleys 49 and the third buffer movable pulleys 50 and then winds on the third lowering winch 42, the fourth buffer fixed pulleys 58 are more than two, at least one fourth buffer movable pulley 60 is arranged on the fourth mass block 61, a fourth lowering winch 57 is arranged on the third recovery platform 3, and the other end of the second buffer rope 22 sequentially and alternately bypasses the fourth buffer fixed pulleys 58 and the fourth buffer movable pulleys 60 and then winds on the fourth lowering winch 57. The number of the fifth buffer fixed pulleys 53 is more than two, at least one fifth buffer movable pulley 51 is arranged on the fifth mass block 62, a fifth lowering winch 55 is arranged on the third recovery platform 3, one end of the third buffer rope 23 sequentially and alternately bypasses the fifth buffer fixed pulleys 53 and the fifth buffer movable pulleys 51 and then winds on the fifth lowering winch 55, the number of the sixth buffer fixed pulleys 72 is more than two, at least one sixth buffer movable pulley 74 is arranged on the sixth mass block 63, a sixth lowering winch 71 is arranged on the fourth recovery platform 4, and the other end of the third buffer rope 23 sequentially and alternately bypasses the sixth buffer fixed pulleys 72 and the sixth buffer movable pulleys 74 and then winds on the sixth lowering winch 71. The seventh buffer fixed pulleys 67 are more than two, the seventh mass block 64 is provided with at least one seventh buffer movable pulley 73, the fourth recovery platform 4 is provided with a seventh lowering winch 69, one end of the fourth buffer rope 24 sequentially bypasses the seventh buffer fixed pulleys 67 and the seventh buffer movable pulleys 73 and then winds on the seventh lowering winch 69, the eighth buffer fixed pulleys 34 are more than two, the eighth mass block 30 is provided with at least one eighth buffer movable pulley 29, the first recovery platform 1 is provided with an eighth lowering winch 33, and the other end of the fourth buffer rope 24 sequentially and alternately bypasses the eighth buffer fixed pulleys 34 and the eighth buffer movable pulleys 29 and then winds on the eighth lowering winch 33.

In the present embodiment, the first buffer fixed pulley 38, the second buffer fixed pulley 45, the third buffer fixed pulley 49, the fourth buffer fixed pulley 58, the fifth buffer fixed pulley 53, the sixth buffer fixed pulley 72, the seventh buffer fixed pulley 67, and the eighth buffer fixed pulley 34 are all three, and the first buffer movable pulley 25, the second buffer movable pulley 41, the third buffer movable pulley 50, the fourth buffer movable pulley 60, the fifth buffer movable pulley 51, the sixth buffer movable pulley 74, the seventh buffer movable pulley 73, and the eighth buffer movable pulley 29 are all two.

The undersides of the first mass 27, the second mass 40, the third mass 39, the fourth mass 61, the fifth mass 62, the sixth mass 63, the seventh mass 64 and the eighth mass 30 are all supported by the hydraulic cylinder 28 or the electric cylinder 28. The cylinder body of the hydraulic cylinder 28 or the electric cylinder 28 is fixedly arranged on the ground, a ship or other places suitable for rocket recovery through a support frame, and the piston rod of the hydraulic cylinder 28 or the electric cylinder 28 is connected below the mass block. When the rocket sub-stage pulls the buffer rope through the blocking rope, the two ends of the buffer rope respectively pull the mass blocks upwards, in the process, the hydraulic cylinder 28 or the electric cylinder 28 and the mass blocks keep following, namely the hydraulic cylinder 28 or the electric cylinder 28 does not exert force on the mass blocks, and in the process, the lowering winch is in a band-type brake state, namely the lowering winch does not rotate; after the rocket stage and the mass block reach equilibrium and do not move up and down, the second slider 88 is slid out from the slide hole, at this time, the buffer rope pulls the barrier rope through the buffer pulley 94 and the buffer pulley frame 93, in order to take the rocket stage off the barrier rope, the lowering winch is started to rotate and release the buffer rope, and at this time, the mass block is kept motionless by the action of the hydraulic cylinder 28 or the electric cylinder 28, so that the rocket stage gradually moves downwards along with the continuous release of the buffer rope until the rocket stage moves to a proper height, and the rocket stage can be directly lowered onto the ground, a ship or other fields suitable for recovering rockets, so that the rocket stage can be taken off from the barrier rope. When the buffer rope is released by the lowering winch to lower the rocket sub-stage, the weight of the rocket sub-stage is completely pulled by the lowering winch because the mass block is kept motionless.

The first mass block 27, the second mass block 40, the third mass block 39, the fourth mass block 61, the fifth mass block 62, the sixth mass block 63, the seventh mass block 64 and the eighth mass block 30 are respectively and slidably arranged on the guide rails 26 which are vertically arranged, the guide rails 26 can be fixedly arranged on the ground, a ship or other fields suitable for rocket recovery through the support frames, and the mass blocks can move up and down more stably through the arrangement of the guide rails 26.

As shown in fig. 1 and in combination with fig. 2 to 13, two ends of the first pulley 9, the second pulley 10, the third pulley 11, the fourth pulley 12, the fifth pulley 13, the sixth pulley 14, the seventh pulley 15 and the eighth pulley 16 are respectively and fixedly provided with a tension sensor 84, and specifically, two locking brackets 86 of each pulley are respectively and fixedly provided with a tension sensor 84. The two pull sensors 84 on the first pulley 9 are respectively and fixedly connected with the two ends of the first traction rope 75 through the first basket bolts 83, the two pull sensors 84 on the second pulley 10 are respectively and fixedly connected with the two ends of the second traction rope 76 through the second basket bolts 85, the two pull sensors 84 on the third pulley 11 are respectively and fixedly connected with the two ends of the third traction rope 79 through the third basket bolts 95, the two pull sensors 84 on the fourth pulley 12 are respectively and fixedly connected with the two ends of the fourth traction rope 80 through the fourth basket bolts 96, the two pull sensors 84 on the fifth pulley 13 are respectively and fixedly connected with the two ends of the fifth traction rope 82 through the fifth basket bolts 97, the two pull sensors 84 on the sixth pulley 14 are respectively and fixedly connected with the two ends of the sixth traction rope 81 through the sixth basket bolts 98, the two pull sensors 84 on the seventh pulley 15 are respectively and fixedly connected with the two ends of the seventh traction rope 77 through the seventh basket bolts 100, and the two pull sensors 84 on the eighth pulley 16 are respectively and fixedly connected with the two ends of the eighth traction rope 78 through the eighth basket bolts 101.

The tension sensor 84 is capable of measuring the tension of the pull-cord, as is known in the art. The first basket bolt 83, the second basket bolt 85, the third basket bolt 95, the fourth basket bolt 96, the fifth basket bolt 97, the sixth basket bolt 98, the seventh basket bolt 100 and the eighth basket bolt 101 are all in the prior art, the length of the first traction rope 75 can be adjusted through the first basket bolt 83, and the lengths of the rest of traction ropes can be sequentially adjusted through the rest of basket bolts, so that the description is omitted.

As shown in fig. 1, and in combination with fig. 10, 11, 12, and 13, a ninth basket bolt 99 is connected to each of the first, second, third, and fourth check cables 17, 18, 19, and 20. The ninth basket bolt 99 belongs to the prior art, and the lengths of the first barrier wire 17, the second barrier wire 18, the third barrier wire 19, and the fourth barrier wire 20 can be adjusted by the ninth basket bolt 99.

As shown in fig. 1, in the use of the i-shaped rocket recovery system according to the present invention, the recovery platform and the sliding rail are fixedly disposed on the ground, the ship or other suitable rocket recovery site (of course, in the specific arrangement, the recovery platform and the sliding rail may be fixedly disposed on the above site by the supporting frame), and when the rocket stage falls to the area surrounded by the first sliding rail 5, the second sliding rail 6, the third sliding rail 7 and the fourth sliding rail 8, the first traction winch 37, the second traction winch 46, the third traction winch 44, the fourth traction winch 56, the fifth traction winch 54, the sixth traction winch 68, the seventh traction winch 70 and the eighth traction winch 32 are started. The first traction winch 37 pulls the first trolley 9 to slide along the first slide rail 5 through the first traction rope 75, and at the same time, the sixth traction winch 68 pulls the sixth trolley 14 to slide along the third slide rail 7 through the sixth traction rope 81, and the first trolley 9 and the sixth trolley 14 slide synchronously in the same direction, so that the first blocking rope 17 starts to translate along the first slide rail 5 and the third slide rail 7; the second traction winch 46 pulls the second trolley 10 to slide along the first sliding rail 5 through the second traction rope 76, meanwhile, the fifth traction winch 54 pulls the fifth trolley 13 to slide along the third sliding rail 7 through the fifth traction rope 82, and the second trolley 10 and the fifth trolley 13 slide synchronously in the same direction, so that the second blocking rope 18 starts to translate along the first sliding rail 5 and the third sliding rail 7; the third traction winch 44 pulls the third trolley 11 to slide along the second slide rail 6 through the third traction rope 79, and at the same time, the eighth traction winch 32 pulls the eighth trolley 16 to slide along the fourth slide rail 8 through the eighth traction rope 78, and the third trolley 11 and the eighth trolley 16 slide synchronously in the same direction, so that the third barrier rope 19 starts to translate along the second slide rail 6 and the fourth slide rail 8; the fourth traction winch 56 pulls the fourth trolley 12 to slide along the second slide rail 6 by the fourth traction rope 80, and at the same time, the seventh traction winch 70 pulls the seventh trolley 15 to slide along the fourth slide rail 8 by the seventh traction rope 77, and the fourth trolley 12 and the seventh trolley 15 are slid in the same direction simultaneously, so that the fourth barrier rope 20 starts to translate along the second slide rail 6 and the fourth slide rail 8. According to the falling point of the rocket stage, the first barrier rope 17, the second barrier rope 18, the third barrier rope 19 and the fourth barrier rope 20 are respectively moved to the periphery of the rocket stage, namely, the rocket stage is positioned in a square area surrounded by the first barrier rope 17, the second barrier rope 18, the third barrier rope 19 and the fourth barrier rope 20, along with the gradual falling of the rocket stage, the four barrier ropes are gradually close to the rocket stage until the barrier on the rocket stage is hooked on the barrier rope (in order to complete recovery, barrier hooks are arranged around the rocket body of the rocket stage), and the recovery of the rocket stage is completed. Because the four blocking ropes are adopted and are positioned around the rocket sub-stage during recovery, even if the posture and the speed of the rocket sub-stage do not reach the ideal state of recovery, the four blocking ropes can also be easily hooked on the rocket sub-stage to complete recovery, so that the invention can reduce the requirements on the posture and the speed of rocket recovery and improve the success rate of rocket recovery. After the rocket stage is hung on the barrier rope, under the action of the weight of the rocket stage, the rocket stage pulls the barrier rope obliquely downwards, the barrier rope pulls the second sliding block 88 through the buffer pulley frame 93, the second sliding block 88 is unlocked with the elastic locking mechanism, and then the barrier rope pulls the buffer rope obliquely downwards, so that the two ends of the buffer rope pull the mass blocks upwards respectively until the rocket stage and the mass blocks reach balance, and the rocket stage and the mass blocks do not move up and down any more. Then, the lowering winch is started to rotate and release the buffer rope, and the mass block is kept motionless by the hydraulic cylinder 28 or the electric cylinder 28, so that along with the release of the buffer rope, the rocket sub-stage gradually moves downwards until the rocket sub-stage moves to a proper height, and the rocket sub-stage can be directly lowered onto the ground, a ship or other places suitable for recovering rockets, and then the rocket sub-stage is taken down from the barrier rope for recycling.

It should be noted that, the positional or positional relationship indicated by the terms such as "center", "upper", "lower", "front", "rear", "left", "right", "middle", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. An I-shaped rocket recovery system is characterized in that: comprises a first recovery platform, a second recovery platform, a third recovery platform and a fourth recovery platform, wherein a first sliding rail is arranged between the first recovery platform and the second recovery platform, a second sliding rail is arranged between the second recovery platform and the third recovery platform, a third sliding rail is arranged between the third recovery platform and the fourth recovery platform, a fourth sliding rail is arranged between the fourth recovery platform and the first recovery platform, the first sliding rail, the second sliding rail, the third sliding rail and the fourth sliding rail are in rectangular arrangement, a first pulley and a second pulley are arranged on the first sliding rail in a sliding manner, a third pulley and a fourth pulley are arranged on the second sliding rail in a sliding manner, a fifth pulley and a sixth pulley are arranged on the third sliding rail in a sliding manner, a seventh pulley and an eighth pulley are arranged on the fourth sliding rail in a sliding manner, a first blocking cable is connected between the first pulley and the sixth pulley, the second blocking cable is connected between the second pulley and the fifth pulley, the first blocking cable and the second blocking cable are arranged in parallel, the third blocking cable is connected between the third pulley and the eighth pulley, the fourth blocking cable is connected between the fourth pulley and the seventh pulley, the third blocking cable and the fourth blocking cable are arranged in parallel, a first traction device and a second traction device are respectively arranged between the first recovery platform and the second recovery platform, the first traction device can pull the first pulley to slide back and forth along the first sliding rail, the second traction device can pull the second pulley to slide back and forth along the first sliding rail, a third traction device and a fourth traction device are respectively arranged between the second recovery platform and the third recovery platform, the third traction device can pull the third pulley to slide back and forth along the second sliding rail, the fourth traction device can pull the fourth pulley to slide back and forth along the second sliding rail, a fifth traction device and a sixth traction device are respectively arranged between the third recovery platform and the fourth recovery platform, the fifth traction device can pull the fifth pulley to slide back and forth along the third sliding rail, the sixth traction device can pull the sixth pulley to slide back and forth along the third sliding rail, a seventh traction device and an eighth traction device are respectively arranged between the fourth recovery platform and the first recovery platform, the seventh traction device can pull the seventh pulley to slide back and forth along the fourth sliding rail, and the eighth traction device can pull the eighth pulley to slide back and forth along the fourth sliding rail.

2. An i-shaped rocket recovery system according to claim 1, wherein: the first traction device comprises a first traction winch, a first traction fixed pulley and a first traction rope, the first traction winch is fixedly arranged on a first recovery platform, one end of the first traction rope is fixedly connected to one end of a first pulley, the other end of the first traction rope sequentially bypasses the first traction winch and the first traction fixed pulley and is fixedly connected to the other end of the first pulley, the second traction device comprises a second traction winch, a second traction fixed pulley and a second traction rope, the second traction winch is fixedly arranged on a second recovery platform, the second traction fixed pulley is fixedly arranged on the first recovery platform, one end of the second traction rope is fixedly connected to one end of the second pulley, the other end of the second traction rope sequentially bypasses the second traction winch and the second traction fixed pulley and is fixedly connected to the other end of the second pulley, the third traction device comprises a third traction winch, a third traction fixed pulley and a third traction rope, the third traction rope is fixedly connected to the third traction winch and the fourth traction platform, the third traction winch is fixedly arranged on the third traction winch and the fourth traction platform, the third traction device is fixedly connected to the fourth traction platform, the other end of the fourth traction device is fixedly arranged on the fourth recovery platform, the other end of the fourth traction rope is fixedly connected with the other end of the fourth pulley after sequentially winding around the fourth traction winch and the fourth traction fixed pulley, the fifth traction device comprises a fifth traction winch, a fifth traction fixed pulley and a fifth traction rope, the fifth traction winch is fixedly arranged on a third recovery platform, the fifth traction fixed pulley is fixedly arranged on the fourth recovery platform, one end of the fifth traction rope is fixedly connected with one end of the fifth pulley, the other end of the fifth traction rope is fixedly connected with the other end of the fifth pulley after sequentially winding around the fifth traction winch and the fifth traction fixed pulley, the sixth traction device comprises a sixth traction winch, a sixth traction fixed pulley and a sixth traction rope, the sixth traction winch is fixedly arranged on the fourth recovery platform, the sixth traction fixed pulley is fixedly arranged on the third recovery platform, one end of the sixth traction rope is fixedly connected to one end of the sixth pulley, the other end of the sixth traction rope sequentially bypasses the sixth traction winch and the sixth traction fixed pulley and then is fixedly connected to the other end of the sixth pulley, the seventh traction device comprises a seventh traction winch, a seventh traction fixed pulley and a seventh traction rope, the seventh traction winch is fixedly arranged on the fourth recovery platform, the seventh traction fixed pulley is fixedly arranged on the first recovery platform, one end of the seventh traction rope is fixedly connected to one end of the seventh pulley, the other end of the seventh traction rope sequentially bypasses the seventh traction winch and the seventh traction fixed pulley and then is fixedly connected to the other end of the seventh pulley, the eighth traction device comprises an eighth traction winch, an eighth traction fixed pulley and an eighth traction rope, the eighth traction winch is fixedly arranged on the first recovery platform, the eighth traction fixed pulley is fixedly arranged on the fourth recovery platform, one end of the eighth traction rope is fixedly connected with one end of the eighth pulley, and the other end of the eighth traction rope is fixedly connected with the other end of the eighth pulley after sequentially bypassing the eighth traction winch and the eighth traction fixed pulley.

3. An i-shaped rocket recovery system according to claim 2, wherein: the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley all comprise a pulley frame, a first sliding block is fixedly arranged below the pulley frame, a buffer pulley and an elastic locking mechanism are arranged on the pulley frame, the buffer pulley is rotatably arranged on the buffer pulley frame, the buffer pulley frame is connected with one end of a second sliding block, the other end of the second sliding block passes through a sliding hole on the pulley frame and then is connected with the elastic locking mechanism, the elastic locking mechanism comprises two locking brackets which are oppositely arranged, the locking brackets are fixedly arranged on the pulley frame, each locking bracket is provided with an elastic clamping arm, the two elastic clamping arms are oppositely arranged, when the second sliding block slides towards the elastic locking mechanism along the sliding hole, the other end of the second sliding block can be clamped between the two elastic clamping arms, when the second sliding block slides along the sliding hole and is far away from the elastic locking mechanism, the other end of the second sliding block can be separated from the space between the two elastic clamping arms, the first sliding block and the second sliding block are respectively and slidably arranged on the first sliding rail through the respective first sliding block, the third sliding block and the fourth sliding block are respectively and slidably arranged on the second sliding rail through the respective first sliding block, the fifth sliding block and the sixth sliding block are respectively and slidably arranged on the third sliding rail through the respective first sliding block, the seventh sliding block and the eighth sliding block are respectively and slidably arranged on the fourth sliding rail through the respective first sliding block, the two ends of the first blocking cable are respectively connected on the buffer pulley frames of the first sliding block and the sixth sliding block, the two ends of the second blocking cable are respectively connected on the buffer pulley frames of the second sliding block and the fifth sliding block, the two ends of the third blocking rope are respectively connected to the buffer pulley frames of the third pulley and the eighth pulley, the two ends of the fourth blocking rope are respectively connected to the buffer pulley frames of the fourth pulley and the seventh pulley, a first buffer rope is arranged between the first recovery platform and the second recovery platform, a first buffer fixed pulley is fixedly arranged on the first recovery platform, a first mass block is arranged below the first recovery platform, a second buffer fixed pulley is fixedly arranged on the second recovery platform, a second mass block is arranged below the second recovery platform, one end of the first buffer rope is connected with the first mass block after bypassing the first buffer fixed pulley, the other end of the first buffer rope is connected with the second mass block after bypassing the second buffer fixed pulley, the first buffer rope bypasses one side of the buffer pulleys of the first pulley and the second pulley, which is far away from the elastic locking mechanism, a second buffer rope is arranged between the second recovery platform and the third recovery platform, a third buffer fixed pulley is fixedly arranged on the second recovery platform, a third buffer cable is arranged below the second recovery platform, a fourth buffer fixed pulley is fixedly arranged on the third recovery platform, a fourth mass block is arranged below the third recovery platform, one end of the second buffer rope bypasses the third buffer fixed pulley and is connected with the third mass block, the other end of the second buffer rope bypasses the fourth buffer fixed pulley and is connected with the fourth mass block, the second buffer rope bypasses one side, far away from the elastic locking mechanism, of the buffer pulleys of the third pulley and the fourth pulley, a third buffer rope is arranged between the third recovery platform and the fourth recovery platform, a fifth buffer fixed pulley is fixedly arranged on the third recovery platform, a fifth mass block is arranged below the third recovery platform, the fourth recovery platform is fixedly provided with a sixth buffer fixed pulley, the lower part of the fourth recovery platform is provided with a sixth mass block, one end of a third buffer cable bypasses the fifth buffer fixed pulley and is connected with the fifth mass block, the other end of the third buffer cable bypasses the sixth buffer fixed pulley and is connected with the sixth mass block, the third buffer cable bypasses one side, far away from an elastic locking mechanism, of the buffer pulleys of the fifth pulley and the sixth pulley, a fourth buffer cable is arranged between the fourth recovery platform and the first recovery platform, the fourth recovery platform is fixedly provided with a seventh buffer fixed pulley, the lower part of the fourth recovery platform is provided with a seventh mass block, the first recovery platform is fixedly provided with an eighth buffer fixed pulley, the lower part of the first recovery platform is provided with an eighth mass block, one end of the fourth buffer cable bypasses the seventh buffer fixed pulley and is connected with the seventh mass block, the other end of the fourth buffer cable bypasses the eighth buffer fixed pulley and is connected with the eighth mass block, and the fourth buffer cable bypasses one side, far away from the elastic locking mechanism, far away from the eighth pulley.

4. An i-shaped rocket recovery system according to claim 3, wherein: the elastic clamping arm comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is hinged to a locking support, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to a third sliding block, a sliding groove is formed in the locking support, a guide column is fixedly arranged in the sliding groove, the third sliding block is located in the sliding groove and sleeved on the guide column, the sliding groove and the guide column are all arranged along the sliding direction of the second sliding block, a spring is arranged in the sliding groove of the third sliding block, the spring is sleeved on the guide column, two clamping grooves are formed in the opposite sides of the other end of the second sliding block, and when the other end of the second sliding block is clamped between the two elastic clamping arms, the hinged positions of the first connecting rod and the second connecting rod of the two elastic clamping arms are respectively clamped in the two clamping grooves of the other end of the second sliding block.

5. An i-shaped rocket recovery system according to claim 4, wherein: the trolley is characterized in that a through hole for a second sliding block to pass through is formed in the trolley frame, a first sleeve and a second sleeve are respectively arranged on the trolley frames on two opposite sides of the through hole, barrel cavities of the first sleeve and the second sleeve are communicated with the through hole, the first sleeve is fixedly arranged on one side of the trolley frame, which is close to the elastic locking mechanism, the second sleeve is rotatably arranged on one side of the trolley frame, which is close to the buffer pulley, the barrel cavities of the second sleeve, the through hole of the trolley frame and the barrel cavity of the first sleeve jointly form the sliding hole, and the other end of the second sliding block sequentially passes through the barrel cavities of the second sleeve, the through hole of the trolley frame and the barrel cavity of the first sleeve and then is connected with the elastic locking mechanism.

6. An i-shaped rocket recovery system according to claim 5, wherein: the two opposite sides of the buffer pulleys are respectively provided with a tensioning pulley, the tensioning pulleys are arranged on the trolley frame through tensioning pulley frames, the first pulley and the second pulley are used for tensioning the first buffer rope on one side, far away from the elastic locking mechanism, of each buffer pulley through the tensioning pulleys respectively, the third pulley and the fourth pulley are used for tensioning the second buffer rope on one side, far away from the elastic locking mechanism, of each buffer pulley through the tensioning pulleys respectively, the fifth pulley and the sixth pulley are used for tensioning the third buffer rope on one side, far away from the elastic locking mechanism, of each buffer pulley through the tensioning pulleys respectively, and the seventh pulley and the eighth pulley are used for tensioning the fourth buffer rope on one side, far away from the elastic locking mechanism, of each buffer pulley through the tensioning pulleys respectively.

7. An i-shaped rocket recovery system according to claim 6, wherein: the first buffer fixed pulleys are arranged at more than two, the first mass block is provided with at least one first buffer movable pulley, the first recovery platform is provided with a first lowering winch, one end of the first buffer rope sequentially and alternately bypasses the first buffer fixed pulleys and the first buffer movable pulleys and then winds on the first lowering winch, the second buffer fixed pulleys are arranged at more than two, the second mass block is provided with at least one second buffer movable pulley, the second recovery platform is provided with a second lowering winch, the other end of the first buffer rope sequentially and alternately bypasses the second buffer fixed pulleys and the second buffer movable pulleys and then winds on the second lowering winch, the third buffer fixed pulleys are arranged at more than two, the third mass block is provided with at least one third buffer movable pulley, the second recovery platform is provided with a third lowering winch, one end of the second buffer rope sequentially and alternately winds around the third buffer fixed pulleys and the third buffer movable pulleys and then winds on the third lowering winch, the fourth buffer fixed pulleys are arranged to be more than two, at least one fourth buffer movable pulley is arranged on the fourth mass block, a fourth lowering winch is arranged on the third recovery platform, the other end of the second buffer rope sequentially and alternately winds around the fourth buffer fixed pulleys and the fourth buffer movable pulleys and then winds on the fourth lowering winch, the fifth buffer fixed pulleys are arranged to be more than two, at least one fifth buffer movable pulley is arranged on the fifth mass block, a fifth lowering winch is arranged on the third recovery platform, one end of the third buffer rope sequentially and alternately winds on the fifth buffer fixed pulleys and the fifth buffer movable pulleys and then winds on the fifth lowering winch, the sixth buffer fixed pulleys are arranged to be more than two, the sixth mass block is provided with at least one sixth buffer movable pulley, the fourth recovery platform is provided with a sixth lowering winch, the other end of the third buffer rope is wound on the sixth lowering winch after sequentially and alternately bypassing the sixth buffer fixed pulley and the sixth buffer movable pulley, the seventh buffer fixed pulley is more than two, the seventh mass block is provided with at least one seventh buffer movable pulley, the fourth recovery platform is provided with a seventh lowering winch, one end of the fourth buffer rope is wound on the seventh lowering winch after sequentially bypassing the seventh buffer fixed pulley and the seventh buffer movable pulley, the eighth buffering fixed pulleys are arranged to be more than two, at least one eighth buffering movable pulley is arranged on the eighth mass block, an eighth lowering winch is arranged on the first recovery platform, the other end of the fourth buffering rope is wound on the eighth lowering winch after bypassing the eighth buffering fixed pulleys and the eighth buffering movable pulleys in turn, and the bottoms of the first mass block, the second mass block, the third mass block, the fourth mass block, the fifth mass block, the sixth mass block, the seventh mass block and the eighth mass block are all supported through a hydraulic cylinder or an electric cylinder.

8. An i-shaped rocket recovery system according to claim 7, wherein: the first mass block, the second mass block, the third mass block, the fourth mass block, the fifth mass block, the sixth mass block, the seventh mass block and the eighth mass block are respectively and slidably arranged on the guide rails which are vertically arranged.

9. An i-shaped rocket recovery system according to claim 8, wherein: the two ends of the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley are respectively and fixedly provided with a pull sensor, the two pull sensors on the first pulley are respectively and fixedly connected with the two ends of the first traction rope through first basket bolts, the two pull sensors on the second pulley are respectively and fixedly connected with the two ends of the second traction rope through second basket bolts, the two pull sensors on the third pulley are respectively and fixedly connected with the two ends of the third traction rope through third basket bolts, the two pull sensors on the fourth pulley are respectively and fixedly connected with the two ends of the fourth traction rope through fourth basket bolts, the two pull sensors on the fifth pulley are respectively and fixedly connected with the two ends of the fifth traction rope through fifth basket bolts, the two pull sensors on the sixth pulley are respectively and fixedly connected with the two ends of the sixth traction rope through seventh basket bolts, and the two pull sensors on the seventh pulley are respectively and fixedly connected with the two ends of the eighth traction rope through seventh basket bolts.

10. An i-shaped rocket recovery system according to claim 9, wherein: and the first blocking rope, the second blocking rope, the third blocking rope and the fourth blocking rope are respectively connected with a ninth basket bolt.