CN117963181A - An I-shaped rocket recovery system - Google Patents

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

An I-shaped rocket recovery system

Technical Field

The present invention relates to the field of rocket recovery technology, and in particular to a system for recovering rockets.

Background technique

Rocket recovery technology refers to the technology of recovering and reusing rockets after launch. The launch cost of disposable launch vehicles is very high, and the use of rocket recovery technology can reduce the launch cost. Space X and Blue Origin in the United States have successfully recovered rockets many times. For example, the rocket recovery technology solution adopted by Space X in several launches is: during the landing of the rocket sub-stage, the main engine is ignited to achieve deceleration, and the flight attitude of the rocket sub-stage is adjusted by the attitude control engine to ensure that the rocket falls in a nearly vertical attitude. When the falling rocket sub-stage approaches the ground, the support legs in the retracted state are opened, so that the rocket is stably supported on the landing surface (for example, the ground or an offshore platform). Specifically, retractable support legs are set at the bottom of the rocket sub-stage. During the flight of the rocket, the support legs can always be in a retracted state. After the rocket sub-stage finishes its work and separates from the rocket body, the main engine is shut down, and the rocket sub-stage flies to the predetermined landing area or flies back to the launch site. When approaching the ground, the main engine is re-ignited and started, and the rocket slows down. Before landing, the support legs are unfolded and locked under the action of high-pressure gas. At the moment of final touchdown, the rocket stage uses the main engine to control the speed to 0, and stands firmly on the recovery site or recovery ship through the deployed support legs. This vertical recovery technology of rocket stages requires high control of the attitude and speed of the rocket during landing. If the attitude or speed of the rocket stage landing is not well controlled, it is likely to cause the rocket to tip over or explode, resulting in a complete failure of rocket recovery.

Summary of the invention

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

The I-shaped rocket recovery system of the present invention comprises a first recovery platform, a second recovery platform, a third recovery platform and a fourth recovery platform, a first slide rail is arranged between the first recovery platform and the second recovery platform, a second slide rail is arranged between the second recovery platform and the third recovery platform, a third slide rail is arranged between the third recovery platform and the fourth recovery platform, and a fourth slide rail is arranged between the fourth recovery platform and the first recovery platform, the first slide rail, the second slide rail, the third slide rail and the fourth slide rail are arranged in a rectangular shape, a first pulley and a second pulley are slidably provided on the first slide rail, a third pulley and a fourth pulley are slidably provided on the second slide rail, a fifth pulley and a sixth pulley are slidably provided on the third slide rail, and a seventh pulley and an eighth pulley are slidably provided on the fourth slide rail, a first arresting cable is connected between the first pulley and the sixth pulley, a second arresting cable is connected between the second pulley and the fifth pulley, the first arresting cable and the second arresting cable are arranged in parallel, a third arresting cable is connected between the third pulley and the eighth pulley, a fourth arresting cable is connected between the fourth pulley and the seventh pulley, and the third arresting cable and the first arresting cable are connected to each other. The four arresting cables are arranged in parallel, and a first traction device and a second traction device are respectively provided 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 slide rail, and the second traction device can pull the second pulley to slide back and forth along the first slide rail, a third traction device and a fourth traction device are respectively provided 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 slide rail, the fourth traction device can pull the fourth pulley to slide back and forth along the second slide rail, a fifth traction device and a sixth traction device are respectively provided 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 slide rail, the sixth traction device can pull the sixth pulley to slide back and forth along the third slide rail, a seventh traction device and an eighth traction device are respectively provided 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 slide rail, and the eighth traction device can pull the eighth pulley to slide back and forth along the fourth slide rail.

The I-shaped rocket recovery system of the present invention, wherein the first traction device includes a first traction winch, a first traction fixed pulley and a first traction rope, the first traction winch is fixedly arranged on the first recovery platform, the first traction fixed pulley is fixedly arranged on the second recovery platform, one end of the first traction rope is fixedly connected to one end of the first pulley, the other end of the first traction rope is fixedly connected to the other end of the first pulley after passing through the first traction winch and the first traction fixed pulley in sequence, the second traction device includes a second traction winch, a second traction fixed pulley and a second traction rope, the second traction winch is fixedly arranged on the 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 is fixedly connected to the other end of the second pulley after passing through the second traction winch and the second traction fixed pulley in sequence The third traction device is connected to the other end of the second pulley, and the third traction device includes 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 to one end of the third pulley, and the other end of the third traction rope is fixedly connected to the other end of the third pulley after passing through the third traction winch and the third traction fixed pulley in sequence. The fourth traction device includes 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 to one end of the fourth pulley, and the other end of the fourth traction rope is fixedly connected to the At the other end of the fourth pulley, the fifth traction device includes a fifth traction winch, a fifth traction fixed pulley and a fifth traction rope, the fifth traction winch is fixedly arranged on the 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 to one end of the fifth pulley, the other end of the fifth traction rope is fixedly connected to the other end of the fifth pulley after successively passing through the fifth traction winch and the fifth traction fixed pulley, the sixth traction device includes 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 is fixedly connected to the sixth pulley after successively passing through the sixth traction winch and the sixth traction fixed pulley. At the other end, the seventh traction device includes 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 is fixedly connected to the other end of the seventh pulley after successively passing around the seventh traction winch and the seventh traction fixed pulley, the eighth traction device includes 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, the other end of the eighth traction rope is fixedly connected to the other end of the eighth pulley after successively passing around the eighth traction winch and the eighth traction fixed pulley.

The I-shaped rocket recovery system of the present invention, 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 include a pulley frame, a first slider is fixedly provided below the pulley frame, a buffer pulley and an elastic locking mechanism are installed on the pulley frame, the buffer pulley is rotatably installed on the buffer pulley frame, the buffer pulley frame is connected to one end of the second slider, the other end of the second slider is connected to the elastic locking mechanism after passing through a sliding hole on the pulley frame, the elastic locking mechanism includes two oppositely arranged locking brackets, the locking brackets are fixedly provided on the pulley frame, each of the locking brackets is installed with an elastic clamping arm, the two elastic clamping arms are oppositely arranged, when the second slider slides along the sliding hole toward the elastic locking mechanism, the other end of the second slider can be clamped between the two elastic clamping arms, when the second slider slides along the sliding hole away from the elastic locking mechanism, the other end of the second slider can be detached from between the two elastic clamping arms, the first pulley and the second pulley are respectively connected by their respective first The slider is slidably mounted on the first slide rail, the third pulley and the fourth pulley are respectively slidably mounted on the second slide rail through their respective first sliders, the fifth pulley and the sixth pulley are respectively slidably mounted on the third slide rail through their respective first sliders, the seventh pulley and the eighth pulley are respectively slidably mounted on the fourth slide rail through their respective first sliders, the two ends of the first blocking cable are respectively connected to the buffer pulley frames of the first pulley and the sixth pulley, the two ends of the second blocking cable are respectively connected to the buffer pulley frames of the second pulley and the fifth pulley, the two ends of the third blocking cable are respectively connected to the buffer pulley frames of the third pulley and the eighth pulley, the two ends of the fourth blocking cable are respectively connected to the buffer pulley frames of the fourth pulley and the seventh pulley, a first buffer cable is provided between the first recovery platform and the second recovery platform, a first buffer fixed pulley is fixedly provided on the first recovery platform, a first mass block is provided below the first recovery platform, a second buffer fixed pulley is fixedly provided on the second recovery platform, and a second mass block is provided below the second recovery platform, One end of the first buffer cable is connected to the first mass block after bypassing the first buffer fixed pulley, and the other end of the first buffer cable is connected to the second mass block after bypassing the second buffer fixed pulley, the first buffer cable bypasses the side of the buffer pulleys of the first pulley and the second pulley away from the elastic locking mechanism, a second buffer cable is provided between the second recovery platform and the third recovery platform, a third buffer fixed pulley is fixedly provided on the second recovery platform, a third mass block is provided below the second recovery platform, a fourth buffer fixed pulley is fixedly provided on the third recovery platform, and a fourth mass block is provided below the third recovery platform, one end of the second buffer cable is connected to the third mass block after bypassing the third buffer fixed pulley, the other end of the second buffer cable is connected to the fourth mass block after bypassing the fourth buffer fixed pulley, the second buffer cable bypasses the side of the buffer pulleys of the third pulley and the fourth pulley away from the elastic locking mechanism, a third buffer cable is provided between the third recovery platform and the fourth recovery platform, a fifth buffer fixed pulley is fixedly provided on the third recovery platform, and the third recovery platform A fifth mass block is provided below the platform, a sixth buffer fixed pulley is fixedly provided on the fourth recovery platform, a sixth mass block is provided below the fourth recovery platform, one end of the third buffer cable is connected to the fifth mass block after bypassing the fifth buffer fixed pulley, the other end of the third buffer cable is connected to the sixth mass block after bypassing the sixth buffer fixed pulley, the third buffer cable bypasses the side of the buffer pulley of the fifth pulley and the sixth pulley away from the elastic locking mechanism, a fourth buffer cable is provided between the fourth recovery platform and the first recovery platform, a seventh buffer fixed pulley is fixedly provided on the fourth recovery platform, a seventh mass block is provided below the fourth recovery platform, an eighth buffer fixed pulley is fixedly provided on the first recovery platform, an eighth mass block is provided below the first recovery platform, one end of the fourth buffer cable is connected to the seventh mass block after bypassing the seventh buffer fixed pulley, the other end of the fourth buffer cable is connected to the eighth mass block after bypassing the eighth buffer fixed pulley, and the fourth buffer cable bypasses the side of the buffer pulley of the seventh pulley and the eighth pulley away from the elastic locking mechanism.

The I-shaped rocket recovery system of the present invention, wherein the elastic clamp arm includes 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, and the other end of the second connecting rod is hinged to a third slider, the locking bracket is provided with a sliding groove, a guide column is fixedly provided in the sliding groove, the third slider is located in the sliding groove and is mounted on the guide column, the sliding groove and the guide column are both arranged along the sliding direction of the second slider, a spring is provided in the sliding groove of the third slider away from the first connecting rod, the spring is mounted on the guide column, and a clamping groove is respectively provided on two opposite sides of the other end of the second slider, and when the other end of the second slider is clamped between the two elastic clamp arms, the hinges of the first connecting rod and the second connecting rod of the two elastic clamp arms are respectively clamped in the two clamping grooves at the other end of the second slider.

The I-shaped rocket recovery system of the present invention, wherein the pulley frame is provided with a through hole for the second sliding block to pass through, and the pulley frames on opposite sides of the through hole are respectively provided with a first sleeve and a second sleeve, and the barrel cavities of the first sleeve and the second sleeve are both connected with the through hole, the first sleeve is fixedly arranged on the side of the pulley frame close to the elastic locking mechanism, and the second sleeve is rotatably arranged on the side of the pulley frame close to the buffer pulley, the barrel cavity of the second sleeve, the through hole of the pulley 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 cavity of the second sleeve, the through hole of the pulley frame and the barrel cavity of the first sleeve and is connected with the elastic locking mechanism.

The I-shaped rocket recovery system of the present invention, wherein a tensioning pulley is respectively provided on the opposite sides of the buffer pulley, and the tensioning pulley is installed on the pulley frame through the tensioning pulley frame, the first pulley and the second pulley respectively tension the first buffer cable on the side of the respective buffer pulley away from the elastic locking mechanism through the tensioning pulley, the third pulley and the fourth pulley respectively tension the second buffer cable on the side of the respective buffer pulley away from the elastic locking mechanism through the tensioning pulley, the fifth pulley and the sixth pulley respectively tension the third buffer cable on the side of the respective buffer pulley away from the elastic locking mechanism through the tensioning pulley, and the seventh pulley and the eighth pulley respectively tension the fourth buffer cable on the side of the respective buffer pulley away from the elastic locking mechanism through the tensioning pulley.

The I-shaped rocket recovery system of the present invention, wherein the first buffer fixed pulley is provided with 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 cable alternately passes around the first buffer fixed pulley and the first buffer movable pulley in sequence and then is wound around the first lowering winch, the second buffer fixed pulley is provided with 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 cable alternately passes around the second buffer fixed pulley and the second buffer movable pulley in sequence and then is wound around the second lowering winch, the third buffer There are more than two fixed pulleys, at least one third buffer movable pulley is provided on the third mass block, a third lowering winch is provided on the second recovery platform, one end of the second buffer rope is alternately bypassed around the third buffer fixed pulley and the third buffer movable pulley in sequence and then wound around the third lowering winch, there are more than two fourth buffer fixed pulleys, at least one fourth buffer movable pulley is provided on the fourth mass block, a fourth lowering winch is provided on the third recovery platform, the other end of the second buffer rope is alternately bypassed around the fourth buffer fixed pulley and the fourth buffer movable pulley in sequence and then wound around the fourth lowering winch, there are more than two fifth buffer fixed pulleys, and there are There is 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 is alternately bypassed around the fifth buffer fixed pulley and the fifth buffer movable pulley in sequence and then wound around the fifth lowering winch, the sixth buffer fixed pulley is provided with more than two, at least one sixth buffer movable pulley is provided on the sixth mass block, and the fourth recovery platform is provided with a sixth lowering winch, the other end of the third buffer rope is alternately bypassed around the sixth buffer fixed pulley and the sixth buffer movable pulley in sequence and then wound around the sixth lowering winch, the seventh buffer fixed pulley is provided with more than two, at least one seventh buffer movable pulley is provided on the seventh mass block, and the fourth recovery platform is provided with a sixth lowering winch. A seventh lowering winch is provided on the platform, one end of the fourth buffer rope is wound around the seventh buffer fixed pulley and the seventh buffer movable pulley in sequence and then wound around the seventh lowering winch, the eighth buffer fixed pulley is provided with more than two, at least one eighth buffer movable pulley is provided on the eighth mass block, an eighth lowering winch is provided on the first recovery platform, the other end of the fourth buffer rope is wound around the eighth buffer fixed pulley and the eighth buffer movable pulley in sequence and then wound around the eighth lowering winch, and 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 by hydraulic cylinders or electric cylinders at their bottoms.

The I-shaped rocket recovery system of the present invention, 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 slidably arranged on vertically arranged guide rails.

The I-shaped rocket recovery system of the present invention, wherein both 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 fixed with a tension sensor, the two tension sensors on the first pulley are respectively fixedly connected to the two ends of the first traction rope through the first basket bolt, the two tension sensors on the second pulley are respectively fixedly connected to the two ends of the second traction rope through the second basket bolt, the two tension sensors on the third pulley are respectively fixedly connected to the two ends of the third traction rope through the third basket bolt, the two tension sensors on the fourth pulley are respectively fixedly connected to the two ends of the fourth traction rope through the fourth basket bolt, the two tension sensors on the fifth pulley are respectively fixedly connected to the two ends of the fifth traction rope through the fifth basket bolt, the two tension sensors on the sixth pulley are respectively fixedly connected to the two ends of the sixth traction rope through the sixth basket bolt, the two tension sensors on the seventh pulley are respectively fixedly connected to the two ends of the seventh traction rope through the seventh basket bolt, and the two tension sensors on the eighth pulley are respectively fixedly connected to the two ends of the eighth traction rope through the eighth basket bolt.

The I-shaped rocket recovery system of the present invention, wherein the first arresting cable, the second arresting cable, the third arresting cable and the fourth arresting cable are all connected with a ninth basket bolt.

The I-shaped rocket recovery system of the present invention is different from the prior art in that when the I-shaped rocket recovery system of the present invention is in use, the recovery platform and the slide rail are fixedly set on the ground, ship or other sites suitable for recovering rockets (of course, in the specific setting, the recovery platform and the slide rail can be fixedly set on the above-mentioned site through a support frame), and when the rocket sub-stage lands in the area surrounded by the first slide rail, the second slide rail, the third slide rail and the fourth slide 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 slide rail, and at the same time, the sixth traction device pulls the sixth pulley to slide along the third slide rail, and makes the first pulley and the sixth pulley slide synchronously in the same direction, so that the first blocking cable starts to translate along the first slide rail and the third slide rail; the second traction device pulls the second pulley to slide along the first slide rail, and at the same time, the fifth traction device pulls the fifth pulley to slide along the third slide rail, and makes the second pulley and the fifth pulley slide synchronously in the same direction, so that the second blocking cable starts to translate along the first slide rail and the third slide rail; the third traction device pulls the third pulley to slide along the second slide rail, and at the same time, the eighth traction device pulls the eighth pulley to slide along the fourth slide rail, and makes the third pulley and the eighth pulley slide synchronously in the same direction, so that the third blocking cable starts to translate along the second slide rail and the fourth slide rail; the fourth traction device pulls the fourth pulley to slide along the second slide rail, and at the same time, the seventh traction device pulls the seventh pulley to slide along the fourth slide rail, and makes the fourth pulley and the seventh pulley slide synchronously in the same direction, so that the fourth blocking cable starts to translate along the second slide rail and the fourth slide rail. According to the landing point of the rocket sub-stage, the first arresting cable, the second arresting cable, the third arresting cable and the fourth arresting cable are respectively moved to the surroundings of the rocket sub-stage, that is, the rocket sub-stage is located in the square area surrounded by the first arresting cable, the second arresting cable, the third arresting cable and the fourth arresting cable. As the rocket sub-stage gradually falls, the four arresting cables are gradually moved closer to the rocket sub-stage until the arresting hooks on the rocket sub-stage are hung on the arresting cables (in order to complete the recovery, the rocket sub-stage is provided with arresting hooks around the arrow body), and the recovery of the rocket sub-stage is completed. Since the present invention adopts four arresting cables, and during the recovery, the four arresting cables are located around the rocket sub-stage, even if the posture and speed of the rocket sub-stage do not reach the ideal state of recovery, the four arresting cables can easily hook the rocket sub-stage to complete the recovery. Therefore, the present invention can reduce the posture and speed requirements for rocket recovery and improve the success rate of rocket recovery.

The present invention will be further described below in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an I-shaped rocket recovery system of the present invention;

FIG2 is a schematic structural diagram of a first recovery platform in the present invention;

FIG3 is a schematic structural diagram of a second recovery platform in the present invention;

FIG4 is a schematic structural diagram of a third recovery platform in the present invention;

FIG5 is a schematic structural diagram of a fourth recovery platform in the present invention;

6 is a schematic structural diagram of the first recovery platform, the first slide rail, the first pulley, the second pulley and the second recovery platform in the present invention;

FIG7 is a schematic structural diagram of the first pulley and the second pulley in FIG6;

8 is a schematic structural diagram of the second recovery platform, the second slide rail, the third pulley, the fourth pulley and the third recovery platform in the present invention;

FIG9 is a schematic structural diagram of the third pulley and the fourth pulley in FIG8;

10 is a schematic structural diagram of the third recovery platform, the third slide rail, the fifth pulley, the sixth pulley and the fourth recovery platform in the present invention;

FIG11 is a schematic structural diagram of the fifth pulley and the sixth pulley in FIG10 ;

12 is a schematic structural diagram of the fourth recovery platform, the fourth slide rail, the seventh pulley, the eighth pulley and the first recovery platform in the present invention;

FIG13 is a schematic structural diagram of the seventh pulley and the eighth pulley in FIG12;

14 is a diagram showing the installation state of the first pulley in the present invention (also a diagram showing the installation state of the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley);

15 is a schematic diagram of the structure of the first pulley in the present invention (also a schematic diagram of the structure of the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley);

16 is a schematic diagram of the structure of the first pulley after hiding in the pulley frame in the present invention (also a schematic diagram of the structure of the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley after hiding in the pulley frame);

FIG17 is a schematic diagram of the structure of the pulley frame of the present invention;

FIG18 is a perspective view of a locking bracket according to the present invention;

FIG19 is a top view of the locking bracket of the present invention;

FIG20 is a front view of the locking bracket of the present invention;

Figure 21 is a cross-sectional view along line A-A in Figure 20.

Detailed ways

As shown in FIG1 , and in combination with FIG2 to FIG21 , the I-shaped rocket recovery system of the present invention comprises a first recovery platform 1, a second recovery platform 2, a third recovery platform 3 and a fourth recovery platform 4, a first slide rail 5 is provided between the first recovery platform 1 and the second recovery platform 2, a second slide rail 6 is provided between the second recovery platform 2 and the third recovery platform 3, a third slide rail 7 is provided between the third recovery platform 3 and the fourth recovery platform 4, a fourth slide rail 8 is provided between the fourth recovery platform 4 and the first recovery platform 1, and the first slide rail 5, the second slide rail 6, the third slide rail 7 and the fourth slide rail 8 are arranged in a rectangular shape. The first slide rail 5 is provided with a first pulley 9 and a second pulley 10 for sliding, the second slide rail 6 is provided with a third pulley 11 and a fourth pulley 12 for sliding, the third slide rail 7 is provided with a fifth pulley 13 and a sixth pulley 14 for sliding, and the fourth slide rail 8 is provided with a seventh pulley 15 and an eighth pulley 16 for sliding. A first arresting cable 17 is connected between the first pulley 9 and the sixth pulley 14, a second arresting cable 18 is connected between the second pulley 10 and the fifth pulley 13, the first arresting cable 17 and the second arresting cable 18 are arranged in parallel, a third arresting cable 19 is connected between the third pulley 11 and the eighth pulley 16, a fourth arresting cable 20 is connected between the fourth pulley 12 and the seventh pulley 15, the third arresting cable 19 and the fourth arresting cable 20 are arranged in parallel. A first traction device and a second traction device are respectively provided 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 slide rail 5, the second traction device can pull the second pulley 10 to slide back and forth along the first slide rail 5, a third traction device and a fourth traction device are respectively provided 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 slide rail 6, the fourth traction device can pull the fourth pulley 12 to slide back and forth along the second slide rail 6, a fifth traction device and a sixth traction device are respectively provided 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 slide rail 7, the sixth traction device can pull the sixth pulley 14 to slide back and forth along the third slide rail 7, a seventh traction device and an eighth traction device are respectively provided between the fourth recovery platform 4 and the first recovery platform 1, the seventh traction device can pull the seventh pulley 15 to slide back and forth along the fourth slide rail 8, and the eighth traction device can pull the eighth pulley 16 to slide back and forth along the fourth slide rail 8.

As shown in Figure 1, when the I-shaped rocket recovery system of the present invention is in use, the recovery platform and the slide rail are fixedly set on the ground, ship or other places suitable for recovering rockets (of course, in the specific setting, the recovery platform and the slide rail can be fixedly set on the above-mentioned place through a support frame). When the rocket sub-stage lands 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, 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 9 to slide along the first slide rail 5, and at the same time, the sixth traction device pulls the sixth pulley 14 to slide along the third slide rail 7, and makes 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 slide rail 5, and at the same time, the fifth traction device pulls the fifth pulley 13 to slide along the third slide rail 7, and makes 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 slide rail 5 and the third slide rail 7; The third traction device pulls the third pulley 11 to slide along the second slide rail 6. At the same time, the eighth traction device pulls the eighth pulley 16 to slide along the fourth slide rail 8, and makes the third pulley 11 and the eighth pulley 16 slide synchronously in the same direction, so that the third blocking cable 19 begins to translate along the second slide rail 6 and the fourth slide rail 8; the fourth traction device pulls the fourth pulley 12 to slide along the second slide rail 6. At the same time, the seventh traction device pulls the seventh pulley 15 to slide along the fourth slide rail 8, and makes the fourth pulley 12 and the seventh pulley 15 slide synchronously in the same direction, so that the fourth blocking cable 20 begins to translate along the second slide rail 6 and the fourth slide rail 8. According to the landing point of the rocket sub-stage, the first arresting cable 17, the second arresting cable 18, the third arresting cable 19 and the fourth arresting cable 20 are respectively moved to the surroundings of the rocket sub-stage, that is, the rocket sub-stage is located in the square area surrounded by the first arresting cable 17, the second arresting cable 18, the third arresting cable 19 and the fourth arresting cable 20. As the rocket sub-stage gradually falls, the four arresting cables are gradually moved closer to the rocket sub-stage until the arresting hooks on the rocket sub-stage are hung on the arresting cables (in order to complete the recovery, the rocket sub-stage is provided with arresting hooks around the body), and the recovery of the rocket sub-stage is completed. Since the present invention adopts four arresting cables, and during the recovery, the four arresting cables are located around the rocket sub-stage, even if the posture and speed of the rocket sub-stage do not reach the ideal state of recovery, the four arresting cables can easily hook the rocket sub-stage to complete the recovery. Therefore, the present invention can reduce the posture and speed requirements for rocket recovery and improve the success rate of rocket recovery.

As shown in Fig. 2, Fig. 3, Fig. 6 and Fig. 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 to one end of the first pulley 9, and the other end of the first traction rope 75 is fixedly connected to the other end of the first pulley 9 after passing through the first traction winch 37 and the first traction fixed pulley 48 in sequence. When the first traction winch 37 rotates forward, the first traction rope 75 pulls the first pulley 9 to slide along the first slide rail 5 from the first recovery platform 1 to the second recovery platform 2. When the first traction winch 37 rotates reversely, the first traction rope 75 pulls the first pulley 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 its specific structure and working principle will not be described in detail here.

As shown in Fig. 2, Fig. 3, Fig. 6 and Fig. 7, the second traction device comprises a second traction winch 46, a second traction fixed pulley 35 and a second traction rope 76, wherein 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 to one end of the second pulley 10, and the other end of the second traction rope 76 is fixedly connected to the other end of the second pulley 10 after passing through the second traction winch 46 and the second traction fixed pulley 35 in sequence. When the second traction winch 46 rotates forward, the second traction rope 76 pulls the second pulley 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 reversely, the second traction rope 76 pulls the second pulley 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 its specific structure and working principle will not be described in detail here.

As shown in Fig. 3, Fig. 4, Fig. 8 and Fig. 9, the third traction device comprises 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 is fixedly connected to the other end of the third pulley 11 after passing through the third traction winch 44 and the third traction fixed pulley 52 in sequence. When the third traction winch 44 rotates forward, the third traction rope 79 pulls the third pulley 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 reversely, the third traction rope 79 pulls the third pulley 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 belongs to the prior art, and its specific structure and working principle will not be described in detail here.

As shown in Fig. 3, Fig. 4, Fig. 8 and Fig. 9, the fourth traction device comprises a fourth traction winch 56, a fourth traction fixed pulley 47 and a fourth traction rope 80, wherein 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 is fixedly connected to the other end of the fourth pulley 12 after passing through the fourth traction winch 56 and the fourth traction fixed pulley 47 in sequence. When the fourth traction winch 56 rotates forward, the fourth traction rope 80 pulls the fourth pulley 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 reversely, the fourth traction rope 80 pulls the fourth pulley 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 its specific structure and working principle will not be described in detail here.

As shown in Fig. 4, Fig. 5, Fig. 10 and Fig. 11, the fifth traction device comprises 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 is fixedly connected to the other end of the fifth pulley 13 after passing through the fifth traction winch 54 and the fifth traction fixed pulley 66 in sequence. When the fifth traction winch 54 rotates forward, the fifth traction rope 82 pulls the fifth pulley 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 reversely, the fifth traction rope 82 pulls the fifth pulley 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 belongs to the prior art, and its specific structure and working principle will not be described in detail here.

As shown in Fig. 4, Fig. 5, Fig. 10 and Fig. 11, the sixth traction device comprises a sixth traction winch 68, a sixth traction fixed pulley 59 and a sixth traction rope 81, wherein 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 is fixedly connected to the other end of the sixth pulley 14 after passing through the sixth traction winch 68 and the sixth traction fixed pulley 59 in sequence. When the sixth traction winch 68 rotates forward, the sixth traction rope 81 pulls the sixth pulley 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 reversely, the sixth traction rope 81 pulls the sixth pulley 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 belongs to the prior art, and its specific structure and working principle will not be described in detail here.

As shown in Fig. 2, Fig. 5, Fig. 12 and Fig. 13, the seventh traction device comprises 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 is fixedly connected to the other end of the seventh pulley 15 after passing through the seventh traction winch 70 and the seventh traction fixed pulley 36 in sequence. When the seventh traction winch 70 rotates forward, the seventh traction rope 77 pulls the seventh pulley 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 reversely, the seventh traction rope 77 pulls the seventh pulley 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 its specific structure and working principle will not be described in detail here.

As shown in Fig. 2, Fig. 5, Fig. 12 and Fig. 13, the eighth traction device comprises an eighth traction winch 32, an eighth traction fixed pulley 65 and an eighth traction rope 78, wherein 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 is fixedly connected to the other end of the eighth pulley 16 after passing through the eighth traction winch 32 and the eighth traction fixed pulley 65 in sequence. When the eighth traction winch 32 rotates forward, the eighth traction rope 78 pulls the eighth pulley 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 reversely, the eighth traction rope 78 pulls the eighth pulley 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 its specific structure and working principle are not described in detail here.

It should be noted that 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 respectively pass 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, each traction rope is wrapped around its own traction winch for multiple turns.

It should be noted that, in addition to the above-mentioned traction winch, traction fixed pulley and traction rope, the traction device can also adopt other structural forms, such as: the traction device includes a traction motor, a traction driving wheel, a traction driven wheel and a conveyor belt, the traction motor and the traction driving wheel are installed on one of the recovery platforms, the traction driven wheel is installed on the other recovery platform, the conveyor belt is sleeved on the traction driving wheel and the traction driven wheel, and the pulley is fixed on the conveyor belt. In this way, when the traction motor drives the traction driving wheel to rotate, the traction driving wheel drives the traction driven wheel to rotate through the conveyor belt, and the conveyor belt also rotates at the same time, so that the pulley fixed on the conveyor belt slides along the slide rail. Of course, the above-mentioned traction driving wheel and traction driven wheel can both use sprockets, and the conveyor belt can use chains.

As shown in Figure 14, and in combination with Figures 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 slider 90 is fixedly provided 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 to one end of the second slider 88 (the specific connection method is hinged, that is, the buffer pulley frame 93 can rotate up and down relative to the second slider 88), and the other end of the second slider 88 passes through the sliding hole on the pulley frame 87 and is connected to the elastic locking mechanism (the connection here refers to the locking of the other end of the second slider 88 with the elastic locking mechanism). The elastic locking mechanism comprises two locking brackets 86 arranged opposite to each other, the locking brackets 86 are fixed on the pulley frame 87, each locking bracket 86 is provided with an elastic clamping arm 89, the two elastic clamping arms 89 are arranged opposite to each other, when the second slider 88 slides along the slide hole toward the elastic locking mechanism, the other end of the second slider 88 can be clamped between the two elastic clamping arms 89, when the second slider 88 slides along the slide hole away from the elastic locking mechanism, the other end of the second slider 88 can be separated from between the two elastic clamping arms 89. The first pulley 9 and the second pulley 10 are respectively slidably mounted on the first slide rail 5 through their respective first sliders 90, the third pulley 11 and the fourth pulley 12 are respectively slidably mounted on the second slide rail 6 through their respective first sliders 90, the fifth pulley 13 and the sixth pulley 14 are respectively slidably mounted on the third slide rail 7 through their respective first sliders 90, and the seventh pulley 15 and the eighth pulley 16 are respectively slidably mounted on the fourth slide rail 8 through their respective first sliders 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 all double slide rails. Accordingly, four first sliding blocks 90 are fixedly provided under the slide frame 87 of each slide rail, and the four first sliding blocks 90 are arranged in pairs on the double 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 Figure 1, and in combination with Figures 2-13, the two ends of the first arresting cable 17 are respectively connected to the buffer pulley frames 93 of the first pulley 9 and the sixth pulley 14, the two ends of the second arresting cable 18 are respectively connected to the buffer pulley frames 93 of the second pulley 10 and the fifth pulley 13, the two ends of the third arresting cable 19 are respectively connected to the buffer pulley frames 93 of the third pulley 11 and the eighth pulley 16, and the two ends of the fourth arresting cable 20 are respectively connected to the buffer pulley frames 93 of the fourth pulley 12 and the seventh pulley 15. A first buffer cable 21 is provided between the first recovery platform 1 and the second recovery platform 2, a first buffer fixed pulley 38 is fixedly provided on the first recovery platform 1, a first mass block 27 is provided below the first recovery platform 1, a second buffer fixed pulley 45 is fixedly provided on the second recovery platform 2, a second mass block 40 is provided below the second recovery platform 2, one end of the first buffer cable 21 bypasses the first buffer fixed pulley 38 and is connected to the first mass block 27, the other end of the first buffer cable 21 bypasses the second buffer fixed pulley 45 and is connected to the second mass block 40, and the first buffer cable 21 bypasses the side of the buffer pulley 94 of the first pulley 9 and the second pulley 10 away from the elastic locking mechanism. A second buffer cable 22 is provided between the second recovery platform 2 and the third recovery platform 3, a third buffer fixed pulley 49 is fixedly provided on the second recovery platform 2, a third mass block 39 is provided below the second recovery platform 2, a fourth buffer fixed pulley 58 is fixedly provided on the third recovery platform 3, a fourth mass block 61 is provided below the third recovery platform 3, one end of the second buffer cable 22 bypasses the third buffer fixed pulley 49 and is connected to the third mass block 39, the other end of the second buffer cable 22 bypasses the fourth buffer fixed pulley 58 and is connected to the fourth mass block 61, and the second buffer cable 22 bypasses the side of the buffer pulley 94 of the third pulley 11 and the fourth pulley 12 away from the elastic locking mechanism. A third buffer cable 23 is provided between the third recovery platform 3 and the fourth recovery platform 4, a fifth buffer fixed pulley 53 is fixedly provided on the third recovery platform 3, a fifth mass block 62 is provided below the third recovery platform 3, a sixth buffer fixed pulley 72 is fixedly provided on the fourth recovery platform 4, a sixth mass block 63 is provided below the fourth recovery platform 4, one end of the third buffer cable 23 bypasses the fifth buffer fixed pulley 53 and is connected to the fifth mass block 62, the other end of the third buffer cable 23 bypasses the sixth buffer fixed pulley 72 and is connected to the sixth mass block 63, and the third buffer cable 23 bypasses the side of the buffer pulley 94 of the fifth pulley 13 and the sixth pulley 14 away from the elastic locking mechanism. A fourth buffer cable 24 is provided between the fourth recovery platform 4 and the first recovery platform 1, a seventh buffer fixed pulley 67 is fixedly provided on the fourth recovery platform 4, a seventh mass block 64 is provided below the fourth recovery platform 4, an eighth buffer fixed pulley 34 is fixedly provided on the first recovery platform 1, an eighth mass block 30 is provided below the first recovery platform 1, one end of the fourth buffer cable 24 bypasses the seventh buffer fixed pulley 67 and is connected to the seventh mass block 64, the other end of the fourth buffer cable 24 bypasses the eighth buffer fixed pulley 34 and is connected to the eighth mass block 30, and the fourth buffer cable 24 bypasses the buffer pulley 94 of the seventh pulley 15 and the eighth pulley 16 on the side away from the elastic locking mechanism.

Since the first buffer cable 21 is arranged between the first recovery platform 1 and the second recovery platform 2, and the third buffer cable 23 is arranged 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. Since the first blocking cable 17 is connected between the first pulley 9 and the sixth pulley 14, it can be concluded that the first blocking cable 17, the first buffer cable 21 and the third buffer cable 23 form an I-shaped arrangement together. Similarly, the second blocking cable 18, the first buffer cable 21 and the third buffer cable 23 also form an I-shaped arrangement together. The third blocking cable 19, the second buffer cable 22 and the fourth buffer cable 24 also form an I-shaped arrangement together. The fourth blocking cable 20, the second buffer cable 22 and the fourth buffer cable 24 also form an I-shaped arrangement together.

Before recovering the rocket sub-stage, for each pulley, the other end of the second slider 88 is clamped between the two elastic clamping arms 89 of the elastic locking mechanism, that is, the other end of the second slider 88 is locked with the elastic locking mechanism. When recovering the rocket sub-stage, after the arresting hook of the rocket sub-stage is hung on the first arresting cable 17, the second arresting cable 18, the third arresting cable 19 and the fourth arresting cable 20, the rocket sub-stage will pull the arresting cable diagonally downward under the action of its own weight. Since the arresting cable is connected to the buffer pulley frame 93, and the buffer pulley frame 93 is connected to one end of the second slider 88, the second slider 88 slides along the sliding hole away from the elastic locking mechanism, causing the other end of the second slider 88 to disengage from the two elastic clamping arms 89 of the elastic locking mechanism to achieve unlocking. Finally, the other end of the second slider 88 slides out of the sliding hole. During this process, the buffer pulley 94 also moves in the direction away from the elastic locking mechanism. Since the buffer cable bypasses the side of the buffer pulley 94 away from the elastic locking mechanism, Here, the buffer pulley 94 pulls the buffer cable in a direction away from the elastic locking mechanism, causing the two ends of the buffer cable to pull up the mass blocks respectively (i.e., the two ends of the first buffer cable 21 pull up the first mass block 27 and the second mass block 40 respectively, the two ends of the second buffer cable 22 pull up the third mass block 39 and the fourth mass block 61 respectively, the two ends of the third buffer cable 23 pull up the fifth mass block 62 and the sixth mass block 63 respectively, and the two ends of the fourth buffer cable 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 a balance and neither moves up and down anymore. It can be seen that the buffer cable and the mass blocks can play a buffering role during the recovery of the rocket sub-stage, preventing the recovery system and the rocket sub-stage from being damaged during the recovery process.

As shown in FIG1 , after the arresting hook of the rocket sub-stage is hung on the first arresting cable 17, the second arresting cable 18, the third arresting cable 19 and the fourth arresting cable 20, and the arresting cable is pulled obliquely downward under the action of the deadweight of the rocket sub-stage, the oblique downward here refers to the oblique downward area within 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 to say, the rocket sub-stage pulls the two ends of the arresting cable to move from the slide rail to the area surrounded by the four slide rails. Since the arresting cable is connected to the buffer pulley frame 9 3, 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 in the direction away from the elastic locking mechanism). At the same time, the buffer pulley frame 93 pulls the second slider 88 to slide along the slide hole from the slide rail to the area surrounded by the four slide rails (that is, the second slider 88 slides along the slide hole away from the elastic locking mechanism), causing the other end of the second slider 88 to disengage from the two elastic clamping arms 89 of the elastic locking mechanism to achieve unlocking. Since the buffer cable bypasses the side of the buffer pulley 94 close to the center of the area surrounded by the four slide rails (that is, the buffer cable bypasses 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 (that is, the buffer pulley 94 pulls the buffer cable in the direction away from the elastic locking mechanism), causing the two ends of the buffer cable to pull up the mass block respectively.

As shown in FIG. 14 and in combination with FIGS. 15 to 21 , the elastic clamp arm 89 includes a first link 113 and a second link 114, one end of the first link 113 is hinged to the locking bracket 86, the other end of the first link 113 is hinged to one end of the second link 114, the other end of the second link 114 is hinged to the third slider 115, the locking bracket 86 is provided with a slide groove, a guide column 117 is fixed in the slide groove, the third slider 115 is located in the slide groove and is sleeved on the guide column 117, The sliding groove and the guide column 117 are arranged along the sliding direction of the second slider 88. A spring 118 is provided in the sliding groove of the third slider 115 on the side away from the first connecting rod 113. The spring 118 is mounted on the guide column 117. A clamping groove is provided on each of the opposite sides of the other end of the second slider 88. When the other end of the second slider 88 is clamped between the two elastic clamping arms 89, the hinges 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 at the other end of the second slider 88.

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

A sleeve 120 is fixedly provided on the locking bracket 86, and an end cover 119 is fixedly provided at each of the two pipe openings of the sleeve 120. An axially arranged slot 116 is opened on the tube wall of the sleeve 120, and the slot 116 and the tube cavity of the sleeve 120 together constitute a slide groove for accommodating the third slider 115. A guide column 117 arranged axially along the sleeve 120 is provided in the tube cavity of the sleeve 120, and the guide column 117 is fixedly provided between the two end covers 119. When the spring 118 is not compressed by the third slider 115, a preload force is applied to the spring 118. Under the action of the preload force, the spring 118 pushes the third slider 115 against the end of the slide groove close to the first connecting rod 113. At this time, the first connecting rod 113 and the second connecting rod 114 maintain a small angle, and the two elastic clamping arms 89 maintain a small gap. When the third slider 115 compresses the spring 118 along the slide groove, that is, when the third slider 115 slides from the end of the slide groove close to the first connecting rod 113 to the end away from the first connecting rod 113, the angle between the first connecting rod 113 and the second connecting rod 114 becomes larger, and the gap between the two elastic clamping arms 89 also becomes larger.

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 clamping arms 89. As the second slider 88 continues to slide, the other end of the second slider 88 spreads the two elastic clamping arms 89, that is, the gap between the two elastic clamping arms 89 becomes larger, more specifically, the gap at the hinge of the first connecting rod 113 and the second connecting rod 114 in the two elastic clamping arms 89 becomes larger. As the gap between the two elastic clamp arms 89 becomes larger, the third slider 115 compresses the spring 118, and the hinges of the first connecting rod 113 and the second connecting rod 114 of the elastic clamp arms 89 remain in contact with the second slider 88. As the second slider 88 continues to slide, the hinges of the first connecting rod 113 and the second connecting rod 114 of the two elastic clamp arms 89 are respectively clamped in the two clamping grooves at the other end of the second slider 88. At this time, the gap between the two elastic clamp arms 89 becomes smaller again, and the spring 118 recovers (that is, the spring 118 returns to the state of not being 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 is unlocked from the elastic locking mechanism, the second slider 88 slides along the sliding hole away from the elastic locking mechanism, and the other end of the second slider 88 stretches the two elastic clamping arms 89 again, so that the gap between the two elastic clamping arms 89 becomes larger. During this process, the third slider 115 compresses the spring 118. As the second slider 88 continues to slide, the second slider 88 disengages from between the two elastic clamping arms 89, and then the spring 118 recovers, and the gap between the two elastic clamping arms 89 becomes smaller again, thereby achieving the unlocking of the second slider 88 from the elastic locking mechanism. It should be noted that in order to facilitate the other end of the second slider 88 to stretch the two elastic clamping arms 89, the side facing the two elastic clamping arms between the end of the other end of the second slider 88 and the clamping groove is set to a wedge structure.

As shown in Figures 16 and 17, a through hole 109 is opened on the pulley frame 87 for the second slider 88 to pass through, and a first sleeve 105 and a second sleeve 106 are respectively provided on the pulley frame 87 on opposite sides of the through hole 109, and the barrel cavities of the first sleeve 105 and the second sleeve 106 are both connected with the through hole 109. The first sleeve 105 is fixedly arranged on the side of the pulley frame 87 close to the elastic locking mechanism, and the second sleeve 106 is rotatably arranged on the side of the pulley frame 87 close to the buffer pulley 94. The barrel cavity of the second sleeve 106, the through hole 109 of the pulley frame 87 and the barrel cavity of the first sleeve 105 jointly form the sliding hole, and the other end of the second slider 88 passes through the barrel cavity of the second sleeve 106, the through hole 109 of the pulley frame 87 and the barrel cavity of the first sleeve 105 in sequence and is connected to the elastic locking mechanism.

A tensioning pulley 92 is provided on each of the opposite sides of the buffer pulley 94, and the tensioning pulley 92 is installed on the pulley frame 87 through a tensioning pulley frame 91. The first pulley 9 and the second pulley 10 respectively tension the first buffer cable 21 on the side of their respective buffer pulleys 94 away from the elastic locking mechanism through the tensioning pulley 92, the third pulley 11 and the fourth pulley 12 respectively tension the second buffer cable 22 on the side of their respective buffer pulleys 94 away from the elastic locking mechanism through the tensioning pulley 92, the fifth pulley 13 and the sixth pulley 14 respectively tension the third buffer cable 23 on the side of their respective buffer pulleys 94 away from the elastic locking mechanism through the tensioning pulley 92, and the seventh pulley 15 and the eighth pulley 16 respectively tension the fourth buffer cable 24 on the side of their respective buffer pulleys 94 away from the elastic locking mechanism through the tensioning pulley 92.

The pulley frame 87 includes a base plate 103 and a mounting beam 104 fixed above the base plate 103, a first slider 90 is fixedly provided below the base plate 103, the arrangement direction of the mounting beam 104 is the same as the sliding direction of the pulley frame 87, the mounting beam 104 is provided with the through hole 109, a first sleeve 105 is fixedly provided on one side of the mounting beam 104, and a second sleeve 106 is rotatably provided on the other side of the mounting beam 104, and the first sleeve 105 and the second sleeve 106 are both arranged opposite to the through hole 109. The specific way in which the second sleeve 106 is rotatably arranged on the mounting beam 104 is as follows: a mounting groove 110 is provided on the other side of the mounting beam 104, and blind holes 111 are provided on the two opposite groove walls of the mounting groove 110, and two oppositely arranged rotating shafts 107 are provided on the cylinder wall of the second sleeve 106. The second sleeve 106 is installed on the two blind holes 111 of the mounting groove 110 through the two rotating shafts 107, so that there is a clearance fit between the rotating shaft 107 and the blind hole 111, so that the second sleeve 106 can be rotatably arranged on the mounting beam 104 through the rotating shaft 107 and the blind hole 111. The reason why the second sleeve 106 is rotatably mounted on the mounting beam 104 is that when the rocket stage pulls the arresting cable obliquely downward in the area surrounded by the four slide rails, the arresting cable also pulls the buffer pulley frame 93 obliquely downward, and the buffer pulley frame 93 in turn pulls the second slider 88 obliquely downward, that is, the second slider 88 slides along the slide hole away from the elastic locking mechanism. When the other end of the second slider 88 slides through the first sleeve 105 and the through hole 109 in sequence and then arrives at the barrel cavity of the second sleeve 106, the pulling force on the second slider 88 is more inclined obliquely downward. If the second sleeve 106 is fixed on the mounting beam 104 at this time, the other end of the second slider 88 may be stuck in the second sleeve 106, causing the second slider 88 to be unable to slide out of the second sleeve 106. On the contrary, if the second sleeve 106 is rotatably mounted on the mounting beam 104, when the other end of the second slider 88 slides to the second sleeve 106, under the action of the downward pulling force, the other end of the second slider 88 will drive the second sleeve 106 to rotate downward, so that the second slider 88 can slide out of the second sleeve 106.

The two locking brackets 86 are also fixed on one side of the mounting beam 104, that is, the locking bracket 86 and the first sleeve 105 are fixed on the same side of the mounting beam 104, and the first sleeve 105 is located between the two locking brackets 86. Two tensioning pulley frames 91 are installed on the other side of the mounting beam 104, and a tensioning pulley 92 is rotatably mounted on each tensioning pulley frame 91. The tensioning pulley frame 91 is hinged to the other side of the mounting beam 104 through a pin shaft, that is, the tensioning pulley frame 91 can rotate up and down relative to the mounting beam 104, and the tensioning pulley frame 91 and the second sleeve 106 are located on the same side of the mounting beam 104, and the second sleeve 106 is located between the two tensioning pulley frames 91. After the second slider 88 is inserted into the sliding hole, one end of the second slider 88 is located between the two tensioning pulley frames 91 outside the second sleeve 106. Since the buffer pulley frame 93 is hinged to one end of the second slider 88, the buffer pulley 94 is located between the two tensioning pulleys 92. The other end of the second slider 88 is located between the two locking brackets 86 outside the first sleeve 105. Each locking bracket 86 is installed 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 provided on the pulley frame 87 of each pulley, and the baffle plate 102 is fixedly connected between the mounting beam 104 and the bottom plate 103, and a rope running hole 108 is opened on the baffle plate 102. The function of the rope running hole 108 is explained below by taking the first traction rope 75 and the second traction rope 76 as an example: the first traction rope 75 and the second traction rope 76 both form a ring structure, that is, the first traction rope 75 and the second traction rope 76 both include an upper traction rope and a lower traction rope, as shown in FIG7, the lower traction ropes of the first traction rope 75 and the second traction rope 76 both pass through the rope running holes 108 on the baffle plates 102 of the first pulley 9 and the second pulley 10, so that the 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 a ring 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 a ring 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 a ring structure.

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

In this 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 set to 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 set to two.

The lower parts of 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 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 fixed on the ground, a ship or other places suitable for recovering rockets through a support frame, and the piston rod of the hydraulic cylinder 28 or the electric cylinder 28 is connected to the lower part of the mass block. When the rocket sub-stage pulls the buffer cable through the arresting cable, the two ends of the buffer cable pull up the mass block respectively. During this process, the hydraulic cylinder 28 or the electric cylinder 28 keeps moving with the mass block, that is, the hydraulic cylinder 28 or the electric cylinder 28 does not apply force to the mass block, and the lowering winch is in a brake state during this process, that is, the lowering winch does not rotate at this time; when the rocket sub-stage and the mass block reach a balance and neither moves up and down, the second slider 88 has slid out of the slide hole. At this time, the buffer cable pulls the arresting cable through the buffer pulley 94 and the buffer pulley frame 93. In order to remove the rocket sub-stage from the arresting cable, the lowering winch is started to rotate the lowering winch and release the buffer cable. At this time, the mass block is kept stationary by the action of the hydraulic cylinder 28 or the electric cylinder 28. In this way, with the continuous release of the buffer cable, the rocket sub-stage gradually moves downward until it moves to a suitable height. Of course, the rocket sub-stage can also be directly lowered to the ground, a ship or other places suitable for recovering rockets to remove it from the arresting cable. When the lowering winch releases the buffer rope to lower the rocket stage, since the mass block remains stationary, the weight of the rocket stage itself is completely pulled by the lowering winch.

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 slidably arranged on the vertically arranged guide rails 26. The guide rails 26 can be fixed on the ground, ships or other places suitable for recovering rockets through a support frame. Through the setting of the guide rails 26, the mass blocks can move up and down more smoothly.

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

The tension sensor 84 can measure the tension of the traction rope, which is a prior art. The first turnbuckle bolt 83, the second turnbuckle bolt 85, the third turnbuckle bolt 95, the fourth turnbuckle bolt 96, the fifth turnbuckle bolt 97, the sixth turnbuckle bolt 98, the seventh turnbuckle bolt 100 and the eighth turnbuckle bolt 101 are all prior art. The length of the first traction rope 75 can be adjusted by the first turnbuckle bolt 83, and the remaining turnbuckle bolts can also adjust the lengths of the remaining traction ropes in turn, which will not be described one by one.

As shown in Fig. 1, and in combination with Fig. 10, Fig. 11, Fig. 12, and Fig. 13, the first arresting cable 17, the second arresting cable 18, the third arresting cable 19, and the fourth arresting cable 20 are all connected with a ninth turnbuckle bolt 99. The ninth turnbuckle bolt 99 belongs to the prior art, and the lengths of the first arresting cable 17, the second arresting cable 18, the third arresting cable 19, and the fourth arresting cable 20 can be adjusted by the ninth turnbuckle bolt 99.

As shown in Figure 1, when the I-shaped rocket recovery system of the present invention is in use, the recovery platform and the slide rail are fixedly set on the ground, ship or other places suitable for recovering rockets (of course, in the specific setting, the recovery platform and the slide rail can be fixedly set on the above-mentioned place through a support frame). When the rocket sub-stage lands 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, 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 pulley 9 to slide along the first slide rail 5 through the first traction rope 75. At the same time, the sixth traction winch 68 pulls the sixth pulley 14 to slide along the third slide rail 7 through the sixth traction rope 81, and makes the first pulley 9 and the sixth pulley 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 pulley 10 to slide along the first slide rail 5 through the second traction rope 76. At the same time, the fifth traction winch 54 pulls the fifth pulley 13 to slide along the third slide rail 7 through the fifth traction rope 82, and makes the second pulley 10 and the fifth pulley 13 slide synchronously in the same direction, so that the second blocking rope 18 starts to translate along the first slide rail 5 and the third slide rail 7; The third traction winch 44 pulls the third pulley 11 to slide along the second slide rail 6 through the third traction rope 79. At the same time, the eighth traction winch 32 pulls the eighth pulley 16 to slide along the fourth slide rail 8 through the eighth traction rope 78, and makes the third pulley 11 and the eighth pulley 16 slide in the same direction synchronously, so that the third blocking 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 pulley 12 to slide along the second slide rail 6 through the fourth traction rope 80. At the same time, the seventh traction winch 70 pulls the seventh pulley 15 to slide along the fourth slide rail 8 through the seventh traction rope 77, and makes the fourth pulley 12 and the seventh pulley 15 slide in the same direction synchronously, so that the fourth blocking rope 20 starts to translate along the second slide rail 6 and the fourth slide rail 8. According to the landing point of the rocket sub-stage, the first arresting cable 17, the second arresting cable 18, the third arresting cable 19 and the fourth arresting cable 20 are respectively moved to the surroundings of the rocket sub-stage, that is, the rocket sub-stage is located in the square area surrounded by the first arresting cable 17, the second arresting cable 18, the third arresting cable 19 and the fourth arresting cable 20. As the rocket sub-stage gradually falls, the four arresting cables are gradually moved closer to the rocket sub-stage until the arresting hooks on the rocket sub-stage are hung on the arresting cables (in order to complete the recovery, the rocket sub-stage is provided with arresting hooks around the body), and the recovery of the rocket sub-stage is completed. Since the present invention adopts four arresting cables, and during the recovery, the four arresting cables are located around the rocket sub-stage, even if the posture and speed of the rocket sub-stage do not reach the ideal state of recovery, the four arresting cables can easily hook the rocket sub-stage to complete the recovery. Therefore, the present invention can reduce the posture and speed requirements for rocket recovery and improve the success rate of rocket recovery. After the rocket sub-stage is hung on the arresting cable, under the weight of the rocket sub-stage itself, the rocket sub-stage pulls the arresting cable diagonally downward, and the arresting cable pulls the second slider 88 through the buffer pulley frame 93, and the second slider 88 is unlocked from the elastic locking mechanism, and then the arresting cable also pulls the buffer cable diagonally downward, so that the two ends of the buffer cable respectively pull up the mass block until the rocket sub-stage and the mass block reach a balance, and both no longer move up and down. After that, the lowering winch is started to rotate the lowering winch and release the buffer cable, and the mass block is kept stationary by the hydraulic cylinder 28 or the electric cylinder 28, so that with the release of the buffer cable, the rocket sub-stage gradually moves downward until it moves to a suitable height. Of course, the rocket sub-stage can also be directly lowered to the ground, a ship or other places suitable for recovering rockets, and then the rocket sub-stage is removed from the arresting cable for reuse.

It should be noted that the directions or positional relationships indicated by terms such as “center”, “up”, “down”, “front”, “back”, “left”, “right” and “middle” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

The embodiments described above are merely descriptions of preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims (10)

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.