Patent Publication Number: US-10775123-B2

Title: Soft recoil system

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 15/669,691, filed Aug. 4, 2017, now U.S. Pat. No. 10,451,375, which is a continuation of U.S. patent application Ser. No. 14/803,975 filed on Jul. 20, 2015, which issued Aug. 29, 2017 as U.S. Pat. No. 9,746,269, which is a continuation of U.S. patent application Ser. No. 13/903,650 filed on May 28, 2013, which issued Aug. 25, 2015 as U.S. Pat. No. 9,115,946, which application claimed priority from and was a continuation of U.S. patent application Ser. No. 13/452,674 filed on Apr. 20, 2012, which issued Jun. 25, 2013 as U.S. Pat. No. 8,468,928, which claims the filing benefit under 35 U.S.C. § 119(e) of provisional U.S. Patent Application No. 61/478,053 filed on Apr. 21, 2011, each of which are incorporated by reference herein in their entireties. 
    
    
     FIELD OF INVENTION 
     This invention relates generally to recoil systems for weaponry. 
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     N/A 
     REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER PROGRAM LISTING COMPACT DISK APPENDIX 
     Not Applicable 
     BACKGROUND OF THE INVENTION 
     Artillery weapons have been used for hundreds of years. These weapons have been continuously developed to improve accuracy, effectiveness, and efficiency. For example, U.S. Pat. Nos. 4,945,813; 6,024,007; and 6,595,103 disclose various designs for gun systems, all of which patents are incorporated by reference herein in their entireties. 
     When an artillery weapon is fired, the energy of the round must be absorbed by the weapon&#39;s structure and eventually transmitted to the ground. Modern artillery systems incorporate recoil mechanisms to modulate the forces associated with these firings to a level that can be effectively and reliably supported by the structure. With some recoil mechanisms, the energy of the round is dissipated by throttling fluid over the length of the recoil. The minimum level of this modulating force is directly proportional to the length of recoil. 
     In a soft recoil system, the recoiling parts are accelerated forward prior to the firing of the round by an internal gas spring. When the round is fired, nearly half of the energy of the round is used to stop the forward motion of the recoiling parts and the remaining energy is used to force the recoiling parts rearward, recompressing the gas spring. The recoiling parts are then captured by a latch in preparation for the next firing. This use of momentum exchange and energy conservation by the soft recoil technique results in recoil force reductions as high as 75% when compared to conventional recoil systems. 
     Although the soft recoil technique offers considerable advantages, there are some drawbacks associated with the cycle. Among these are: (1) A different run-up velocity is required for each of the different zones/charges being fired to maximize the benefits, (2) If the round fails to fire during the run up (known as a misfire), the buffing load required to bring the forward velocity of the recoiling parts to zero may be high enough to cause some weapon instability, and (3) If the round fires prematurely from the latch position (known as a “cookoff”), the conventional recoil-style buffer rearward of the latch point may induce sufficient forces to cause the weapon to slide rearward or become unstable. 
     SUMMARY 
     Embodiments of the present inventions are directed to soft recoil systems. 
     In one embodiment, a soft recoil system for mitigating a force of firing a round is disclosed. The soft recoil system includes a hydraulic cylinder cooperatively engaged with a gun barrel. The hydraulic cylinder includes an outer cylinder. The hydraulic cylinder further includes an inner cylinder mounted within the outer cylinder. The inner cylinder defines a group of fluid passages formed therein to allow fluid communication between the inner and outer cylinders. The group of fluid passages has a first fluid passage with a first width and a second fluid passage with a second width less than the first width. The hydraulic cylinder further includes a recoil piston positioned within the inner cylinder. The recoil piston is slideable with respect to the inner cylinder along a portion of the inner cylinder. The hydraulic cylinder further includes an elongated recoil rod having a first end portion cooperatively engaged with the gun barrel and a second end portion cooperatively engaged with the recoil piston. The soft recoil system further includes a valve positioned around the inner cylinder. The valve is slideable between: (i) a first position in which the first and second passages are exposed to the outer cylinder, and (ii) a second position in which the valve blocks fluid flow through the first passage. 
     In another embodiment, a soft recoil system for mitigating a force of firing a round is disclosed. The soft recoil system includes a hydraulic cylinder cooperatively engaged with a gun barrel. The hydraulic cylinder includes an outer cylinder. The hydraulic cylinder further includes an inner cylinder mounted within the outer cylinder. The inner cylinder defines a group of fluid passages therein to allow fluid communication between the inner and outer cylinders. The hydraulic cylinder further includes a recoil piston positioned within the inner cylinder. The recoil piston is slideable with respect to the inner cylinder along a portion of the inner cylinder. The hydraulic cylinder further includes an elongated recoil rod having a first end portion cooperatively engaged with the gun barrel and a second end portion cooperatively engaged with the recoil piston. The soft recoil system further includes a group of valves corresponding to the group of fluid passages. The valves are configured to close a fluid passage of the group of fluid passages as the recoil piston slides away from the group of fluid passages. 
     In addition to the exemplary aspects and embodiments described above, further aspects and embodiments will become apparent by reference to the drawings and by study of the following description. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In order that the advantages of the invention will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered limited of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings. 
         FIG. 1  is a perspective view of a first embodiment of a gun with a soft recoil system engaged therewith, wherein the gun is mounted to a base. 
         FIG. 2  is a perspective view of the gun of  FIG. 1  wherein various elements of the soft recoil system and base have been removed for clarity. 
         FIG. 3  is a perspective view of the embodiment of a soft recoil system shown in  FIG. 1 . 
         FIG. 4  is a cross-sectional view of the embodiment of a soft recoil system shown in  FIG. 1  along a recoil cylinder. 
         FIG. 5  is a detailed view of a portion of  FIG. 4  adjacent the check valve. 
         FIG. 5A  is a detailed perspective view of one embodiment of a check valve that may be used with a soft recoil system. 
         FIG. 6  is a cross-sectional schematic view of a recuperator and recoil cylinder showing the internal details of the embodiment of a soft recoil system shown in  FIG. 1  when the gun is in the latched position. 
         FIG. 7  is a cross-sectional schematic view of the recuperator and recoil cylinder of  FIG. 6  when the gun is in the run-up phase. 
         FIG. 8A  is a cross-sectional schematic view of the recuperator and recoil cylinder of  FIG. 6  when the gun is in the beginning of the recoil phase. 
         FIG. 8B  is a cross-sectional schematic view of the recuperator and recoil cylinder of  FIG. 6  when the gun is in the recoil phase. 
         FIG. 9  is a cross-sectional schematic view of the recuperator and recoil cylinder of  FIG. 6  when the gun is in the counter-recoil phase. 
         FIG. 10  is a cross-sectional schematic view of the recuperator and recoil cylinder of  FIG. 6  when the gun is in the misfire buffing phase. 
         FIG. 11A  is a perspective view of the embodiment of a check valve shown in  FIG. 5A , wherein the check valve is shown relative to a portion of the inner cylinder, and wherein the check valve is positioned to abut the stop partition. 
         FIG. 11B  is a perspective view of the embodiment of a check valve shown in  FIG. 5A , wherein the check valve is shown relative to a portion of the inner cylinder, and wherein the check valve is positioned to abut the stop element. 
         FIG. 12  is a top view of the illustrative embodiment of a soft recoil system wherein one of the outer cylinders of a recoil cylinder has been removed to show one configuration of an inner cylinder and various fluid passages. 
         FIG. 13A  is a detailed view of the illustrative embodiment of the soft recoil system at one recoil cylinder adjacent the partition wherein the outer cylinder and check valve have been removed. 
         FIG. 13B  is a detailed view of the illustrative embodiment of the soft recoil system at one recoil cylinder adjacent the partition wherein the outer cylinder, check valve, and inner cylinder have been removed. 
         FIG. 14  is a perspective view of the illustrative embodiment of the soft recoil system and latch mechanism. 
         FIG. 14A  is a cross-sectional view of how one embodiment of a latch mechanism interfaces with the recoiling parts via a latch point formed in the forward yoke, wherein the latch mechanism is retaining the recoiling parts. 
         FIG. 14B  is a cross-sectional view of how one embodiment of a latch mechanism interfaces with the recoiling parts via a latch point formed in the forward yoke, wherein the latch mechanism is positioned to release the recoiling parts. 
         FIG. 14C  is a cross-sectional view of how one embodiment of a latch mechanism interfaces with the recoiling parts via a latch point formed in the forward yoke, wherein the latch point is depressing the plunger. 
         FIG. 15A  is a longitudinal cross-sectional view of one embodiment of misfire recovery system during the misfire buffering phase, which misfire recovery system may be used with the soft recoil system. 
         FIG. 15B  is another cross-sectional view of the embodiment of a misfire recovery system shown in  FIG. 15A  during the recoil phase. 
         FIG. 16A  is a perspective view of one embodiment of an inner cylinder outfitted with one embodiment of a counter-recoil control system. 
         FIG. 16B  is a radial cross-sectional view of the embodiment of the counter-recoil control system shown in  FIG. 16A . 
         FIG. 17A  is a perspective view of one embodiment of the internal elements of a latch mechanism that may be used with a soft recoil system wherein the latch mechanism is positioned to retain the recoiling parts. 
         FIG. 17B  is a perspective view of one embodiment of the internal elements of a latch mechanism that may be used with a soft recoil system wherein the latch mechanism is positioned to release the recoiling parts. 
         FIG. 18A  is a cross-sectional view of the embodiment of the internal elements of the latch mechanism shown in  FIG. 17  mounted to a housing, wherein the latch mechanism is positioned to retain the recoiling parts. 
         FIG. 18B  is a cross-sectional view of the embodiment of the internal elements of the latch mechanism shown in  FIG. 17  mounted to a housing, wherein the latch mechanism is positioned to release the recoiling parts. 
         FIG. 18C  is a top view of the embodiment of the internal elements of the latch mechanism shown in  FIG. 17  mounted to a housing, wherein the latch mechanism is positioned to retain the recoiling parts. 
         FIG. 19  is a cross-sectional, schematic view of a gun cooperatively engaged with another embodiment of a soft recoil system. 
     
    
    
     
       
         
           
               
               
               
             
               
                   
                   
               
               
                   
                 ELEMENT DESCRIPTION 
                 ELEMENT # 
               
               
                   
                   
               
             
            
               
                   
                 Soft recoil system 
                 10 
               
               
                   
                 Gun 
                 12 
               
               
                   
                 Base 
                 14 
               
               
                   
                 Actuator 
                 16 
               
               
                   
                 Barrel 
                 20 
               
               
                   
                 Breech 
                 24 
               
               
                   
                 First rail 
                 28 
               
               
                   
                 Second rail 
                 30 
               
               
                   
                 Rear yoke 
                 32 
               
               
                   
                 Middle yoke 
                 34 
               
               
                   
                 Forward yoke 
                 36 
               
               
                   
                 Latch point 
                  36a 
               
               
                   
                 Muzzle yoke 
                 38 
               
               
                   
                 Flange 
                 39 
               
               
                   
                 Tie rod 
                 40 
               
               
                   
                 First rail guide 
                 50 
               
               
                   
                 First recoil cylinder 
                 51 
               
               
                   
                 First recoil rod 
                 52 
               
               
                   
                 First forward end 
                 53 
               
               
                   
                 First recuperator 
                 56 
               
               
                   
                 Mounting bracket 
                 57 
               
               
                   
                 Crossover bracket 
                 59 
               
               
                   
                 Second rail guide 
                 60 
               
               
                   
                 Second recoil cylinder 
                 61 
               
               
                   
                 Second recoil rod 
                 62 
               
               
                   
                 Second forward end 
                 63 
               
               
                   
                 Recoil piston 
                 64 
               
               
                   
                 Lubricant groove 
                  64a 
               
               
                   
                 Transfer manifold 
                 65 
               
               
                   
                 Second recuperator 
                 66 
               
               
                   
                 Floating piston 
                 67 
               
               
                   
                 First recuperator chamber 
                 68 
               
               
                   
                 Second recuperator chamber 
                 69 
               
               
                   
                 Outer cylinder 
                 71 
               
               
                   
                 End seal 
                 72 
               
               
                   
                 Partition 
                 74 
               
               
                   
                 Port 
                 75 
               
               
                   
                 Forward outer chamber 
                 77 
               
               
                   
                 Rear outer chamber 
                 78 
               
               
                   
                 Inner cylinder 
                 81 
               
               
                   
                 Stuffing box 
                 82 
               
               
                   
                 Stop element 
                 83 
               
               
                   
                 Forward inner chamber 
                 84 
               
               
                   
                 Rear inner chamber 
                 85 
               
               
                   
                 First fluid passage 
                 87 
               
               
                   
                 Second fluid passage 
                 88 
               
               
                   
                 Third fluid passage 
                 89 
               
               
                   
                 Fourth fluid passage 
                 90 
               
               
                   
                 Fifth fluid passage 
                 92 
               
               
                   
                 Larger fluid passage 
                 93 
               
               
                   
                 Sixth fluid passage 
                 94 
               
               
                   
                 Check valve 
                 100  
               
               
                   
                 Check valve fluid passage 
                 101  
               
               
                   
                 Flange portion 
                 102  
               
               
                   
                 Sleeve portion 
                 103  
               
               
                   
                 First collar portion 
                 104  
               
               
                   
                 Finger portion 
                 105  
               
               
                   
                 Intermediate collar portion 
                 106  
               
               
                   
                 Peripheral collar portion 
                 108  
               
               
                   
                 Relief fluid passage 
                 108a 
               
               
                   
                 Counter-recoil control system 
                 110  
               
               
                   
                 Counter-recoil control valve 
                 112  
               
               
                   
                 Control valve pivot point 
                 114  
               
               
                   
                 Misfire recovery system 
                 130  
               
               
                   
                 Misfire valve 
                 132  
               
               
                   
                 Misfire valve flange 
                 132a 
               
               
                   
                 Misfire valve sleeve 
                 132b 
               
               
                   
                 Misfire valve fluid passage 
                 132c 
               
               
                   
                 First barrier 
                 134  
               
               
                   
                 Second barrier 
                 136  
               
               
                   
                 Latch mechanism 
                 200  
               
               
                   
                 Housing 
                 202  
               
               
                   
                 Stop wall 
                 202a 
               
               
                   
                 Crank aperture 
                 204  
               
               
                   
                 Latch assembly aperture 
                 206  
               
               
                   
                 Housing cover 
                 208  
               
               
                   
                 Trip assembly bracket 
                 208a 
               
               
                   
                 Cover aperture 
                 208b 
               
               
                   
                 Crank 
                 210  
               
               
                   
                 Crank mount 
                 212  
               
               
                   
                 Lever member 
                 213  
               
               
                   
                 Crank arm 
                 214  
               
               
                   
                 Rotational biasing member 
                 215  
               
               
                   
                 Link 
                 220  
               
               
                   
                 Link first end 
                 222  
               
               
                   
                 Link second end 
                 224  
               
               
                   
                 Trip assembly 
                 230  
               
               
                   
                 Trip mount 
                 232  
               
               
                   
                 Lever member engager 
                 234  
               
               
                   
                 Bar 
                 236  
               
               
                   
                 Latch assembly 
                 240  
               
               
                   
                 Latch body 
                 241  
               
               
                   
                 Latch assembly mount 
                 242  
               
               
                   
                 Link connector 
                 243  
               
               
                   
                 Plunger 
                 244  
               
               
                   
                 Plunger face 
                 244a 
               
               
                   
                 Plunger ramp 
                 244b 
               
               
                   
                 Biasing member 
                 245  
               
               
                   
                   
               
            
           
         
       
     
     DESCRIPTION OF THE ILLUSTRATIVE EMBODIMENTS 
     Before the various embodiments of the present invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangements of components set forth in the following description or illustrated in the drawings. 
     The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that phraseology and terminology used herein with reference to device or element orientation (such as, for example, terms like “front”, “back”, “up”, “down”, “top”, “bottom”, and the like) are only used to simplify description of the present invention, and do not alone indicate or imply that the device or element referred to must have a particular orientation. In addition, terms such as “first”, “second”, and “third” are used herein and in the appended claims for purposes of description and are not intended to indicate or imply relative importance or significance. The term “recoiling parts” as used herein generally refers to those elements of a piece of a gun  12  and/or a soft recoil system  10  that move in response to the energy of expending a round in the gun  12 . This term may encompass, but is not limited to, the barrel  20 , muzzle brake, breech  24 , first rail  28 , second rail  30 , rear yoke  32 , middle yoke  34 , forward yoke  36 , muzzle yoke  38 , flange  39 , tie rod  40 , first recoil rod  52 , second recoil rod  62 , and recoil piston  64  (although the recoil rods  52 ,  62  and recoil piston  64  may also be considered as part of the soft recoil system  10 ). 
     One embodiment of an artillery weapon, such as a howitzer (or more generally, gun  12 ), may be mounted to a base  14  and include a soft recoil system  10  as shown in  FIG. 1 . The base  14  may be rotatable with respect to the structure to which it is mounted to allow a user to change the orientation of the gun  12 . The actuator  16  may be cooperatively engaged at a first end thereof with the base  14  and at a second end thereof with a portion of the gun  12  to adjust the vertical angle of the gun  12  with respect to the base  14 . Other structures and/or methods may be used to change the orientation of the gun  12  without limitation, and will not be discussed further herein for purposes of brevity. The soft recoil system  10  may be mounted in any manner suitable for the use for which the gun  12  is designed. Such mountings include but are not limited to vehicle mounts, chassis mounts, and skid mounts. 
     A gun  12  without a soft recoil system  10  and removed from a base  14  is shown in  FIG. 2 . The gun  12  generally includes an elongated, hollow barrel  20  through which a shell/cartridge/round is fired. The barrel  20  may include a muzzle brake (not shown) at its forward end, and a breech  24  at its rearward end. Rails or channels  28 ,  30  may be positioned on opposite sides of the barrel  20  and extend parallel to the longitudinal axis of the barrel  20 . 
     The rails may be firmly retained in place by a plurality of yokes  32 ,  34 ,  36 ; a first or rear yoke  32 , a second or middle yoke  34 , and a third or forward yoke  36  attached to an intermediate portion of the barrel  20 . The yokes  32 ,  34 ,  36  circumferentially clasp or are secured to the barrel  20  at positions along its longitudinal axis. The forward yoke  36  may include a latch point  36   a  to provide an interface between the recoiling parts and the latch mechanism  200 , which is described in detail below. 
     In addition, a muzzle yoke  38  may circumferentially clasp an intermediate portion of the barrel  20  at a position that is spaced from and forward of the third yoke  36 . The muzzle yoke  38  may be configured to include a pair of opposed end portions or flanges  39 , which extend generally transverse to the longitudinal axis of the barrel  20  as shown in  FIG. 2 . Each flange  39  may be formed with a cylindrical-shaped bore or passage formed therein, wherein the central axes of the passages may extend generally parallel to the longitudinal axis of the barrel  20 . At least one tie rod  40 , two of which are shown in  FIG. 2 , may be disposed on opposite sides of the barrel  20 . Each tie rod  40  may extend through aligned apertures in yoke  32 ,  34 , and/or  36  and flanges  39  of muzzle yoke  38 . The tie rods  40  may be retained in position by a suitable attaching member, such as a lock nut, welding, or other structures and/or methods suitable to the particular embodiment of the gun  12 . In the illustrative embodiment of the soft recoil system  10 , two tie rods  40  are simultaneously engaged with the forward yoke  36  and the muzzle yoke  38 . However, the soft recoil system  10  may include tie rods  40  engaging other and/or additional yokes  32 ,  34 ,  36 , and  38  without limitation. Alternatively, muzzle yoke  38  may be mounted directly to barrel  20  without tie rods  40 . 
       FIG. 3  provides a perspective view a soft recoil system  10  having a cradle configuration for use with the embodiment of a gun  12  shown of  FIG. 2 . To provide recoil control, the illustrative embodiment of the soft recoil system  10  is formed with two hydro-pneumatic systems that are essentially mirror images of one another about a vertical plane longitudinally bisecting the soft recoil system  10 . The illustrative embodiment of a soft recoil system  10  includes pair of elongate recoil cylinders  51 ,  61 , which have longitudinal axes that are generally parallel to each other. The recoil cylinders  51 ,  61  are supported in a spaced-apart configuration by a crossover bracket  59  on the top side and a mounting bracket  57  on the bottom side. In one embodiment of a soft recoil system  10  when compared to the prior art, the soft recoil system  10  increases the window of velocities that may be successfully fired for a particular zone/charge, decreases the maximum velocity necessary to successfully fire the top charge (thereby reducing the misfire forces), and provides throttling capability over the entire stroke length (thereby reducing overload forces). 
     Each recoil cylinder  51 ,  61  may be hydro-pneumatically linked to an associated gas reservoir or recuperator  56 ,  66  through a fluid transfer manifold, wherein only fluid transfer manifold  65  for the second recoil cylinder  61  and recuperator  66  is shown in  FIG. 3 . A first and second rail guide  50 ,  60  may be affixed to opposed inner surfaces of the first and second recoil cylinders  51 ,  61 , respectively. The rail guides  50 ,  60  may be configured to be respectively slideably engaged with the rails  28 ,  30  affixed to the barrel  20  as shown in  FIG. 2 . This allows the recoiling parts to move linearly with respect to the non-recoiling parts along the rails  28 ,  30  and rail guides  50 ,  60 . The crossover bracket  59 , which is designed to straddle the barrel  20 , may include an underside surface configured to mate with the curved upper surface of the barrel  20 . 
     In another embodiment of a soft recoil system  10 , only a single recoil cylinder  61  and recuperator  66  are used. In this embodiment, the recoil cylinder  61  and recuperator  66  may be positioned parallel with respect to the barrel  20  of the gun  12  to which the soft recoil system  10  is cooperatively engaged. It is contemplated that in such an embodiment of a soft recoil system  10  it will be especially advantageous to position the recoil cylinder  61  and/or recuperator  66  either directly above or directly below the barrel  20  such that a vertical plan will bisect the barrel  20 , recoil cylinder  61 , and recuperator  66 . However, other configurations and/or orientations may be used without limitation. 
     The soft recoil system  10  may include a pair of recoil rods  52 ,  62 , which may be positioned within and extend from the forward ends of the recoil cylinders  51 ,  61 . When the soft recoil system  10  is fitted onto the gun  12  of  FIG. 1 , the forward ends  53 ,  63  of the recoil rods  52 ,  62  are fitted into the apertures formed in the flanges  39  of the muzzle yoke  38 . In the illustrative embodiment of the soft recoil system  10 , the recoil rods are pneumatically/hydraulically driven, as described in detail below. 
       FIG. 4  shows a cross-sectional view of the soft recoil system  10  along the longitudinal axis of the recuperators  56 ,  66  and recoil cylinders  51 ,  61 .  FIG. 5  provides a detailed cross-sectional view of a recoil cylinder  51 ,  61  in the area of the partition  74 . Referring now to  FIG. 6 , which provides a schematic representation of the portion of a recoil cylinder  51 ,  61  shown in  FIG. 5 , a recuperator  56 ,  66 , and a transfer manifold  65 . 
     For brevity, the following description regarding the internal function, configuration, and/or components of the soft recoil system  10  depicted in  FIGS. 6-10  will refer to the second recoil cylinder  61  and associated elements positioned on the corresponding side of the gun  12 . However, it is to be understood that the general function, configuration, and/or components of the first recoil cylinder  51  and associated elements positioned on the corresponding side of the gun  12  is similar to that of the second recoil cylinder  61  and associated elements. In  FIGS. 6 ¬ 10 , the arrows are meant to depict fluid flows at various phases of operation of one soft recoil system  10  in accordance with the present disclosure. 
     In  FIG. 6 , the second recoil cylinder  61  and the associated recoil rod  62  are in fluid communication with the fluid transfer manifold  65 , which is in turn in fluid communication with the second recuperator  66 . The recuperators  56 ,  66  in the illustrative embodiment of the soft recoil system  10  are formed with a floating piston  67  therein. The second recoil cylinder  61  may include an outer cylinder  71 , a circular end seal  72 , a circular partition  74 , and a cylindrical inner cylinder  81  that is partially supported within the outer cylinder  71  by the end seal  72  and the partition  74 . In the illustrative embodiment shown in  FIGS. 1, 3, 4 , &amp;  5  the outer diameter of the inner cylinder  81  may be approximately 50% that of the outer diameter of the outer cylinder  71 . However, in other embodiments of the soft recoil system  10  the relative sizes of the cylinders  71 ,  81  and the thicknesses of the walls thereof will vary without limitation depending on the specific embodiment of the soft recoil system  10 . 
     Still referring to  FIG. 6 , a first or forward outer chamber  77  is defined by the outer and inner cylinders  71 ,  81  and the partition  74 . A second or rearward outer chamber  77  is defined by the outer and inner cylinders  71 ,  81  and a partition  74 , which is circular in the illustrative embodiment. The partition  74  includes ports  75  that allow fluid flow between forward and rear outer chambers  77 ,  78 . A recoil piston  64 , which may be cylindrical in shape, may be positioned within the inner cylinder  81  and moveable along the length of the inner cylinder. The recoil piston  64  may be connected to the rear end portion of the recoil rod  62 . 
     A stuffing box  82 , which may be configured to encircle the recoil rod  62 , may be secured to the end seal  72  to form a fluid bearing and seal element for the reciprocating recoil rod  62 . The recoil piston  64  separates the interior chamber defined by the inner cylinder  81  into a forward inner chamber  84  and rear inner chamber  85 . The tolerances between the recoil piston  64  and the inner cylinder  81  are selected such that a predetermined amount of fluid flow or leakage may occur at the space or interface between the sidewalls of the recoil piston  64  and inner cylinder  81  under certain circumstances. It is contemplated that for most embodiments of the soft recoil system  10  any leakage between the recoil piston  64  and the inner cylinder  81  will be a relatively low volumetric amount compared to that of fluid flowing directly from the forward inner chamber  84  to the rear inner chamber  85  and vice-versa. As shown in  FIG. 5 , one embodiment of a recoil piston  64  is formed with a plurality of annular lubricant grooves  64   a  on the periphery thereof. These lubricant grooves  64   a  allow for a pressure differential across the length of the recoil piston  64  and provide a reservoir for oil to reduce friction between the recoil piston  64  and interior wall of the inner cylinder  81 . The precise number, configuration, and/or orientation of the recoil piston  64  and/or lubricant grooves  64   a  will vary from one embodiment of the soft recoil system  10  to the next and are therefore in no way limited to the scope of the soft recoil system  10  as disclosed and claimed herein. 
     The inner cylinder  81  includes a plurality of fluid passages  87 ,  88 ,  89 , and  90  (first, second, third, and fourth fluid passages, respectively) spaced along the length thereof on the forward or muzzle side of the partition  74 . The inner cylinder  81  also includes a plurality of fluid passages  92  rearward of the partition  74 . These fifth fluid passages  92  allow the transfer of fluid directly between the rear inner chamber  85  and rear outer chamber  78 , which as shown in  FIG. 6  are oriented to the left or rearward of the recoil piston  64  and partition  74 . 
     Still in general reference to  FIG. 6 , the inner cylinder  81  also includes sixth fluid passages  94 , which are larger than the fluid passages  87 ,  88 ,  89 ,  90  and  92 . The fluid passages  94  are located near the partition  74  on the forward (i.e., to the right) side of the recoil cylinder  51 ,  61 . A check valve  100  may be positioned to surround the inner cylinder  81  and may be configured to have a right-angle cross-section, a first embodiment of which is shown in cross-section in  FIGS. 6-10 . The check valve  100  may include a flange portion  102  for blocking aperture  75  in partition  74  when the check valve  100  is located in a first operative position. Check valve  100  may also include a sleeve portion  103  that surrounds the inner cylinder  81  for selectively obstructing fluid flow through the sixth fluid passage  94 . In a first operative position shown in  FIG. 6 , the check valve fluid passages  101  in the sleeve portion  103  are in fluid communication with the sixth fluid passages  94  in the cylindrical inner sleeve  81 . In a second operative position shown in  FIG. 8B  the check valve  100  moves to the right toward the front end of the recoil cylinder to engage stop element  83 , thereby obstructing fourth and sixth fluid passages  90 ,  94  and not obstructing port  75  in partition  74 . 
       FIG. 5A  shows a perspective view of a second embodiment of a check valve  100 , and  FIG. 5  provides a cross-sectional view thereof in relation to the partition  74  and adjacent elements of the recoil cylinder  51 ,  61 . The second embodiment of a check valve  100  in a position such that it abuts partition  74  is shown in  FIG. 11A , and such that it abuts the stop element  83  is shown in  FIG. 11B . The second embodiment of a check valve  100  includes a flange portion  102  and a sleeve portion  103 . The sleeve portion  103  comprises a first collar portion  104  joined  104  to the flange portion  102 . Circumferentially spaced finger portions  105  project from the first collar portion  104  and extend to a peripheral collar portion  108 , wherein an intermediate collar portion  106  is positioned between the first and peripheral collar portions  104 ,  108 , all of which collar portions  104 ,  106 ,  108  may be joined to the finger portions  105 . The first collar portion  104 , finger portions  105 , and intermediate and peripheral collar portions  108  define check valve fluid passages  101  therebetween. 
     The width of the collar portions  104 ,  106 ,  108  and length of the finger portions  105  may be selected so that the sixth fluid passages  94  in the inner cylinder  81  will be exposed when the check valve  100  is in a first operative position (as shown in  FIG. 6  for the first embodiment of a check valve  100 ), partially exposed when in an intermediate operative position (as shown in  FIG. 8A  for the first embodiment of a check valve  100 ), and fully obstructed when in a second operative position (as shown in  FIG. 8B , wherein the distal end of the sleeve portion  103  abuts the stop element  83 ) for the first embodiment of a check valve  100 . 
     In the second embodiment of a check valve  100 , the peripheral collar portion  108  may include a relief fluid passage  108   a . In the illustrative embodiment of the soft recoil system  10 , when the second embodiment of a check valve  100  is in the second operative position, the relief fluid passage  108   a  is aligned with the third fluid passage  89  (see  FIG. 5 ) and a check valve fluid passage  101  is aligned with the fourth fluid passage  90 . This configuration allows the third and fourth fluid passages  89 ,  90  to be available for fluid throttling even when the check valve  100  is in the second operative position (i.e., the position shown in  FIG. 8B ). Other embodiments of the soft recoil system  10  will require check valves  100  configured differently than the embodiments thereof pictured and described herein. Accordingly, the specific configuration, orientation, and/or function of the check valve  100  in no way limits the scope of the soft recoil system  10  as disclosed and claim herein. 
     As shown in  FIGS. 6-10 , the recuperator  66  in the illustrative embodiment of the soft recoil system  10  comprises an elongate hollow cylinder containing a floating piston  67  that divides the cylinder into separate first and second recuperator chambers  68 ,  69 . Liquid, vapor, or gas may be positioned in either recuperator chamber  68 ,  69 . It is contemplated that the first recuperator chamber  68  will be filled with nitrogen or another compressible gas capable of acting as a fluid spring in conjunction with the floating piston  67 . It is also contemplated that the second recuperator chamber  69  will be filled with an inert oil of sufficient lubriciousness for the particular embodiment of the soft recoil system  10 . The second recuperator chamber is in fluid communication with the fluid transfer manifold  65  and forward outer chamber  77 . The fluid in the recoil cylinder  61 , first recuperator chamber  68 , and/or second recuperator chamber  69  may serve as an energy storage and/or transfer media. 
       FIGS. 6-10  show different operative steps (sometimes referred to herein as “phases”) in the firing of a gun  12  outfitted with the illustrative embodiment of the soft recoil system  10 . The “latched position” of  FIG. 6  shows the position of the second recoil rod  62  and second recoil piston  64  relative to inner cylinder  81  and the partition  74 . Since both recoil rods  52 ,  62  move together in unison or mirror each other in the illustrative embodiment of the soft recoil system  10  as previously described, the movement of the recoil rods  52 ,  62  will be explained in terms of the second recoil rod  62 . The recoiling parts of the soft recoil system  10  are held in this “equilibrium” or “in battery” position by a latch mechanism  200 , partially shown in  FIG. 1 , until the gun  12  is ready for firing. 
     When the external latch mechanism  200  is released, the unbalanced force of the gas pressure in fluid chamber  68  acts upon the floating piston  67  to move the floating piston  67  to the right and to force the fluid out of chamber  69  and into the first or forward outer chamber  77 , as generally depicted in  FIG. 7 . The pressurized fluid then begins to flow into the forward inner chamber  84  through the fluid passages  87 ,  88 ,  89 ,  90 , and  94 . Additionally, leakage may occur between the recoil piston  64  and the walls of the inner cylinder  81  such that a certain amount of fluid passes directly from forward inner chamber  84  to rear inner chamber  85 . However, as previously described, it is contemplated that in most embodiments of the soft recoil system  10  this leakage will be relatively small compared to the fluid flow through passages  87 ,  88 ,  89 ,  90 , and  94 . This same action occurs simultaneously in the first recoil cylinder  51 . 
     As a result of this leakage and the force differential on the opposite axial surfaces of the recoil piston  64 , the recoil piston  64  and the recoil rod  62  are caused to move to the right with respect to the recoil cylinder  61 , as shown in  FIG. 7 . The force differential is a result of the area differential between the front and back axial surfaces of the recoil piston  64 . Because the muzzle yoke  38  is connected to the recoil rods  52  and  62 , the attached recoiling parts are also accelerated forward (i.e., to the right in  FIG. 7 ). As the recoil piston  64  continues to move to the right in  FIG. 7 , it passes sixth and fourth fluid passages  94 ,  90  so that fluid in forward outer chamber  77  can now flow directly into the expanding rear inner chamber  85  through the sixth and fourth fluid passages  94 ,  90 . Partition passage  75  is kept closed by check valve  100  during this forward acceleration phase or “run-up” phase. The sixth fluid passages  94 , which are located just to the rear of the fourth fluid passages  90 , may be sized to minimize pressure drops from forward outer chamber  77  to rear inner chamber  85  during the run-up phase. 
     The “recoil” phase (shown at the beginning of the phase in  FIG. 8A  and later in the phase in  FIG. 8B ) begins with the firing of the cartridge during the “run-up” phase. The firing of the cartridge actually occurs at a predetermined position forward of the “latched” or “in battery” position. Part of the energy of the cartridge stops the forward acceleration/momentum of the recoiling parts of the soft recoil system  10  and the remaining energy of the cartridge forces the recoiling parts to begin to accelerate rearward or to recoil. With the recoil phase of  FIGS. 8A &amp; 8B , recoil rod  62  and recoil piston  64  are forced back into the inner cylindrical  81  (i.e., to the left). As a result, the fluid inside rear inner chamber  85  is forced out of the rear inner chamber  85  through fluid passages  90 ,  94 , and  92 . These fluid passages  90 ,  94 , and  92  function as throttling orifices wherein the throttling area decreases as the recoil piston  64  moves further and further into the inner cylinder  81 , (i.e., to the right in  FIGS. 8A &amp; 8B ). It is this net force acting on recoil piston  64  that helps to slow and eventually stop the rearward movement of the recoiling parts. While fluid flows through fluid passages  90 ,  94 , and  92  the portion flowing out of apertures  92  and into the rear outer chamber  78  causes the pressure in the rear outer chamber  78  to increase until it exceeds the pressure in the forward outer chamber  77 . At this point, fluid pressure differentials on check valve  100  cause it to move forward (the start of which is shown in  FIG. 8A ), thereby opening port  75  so that fluid is allowed to flow from the rear outer chamber  78  directly to the forward outer chamber  77  through passage  75  (as shown in  FIG. 8B , wherein the check valve  100  abuts the stop element). 
     When the check valve  100  does move (i.e., to the right in  FIGS. 8A &amp; 8B ), it effectively closes off sixth fluid passages  94 , thus allowing fluid to flow out of the inner cylinder  81  only through the fourth and fifth fluid passages  90 ,  92  to the rear of recoil piston  64 . The rising pressure causes the fluid displaced by recoil piston  64  to flow back through the transfer manifold  65  into the recuperator  66  where it acts upon the floating piston  67  to recompresses the fluid in the first recuperator chamber  68 . This process continues until all the energy of recoil has been absorbed. 
     When this occurs, recoil piston  64  will be to the left or rear of the partition  74 , as shown in  FIG. 9 . 
     The sixth fluid passage  94  may be sized to provide sufficient flow area so that the velocity of the recoiling parts during the run-up phase is only slightly affected by the pressure drop across the sixth fluid passage  94 . As shown in  FIG. 12  (which provides a top view of a first embodiment of an inner cylinder  81 ), it is contemplated that for the illustrative embodiment of the soft recoil system  10 , the sixth fluid passage  94  will have a larger cross-sectional area than the fluid passages  87 ,  88 ,  89 ,  90 , and  92 . It may also be sized and positioned so that check valve  100  may open and close the sixth fluid passage  94  when the check valve  100  slides rearward and forward along the inner cylinder  81 , respectively. Furthermore, although only seven fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , and  94  are called out and discussed for purposes of clarity and brevity, as is clear from  FIG. 12  the inner cylinder may include more than seven fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , and  94 . Additionally, the various fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , and  94  may have different or the same cross-sectional areas as adjacent and/or non-adjacent fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , and  94 . Accordingly, the configuration, orientation, and/or specific function of the fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , and  94  shown herein is in no way limiting to the scope of the soft recoil system  10  as disclosed and claimed herein. 
     Port  75  may be sized to provide sufficient cross-sectional area for fluid flow through partition  74  so that fluid flowing from the rear outer chamber  78  to the forward outer chamber  77  may pass through the partition  74  with minimal pressure drop when check valve  100  is pushed away from the partition  74 . Port  75  may also be positioned and sized so that it may be closed to fluid flow when the check valve  100  is in its rearward position (i.e., abutting the partition  74 ). 
     The “counter-recoil” phase, which is depicted schematically in  FIG. 9 , begins when the increasing gas pressure in the first recuperator chamber  68  stops further movement of the floating piston  67 . At this point the gas pressure in the first recuperator chamber  68  begins to force fluid out of the second recuperator chamber  69  through the transfer manifold  65  into the forward outer chamber  77  (as happens during the run-up phase). As this fluid flow continues, a pressure difference develops between the forward outer chamber  77  and the rear outer chamber  78  that causes the check valve  100  to move rearward and close off port  75 . The resultant force acting on the recoil piston  64  eventually causes the recoil piston  64  and recoil rod  62  to move forward (i.e., to the right). With port  75  closed to fluid flow, the fluid flows from the forward outer chamber  77  into the forward inner chamber  84  through fluid passages  87 ,  88 ,  89 , and  90 . The fluid may then flow from the forward inner chamber  84  through fifth fluid passages  92  into the rear outer chamber  78 , and from the rear outer chamber  78  to the rear inner chamber  85 , as best shown in  FIG. 9 . 
     The greater surface area on the rear axial surface of the recoil piston  64  compared to the front axial surface thereof and the fluid flow into the rear inner chamber  85  causes the recoil piston  64  to move forward, (i.e., to the right). As the recoil piston  64  moves forward in the inner cylinder  81 , the gas pressure in the first recuperator chamber  68  begins to drop. Also, as the forward edge of recoil piston  64  reaches the position of the partition  74 , the resulting pressure differential and the velocity of the recoiling parts may be controlled by the leakage of fluid at the interface between the recoil piston  64  and the inner cylinder  81 , by the position of fluid passages  92  with respect to adjacent fluid passages  92  and the partition  74 , and/or through a combination thereof. The resulting reduced velocity of the recoiling parts continues until the recoiling parts reach and make contact with the external latch  200  (i.e., when the recoil piston  64  is adjacent the partition  74 ). This completes a cycle. 
     A “misfire buffing” phase may be provided in the event that the round fails to fire during the run-up phase, as depicted in  FIG. 10 . The energy or momentum contained in the recoiling parts must be dissipated in a controlled manner to prevent possible damage or unwanted weapon instability. This “misfire buffing” process may be completed internally using the interface of recoil piston  64 , recoil rod  62 , inner cylinder  81 , and fluid passages  87 ,  88 ,  89  and  90  to provide the necessary buffing via fluid throttling. At a point when the recoil piston  64  has moved to a position just short of the third fluid passage  89 , continued movement results in the recoil piston  64  crossing passage  88 . At this point fluid inside of forward inner chamber  84  is pressurized due to the restricted flow path provided by the first fluid passage  87  (i.e., the only path fluid within the forward inner chamber  84  may take to flow into the forward outer chamber  77 ). The resulting increase in the pressure in the forward inner chamber  84  causes the velocity of the recoiling parts to slow. The second fluid passages  88  may be positioned just to the rear of the misfire buffing section of inner cylinder  81  and may be sized to provide sufficient cross-sectional area to allow for the free flow of fluid out of cylinder  81  during the run-up phase of operation. 
     While  FIGS. 6-10  provide simplified, schematic depictions of the internal workings of one embodiment of a soft recoil system  10 ,  FIG. 4  provides a cross-sectional view of a field-ready implementation of the principals from  FIGS. 6-10 .  FIG. 5  provides a cross-sectional view about the check valve  100  with the recoil piston in the latched phase of the field-ready implementation. In light of the description related to  FIGS. 6-10  contained herein, it will be apparent to those of ordinary skill in the art how the principals described with respect to  FIGS. 6-10  correlate to the embodiment of a soft recoil system  10  shown in  FIGS. 1, 3, 4, 5, and 11 ¬ 13 . 
     It is contemplated that the general orientation, elevation, and/or azimuth of the gun  12  may have an active control via a PLC and various sensors, wherein the PLC controls a translator of some sort (e.g., base  14 , actuator  16 , and/or a combination thereof). In an active control situation, the PLC would analyze data from the various sensors and output commands to the translator, which translator would adjust the orientation, elevation, and/or azimuth of the gun  12  accordingly. 
     The various fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , and  94 , outer cylinder  71 , inner cylinder  81 , ports  75 , and the partition  74  are configured such that the force of the spending the round is distributed over a longer distance of the soft recoil system  10  than that of prior art recoil systems. Additionally, the time over which the force is distributed is longer using the soft recoil system  10  than that of the prior art. One profile of the various fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , and  94  and their respective spacing and areas for an inner cylinder  81  are shown in  FIG. 12 . In the orientation shown in  FIG. 12  the breech is positioned toward the bottom of the figure. Using principles of fluid mechanics for turbulent incompressible fluid flow (which may be accomplished via Bernoulli&#39;s equation in various forms) and equations of motion, one may calculate the appropriate values (e.g., fluid passage size, pressure differential, etc.) for a given system. The specific profile, configuration, and/or orientation of the fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , and  94  will vary from one embodiment of the soft recoil system  10  to the next. Accordingly, those variables are in no way limiting to the scope of the soft recoil system  10  as disclosed and claimed herein. 
     As is apparent from  FIG. 12 , it is contemplated that the majority of the fluid passages  87 ,  88 ,  89 ,  90 ,  92 , and  93  may be positioned along the top of the inner cylinder  81  (i.e., at the 12 o&#39;clock position) for the illustrative embodiment of the soft recoil system  10 . This configuration allows the bottom surface of the recoil piston  64  to have a smooth surface on which to travel. As shown, the sixth fluid passages  94  and larger fluid passages  93  may be circumferentially distributed around the periphery of the inner cylinder  81 . However, any of the fluid passages  87 ,  88 ,  89 ,  90 ,  92 ,  93 , or  94  may be positioned at any circumferential position around the inner cylinder  81  without limitation. For certain applications it may be especially important to ensure a lubricant layer exists between the exterior of the recoil piston  64  and the interior of the inner cylinder  81  during the recoil phase to minimize any wear caused by shearing forces. Lubricant grooves  64   a  as shown in  FIG. 5  may be especially helpful for such situations. 
       FIGS. 13A-13B  provide detailed views of the area of a recoil cylinder  51 ,  61  from the first embodiment of a soft recoil system  10  adjacent the partition  74  at various radial positions. In  FIGS. 13A-13B , the soft recoil system  10  is oriented so that for a gun  12  engaged with the soft recoil system  10 , the muzzle yoke  38  would be toward the right side of the figures and the breech  24  would be toward the left side of the figures. In  FIG. 13A , the check valve  100  has been removed so that port  75  in the partition  74  is clearly visible. In  FIG. 13B , the inner cylinder  81  has been removed so that the recoil rod  52 ,  62  and recoil piston  64  are clearly visible. 
     In the embodiment of a soft recoil system  10  shown in  FIG. 12 , the recoil piston  64  generally travels the length of the inner cylinder  81  between the partition  74  and the larger fluid passage  93  during the “run-up” phase. It is contemplated that this length may be approximately 25 inches, but this distance is in no way limiting to the scope of the soft recoil system  10  as disclosed and claimed herein, and will vary from one embodiment thereof to the next. Once the recoil piston  64  crosses the larger fluid passage  93  and the gun  12  has not yet fired, the soft recoil system  10  is placed in the misfire buffing phase, which is shown schematically in  FIG. 10 . 
     A “coast” length may be engineered into the inner cylinder  81  so that the recoil piston  64  may be in a window of approximately five inches in length (for the illustrative embodiment of the soft recoil system  10 , but which length will vary from one embodiment of the soft recoil system  10  to the next) along the inner cylinder  81  behind (i.e., toward the breech  24 ) of larger fluid passages  93 . If the recoil piston  64  is positioned in at a point in the coast length, the gun  12  may fire and the soft recoil system  10  will perform as designed. In the illustrative embodiment of the soft recoil system  10 , the coast length is substantially located in an area between the larger fluid passage  93  and a point five inches rearward therefrom (i.e., toward the breech  24 ). However, in other embodiments of the soft recoil system  10  the coast length may be differently positioned along the inner cylinder  81 , and/or the coast length may be longer or shorter than that shown herein. The embodiment shown in  FIG. 12  generally allows the recoiling parts to accelerate during the entire run-up phase, although the acceleration may decrease as the recoil piston  64  approaches the coast length. The fluid passages  87 ,  88 ,  89 ,  90 , and  92  positioned on the top side (i.e., 12 o&#39;clock position) of the inner cylinder  81  most often function to throttle fluid exiting the interior cylinder  81 , though at certain times fluid may enter the interior cylinder  81  via those fluid passages  87 ,  88 ,  89 ,  90 , and  92 . 
     One embodiment of a misfire recovery system  130  is shown in  FIGS. 15A and 15B . As shown, the misfire recovery system  130  allows a gun  12  engaged with the soft recoil system  10  to be fired in the event of a misfire, without the need to reposition the recoiling parts to the latch position. The misfire recovery system  130  comprises a misfire valve  132  slideably positioned around the exterior of a portion of the inner cylinder  81 . The misfire valve  132  may be slideable between a first barrier  134  and a second barrier  136 . The misfire valve  132  may include a misfire valve flange  132   a  and a misfire valve sleeve  132   b  projecting from the misfire valve flange  132   a . The misfire valve sleeve  132   b  may be formed with a plurality of misfire valve fluid passages  132   c  therein, as shown in  FIGS. 15A &amp; 15B . 
     During the run-up phase, the misfire valve  132  would typically be positioned as shown in  FIG. 15A , wherein the misfire valve sleeve  132   b  abuts the first barrier  134 . In this position, the misfire recovery system  130  generally does not affect the operation of the soft recoil system  10 . That is, the misfire valve  132  does not impede fluid flow between the inner and outer cylinders  81 ,  71  during normal operation of the gun  12 . As shown in  FIG. 15A , the misfire valve  132  is positioned such that the larger fluid passage  93  are unrestricted during the run-up phase such that fluid may freely flow through the larger fluid passages  93  from the inner cylinder  81  to the outer cylinder  71 . 
     However, in the event of misfire, which situation is depicted in  FIG. 15B  (i.e., the recoil piston  64  has traveled past the large fluid passages in the direction toward the muzzle yoke  38 ), the misfire recovery system  130  allows the user to fire the gun  12  even though all the recoiling parts may be positioned near their forward-most allowable position. When the gun  12  is fired from such a position, the misfire valve  132  slides forward due to the greater force imparter to the rear (i.e., breech side) of the misfire valve  132  such that the misfire valve flange  132   a  abuts the second barrier  136  (as shown in  FIG. 15B ). The force differential is a result in the greater surface area on the rear side of the misfire valve  132  than on the front side thereof. When the misfire valve  132  moves forward, it blocks the larger fluid passages  93  so that fluid may only flow from the inner cylinder  81  to the outer cylinder  71  via the smaller fluid passages  87 ,  88 ,  89 , and  90 . Accordingly, the energy of the expenditure of the round is transferred to the fluid and dissipated through the throttled pumping of the fluid from the inner cylinder  81  to the outer cylinder  71  via fluid passages  87 ,  88 ,  89 , and  90 . That is, the misfire recovery system  130  allows a soft recoil system  10  to perform like a traditional recoil dissipating system even in the event of misfire, with no additional movement of the recoiling parts required to fire the gun  12  in the event of misfire. 
     One embodiment of a counter-recoil control system  110  is shown in perspective in  FIG. 16A , and  FIG. 16B  shows a radial cross-sectional view of the same embodiment. In the pictured embodiment of counter-recoil control system  110 , the counter-recoil control valves  112  (e.g., flaps  112 ) may be configured to control the maximum counter-recoil velocity by limiting the amount of fluid flow that may be used to drive the recoiling parts forward from their maximum recoil position behind latch to the latch position. At the same time the counter-recoil control system  110  has no influence on the performance of the throttling sleeve (i.e., the portion of the inner cylinder  81  between the maximum recoil position behind latch and the latch position) to successfully bring the recoiling parts to a controlled stop. 
     As shown in  FIGS. 16A &amp; 16B , the individual counter-recoil control valves  112  are forced outward via a pivoting action (about a counter-recoil control valve pivot point  114 ) during recoil by the fluid flowing out of the inner cylinder  81  as the gun recoils (best shown in  FIG. 16B ). After the recoiling parts stop adjacent the maximum recoil position behind latch, the recuperators&#39;  56 ,  66  force on the fluid causes the fluid to flow back into the inner cylinder  81  through fluid passages  92  positioned rearward with respect to the partition  74 . The fluid flow during this process causes certain counter-recoil control valves  112  to close, thereby covering the fluid passages  92  to the rear of the recoil piston  64 . As the recoil piston  64  moves forward, more counter-recoil control valves  112  close fluid passages  92 . Since fluid passages  92  to the rear of the recoil piston  64  are progressively closed as the recoil piston  64  and other recoiling parts move forward, the number of fluid passages  92  (and thus the flow area available to accelerate the recoiling parts) is limited, which in turn limits the maximum velocity that the recoiling parts may attain before reaching the latch position. Without the use of a counter-recoil system  110 , in certain embodiments of the soft recoil system  10  the peak counter-recoil velocity may become elevated to the point that slowing of the recoiling parts to a stop at latch position will induce higher than desired forward loading on the carriage or other elements of the piece of the gun  12 . 
       FIG. 19  provides a cross-sectional schematic view of another embodiment of the soft recoil system  10 . The embodiment shown in  FIG. 19  works substantially in the same manner as that of the embodiments of the soft recoil system  10  previously described herein. However, in the embodiment shown in  FIG. 19 , the recoil cylinder  61  and recuperator  66  may be directly mounted to the gun  12 . The embodiment in  FIG. 19  shows the recuperator  66  mounted above the gun  12  and the recoil cylinder  61  mounted below the gun  12 . However, other orientations and/or configurations may be used without departing from the scope of the soft recoil system  10  as disclosed and claimed herein. 
     In the embodiment of a soft recoil system  10  shown in  FIG. 19 , the recoil cylinder  61  and recuperator  66  may move forward and rearward with the gun  12  in response to run-up, recoil, and counter-recoil forces, respectively. The recoil rod  62  may be secured to a cradle (not shown) and/or base  14 . The gun  12 , recoil cylinder  61 , and/or recuperator  66  may be cooperatively engaged with the cradle and/or base  14  such that the gun  12 , recoil cylinder  61 , and/or recuperator  66  may move linearly in response to run-up, recoil, and counter-recoil forces. This cooperative engagement may be accomplished through the use of corresponding rails  28 ,  30  and rail guides  50 ,  60 , or through any other structure and/or method suitable for the particular application of the soft recoil system  10 . 
     In operation, the embodiment of a soft recoil system  10  shown in  FIG. 19  may be configured such that all components of the gun  12 , recoil cylinder  61 , and recuperator  66  move forward and rearward in response to run-up, recoil, and counter-recoil forces, and the recoil rod  62  and recoil piston  64  remain static. Accordingly, it will be apparent to those skilled in the art that the embodiment of a soft recoil system  10  shown in  FIG. 19  operates according to the same principals as the embodiment shown in  FIGS. 6-10  as the recoil piston  64  moves linearly within an inner cylinder  81  in both embodiments. However, in the embodiment shown in  FIG. 19 , rather than fixing the position of the recoil cylinder  61  and recuperator  66  with respect to the base  14  and varying the position of the recoil rod  62  and recoil piston  64  with respect thereto, the position of the recoil rod  62  and piston  64  is fixed with respect to the base  14  and/or cradle, and the position of the recoil cylinder  61  and recuperator  66  may vary along a predetermined path. Accordingly, the soft recoil system  10  as disclosed and claimed herein is not limited by the absolute positions of the various components thereof. Furthermore, the embodiment shown in  FIG. 19  may be employed with first and second recoil cylinders  51 ,  61  and first and second recuperators  56 ,  66  in a manner similar to that described for the embodiment of the soft recoil system  10  shown in  FIGS. 1, 3, 4 , &amp;  12 . 
     It is to be understood that the embodiment of the soft recoil system  10  shown in  FIG. 19  may require a modification to the profile of fluid passages  87 ,  88 ,  89 ,  90 ,  92 , and  94  as shown for the embodiment pictured in  FIGS. 1, 3, 4 , &amp;  12 . However, such modification is within the scope of the soft recoil system  10  as disclosed and claimed herein, and in light of the present disclosure will be apparent to a person of ordinary skill in the art. 
     The latch mechanism  200  may be positioned at any convenient location along the length of the soft recoil system  10  that is suitable for the particular embodiment thereof. In the illustrative embodiment of the soft recoil system  10  pictured herein, the latch mechanism  200  is engaged with the mounting bracket  57 , which is adjacent the forward yoke  36  when the recoiling parts are in the latch position. However, other positions and/or orientations of the latch mechanism  200  may be used with the soft recoil system  10  without limiting the scope thereof. 
     Generally, the latch mechanism  200  functions to retain the recoiling parts in the latched position (as shown in  FIGS. 5 &amp; 6 ) prior to the run-up phase, during which the recoiling parts are released and accelerate forward (as shown in  FIG. 7 ). As previously described herein, when in the latch position, the recoiling parts are possess a certain amount of potential energy from the pressurized fluid in the soft recoil system  10 . Accordingly, the latch mechanism must be robust enough to secure the recoiling parts against the force of this pressurized fluid, yet operate to selectively release the recoiling parts in a manner sufficiently convenient and safe for the user. Furthermore, during the recoil phase the latch mechanism  200  must allow the recoiling parts to pass freely past the latch position (i.e., in a direction from the muzzle yoke  38  to the breech  24 ), but stop the recoiling parts at the latch position the end of the counter-recoil phase in preparation for the next cycle. 
     Various views of one embodiment of a latch mechanism  200  that may be used with a soft recoil system  10  are shown in perspective in  FIGS. 17A &amp; 17B , wherein the internal elements of the latch mechanism  200  have been removed from a housing  202  for clarity.  FIGS. 18A &amp; 18B  provide cross-sectional views of the embodiment of a latch mechanism  200  shown in  FIGS. 17A &amp; 17B , and  FIG. 18C  provides a top view thereof. The housing  202  pictured herein may be selectively engaged with a housing cover  208 , which has been removed for clarity in  FIGS. 17-18B , but which is shown in  FIG. 18C .  FIGS. 14A-14C  provide a simplified cross-sectional view of how the embodiment of a latch mechanism  200  pictured herein may interface with the recoiling parts of the gun  12  and/or soft recoil system  10  via a latch point  36   a  secured to the forward yoke  36 . 
     A latch assembly  240  may be pivotally engaged with a housing  202  via a latch assembly aperture  206  formed in the housing  202 , a corresponding cover aperture  208   b  formed in the housing cover  208 , and a latch assembly mount  242  formed in the latch assembly  240 . In the illustrative embodiment of a latch assembly  240  pictured herein the latch assembly mount  242  is generally formed as a tube or rod that fits into the latch assembly aperture  206  and corresponding cover aperture  208   b . However, the latch mechanism  200  and/or soft recoil system  10  disclosed and claimed herein is not limited by the configuration of the latch assembly aperture  206 , housing cover  208 , and/or the latch assembly mount  242 . The latch assembly  240  may include a latch body  241  that is secured to the latch assembly mount  242 . A link connector  243  (two link connectors  243  are shown in the illustrative embodiment pictured herein) may extend from the latch body  241  to provide a connection point for a link  220  described in detail below. 
     A plunger  244  may be positioned within a portion of the latch body  241 . The plunger  244  may be selectively moveable in one dimension (i.e., the vertical dimension from the vantage shown in  FIGS. 14A-14C, 18A &amp; 18B ) with respect to the latch body  241 . The plunger  244  may be biased with respect to the latch body  241  in an upward direction via a biasing member  245 , which is configured as a spring in the illustrative embodiment of the latch mechanism  200 . The plunger  244  may include a plunger face  244   a  that interfaces the latch point  36   a  of the forward yoke  36  when the latch mechanism  200  is positioned to retain the recoiling parts in the latch position (as shown in  FIGS. 14A, 17A &amp; 18A ). In the illustrative embodiment of the soft recoil system  10  pictured herein, the latch point  36   a  is configured to have an angled surface on the rearward side and a flat face on the forward side. The plunger  244  may also include a plunger ramp  244   b  opposite the plunger face  244   a  to interface the latch point  36   a  of the forward yoke  36  when the recoiling parts are moving rearward (i.e., toward the breech  24 ) during the recoil phase, which is shown in  FIG. 14C . 
     The complimentary surfaces of the plunger  244  and latch point  36   a  facilitate movement of the recoiling parts in a rearward direction even when the latch point  36   a  contacts the plunger ramp  244   b  via the interaction between the angled surface of the latch point  36   a  and the plunger ramp  244   b  in conjunction with the biasing member  245 , which is shown in  FIG. 14C . The plunger face  244   a  interacts with the flat face of the latch point  36   a  to retain the recoiling parts (and/or stop the recoiling parts when they are moving forward during the counter-recoil phase) when the plunger  244  is in the extended position, which is shown in  FIG. 14A . Other structures and/or methods of allowing relative movement of the recoiling parts with respect to the latch mechanism  200  in a first direction while limiting the amount of relative movement there between in a second direction may be employed with the latch mechanism  200  and/or soft recoil system  10  as disclosed herein without limitation. 
     The plunger ramp  244   b  in cooperation with the biasing member  245  allow a portion of the recoiling parts to move past the plunger  244  in a direction from the front of the gun  12  to the rear of the gun  12  when the latch point  36   a  overcomes the biasing force of the biasing member  245  (thereby pushing the plunger  244  down against the biasing force of the biasing member  245  as shown in  FIG. 14C ). The force required by the recoiling parts to overcome the upward biasing force of the biasing member  245  may be adjusted at least by the configuration of the latch point  36   a  (e.g., the angle of the surface that contacts the plunger  244 ), the configuration of the plunger ramp  244   b  (e.g., the angle of the plunger ramp  244   a  with respect to the surface of the latch point  36   a  that contacts the plunger ramp  244   b ), and the upward biasing force the biasing member  245  imparts to the plunger  244 . 
     A crank  210  may be pivotally engaged with the housing  202  via a crank aperture  204  formed in the housing, a corresponding cover aperture  208   b  formed in the housing cover  208 , and a crank mount  212  formed in the crank  210 . In the illustrative embodiment of a crank  210  pictured herein, the crank mount  212  is generally formed as a tube or rod that fits into the crank aperture  204  and corresponding cover aperture  208   b . However, the latch mechanism  200  and/or soft recoil system  10  disclosed and claimed herein is not limited by the configuration of the crank aperture  204 , housing cover  208 , and/or the crank mount  212 . The crank may include a crank arm  214  (two of which are shown in the illustrative embodiment of a latch mechanism  200  pictured herein) extending from the crank mount  212 . 
     A lever member  213  may be cooperatively engaged with the crank  210  such that the lever member  213  communicates mechanical forces to the crank  210  and vice versa. In the illustrative embodiment of the latch mechanism  200 , the lever member  213  is operable to communicate at least rotational forces to the crank  210  via the crank mount  212 , and is positioned on the exterior of the housing cover  208 . A rotational biasing member  215 , which may be configured as a torsion spring in certain embodiments of the latch mechanism  200 , may bias the crank  210  in a counterclockwise direction from the vantage shown in  FIGS. 18A &amp; 18B . The housing  202  may be configured with a stop wall  202   a  to limit the degree of rotation the crank  210  may experience with respect to the housing  202 . Generally the stop wall  202   a  will provide a limit to the rotation of the crank  210  due to rotational biasing force that the rotation biasing member  215  imparts to the crank  210 . The position of the stop wall  202   a  may be adjustable to optimize how the latch mechanism  200  functions for a specific application of the soft recoil system  10 . 
     A link  220  may communicate mechanical forces between the crank  210  and the latch assembly  240 . A link first end  222  may be pivotally engaged with the latch assembly  240  at the link connector(s)  243 . A link second end  224  may be pivotally engaged with the crank  210  at the distal end of the lever member(s)  213 . In the illustrative embodiment of a latch mechanism  200  pictured herein, the link  220  is curved downward from the vantage depicted in  FIGS. 18A &amp; 18B . This allows the axis of rotation of the crank  210  (generally the radial centerline of the crank aperture  204  and crank mount  212 ) to be positioned below a line connecting the rotational axis of the link first end  222  and the rotational axis of the link second end  224  (referred to herein as “the connecting line”). 
     When the latch mechanism  200  is in the position shown in  FIGS. 14A, 17A, and 18A , the latch mechanism  200  prevents the recoiling parts from moving forward (i.e., to the right from the vantage depicted in  FIGS. 14A, 18A &amp; 18B ). In this position, the latch point  36   a  directly contacts the plunger face  244   a , and imparts a rotational biasing force in the clockwise direction to the latch assembly  240 . However, as long as axis of rotation of the crank mount  212  with respect to the crank aperture  204  remains below the connecting line (as defined above), that rotational biasing force will not result in any linear or rotational motion of any parts of the gun  12  and/or soft recoil system  10 . 
     A trip assembly  230  may be pivotally engaged with a housing cover  208  via a trip assembly bracket  208   a  formed in the housing cover  208  and a trip mount  232  formed in the trip assembly  230 . In the illustrative embodiment of a trip assembly  230  pictured herein, the trip assembly bracket  208   a  is generally formed as a channel bracket having at least one aperture, wherein the trip assembly bracket  208   a  is engaged with the exterior surface of the housing cover  208 , and the trip mount  232  is generally formed as a tube or rod that fits into the aperture formed in the trip assembly bracket  208   a  and a corresponding cover aperture  208   b . However, the latch mechanism  200  and/or soft recoil system  10  disclosed and claimed herein is not limited by the configuration of the trip assembly bracket  208   a , housing cover  208 , and/or the trip mount  232 . A lever member engager  234  may extend from the trip assembly  230  to engage the lever member  213  when the crank  210  and trip assembly  230  are in a certain orientation with respect to one another. 
     To release the recoiling parts (and thereby begin the run-up phase), a user may rotate the trip assembly  230  in a counterclockwise direction. This may be done manually via pulling a lanyard that is connected to the trip assembly  230 . The illustrative embodiment of the trip assembly  230  includes a bar  236  engaged with the trip assembly such that rotating the bar  236  causes the trip assembly  230  to rotate. The bar  236  may serve as an attachment point for a lanyard. Additionally, a safety mechanism may be engaged with the housing  202  adjacent the bar  236  to prevent an unwanted release of the latch mechanism  200 . 
     The rotation of the trip assembly  230  causes the lever member engager  234  to contact the lever member  213 . Continuing to rotation the trip assembly  230  in a counterclockwise direction causes the lever member  213  to rotate in a clockwise direction, which causes the crank  210  to rotation in a clockwise direction. This rotation of the crank  210  causes the link second end  224  to move down with respect to the link first end  222 . When the connecting line passes below the axis of rotation of the crank mount  212  with respect to the crank aperture  204 , the rotational biasing force the latch point  36   a  imparts to the latch assembly  240  via the plunger  244  will cause the latch assembly  240  to rotate clockwise, thereby releasing the recoiling parts and beginning the run-up phase (which position of the latch mechanism  200  is depicted in  FIGS. 14B, 17B &amp; 18B ). After the recoiling parts have been released from the latch mechanism  200  and the run-up phase has begun, the rotational biasing member  215  may be configured such that it causes the crank  210  to rotate counterclockwise until the distal end of the crank arm(s)  214  and/or link second end  224  engage the stop wall  202   a , which resets the latch mechanism  200 . 
     When the recoiling parts are moving rearward during the recoil phase, the latch point  36   a  on the recoiling parts will typically pass the latch position. The latch point  36   a  will typically overcome the biasing force that the biasing member  245  places on the plunger  244  due to the kinetic energy of the recoiling parts, thereby depressing the plunger  244  and allowing the recoiling parts to pass freely rearward of the latch position (as shown in  FIG. 14C ). After the latch point  36   a  has passed rearward of the latch position, the biasing member  245  is designed to return the plunger  244  to the extended position (shown in  FIGS. 14A, 17A &amp; 18A ) so it may engage the latch point  36   a  during the counter-recoil phase. 
     The link  220  in the illustrative embodiment of the latch mechanism  200  is designed to serve two functions, both of which may be achieved through a curved configuration of the link  220  as shown for the illustrative embodiment of a latch mechanism  200  as pictured herein. First, as part of the over-centered linkage system comprised of the crank  210 , link  220 , and latch assembly  240 , the link  220  cooperates to hold the latch assembly  240  in position to overcome the potential energy of the compressed fluid in the soft recoil system  10  and thereby selectively prevent the recoiling parts from accelerating forward (i.e., entering the run-up phase). Secondly, the link  220  provides a shock absorbing capacity to the latch mechanism  200 . When the recoiling parts impact the plunger  244  during the counter-recoil phase, the tensile load imparted to the link  220  causes the curvature of the link  200  to straighten, thereby slightly lengthening the link  220 . This lengthening of the link  220  absorbs a portion of the impact energy recoiling parts impart to the latch mechanism in much the same way a spring would absorb that energy. It is contemplated that in the illustrative embodiment of the latch mechanism  200 , the link  220  will absorb normal impact loads without permanent deformation. It is also contemplated that the link  220  in the illustrative embodiment of the latch mechanism  200  will provide additional protection from damage to the various elements of the latch mechanism  200  (which damage may be caused by excessive impact loads) by straightening to the point that the over-center distance in the retaining position of the latch mechanism (shown in  FIGS. 17A &amp; 18A ) is reduced to the point that it becomes negative. At this point the latch mechanism  200  would release the recoiling parts preventing possible damage to the latch mechanism  200 . Such excessive impact loads may be caused by counter-recoil control problems, and it is contemplated that a user should investigate the cause of such counter-recoil control problems before resuming normal operation. 
     Although the latch mechanism  200  pictured herein is generally manually operated, the latch mechanism  200  and/or soft recoil system  10  as disclosed and claimed herein is not so limited. The latch mechanism  200  may be outfitted with multiple layers of automation and/or actuation. For example, in an embodiment not pictured herein, the rotation of the trip assembly  230  may be caused by an electrical, pneumatic, or other type of powered actuator. Additionally, the rotational biasing member  215  and biasing member  245  may be electrical, pneumatic, or otherwise externally powered as opposed to being configured as mechanical springs. 
     The magnitude of the force(s) the rotational biasing member  215  imparts to the crank  210  and that the biasing member  245  imparts to the plunger  244  will vary from one embodiment of the latch mechanism  200  to the next, and are therefore in no way limiting to the scope thereof or to the scope of the soft recoil system  10 . Similarly, the force required to rotate the lever member  213  to a point at which the over-center orientation of the crank  210 , link  220 , and latch assembly  240  is eliminated will vary from one embodiment of the latch mechanism  200  to the next, and are therefore in no way limiting to the scope thereof or to the scope of the soft recoil system  10 . 
     In the embodiment pictured herein, it is contemplated that the latch mechanism  200  may be secured to the mounting bracket  57  adjacent the end of the actuator  16  opposite the base  14 . However, the latch mechanism  200  may be secured to any other suitable structure for the particular embodiment of the gun  12 , base  14 , and/or soft recoil system  10  without limitation. The various components of the latch mechanism  200  may be constructed of any suitable material for the particular application of the latch mechanism  200 . Such materials include but are not limited to metal, metallic alloys, synthetic materials, and combinations thereof 
     The optimal dimensions and/or configuration of the yokes  32 ,  34 ,  36 , flange  39 , tie rods  40 , rail guides  50 ,  60 , recoil cylinders  51 ,  61 , recoil rods  52 ,  62 , recuperators  56 ,  66 , recoil piston(s)  64 , mounting bracket  57 , crossover bracket  59 , floating piston  67 , outer cylinder  71 , partition  74 , inner cylinder  81 , stop element  83 , check valve  100 , latch mechanism  200 , counter-recoil control valve  110 , misfire recovery system  130 , and various components thereof or interacting there with will vary from one embodiment of the soft recoil system  10  to the next, and are therefore in no way limiting to the scope thereof. 
     A gun  12  outfitted with the illustrative embodiment of the soft recoil system  10  disclosed herein conserves a portion of the energy from the firing of the round rather than simply dissipating that energy. The soft recoil system  10  then uses that conserved energy to offset the recoil from the firing of the next round. This allows for a faster cycle time in firing (with cycle times being reduced by as much as 50%) and longer periods of effective use. Because less energy is transferred to the fluid in the soft recoil system  10  than that in prior art systems (which reduction is equal to the energy required to stop the recoiling parts during the “run-up” phase), the fluid stays cooler during use as compared to prior arty systems. 
     The components of the soft recoil system  10  may be made any materials having the desired characteristics for the specific application of the soft recoil system  10  including but not limited to metals, metallic alloys, synthetic materials, and/or combinations thereof. For example, it is contemplated that for some applications of the soft recoil system  10  it will be advantages to construct the inner cylinder  81  using high-strength steel. Since the internal surfaces of the outer and inner cylinders  71 ,  81  may be exposed to high pressures, the internal surface of the cylinders  71 ,  81  must be strong enough to resist bursting. Additionally, it is contemplated that the inner cylinder  81  must be configured so that it resists deformation to mitigate leakage between it and recoil piston  64 . The material used for the inner cylinder  81  must also exhibit a high degree of wear resistance as the recoil piston  64  moves forward and rearward repeatedly therein. While other materials might be selected (including but not limited to metal, metallic alloys, synthetic materials, and/or combinations thereof), high-strength steel may be a preferred choice for various embodiments of the soft recoil system  10  when considering cost, weight, and performance. 
     In certain applications of the soft recoil system  10  the recoil rods  52 ,  62  may be made from high-strength steel with a chrome-plated outside diameter. The high-strength steel provides the necessary strength and resistance to buckling. The chrome plating provides the degree of corrosion resistance necessary and functions efficiently for the dynamic seal interface purposes. It is contemplated that in the illustrative embodiment of the soft recoil system  10  the recoil piston  64  may be made from materials such as nodular cast iron or bronze. Both of these materials provide a certain amount of natural lubricity for sliding on materials such as steel. However, other materials may be used without limitation. 
     It is contemplated that for the illustrative embodiment of the soft recoil system  10 , the outer cylinder  71  may be made from medium-strength aluminum. Since the high-pressure operations are generally confined to the inside of the inner cylinder  81 , lower strength, lighter weight materials may be used for fluid transfer functions and lighter structural requirements. However, other materials may be used without limitation. Inasmuch as the soft recoil system  10  described and disclosed herein is subject to many variations, modifications and changes in detail, it is intended that all matter contained in the forgoing description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense. 
     Although the specific embodiments pictured and herein pertain to a soft recoil system  10  adapted for use with a howitzer artillery piece, the soft recoil system  10  may be adapted for use with other types of gun  12 , such as mortars. Additionally, it is contemplated that the soft recoil system  10  may be adapted for use with artillery pieces other than those shown herein, wherein those artillery pieces fire different rounds, have barrels  20  of differing lengths, are mounted to different structures, or are generally designed for different uses than the gun  12  pictured herein. Accordingly, it is contemplated that certain embodiments of the soft recoil system  10  may be adapted for use with artillery weapons of various sizes and mortar weapons of various sizes, regardless of whether such weapons are vehicle mounted or otherwise. 
     The soft recoil system  10  may be configured with other orientations and/or with different quantities of the various elements having different shapes and/or orientations than those shown and described herein without limitation. Accordingly, the scope of the soft recoil system  10  is in no way limited by the specific shape and/or dimensions of the barrel  20 , rails  28 ,  30 , yokes  32 ,  34 ,  36 , flange  39 , tie rods  40 , rail guides  50 ,  60 , recoil cylinders  51 ,  61 , recoil rods  52 ,  62 , recuperators  56 ,  66 , recoil piston(s)  64 , mounting bracket  57 , crossover bracket  59 , floating piston  67 , outer cylinder  71 , partition  74 , inner cylinder  81 , stop element  83 , check valve  100 , or the relative quantities and/or positions thereof. 
     Having described the preferred embodiment, other features, advantages, and/or efficiencies of the soft recoil system  10  will undoubtedly occur to those versed in the art, as will numerous modifications and alterations of the disclosed embodiments and methods, all of which may be achieved without departing from the spirit and scope of the soft recoil system  10  as disclosed and claimed herein. It should be noted that the soft recoil system  10  is not limited to the specific embodiments pictured and described herein, but are intended to apply to all similar apparatuses for mitigating recoil force and/or conserving the energy expended during the firing of a round. Modifications and alterations from the described embodiments will occur to those skilled in the art without departure from the spirit and scope of the soft recoil system  10 .