Unmanned aerial vehicle container continuous launching device based on friction wheels

Abstract

The invention discloses an unmanned aerial vehicle container continuous launching device based on friction wheels, and relates to the technical field of unmanned aerial vehicle launching. The problems that in the prior art, friction wheel driving efficiency is insufficient, continuous launching supply is difficult, and an unmanned aerial vehicle is damaged are solved. Comprising a container forming a launching system frame, a first transportation carrier used for transferring the unmanned aerial vehicle in the container, a second transportation carrier used for bearing the unmanned aerial vehicle in the launching stage, a friction wheel launching mechanism providing launching power and an unlocking mechanism achieving separation of the unmanned aerial vehicle and the carriers. The stability of friction wheel launching and the cluster continuous launching efficiency are improved, the storage, transfer and launching functions of the unmanned aerial vehicle are highly integrated, and the method is suitable for scenes with extremely high deployment speed requirements.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) launch technology, and specifically to a continuous launch device for a cluster of fixed-wing UAVs that can be integrated into a standardized shipping container. Background Technology

[0002] In UAV swarm launch technology, the friction wheel launch method has the advantages of not requiring structural modifications to the UAVs and stable power output. Among the existing published UAV launch devices based on friction wheels, such as the fixed-wing UAV launcher and launch method with publication number CN118182912A, a method of using a tray plus friction wheel assembly to launch UAVs and using a camera to capture information feedback in real time to adjust the launch of UAVs to achieve the effect of UAV formation.

[0003] However, existing technologies still have the following significant limitations: First, the existing friction wheel launch mechanism has a limited contact area with the drone or carrier, which can easily lead to fluctuations in the initial launch velocity due to unstable friction, affecting the drone's takeoff attitude. Second, some devices do not dynamically adjust the contact pressure between the friction wheel and the carrier, which can easily cause slippage or excessive compression of the wings when launching drones of different weights. The former leads to launch failure, while the latter may damage the drone's structure.

[0004] Secondly, the bottleneck of continuous cluster launch is prominent. Existing cluster launch devices mostly rely on manual or semi-automatic methods to complete UAV resupply and alignment. The single-rail design of the friction wheel launch mechanism cannot achieve parallel "launch-resupply" operation. The interval between single launches generally exceeds 30 seconds, which is difficult to meet the cluster launch requirements of "dozens of launches with second-level intervals". In addition, there is a lack of standardized mechanisms for the storage and transfer of UAVs in containers. Different UAV models require customized adaptation components, resulting in poor versatility and further restricting the efficiency of continuous launch.

[0005] Third, the integration level is low. The friction wheel launching mechanism and storage unit are often designed separately. When deploying, a separate launching rack and storage platform need to be built, which occupies a lot of space and is inconvenient to move. Especially in complex terrain or emergency scenarios, it is difficult to quickly complete the deployment and form a cluster combat capability.

[0006] Therefore, how to optimize the friction wheel drive structure to overcome the various defects of the existing technology has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] To address the above problems, this invention proposes a continuous launch device for UAVs based on friction wheels. This device solves the problems of insufficient driving efficiency of friction wheels, difficulty in continuous launch and resupply, and damage to UAVs in the prior art. It realizes the resupply of UAVs by dual transport carriers, provides a larger contact area with the friction wheels, and multiple sets of friction wheels jointly generate power. The modular design can adapt to the launch of various fixed-wing UAVs.

[0008] The technical solution of the present invention includes a container constituting the frame of the launch system, a first transport carrier for transferring UAVs within the container, a second transport carrier 25 for carrying UAVs during the launch phase, a friction wheel launch mechanism that provides launch power, and an unlocking mechanism 28 that enables the separation of the UAV from the carrier. The container includes an upper cover 2 and a lower body 1. The rear of the upper cover 2 is hinged to the lower body 1, and a first hydraulic rod 10 for driving the upper cover 2 to rise and fall is installed at the front of the lower body 1. Tracks 4 for maintaining docking are fixedly installed on the inner walls of the lower body 1 and the upper cover 2. The friction wheel launching mechanism includes a launching rail 6 fixedly installed in the upper cover 2 and a friction wheel 9 for rapidly pushing the transport carrier 25. The launching rail 6 is connected to the rail 4 in the upper cover 2. The transport carrier moves along the track 4 and has grippers 27 for holding the wingtips of the drone. The transport carrier 25 clamps the wing root of the drone, and after contacting the friction wheel 9, it drives the drone to move forward quickly. After contacting the unlocking mechanism 28, it releases the clamp and leaves the container.

[0009] Furthermore, one end of the first hydraulic rod 10 is hinged to the outer wall of the front part of the lower housing 1, and the other end is hinged to the outer wall of the front part of the upper cover 2.

[0010] Furthermore, the tracks 4 in the lower box 1 and the upper cover 2 are connected end to end, allowing the transport carrier to circulate within the container.

[0011] Furthermore, there are multiple friction wheels 9, which are symmetrically distributed in two rows on the launch track 6 and are all higher than the launch track 6. The friction wheels 9 are connected to a rotational power source to drive the friction wheels 9 to rotate at high speed around their own axis.

[0012] Furthermore, a pair of parallel rolling rails 5 are installed on the launch track 6. The rolling rails 5 are symmetrically distributed on both sides of the launch track 6 and support the wingtips of the UAV through free rollers to stabilize the UAV.

[0013] Furthermore, the transport carrier includes a slide rod 16, a gripper shaft 17, a telescopic rod 18, and a gripper 27. One end of the slide rod 16 extends into the track 4, and a power source for the slide rod 16 is provided in the track 4. The gripper shaft 17 is fixedly connected between the slide rod 16 and the telescopic rod 18, so that the telescopic rod 18 remains perpendicular to the track 4. The gripper 27 includes a servo motor and a pair of horizontally arranged gripping fingers. One of the gripping fingers is fixedly mounted on the telescopic rod 18. The servo motor is also fixedly mounted on the telescopic rod 18 and is fixedly connected to the other gripping finger. The servo motor drives the pair of gripping fingers to move towards or away from each other.

[0014] Furthermore, the second transport carrier includes a main body 251, a bearing 252, a hinge 253, a top block 254, and a movable block 255. The main body 251 includes a base and a support fixedly installed on the base for locking the wing root of the drone. The movable block 255 is hinged to the front of the support through the hinge 253 and normally cooperates with the support to lock the wing root of the drone. The base has a blind hole on its front end face for accommodating the top block 254. The top block 254 and the movable block 255 are connected by a rope, and the rope passes around the bearing 252 hinged to the upper part of the front end face of the base.

[0015] Furthermore, the unlocking mechanism includes a fixed shaft fixedly installed at the front of the launch track 6 and a triangular seat rotatably mounted on the fixed shaft, wherein a cylinder adapted to the blind hole is fixedly installed on each end face of the triangular seat.

[0016] To address the shortcomings of existing technologies, this invention optimizes the friction wheel drive structure, designs a dual-transport carrier collaborative mechanism (i.e., relying on transport carrier one and transport carrier two to achieve the transportation and launch of UAVs), and integrates a container-integrated solution. The aim is to improve the stability of friction wheel launch and the efficiency of continuous swarm launches, highly integrating the storage, transfer, and launch functions of UAVs. This makes it suitable for scenarios with extremely high requirements for deployment speed and continuous launch, such as disaster emergency response, large-scale mapping, and communication relay networking swarm operations. It can significantly improve the rapid response and continuous operation capabilities of UAV swarms.

[0017] In summary, the advantages of this invention are: First, using a container as the framework for the entire launch system can integrate the storage, resupply, and launch of UAVs, making it applicable to vehicle-mounted and other situations with good adaptability. Second, the use of dual transport carriers minimizes damage and modification to the UAV, increases the launch efficiency of the friction wheel, and can also adapt to various fixed-wing UAVs with only minor modifications to some parts. Third, the separate upper and lower design solves the problem of inconvenient angle changes in the launch trajectory; Fourth, it can launch continuously, which can significantly improve the rapid response and continuous operation capabilities of the drone swarm. Attached Figure Description

[0018] Figure 1 An isometric view of a container-based continuous launch device for unmanned aerial vehicles (UAVs) based on friction wheels, provided in an embodiment of this application. Figure 2 A top view of a containerized continuous launch device for unmanned aerial vehicles based on friction wheels, provided in an embodiment of this application; Figure 3 A half-sectional view of a side view of a friction wheel-based unmanned aerial vehicle (UAV) container continuous launch device provided in an embodiment of this application; Figure 4 An isometric view of the second transport carrier provided in the embodiments of this application; Figure 5 Axonometric views of transport carrier one and transport carrier two fixed on a drone, as provided in the embodiments of this application; Figure 6 An isometric view of the unlocking mechanism provided in the embodiments of this application; Figure 7 A side view of a friction wheel-based UAV container continuous launch device during angled launch, provided in an embodiment of this application; Figure 8 This is a schematic diagram showing the interaction between the transport carrier 2 and the rotating block when it is unlocked, as provided in the embodiments of this application. Figure 9 A partial schematic diagram of a transport carrier clamping a drone according to an embodiment of this application; Figure 10 A partial schematic diagram of a chain that drives a transport carrier to move, as provided in an embodiment of this application.

[0019] Related component descriptions: 1 is the lower housing, 2 is the upper cover, 3 is the second hydraulic rod, 4 is the track, 5 is the rolling slide rail, 6 is the launch track, 7 is the connecting rod, 9 is the friction wheel, and 10 is the first hydraulic rod; 16 is the sliding rod, 17 is the gripper pivot, and 18 is the telescopic rod; 251 is the main body, 252 is the bearing, 253 is the hinge, 255 is the moving block, 254 is the top block, 27 is the gripper, and 28 is the unlocking mechanism. Detailed Implementation

[0020] To clearly illustrate the technical features of the present invention, the present invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0021] Reference Figures 1-9This invention provides a friction wheel-based container-based continuous launch device for unmanned aerial vehicles (UAVs), comprising a container (including an upper cover 2 and a lower body 1) forming the launch system framework, a first transport carrier for transferring UAVs within the container, a second transport carrier 25 for carrying the UAVs during the launch phase, a friction wheel launch mechanism (including a launch track 6 and friction wheels 9) providing launch power, and an unlocking mechanism 28 for separating the UAVs from the carrier. This device, by integrating storage, transport, and launch functions, solves the technical problems of low launch efficiency, difficulty in continuous launch, and poor versatility of existing friction wheel launch systems, enabling rapid deployment and efficient launch of UAV swarms.

[0022] Reference Figure 1 , Figure 7 The first hydraulic rod 10 generates thrust to push the upper cover 2 to rotate around the tail hinge axis, and the second hydraulic rod 3 extends synchronously to provide auxiliary support, so that the upper cover 2 and the lower housing 1 form a set launch elevation angle; when the upper cover 2 rotates, the launch rail 6 is pulled synchronously around the tail hinge axis via the connecting rod 7. Figure 7 (Arrow direction), ensuring the launch axis of the track is aligned with the elevation angle of the top cover. The center of the arc groove trajectory of track 4 is concentric with the hinge axis ( Figure 1 (dashed line) to eliminate trajectory deviation when the transport vehicle moves.

[0023] Reference Figure 4 , Figure 5 , Figure 9 The transport carrier moves horizontally along track 4, its gripper 27 clamps the wing of the UAV 26 near the wingtip, transferring the UAV from the storage area to the launch track along track 4; upon reaching the positioning point, the gripper 27 releases the UAV via a servo motor, and then the motor drives the gripper shaft 17 to rotate counterclockwise around the axis (from... Figure 7 (Look straight ahead) to the horizontal position and continue moving along track 4.

[0024] Transport carrier 25 is fixed to the drone as it enters the container, and is covered and locked at the wing root by movable block 255. Figure 5 (Partial enlarged view); Top block 254 is connected to movable block 255 via rope passing around bearing 252, forming a linkage structure to be triggered; its main body 251 consists of a base and a support, with the support symmetrically distributed on both sides of the upper surface of the base. The part in contact with the wing is V-shaped and has multiple through holes. The lower part is supported by two columns to reduce mass. The base should be made of a smooth material to reduce friction between the base and the launch track 6 during launch. If this solution is used, a material with a high coefficient of friction needs to be glued to the surface in contact with the friction wheel to increase the power provided by the friction wheel; alternatively, the entire base can be made of a material with a high coefficient of friction, and free rollers can be installed in grooves on the lower surface of the base to reduce friction.

[0025] Reference Figure 2 , Figure 3 When the transport carrier 25 carrying the UAV is transported to the launch track 6 by the transport carrier 1, its lower end plane is parallel to the launch track 6 and very close but not in contact with it, while its side is in contact with the friction wheel 9. Figure 2 (Array layout); After being released by the gripper 27 of transport carrier one, it falls onto launch track 6 (due to the close distance and the support of rolling rail 5, the shaking is minimal). The friction wheel 9 rotates at high speed, generating friction with the contact surface of transport carrier two, thereby propelling transport carrier two 25 to accelerate along launch track 6; the rolling rail 5 is symmetrically distributed on both sides of the track, supporting the wingtip of the UAV through free rollers ( Figure 3 (Sectional profile) to stabilize the drone, while the rolling friction generated between the drone and the wing can reduce damage to the wing.

[0026] Reference Figure 4 , Figure 6 , Figure 7 When transport carrier 25 carrying the drone glides to the end of the track, the top block 254 impacts the cylinder of the unlocking mechanism 28. Figure 6 The three pairs of small cylinders on the side of the equilateral triangular prism structure, driven by impact, move the top block 254 backward. The backward displacement space is slightly larger than the position of the top block when the movable block 255 rotates to its maximum angle. Rubber or other materials are provided for cushioning at the tail. The rope pulls the movable block 255 to rotate in the opposite direction, releasing the wing root lock. Figure 4 (As indicated by the arrow), the UAV detaches from the transport carrier 25 under inertia and takes off at a set elevation angle. Figure 3 (dashed trajectory) The elasticity of the rope used is relatively small to ensure the synchronous movement of the top block 254 and the movable block 255, thereby reducing interference with the takeoff of the UAV.

[0027] In this case, the second transport carrier was assembled and installed on the outside of the drone. After the drone was launched, the second transport carrier was in an unlocked state and did not need to be restored autonomously. At this time, the second transport carrier had completed its mission and did not need to be restored autonomously. It only needed to be reassembled with the drone manually or by machine after recovery.

[0028] Regarding the locking limit, since the interaction between the drone and the second transport carrier is only during the transport and launch phases, the force during the transport phase is mainly the gravity of the second transport carrier, which is very small. During the launch phase, the part that propels the drone is the main body 251 rather than the movable block 255. Therefore, the force on the movable block 255 is very small throughout the entire process. Thus, the contact surface between the movable block 255 and the main body 251 can be provided with a component force that resists the gravity generated by the transport carrier 2, similar to a metal button or a magnet (not shown in the figure). Therefore, this case can further adopt a snap-on structure similar to a male and female button, or, without affecting the drone, use suitable magnets to install on the contact surface between the movable block 255 and the main body 251, thereby meeting the mission requirements, that is, installing a pair of buttons or a pair of magnets on the contact surface of the two structures respectively.

[0029] Reference Figure 6 After being impacted, the unlocking mechanism 28 is driven by a motor to rotate 120° around the central axis. A pair of small cylinders inserted in the second transport carrier drive the second transport carrier 25 to rotate and detach from the track. Then, the second transport carrier 25 falls at a 30° angle to the recovery box by gravity (the box can be placed at the front end and is not shown in the figure). The side of the unlocking mechanism 28 is perpendicular to the plane of the launch track 6 to prepare for the unlocking of the next drone. The soft rubber limit block absorbs the impact energy.

[0030] The rotation of the unlocking mechanism can be driven by a motor, so the angle is directly controlled by the motor. The shaft of the triangular seat is a rotating shaft. The direction of the impact of the second transport carrier on the unlocking mechanism is coplanar with the axis of the rotating shaft, so no axial force is generated. In addition, the connection between the triangular seat and the rotating shaft, as well as both ends of the rotating shaft, have soft rubber to absorb the impact force.

[0031] Continuous operation preparation: The previous transport carrier 1 rotates to a horizontal position and continues to move along track 4 without interfering with the subsequent drone. When the unlocking mechanism 28 throws the previous transport carrier 2 into the recovery box, the transport carrier 1 of the next drone moves synchronously to the launch position. Figure 3 (Sequential logic).

[0032] Replenishing drones in containers: When it is necessary to replenish drones, simply open the rear door of the container and install the drone with transport carrier two on transport carrier one.

[0033] Specifically, The transport carrier includes a slide bar 16 mounted on a container track, the slide bar being assembled on a drive chain (referring to...). Figure 10 The slide bar is driven by a chain, and the slide bar is fixed to the node of the chain (the slide bar is part of the chain). The chain is driven by several gears fixed at the corner of the container track.

[0034] The gripper shaft 17 is connected to the slide bar 16, the telescopic rod 18 is connected to the gripper shaft 17, and the gripper (composed of a servo motor, connecting rod, and gripper finger) is connected to the telescopic rod 18 via the shaft. The telescopic rod 18 needs to adjust the height of the UAV so that the bottom surface of the base of the transport carrier 25 is a small distance away from the upper surface of the launch track 6 when it is transported. The gripper shaft 17 needs to be perpendicular to the upper surface of the launch track 6 when transporting the UAV so that the bottom surface of the base of the transport carrier 25 is parallel to the upper surface of the launch track when the UAV is transported to the launch track. The connection between the gripper and the telescopic rod 18 can be fixed (just keep it perpendicular to the telescopic rod) or a servo motor can be installed to facilitate the gripper flipping and easier installation of the UAV when replenishing it later. The second transport carrier includes a main body 251, a movable block 255, and a main body 251. The airfoil generated by the main body 251 is the same as that of the drone. Some soft materials such as sponge can be added at the contact point with the wing to protect the drone body. When clamping the drone, a button-like buckle is used to restrict movement. The buckle is located on the contact surface between the two. The movable block 255 and the top block 254 are connected by a rope that passes around the bearing 252. The rotation axis of the movable block 255 is perpendicular to the direction of the rope. The track 4 is formed by the container shell. The suspended part is fixed with a flange that is the same as the track trajectory, which also provides some protection for the track. The space reserved between the flange and the container shell can allow the slide bar 16 to move between them. There is an arc at the rotation center of the top cover without a flange shell installed to ensure that there is no interference during rotation. The main body of the rolling slide rail 5 is connected to the launch rail 6 and symmetrically distributed on both sides of the rail. Its interior is hollowed out to reduce its mass. Only at the end that contacts the wing are multiple continuous small rollers (about 2.5 cm in diameter) installed to reduce damage to the wing. The unlocking mechanism 28 is a triangular prism with a set of cylinders on each side for pushing the top block 254 of the transport carrier 25. The distance between the cylinders is the same as the distance between the top blocks 254 of the transport carrier 25 and is greater than the belly of the UAV. The diameter of the cylinders is slightly smaller than the diameter of the opening at the front end of the top block 254 of the transport carrier 2 to ensure that the cylinders can be smoothly inserted into the hole at high speed. The middle of the triangular prism also has a triangular prism opening. When it is matched with the rotating shaft at the end of the launch track 6, the axis coincides. The cross-section of the rotating shaft is circular, and its diameter is smaller than the inscribed circle of the middle triangular prism. A rubber-like material is installed on the rotating shaft or the middle triangular prism surface of the unlocking mechanism to form a soft limit between the rotating shaft and the unlocking mechanism. A motor is installed on one side of the rotating shaft for rotating the unlocking mechanism.

[0035] The rotation of the unlocking mechanism is driven by a motor, so the angle is directly controlled by the motor. The shaft of the triangular seat is a rotating shaft. The direction of the impact generated by the transport carrier 2 on the unlocking mechanism is coplanar with the axis of the rotating shaft, so no axial force is generated. In addition, the connection between the triangular seat and the rotating shaft, as well as both ends of the rotating shaft, have soft rubber to absorb the impact force.

[0036] There are many specific ways to implement this invention. The above description is only a preferred embodiment of this invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this invention, and these improvements should also be considered within the scope of protection of this invention.

Claims

1. A continuous launch device for unmanned aerial vehicles (UAVs) based on friction wheels, characterized in that, It includes a container that forms the framework of the launch system, a transport carrier 1 for transferring UAVs inside the container, a transport carrier 2 for carrying UAVs during the launch phase (25), a friction wheel launch mechanism that provides launch power, and an unlocking mechanism (28) that separates the UAV from the carrier. The container includes an upper cover (2) and a lower body (1). The rear of the upper cover (2) is hinged to the lower body (1), and a first hydraulic rod (10) for driving the upper cover (2) to rise and fall is installed at the front of the lower body (1). Tracks (4) for maintaining docking are fixedly installed on the inner walls of the lower body (1) and the upper cover (2). The friction wheel launching mechanism includes a launching rail (6) fixedly installed in the upper cover (2) and a friction wheel (9) for quickly pushing the second transport carrier (25). The launching rail (6) is connected to the rail (4) in the upper cover (2). The transport vehicle travels on the track (4) and has grippers (27) for holding the wingtips of the drone. The transport carrier (25) clamps the wing root of the drone, drives the drone to move forward quickly after contacting the friction wheel (9), and releases the clamp after contacting the unlocking mechanism (28) and leaves the container.

2. The UAV container continuous launch device based on friction wheels according to claim 1, characterized in that, One end of the first hydraulic rod (10) is hinged to the outer wall of the front part of the lower box (1), and the other end is hinged to the outer wall of the front part of the upper cover (2).

3. The UAV container continuous launch device based on friction wheels according to claim 1, characterized in that, The tracks (4) in the lower box (1) and the upper cover (2) are connected end to end, so that the transport carrier moves in a loop in the container.

4. The UAV container continuous launch device based on friction wheels according to claim 1, characterized in that, The friction wheel (9) has multiple components, and is symmetrically distributed in two rows on the launch track (6), both of which are higher than the launch track (6). The friction wheel (9) is connected to a rotational power source to drive the friction wheel (9) to rotate at high speed around its own axis.

5. A continuous launch device for UAV containers based on friction wheels according to claim 1, characterized in that, A pair of parallel rolling slides (5) are also installed on the launch track (6). The rolling slides (5) are symmetrically distributed on both sides of the launch track (6) and support the wingtips of the UAV through free rollers to stabilize the UAV.

6. The UAV container continuous launch device based on friction wheels according to claim 1, characterized in that, The transport carrier includes a slide bar (16), a gripper shaft (17), a telescopic rod (18), and a gripper (27). One end of the slide bar (16) extends into the track (4), and a power source for the slide bar (16) is provided in the track (4). The gripper shaft (17) is fixedly connected between the slide bar (16) and the telescopic rod (18), so that the telescopic rod (18) remains perpendicular to the track (4). The gripper (27) includes a servo motor and a pair of horizontally arranged gripping fingers, one of which is fixedly mounted on the telescopic rod (18). The servo motor is also fixedly mounted on the telescopic rod (18) and is fixedly connected to the other gripping finger. The servo motor drives the pair of gripping fingers to move towards or away from each other.

7. A continuous launch device for UAV containers based on friction wheels according to claim 1, characterized in that, The second transport carrier includes a main body (251), a bearing (252), a hinge (253), a top block (254), and a movable block (255). The main body (251) includes a base and a support fixedly installed on the base for locking the wing root of the drone. The movable block (255) is hinged to the front of the support through the hinge (253) and normally cooperates with the support to lock the wing root of the drone. The base has a blind hole on its front end face for accommodating the top block (254). The top block (254) and the movable block (255) are connected by a rope, and the rope passes around the bearing (252) hinged to the upper part of the front end face of the base.

8. A continuous launch device for UAV containers based on friction wheels according to claim 7, characterized in that, The unlocking mechanism includes a fixed shaft fixedly installed at the front of the launch rail (6) and a rotatable triangular seat mounted on the fixed shaft. A cylinder adapted to the blind hole is fixedly installed on each end face of the triangular seat.

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