Single and row-connected track catapults for unmanned aerial vehicles and their launching methods

Abstract

A single-unit and row-connected track catapult for unmanned aerial vehicles and its launching method. The flexible combined row-connected track catapult for unmanned aerial vehicles comprises a parallel connection of several single-unit unmanned aerial vehicle catapults. Each single-unit unmanned aerial vehicle catapult includes a main frame body, a main track trolley, an elastic component, a locking and releasing mechanism, and a buffer mechanism. The flexible combined row-connected track catapult for unmanned aerial vehicles is applicable to multiple unmanned aerial vehicles combined through a wingtip connection structure. Through the flexible combined row-connected track catapult provided by the present invention, the synchronous launching of the flexible combined unmanned aerial vehicles is realized, avoiding the problem of damage caused by uncoordinated forces at the wing joints. The single-unit unmanned aerial vehicle catapult, the row-connected track catapult, and their launching methods have the characteristics of adjustable launching angle, adjustable launching speed, good synchronization, and strong versatility.

Description

Technical Field

[0001] The present invention relates to the field of aircraft design, and more particularly to a single-unit catapult for unmanned aerial vehicles, a multi-row track catapult, and a launching method thereof. Background Art

[0002] Due to the characteristic of not requiring an on-board pilot, unmanned aerial vehicles can be applied to more demanding and dangerous mission environments, and there is no need to install equipment such as life support systems and cockpits. Therefore, under the same weight, more mission payloads can be carried, achieving the goal of aircraft lightweight. With the development of the unmanned aerial vehicle industry, unmanned aerial vehicles that were previously mainly used for military purposes are gradually moving into civilian missions and are widely used in environmental monitoring, line patrol, high-altitude survey, topographic mapping, aerial photography, and other aspects. Currently, the main development directions of unmanned aerial vehicles are low-altitude digitization (small unmanned aerial vehicles), high-altitude long endurance (large aspect ratio unmanned aerial vehicles), and swarm intelligence. China's "National Strategic Emerging Industry Development Plan" clearly puts forward development requirements such as "developing comprehensive, general, and intelligent communication, navigation, and control systems, and developing a technical system and equipment for multi-class airspace integrated application". Facing the development needs of the civil-military integration application of unmanned aerial vehicles, and combining the characteristics of large aspect ratio and thin and light fuselage of high-altitude long endurance aircraft and the characteristics of low cost, flexible structure, and clustering of low-altitude digital small unmanned aerial vehicles, the research team proposed an innovative clustering formation in which multiple small unmanned aerial vehicles are connected in parallel through flexible wing connections to form a large aspect ratio combined aircraft, and carried out the overall design and subsystem design of the combined aircraft.

[0003] The flexible combined unmanned aerial vehicle takes low-cost, highly reliable, and easily grouped medium and small unmanned aerial vehicles as basic units, and several single units are connected through flexible structures to form a large aspect ratio collaborative whole, as shown in Figure 1 . Flexible combination is the characteristic of the combined unmanned aerial vehicle, and the flexible structure is realized by using elastic materials or flexible mechanisms with a certain direction-limited degree of freedom deformation. The flexible combined unmanned aerial vehicle mainly has the characteristics of low flight speed, large aspect ratio, and flexible connection.

[0004] The take-off (launch) and landing (recovery) phases of an unmanned aerial vehicle are often considered the most difficult and crucial phases in the combat application of unmanned aerial vehicles, which directly affect the combat maneuverability, regional adaptability, reusability, survivability and other combat performance indicators and requirements of the unmanned aerial vehicle system. Therefore, selecting and determining a suitable combination of unmanned aerial vehicle (launch) and landing (recovery) methods is an important task to be completed in the overall design of the unmanned aerial vehicle system. At present, there is no dedicated research on the take-off and landing technology for this new type of unmanned aerial vehicle. The commonly used launch technologies in the past mainly include rocket boost, rail ejection, air launch, vehicle-mounted launch, hand-throw launch and vertical take-off. Among the launch schemes applicable to flexible combined unmanned aerial vehicles, comparatively speaking: 1. Ground taxiing depends on airport runways or good ground environmental conditions, with poor mobility, and the landing gear part also needs to occupy some on-board space and weight of the unmanned aerial vehicle; 2. Air launch requires a suitable carrier aircraft to provide a launch platform, depends on the support system, has a high use cost and poor mobility; 3. Hand-throw launch is a feasible scheme, but the take-off weight is limited; 4. Vehicle-mounted launch is simple and reliable, but the take-off speed needs to be less than the speed that the vehicle can reach, and a certain length of flat road surface or runway is required during launch; 5. The ground ejection method using an ejection rack has good mobility, good safety, good concealment and low use cost, and can meet the requirements of economy and operability. However, for flexible combined unmanned aerial vehicles with a large aspect ratio, higher requirements for synchronization and reliability are needed, and ordinary ejection methods cannot guarantee the synchronization and versatility requirements during the launch phase. Therefore, research on the characteristics and design schemes of the launch of combined unmanned aerial vehicles needs to be carried out. Summary of the Invention

[0005] In view of this, the main object of the present invention is to provide a single unmanned aerial vehicle ejection rack, a row-connected rail ejection rack and their launch methods, in order to at least partially solve at least one of the above-mentioned technical problems.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] As an aspect of the present invention, a single unmanned aerial vehicle ejection rack is provided, including:

[0008] A main frame body, with the two ends in the extending direction of the main frame body being the starting end and the ending end respectively;

[0009] A main track trolley, slidably arranged on the main frame body, for carrying and launching an unmanned aerial vehicle;

[0010] An elastic member, arranged at the ending end of the main frame body, for driving the main track trolley to move along the main frame body from the starting end to the ending end by stretching the elastic force;

[0011] A locking and releasing mechanism, arranged at the starting end of the main frame body, for controlling the locking or releasing of the main track trolley at the starting end;

[0012] A buffer mechanism is provided at the end of the main frame body and is used to prevent the continued movement of the main track trolley and absorb the kinetic energy of the main track trolley;

[0013] Wherein, when the main track trolley moves to contact the buffer mechanism under the traction of the elastic member, the main track trolley and the carried unmanned aerial vehicle move relatively and separate, realizing the catapult take-off of the unmanned aerial vehicle.

[0014] As another aspect of the present invention, there is also provided a flexible combined unmanned aerial vehicle row track catapult rack, which includes a number of single unmanned aerial vehicle catapult racks arranged in parallel as described above.

[0015] As yet another aspect of the present invention, there is also provided a launching method using the flexible combined unmanned aerial vehicle row track catapult rack as described above, including the following steps:

[0016] Step 1: A number of flexible combined unmanned aerial vehicles are respectively arranged on the respective main track trolleys of the flexible combined unmanned aerial vehicle row track launching rack. The elastic member applies a tensile elastic force to the main track trolley at the starting end, and the locking and releasing mechanism applies a locking force to the main track trolley that balances the tensile elastic force;

[0017] Step 2: The locking and releasing mechanism releases the locking force on the main track trolley, and the main track trolley drives the flexible combined unmanned aerial vehicle to move from the starting end to the end of the main frame body under the drive of the elastic member;

[0018] Step 3: When the main track trolley contacts the buffer mechanism, the main track trolley and the flexible combined unmanned aerial vehicle move relatively until they separate, completing the catapult take-off of the flexible combined unmanned aerial vehicle.

[0019] Based on the above technical solutions, compared with the prior art, the present invention has at least one or some of the following beneficial effects:

[0020] The flexible combined unmanned aerial vehicle row track catapult rack of the present invention adopts the parallel mode of single unmanned aerial vehicle catapult racks, and adapts to the catapult requirements of different numbers of flexible combined unmanned aerial vehicles by paralleling different numbers of single unmanned aerial vehicle catapult racks;

[0021] The single unmanned aerial vehicle catapult rack adopted by the flexible combined unmanned aerial vehicle row track catapult rack of the present invention uses an elastic member to provide driving force, uses a buffer mechanism to achieve catapulting, and uses a locking and releasing mechanism to control the operation, with high safety and a simple and energy-saving driving method;

[0022] The flexible combined UAV row track catapult of the present invention adopts an electric magnetic adsorption type locking and releasing mechanism, which can ensure the instantaneity, synchronism and reliability of the single-machine release of each UAV catapult, and avoid damage to the flexible combined UAV caused by the launch difference of different UAV catapult single machines;

[0023] Each main frame body of the flexible combined UAV row track catapult of the present invention has an adjustable function, which can realize the selection of different launch angles and different launch speeds, and can simultaneously meet the launch requirements of flexible combined UAV configurations with different wingspans and different fuselage lengths. Brief Description of the Drawings

[0024] Figure 1 Schematic diagram of a flexible combined UAV;

[0025] Figure 2 Stereoscopic schematic diagram of a single UAV catapult in Embodiments 1-3 of the present invention;

[0026] Figure 3 Schematic diagram of the U-shaped groove of the fuselage mounting part and the U-shaped boss of the fuselage bracket in Embodiments 1-3 of the present invention;

[0027] Figure 4 Front view schematic diagram of the main track pulley in Embodiments 1-3 of the present invention;

[0028] Figure 5 Stereoscopic schematic diagram of the wing bracket in Embodiments 1-3 of the present invention;

[0029] Figure 6 Right view schematic diagram of the electromagnetic chuck in Embodiments 1-3 of the present invention;

[0030] Figure 7 Stereoscopic schematic diagram of the row track catapult in Embodiments 2-3 of the present invention.

[0031] In the above drawings, the meanings of the corresponding reference numerals are as follows:

[0032] 1. Flexible combined UAV; 2. Support column; 3. Launch angle positioning hole; 4. Launch angle positioning bolt; 5. Slot; 6. Elastic component; 7. Buffer mechanism; 8. Fuselage bracket; 9. U-shaped boss; 10. Wing bracket; 11. Main track pulley; 12. Electromagnetic chuck; 13. Ground support; 14. Positioning rod; 15. Positioning support; 16. Towing rope; 17. Launch speed positioning hole; 18. Pulley; 19. Main frame body; 20. Suction cup power signal line; 21. Winch power signal line; 22. Electric winch; 23. Power signal controller; 24. Fuselage mounting part; 25. U-shaped groove; 26. Single UAV catapult rack; 27. Parking angle positioning hole; 28. Parking angle positioning bolt; 29. Vertical section of wing bracket; 30. Horizontal section of wing bracket; 31. Wingspan positioning hole; 32. Wingspan positioning bolt; 33. Fuselage length positioning hole; 34. Lobe; 35. Fuselage length positioning bolt; 36. Tightening bolt. Detailed implementation mode

[0033] The main purpose of the present invention is to solve the deficiencies of the prior art in the catapult of large-aspect-ratio flexible combined UAVs, and to research and provide a single UAV catapult rack, a row of track catapult racks and their launching methods.

[0034] The flexible combined UAV row of track catapult racks includes several single UAV catapult racks connected in parallel. The single UAV catapult rack includes a main frame body, a main track pulley, an elastic component, a locking and releasing mechanism, and a buffer mechanism. The flexible combined UAV row of track catapult racks is applicable to multiple UAVs combined through wingtip connection structures, and realizes the synchronous launching of flexible combined UAVs through the flexible combined UAV row of track catapult racks provided by the present invention, avoiding the phenomenon of damage caused by uncoordinated forces at the wing joints. The single UAV catapult rack, the row of track catapult racks and their launching methods have the characteristics of adjustable launch angle, adjustable launch speed, good synchronization and strong versatility.

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the following combines specific embodiments and refers to the drawings to further elaborate on the present invention in detail.

[0036] Embodiment 1

[0037] In the first exemplary embodiment of the present invention, as Figure 2-6 shown, a single UAV catapult rack is provided, including:

[0038] The main frame body 19, the two ends of the extension direction of the main frame body 19 are the starting end and the ending end respectively;

[0039] The main track pulley 11, which is slidably arranged on the main frame body 19 and is used to carry and launch the UAV;

[0040] The elastic member 6 is arranged at the end of the main frame body 19 and is used to drive the main track trolley 11 to move along the main frame body 19 from the starting end to the ending end by stretching elasticity;

[0041] The locking and releasing mechanism is arranged at the starting end of the main frame body 19 and is used to control the locking or releasing of the main track trolley 11 at the starting end;

[0042] The buffer mechanism 7 is arranged at the end of the main frame body 19 and is used to prevent the continuous movement of the main track trolley 11 and absorb the kinetic energy of the main track trolley 11;

[0043] Wherein, when the main track trolley 11 moves under the traction of the elastic member 6 and contacts the buffer mechanism 7, the main track trolley 11 and the carried unmanned aerial vehicle have relative movement and are separated, realizing the catapult take-off of the unmanned aerial vehicle.

[0044] It is worth mentioning that in the embodiment of the present invention, as Figure 2 shown, the starting end is defined as the right end and the ending end is defined as the left end.

[0045] In the embodiment of the present invention, as Figure 2 shown, the single unmanned aerial vehicle catapult rack further includes a power supply signal controller 23;

[0046] Wherein, the power supply signal controller includes a power supply module, an electric winch control module, and an electromagnetic chuck control module (not shown in the figure); the power supply module provides power for the single unmanned aerial vehicle catapult rack through an external power supply or an internal battery, that is, it supplies power to the locking and releasing mechanism and the following electric winches and other power-consuming devices; the electric winch control module is used to control the operation mode of the electric winch, and the electromagnetic chuck control module is used to control the operation of the locking and releasing mechanism;

[0047] The locking and releasing mechanism is an electric magnetic adsorption type, and the main track trolley 11 is made of a magnetic material;

[0048] Wherein, the locking and releasing mechanism includes an electromagnetic chuck 12, and the electromagnetic chuck 12 is electrically connected to the power supply signal controller 23;

[0049] More specifically, the locking and releasing mechanism further includes a chuck power supply signal line 20; the electromagnetic chuck 12 and the power supply signal controller 23 are connected through the chuck power supply signal line 20; the electromagnetic chuck control module of the power supply signal controller 23 controls the electromagnetic chuck 12 to be instantaneously powered on to magnetize or instantaneously powered off to demagnetize.

[0050] Wherein, as Figure 2 and Figure 6 shown, a plurality of launch speed positioning holes 17 are arranged on the main frame body 19 at intervals along the extending direction of the main frame body 19, and the electromagnetic chuck 12 is screwed and fixed to a predetermined launch speed positioning hole 17 through a fastening bolt 36.

[0051] More specifically, the main track trolley 11 is made of magnetic material. After the electromagnetic chuck 12 of the locking and releasing mechanism is energized and magnetized, it can contact with the main track trolley 11 to generate suction force for locking. When the electromagnetic chuck 12 is demagnetized, the suction force between it and the main track trolley 11 disappears, and under the driving of the tensile elastic force of the elastic member 6, the instantaneous release of the main track trolley 11 is realized.

[0052] In addition, it is worth mentioning that the electromagnetic chuck 12 is fixed in position by selecting different emission speed positioning holes 17, that is, the tensile length of the elastic member 6 is determined, and then the running speed of the main track trolley 11 driven by the elastic member 6 is selected, thereby controlling the ejection speed of the unmanned aerial vehicle.

[0053] In the embodiment of the present invention, as Figure 2 and Figure 4 shown, the single unmanned aerial vehicle ejection rack further includes an electric winch 22 and a winch power signal line 21; wherein, the electric winch 22 is arranged at the starting end of the main frame body 19, that is, the right end in this embodiment; the electric winch 22 is electrically connected to the power signal controller 23; that is, the electric winch 22 and the power signal controller 23 are electrically connected through the winch power signal line 21; the electric winch control module of the power signal controller 23 controls the forward or reverse operation of the electric winch 22.

[0054] Among them, as Figure 4 shown, an ear piece 34 is arranged on the main track trolley 11. More specifically, the ear piece 34 is arranged at the bottom of the main track trolley 11; the electric winch 22 is connected to the ear piece 34 through a traction rope 16.

[0055] In the embodiment of the present invention, as Figure 2 shown, the elastic member 6 includes a spring. One end of the spring is connected to the end of the main frame body 19, and the other end of the spring is connected to the main track trolley 11.

[0056] In the embodiment of the present invention, the buffer mechanism 7 includes a columnar buffer body and a columnar elastic body. One end of the buffer body is fixedly connected to the main frame body 19, and the other end of the buffer body is covered by the elastic body, and the elastic body extends axially outward along the buffer body;

[0057] Among them, the material of the buffer body is a metal material;

[0058] Among them, the material of the elastic body is a porous polyurethane material.

[0059] In the embodiment of the present invention, as Figure 2 and Figure 3 shown, a fuselage bracket 8 is vertically arranged on the main track trolley 11. A convex platform is arranged at the top of the fuselage bracket 8. A fuselage mounting member 24 is arranged on the unmanned aerial vehicle, and a groove matching and docking with the convex platform is correspondingly arranged on the fuselage mounting member 24;

[0060] Among them, the boss and the groove are matched and set as U-shaped;

[0061] Among them, it is worth mentioning that in the example of the present invention, the main track trolley 11 is designed as a frame type, including an upper plate, a lower plate and two side plates. A fuselage bracket 8 is arranged on the upper plate of the main track trolley 11; a U-shaped boss 9 is arranged at the top of the fuselage bracket 8, and a U-shaped groove 25 is correspondingly arranged on the fuselage mounting part 24 on the unmanned aerial vehicle. The main track trolley 11 and the unmanned aerial vehicle are connected through the docking of the U-shaped boss 9 and the U-shaped groove 25 to realize the connection function.

[0062] Among them, as Figure 4 shown, the fuselage bracket 8 is a two-piece type connected in series. A number of parking angle positioning holes 27 are correspondingly arranged on one section of the fuselage bracket 8. The two sections of the fuselage bracket 8 are screwed to the predetermined parking angle positioning holes 27 through parking angle positioning bolts 28 for adjustment and fixation. By selecting different parking angle positioning holes 27, the launch angle of attack of the unmanned aerial vehicle 1 can be finely adjusted.

[0063] In this embodiment, as Figure 4 and Figure 5 shown, wing brackets 10 are respectively arranged on the two side walls (i.e., the two side plates) of the main track trolley 11. The wing bracket 10 includes an L-shaped wing bracket horizontal section 30 and a wing bracket vertical section 29;

[0064] Among them, the free end of the wing bracket vertical section 29 is used to support the wing of the unmanned aerial vehicle, realizing the support for the large aspect ratio wing;

[0065] Among them, a number of fuselage length positioning holes 33 are respectively arranged on the two side walls of the main track trolley 11. The free end of the wing bracket horizontal section 30 is screwed into the predetermined fuselage length positioning holes 33 through fuselage length positioning bolts 35 for adjustment and fixation; that is, by connecting the root of the wing bracket 10 to different fuselage length positioning holes 33, the support function of the wing bracket 10 for unmanned aerial vehicles with different fuselage lengths is realized.

[0066] Among them, as Figure 5 shown, the wing bracket horizontal section 30 is a two-piece type connected in series. A number of wingspan positioning holes 31 are correspondingly arranged on one section of the wing bracket horizontal section 30. The wing bracket 10 is screwed into the predetermined wingspan positioning holes 31 through wingspan positioning bolts 32 for adjustment and fixation; by adjusting and fixing to different wingspan positioning holes 31, the length of the wing bracket horizontal section 30 is adjusted, and then the lateral distance of the wing bracket vertical section 29 relative to the main track trolley 11 is adjusted to adapt to unmanned aerial vehicles with different wingspans and support the wings of unmanned aerial vehicles with different wingspans.

[0067] Among them, as Figure 2 and Figure 4As shown, a plurality of pulleys 18 are provided on the main track trolley 11, and the main track trolley 11 slides on the main frame 19 through the pulleys 18.

[0068] More specifically, pulleys 18 are respectively installed on the upper plate, lower plate and two side plates of the main track trolley 11. When the main track trolley 11 runs, the main track trolley 11 contacts the main frame 19 in a rolling mode through the pulleys 18, reducing friction.

[0069] In an embodiment of the present invention, as Figure 2 shown, the bottom of the starting end of the main frame 19 is connected to the ground support 13;

[0070] Among them, at least two positioning supports 15 with round holes are arranged at intervals on the ground support 13, and the center of the round holes is on the same horizontal straight line;

[0071] More specifically, the lower right end of the main frame 19 is welded to the ground support 13. The center of the round holes of the positioning supports 15 is on the same horizontal straight line, which is used for reference positioning when multiple single - unit unmanned aerial vehicle ejection racks 26 are arranged in a row.

[0072] In an embodiment of the present invention, as Figure 2 shown, support columns 2 are respectively arranged on both sides of the end of the main frame 19, and the support columns 2 are inserted into the slots 5 of the main frame 19; that is, support columns 2 are provided at the left - hand end of the main frame 19, and the support columns 2 are inserted into the slots 5 on the side of the main frame 19.

[0073] Among them, the support column 2 is a two - part socket type. A number of launch angle positioning holes 3 are correspondingly arranged on one of the two parts of the support column 2. The two parts of the support column 2 are screwed into the predetermined launch angle positioning holes 3 through launch angle positioning bolts 4 for adjustment and fixation. The angle of attack when the unmanned aerial vehicle is launched is determined by selecting different launch angle positioning holes 3.

[0074] So far, the first exemplary embodiment of the present invention has been introduced.

[0075] Embodiment 2

[0076] In the second exemplary embodiment of the present invention, as Figure 7 shown, a flexible combined unmanned aerial vehicle row - arranged track ejection rack is further provided, which includes a number of single - unit unmanned aerial vehicle ejection racks 26 arranged in parallel as in Embodiment 1.

[0077] A number of single - unit unmanned aerial vehicle ejection racks 26 are arranged in parallel. The positioning rod 14 is inserted into the round holes of the positioning supports 15 of each single - unit unmanned aerial vehicle ejection rack 26 for reference positioning of the row arrangement.

[0078] In addition, it is worth mentioning that the electromagnetic chucks 12 of multiple locking and releasing mechanisms and multiple electric winches 22 are controlled by the same power signal controller 23 to achieve instantaneous simultaneous release, completing the simultaneous operation, launching, and takeoff of multiple flexible combined unmanned aerial vehicles 1.

[0079] So far, the second exemplary embodiment of the present invention has been introduced.

[0080] Embodiment 3

[0081] In the third exemplary embodiment of the present invention, as Figure 2-7 shown, there is also provided a launching method using the flexible combined unmanned aerial vehicle row track catapult of Embodiment 2, including the following steps:

[0082] Step 1: A plurality of flexible combined unmanned aerial vehicles 1 are respectively arranged on the respective main track trolleys 11 of the flexible combined unmanned aerial vehicle row track launcher. The elastic member 6 applies a tensile elastic force to the main track trolley 11 at the starting end, and the locking and releasing mechanism applies a locking force to the main track trolley 11 that balances the tensile elastic force.

[0083] More specifically, the U-shaped groove 25 on the fuselage mounting member 24 of the unmanned aerial vehicle is buckled with the U-shaped boss 9 at the top of the fuselage support 8; the electromagnetic chuck 12 is activated and magnetized, and the electric winch 22 is activated to make the main track trolley 11 move to the right by pulling through the towing rope 16 until the right end face of the main track trolley 11 is closely combined with the left end face of the electromagnetic chuck 12, and then the electric winch 22 is turned off.

[0084] Step 2: The locking and releasing mechanism releases the locking force on the main track trolley 11, and the main track trolley 11 drives the flexible combined unmanned aerial vehicle 1 to move from the starting end to the end of the main frame 19 under the drive of the elastic member 6.

[0085] Step 3: When the main track trolley 11 contacts the buffer mechanism 7, relative movement occurs between the main track trolley 11 and the flexible combined unmanned aerial vehicle 1 until they are separated, completing the catapult takeoff of the flexible combined unmanned aerial vehicle 1.

[0086] More specifically, the power signal controller 23 demagnetizes the electromagnetic chuck 12. At the moment of demagnetization, each main track trolley 11 drives the flexible combined unmanned aerial vehicle 1 to move to the left simultaneously under the drive of the elastic member 6; when the main track trolley 11 moves to the left end of the main frame 19 and contacts the buffer mechanism 7, the main track trolley 11 stops moving, and the flexible combined unmanned aerial vehicle 1 continues to move to the left. The U-shaped boss 9 is separated from the fuselage mounting member 24 of the unmanned aerial vehicle 1, and the flexible combined unmanned aerial vehicle 1 leaves the flexible combined unmanned aerial vehicle row track launcher to complete the launch.

[0087] Of course, it is worth mentioning that before performing Step 1, it is also necessary to determine the launch site, assemble the flexible combined UAV row track catapult rack, and adjust the launch state. Specifically, it includes:

[0088] Determine the launch site and assemble: Select a flat and open area suitable for catapulting. Assemble the single UAV catapult rack 26. Connect multiple single UAV catapult racks 26 in parallel through the connecting positioning rod 14, and connect the suction cup power signal wires 20 and the winch power signal wires 21 of each single UAV catapult rack 26 to the power signal controller 23.

[0089] Adjust the launch state: Initially determine the angle of attack of the flexible combined UAV 1 during launch by adjusting the launch angle positioning hole 3 and the launch angle positioning bolt 4 on the support column 2 of the single UAV catapult rack 26. Determine the launch speed of the flexible combined UAV 1 by adjusting the electromagnetic suction cup 12 on the upper surface of the main frame body 19 and the launch speed positioning hole 17. Determine the final launch angle of the flexible combined UAV 1 by adjusting the parking angle positioning hole 27 on the fuselage support 8. Determine the width of the wing support 10 suitable for the flexible combined UAV 1 by selecting the wingspan positioning hole 31 on the wing support 10. Determine the appropriate width between the fuselage support 8 and the wing support 10 by selecting the wing support 10 and the fuselage length positioning hole 33 on the side of the main track trolley 11.

[0090] So far, the third exemplary embodiment of the present invention has been introduced.

[0091] It should be noted that for those skilled in the art, Figure 7 the configuration is only a specific embodiment of the present invention, and the present invention is not limited to the flexible combined connection of three UAVs. Through the flexible combined UAV row track catapult rack and catapult method of the present invention, the catapult takeoff and landing requirements of flexible combined UAVs with different configurations and different numbers can be realized.

[0092] Among them, those skilled in the art should understand that the inventive point of the present invention does not lie in the development of the software or application program. Software or application programs in the prior art that can realize functions such as providing power, controlling multiple electromagnetic suction cups to magnetize or demagnetize instantaneously at the same time, and multiple electric winches to rotate forward or reverse at the same time are applicable to the embodiments of the present invention and will not be elaborated here.

[0093] It should be noted that the above definitions of each module are not limited to the various specific structures or shapes mentioned in the embodiments. Those of ordinary skill in the art can simply and familiarly replace them.

[0094] All modules of the embodiments of the present invention can be hardware structures. The physical implementation of the hardware structure includes but is not limited to physical devices, and physical devices include but are not limited to transistors, memristors, and DNA computers.

[0095] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from those embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be adopted to combine all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise explicitly stated, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) can be replaced by an alternative feature that provides the same, equivalent or similar purpose. And, in the unit claims enumerating several devices, several of these devices can be embodied by the same hardware item.

[0096] The specific embodiments described above have further elaborated on the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A single unmanned aerial vehicle ejection rack, characterized in that, Comprising: A main frame body, with two ends in the extending direction of the main frame body being the starting end and the ending end respectively; A main track trolley, slidably arranged on the main frame body, for carrying and launching an unmanned aerial vehicle; An elastic member, arranged at the ending end of the main frame body, for driving the main track trolley to move along the starting end to the ending end of the main frame body through stretching elasticity; A locking and releasing mechanism, arranged at the starting end of the main frame body, for controlling the locking or releasing of the main track trolley at the starting end; A buffer mechanism, arranged at the ending end of the main frame body, for preventing the continuous movement of the main track trolley and absorbing the kinetic energy of the main track trolley; Wherein, when the main track trolley moves to contact with the buffer mechanism under the traction of the elastic member, the main track trolley and the carried unmanned aerial vehicle have relative movement and separate, realizing the catapult take-off of the unmanned aerial vehicle; Wherein, the locking and releasing mechanism includes an electromagnetic chuck, and the single unmanned aerial vehicle catapult rack further includes an electric winch; Wherein, after the electromagnetic chuck is electrified and magnetized, the main track trolley is pulled to move rightward through a traction rope by the electric winch until the right end face of the main track trolley is tightly combined with the left end face of the electromagnetic chuck, so that suction force is generated by the contact between the electromagnetic chuck and the main track trolley for locking; when the electromagnetic chuck is demagnetized, the suction force with the main track trolley disappears, and instantaneous release of the main track trolley is realized under the stretching elastic force drive of the elastic member; Wherein, a fuselage support is vertically arranged on the main track trolley, a convex platform is arranged at the top of the fuselage support, a fuselage mounting member is arranged on the unmanned aerial vehicle, and a groove matching and docking with the convex platform is correspondingly arranged on the fuselage mounting member; Wherein, the convex platform and the groove are matched and arranged as a U shape; Wherein, the fuselage support is a two-section sleeved type, and a plurality of parking angle positioning holes are correspondingly arranged on one section of the fuselage support, and the two sections of the fuselage support are screwed to the predetermined parking angle positioning holes through parking angle positioning bolts for adjustment and fixation.

2. The single drone catapult rack according to claim 1, characterized in that, The single unmanned aerial vehicle catapult rack further includes a power supply signal controller; The locking and releasing mechanism is an electric magnetic adsorption type, and the main track trolley is made of a magnetic material; The electromagnetic chuck is electrically connected to the power supply signal controller; wherein, a plurality of launch speed positioning holes are arranged at intervals along the extending direction of the main frame body on the main frame body, and the electromagnetic chuck is screwed and fixed to the predetermined launch speed positioning hole through a fastening bolt.

3. The single unmanned aerial vehicle ejection rack according to claim 2, wherein, Wherein, The electric winch is arranged at the starting end of the main frame body, and the electric winch is electrically connected to the power supply signal controller; Wherein, an ear plate is arranged on the main track trolley, and the electric winch is connected to the ear plate through a traction rope.

4. The single drone catapult rack according to claim 1, wherein, The elastic member includes a spring, one end of the spring is connected to the ending end of the main frame body, and the other end of the spring is connected to the main track trolley.

5. The single unmanned aerial vehicle ejection rack according to claim 1, wherein The buffer mechanism includes a columnar buffer body and a columnar elastic body, one end of the buffer body is fixedly connected to the main frame body, the other end of the buffer body wraps the elastic body, and the elastic body extends axially outward along the buffer body; Wherein, the material of the buffer body is a metal material; Wherein, the material of the elastic body is a porous polyurethane material.

6. The single UAV catapult rack according to claim 1, characterized in that, Wing supports are respectively arranged on both side walls of the main track trolley. The wing support includes an L-shaped horizontal section of the wing support and a vertical section of the wing support; Among them, the free end of the vertical section of the wing support is used to support the wing of the UAV; Among them, a number of fuselage length positioning holes are respectively arranged on both side walls of the main track trolley. The free end of the horizontal section of the wing support is screwed into a predetermined fuselage length positioning hole through a fuselage length positioning bolt for adjustment and fixation; Among them, the horizontal section of the wing support is a two-piece type that is sleeved. A number of wingspan positioning holes are correspondingly arranged on one section of the horizontal section of the wing support. The wing support is screwed into a predetermined wingspan positioning hole through a wingspan positioning bolt for adjustment and fixation; Among them, a number of pulleys are arranged on the main track trolley. The main track trolley slides on the main frame through the pulleys; 7. The single unmanned aerial vehicle ejection rack according to claim 1, characterized in that, The bottom of the starting end of the main frame is connected to the ground support; Among them, at least two positioning supports with round holes are arranged at intervals on the ground support. The centers of the round holes are on the same horizontal straight line; Among them, support columns are respectively arranged on both sides of the end of the main frame. The support columns are inserted into the slots of the main frame; Among them, the support column is a two-piece type that is sleeved. A number of launch angle positioning holes are correspondingly arranged on one section of the support column. The two sections of the support column are screwed into a predetermined launch angle positioning hole through a launch angle positioning bolt for adjustment and fixation; 8. A flexible combined UAV row-connected track ejection rack, characterized in that, It includes a number of UAV catapult single machines as described in any one of claims 1 to 7 arranged in parallel.

9. A launching method using the flexible combined UAV row track catapult as described in claim 8, characterized in that, It includes the following steps: Step 1: A number of flexible combined UAVs are respectively arranged on each main track trolley of the flexible combined UAV row track launch rack. The elastic component applies a tensile elastic force to the main track trolley at the starting end, and the locking and releasing mechanism applies a locking force to the main track trolley that is balanced with the tensile elastic force; Step 2: The locking and releasing mechanism releases the locking force on the main track trolley. The main track trolley drives the flexible combined UAV to move from the starting end to the end of the main frame under the drive of the elastic component; Step 3: When the main track trolley contacts the buffer mechanism, the main track trolley and the flexible combined UAV have relative movement until they are separated, completing the catapult takeoff of the flexible combined UAV.

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