A hanging cable type air base unmanned plane recovery device

Abstract

The application discloses a hanging rope type air base unmanned plane recovery device, which comprises a fixing mechanism, a mechanical arm and a hanging rope mechanism. The mechanical arm can make linear reciprocating motion in the vertical direction, and when the unmanned plane comes from above or below the recovery device, the recovery mechanism can adjust its height to align with the hook of the unmanned plane. By controlling the recovery mechanism to actively dock with the hook of the unmanned plane, the docking success rate is improved, and the unmanned plane recovery efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle recovery, in particular to a hanging rope type air-based unmanned aerial vehicle recovery device. BACKGROUND

[0002] With the explosive development of unmanned aerial vehicle technology, unmanned aerial vehicles have been widely used in many military and civilian fields. In particular, in the military field, "unmanned aerial vehicle cluster tactics" has been highly valued by countries around the world. However, due to the small weight, low speed and limited combat radius of small and medium-sized unmanned aerial vehicles, they cannot perform long-distance combat missions and cannot efficiently play the advantages of swarm combat, which limits the application range of small and medium-sized unmanned aerial vehicles.

[0003] Therefore, the "air-based launch and recovery" scheme is proposed, that is, a larger carrier aircraft transports unmanned aerial vehicles to the mission area, and through air launch and recovery technology, large quantities of unmanned aerial vehicles are quickly launched and recovered in multiple waves, which not only greatly increases the cruising radius of unmanned aerial vehicles, but also eliminates the ground airport restrictions and increases the flexibility of unmanned aerial vehicle applications.

[0004] The air-based recovery technology of unmanned aerial vehicles is one of the key difficulties of the "air-based launch and recovery" scheme. The existing patent "a hanging rope type air-based unmanned aerial vehicle recovery device and recovery method CN109747837A" recovers the unmanned aerial vehicle through the hook in the unmanned aerial vehicle body to the arresting cable. Although the hanging rope type recovery device in the patent can realize the recovery of the unmanned aerial vehicle, there are the following problems: the unmanned aerial vehicle and the recovery device are in motion, it is very difficult to control the hook of the unmanned aerial vehicle to dock with the arresting cable of the recovery device, and it is easy to fail to dock, resulting in low efficiency of unmanned aerial vehicle recovery. SUMMARY

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a hanging rope type air-based unmanned aerial vehicle recovery device, which can control the recovery cable to actively dock with the hook of the unmanned aerial vehicle, improve the docking success rate, and improve the efficiency of unmanned aerial vehicle recovery.

[0006] The present application proposes a hanging rope type air-based unmanned aerial vehicle recovery device located at the bottom of the recovery loader, comprising:

[0007] The fixing mechanism is connected with the recovery loader and is used for fixing the mechanical arm;

[0008] The mechanical arm comprises a first connecting rod and a second connecting rod, the top end of the first connecting rod is connected with the fixing mechanism, and the inside of the first connecting rod is provided with a telescopic motor; the top end of the second connecting rod is connected with the bottom end of the first connecting rod, and the inside of the second connecting rod is provided with a screw rod, a sliding part and a base, one end of the screw rod is connected with the output end of the telescopic motor, the screw rod and the sliding part are connected through a thread structure and the screw rod penetrates through the sliding part, the base is located on one side of the screw rod and is provided with a limiting groove, and the sliding part is clamped on the limiting groove and can move in the limiting groove.

[0009] The hanging cable mechanism comprises a recovery cable and a supporting part, and the supporting part is connected with the sliding part, and the recovery cable is arranged on the supporting part.

[0010] According to the embodiments of the present application, at least the following technical effects are achieved:

[0011] When the telescopic motor works, the motor drives the screw rod connected with the output end of the telescopic motor to rotate, and since the screw rod and the sliding part are connected through a thread structure, when the screw rod rotates, the sliding part can make linear reciprocating motion along the limiting groove, thereby driving the supporting part connected with the sliding part to make linear reciprocating motion in the vertical direction. When the supporting part makes linear reciprocating motion, the recovery cable arranged on the supporting part also makes linear reciprocating motion, and when the unmanned aerial vehicle comes from above or below the recovery device, the recovery cable can adjust its height to align with the hook of the unmanned aerial vehicle. By actively docking the hook of the unmanned aerial vehicle through the control of the recovery cable, the docking success rate is improved, and the efficiency of the unmanned aerial vehicle recovery is improved.

[0012] According to some embodiments of the present application, the sliding part comprises a sliding block and a rotary motor, the sliding block is connected with the screw rod through a thread structure, the rotary motor is arranged on one side of the sliding block, and the output end of the rotary motor is connected with the supporting part.

[0013] According to some embodiments of the present application, the fixing mechanism comprises a pin shaft seat and a pin shaft, the pin shaft seat is connected with the recovery loader, the pin shaft seat is in the shape of inverted U and is provided with pin holes on both sides, the pin shaft is connected with the first connecting rod, and the pin shaft is hinged with the pin shaft seat through the pin holes.

[0014] According to some embodiments of the present application, the recovery cable is made of nylon rope and soft steel wire material.

[0015] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the references to the figures, in which:

[0017] Figure 1 Structure diagram of the recycling device according to an embodiment of the present application;

[0018] Figure 2 Structure exploded view of the recycling device according to an embodiment of the present application;

[0019] Figure 3 Structure diagram of the internal structure of the mechanical arm according to an embodiment of the present application;

[0020] Figure 4 Structure diagram of the connection between the mechanical arm and the hanging rope mechanism according to an embodiment of the present application;

[0021] Label explanation:

[0022] 100, fixing mechanism; 110, pin shaft seat; 120, pin shaft; 200, mechanical arm; 210, first connecting rod; 211, telescopic motor; 220, second connecting rod; 221, screw rod; 222, sliding part; 222a, sliding block; 222b, rotary motor; 223, base; 300, hanging rope mechanism; 310, recycling rope; 320, supporting part. DETAILED DESCRIPTION

[0023] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar elements or elements having the same or similar functions are denoted by the same reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present application, and should not be understood as limiting the present application.

[0024] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as limiting the present application. In addition, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0025] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0026] With reference to Figures 1 to 3 The embodiment of the present application provides a hanging rope type air base unmanned aerial vehicle recovery device, which is located at the bottom of a recovery loader and comprises:

[0027] The fixing mechanism 100 is connected with the recovery loader and is used for fixing the mechanical arm 200.

[0028] The mechanical arm 200 comprises a first connecting rod 210 and a second connecting rod 220. The top end of the first connecting rod 210 is connected with the fixing mechanism 100, and the inside of the first connecting rod 210 is provided with a telescopic motor 211. The top end of the second connecting rod 220 is connected with the bottom end of the first connecting rod 210, and the inside of the second connecting rod 220 is provided with a lead screw 221, a sliding part 222 and a base 223. One end of the lead screw 221 is connected with the output end of the telescopic motor 211. The lead screw 221 and the sliding part 222 are connected through a threaded structure, and the lead screw 221 penetrates through the sliding part 222. The base 223 is located on one side of the lead screw 221 and is provided with a limiting groove. The sliding part 222 is clamped on the limiting groove and can move in the limiting groove.

[0029] The hanging rope mechanism 300 comprises a recovery rope 310 and a supporting part 320. The supporting part 320 is connected with the sliding part 222, and the recovery rope 310 is arranged on the supporting part 320.

[0030] In the embodiment, the fixing mechanism 100 is located at the bottom of the recovery loader and plays a role of fixing and supporting.

[0031] In the embodiment, the mechanical arm 200 comprises the first connecting rod 210 and the second connecting rod 220. The inside of the first connecting rod 210 is provided with the telescopic motor 211, and the inside of the second connecting rod 220 is provided with the lead screw 221, the sliding part 222 and the base 223 provided with the limiting groove. The output end of the telescopic motor 211 is connected with the lead screw 221. The sliding part 222 is arranged on the lead screw 221 and is threadedly connected with the lead screw 221. When the telescopic motor 211 drives the lead screw 221 to rotate, the sliding part 222 located on the lead screw 221 can make reciprocating motion along the limiting groove.

[0032] In the embodiment, the hanging cable mechanism 300 comprises a recovery cable 310 and a support component 320, the support component 320 is used to connect the recovery cable 310 and the mechanical arm 200, and the recovery cable 310 is used to recover the unmanned aerial vehicle.

[0033] When the telescopic motor 211 works, the motor drives the screw rod 221 connected with the output end of the telescopic motor 211 to rotate, and since the screw rod 221 and the sliding component 222 are connected through the threaded structure, when the screw rod 221 rotates, the sliding component 222 can make linear reciprocating motion along the limiting groove, thereby driving the support component 320 connected with the sliding component 222 to make linear reciprocating motion in the vertical direction. When the support component 320 makes linear reciprocating motion, the recovery cable 310 arranged on the support component 320 also makes linear reciprocating motion, and when the unmanned aerial vehicle comes from above or below the recovery device, the recovery cable 310 can adjust its height to align with the hook of the unmanned aerial vehicle. By actively docking the hook of the unmanned aerial vehicle through the control of the recovery cable 310, the docking success rate is improved, and the efficiency of the unmanned aerial vehicle recovery is improved.

[0034] In some embodiments of the present application, referring to Figure 4 The sliding component 222 comprises a sliding block 222a and a rotary motor 222b, the sliding block 222a is connected with the screw rod 221 through the threaded structure, and the rotary motor 222b is arranged on one side of the sliding block 222a, and the output end of the rotary motor 222b is connected with the support component 320. In the embodiment, the support component 320 can make full-angle rotation under the action of the rotary motor 222b, thereby driving the recovery cable 310 to make full-angle rotation, so as to recover the unmanned aerial vehicle coming from various directions.

[0035] In some embodiments of the present application, the fixing mechanism 100 comprises a pin shaft seat 110 and a pin shaft 120, the pin shaft seat 110 is connected with the recovery loader, the pin shaft seat 110 is in the shape of inverted U and is provided with pin holes on both sides, and the pin shaft 120 is connected with the first connecting rod 210 and is hinged with the pin shaft seat 110 through the pin holes. The hinged pin shaft 120 can drive the mechanical arm 200 to swing upward or downward, and when the unmanned aerial vehicle is hung on the recovery cable 310, since there is relative speed, an impact will be brought to the recovery cable 310. When the unmanned aerial vehicle with faster speed is hung on the recovery cable 310, since the pin shaft 120 exists, part of the kinetic energy of the unmanned aerial vehicle will be converted into the kinetic energy of the mechanical arm 200, so that the impact force borne by the recovery cable 310 is smaller. Further, a rotary motor is arranged on one side of the pin shaft 120, so that the swing of the mechanical arm 200 can be automatically adjusted by controlling the rotation of the pin shaft 120, thereby facilitating the recovery of the unmanned aerial vehicle.

[0036] In some embodiments of the present application, the recovery cable 310 is made of nylon rope and soft steel wire material. The combination of the nylon rope and the soft steel wire has strength and elastic recovery ability, and is very suitable for being used as the manufacturing material of the recovery cable 310.

[0037] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0038] Although the embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, alternatives, and variations can be made thereto without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A pendant airborne unmanned vehicle recovery apparatus, comprising: The bottom of the recycling loader is provided with: a fixing mechanism connected with the recycling loader for fixing a mechanical arm; the mechanical arm comprises a first connecting rod and a second connecting rod, the top end of the first connecting rod is connected with the fixing mechanism, and the inside of the first connecting rod is provided with a telescopic motor; the top end of the second connecting rod is connected with the bottom end of the first connecting rod, and the inside of the second connecting rod is provided with a screw rod, a sliding part and a base, one end of the screw rod is connected with the output end of the telescopic motor, the screw rod is connected with the sliding part through a threaded structure and penetrates through the sliding part, the base is located on one side of the screw rod and is provided with a limiting groove, the sliding part is clamped on the limiting groove and can move in the limiting groove; a hanging rope mechanism comprising a recycling rope and a supporting part, the supporting part is connected with the sliding part, and the recycling rope is arranged on the supporting part; wherein the sliding part comprises a sliding block and a rotating motor, the sliding block is connected with the screw rod through a threaded structure, the rotating motor is arranged on one side of the sliding block, and the output end of the rotating motor is connected with the supporting part; the fixing mechanism comprises a pin shaft seat and a pin shaft, the pin shaft seat is connected with the recycling loader, the pin shaft seat is in the shape of inverted U and is provided with pin holes on both sides, the pin shaft is connected with the first connecting rod, the pin shaft is hinged with the pin shaft seat through the pin holes, one side of the pin shaft is provided with a rotating motor, and the rotating motor can drive the pin shaft to rotate.

2. The pendant airborne UAV recovery apparatus of claim 1, wherein: The recycling rope is made of nylon rope and soft steel wire material.

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