Fixed-wing UAV honeycomb system

Abstract

The present invention relates to a fixed-wing UAV honeycomb system, wherein an arresting cable assembly and a pneumatic ejection system are both arranged on the upper front side of a storage and support cabin group, a mounting frame is provided on the upper rear side of the storage and support cabin group, and an arresting buffer net assembly and a transfer mechanism are both arranged on the mounting frame, the arresting cable assembly is provided with an arresting cable with adjustable height and tension, and the arresting cable assembly can be collapsed and folded, the arresting buffer net assembly is provided with a foldable arresting buffer net, the transfer mechanism includes a manipulator assembly and a transfer seat with X-direction and Y-direction movement freedom, and the manipulator assembly is installed on the transfer seat, the storage and support cabin group includes a support cabin and an UAV storage rack, and the UAV storage rack is respectively placed in the corresponding support cabin, and the UAV is grabbed and transferred by the manipulator assembly. The present invention can be transferred as a whole, solves various environmental adaptability problems encountered by fixed-wing UAV clusters, and can realize flexible switching of UAV ejection release and recovery operations.

Description

Technical Field

[0001] The invention relates to the field of unmanned aerial vehicles, in particular to a fixed-wing unmanned aerial vehicle cellular system. Background Art

[0002] Fixed-wing UAVs play an extremely important role in environmental monitoring, surveying and mapping, patrol and rescue in the ocean or on land. In application scenarios such as environmental monitoring, it is difficult to conduct large-scale environmental coverage monitoring in a short time due to the movement speed and maneuverability of other tools. Fixed-wing UAVs have the advantages of fast speed, strong maneuverability, large range of activities, and long endurance. They can quickly conduct large-scale environmental coverage monitoring, especially when multiple UAVs work together at the same time, which can greatly improve the operation efficiency. In addition, fixed-wing UAV technology is relatively mature, with low development cost and small space occupation, and has been widely used. However, in the existing technology, the platform technology that can adapt to the take-off and recovery and storage of multiple UAVs is still immature. If fixed-wing UAVs can be combined with related platforms to solve the problems of take-off and landing adaptability of multiple fixed-wing UAVs, it will greatly expand the scope of application of UAVs and have great research value. Summary of the invention

[0003] The purpose of the present invention is to provide a fixed-wing UAV cellular system, which solves the environmental adaptability problems encountered by fixed-wing UAV clusters when operating in complex environments, such as long-distance transportation, platform deployment, equipment maintenance, etc., and can realize flexible switching of UAV ejection release and recovery operations.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A fixed-wing UAV honeycomb system comprises a storage and support cabin group, a pneumatic ejection system, an arresting cable assembly, an arresting buffer net assembly and a transfer mechanism, wherein the arresting cable assembly is arranged on the upper side of the front end of the storage and support cabin group, the pneumatic ejection system is arranged on the upper side of the front part of the storage and support cabin group, a mounting frame is arranged on the upper side of the rear part of the storage and support cabin group, and the arresting buffer net assembly is arranged in the lower end of the mounting frame, and the transfer mechanism is arranged on the upper end of the mounting frame, the arresting cable assembly is provided with an arresting cable with adjustable height and tension, and the arresting cable assembly is driven to fall down and be folded by a falling down driving device arranged at the front end of the storage and support cabin group, the arresting buffer net assembly is provided with a movable and foldable arresting buffer net, the transfer mechanism comprises a manipulator assembly and a transfer seat with X-direction and Y-direction movement freedom, and the manipulator assembly is installed on the transfer seat, the storage and support cabin group comprises a support cabin and an UAV storage rack, and the UAV storage racks are respectively placed in the corresponding support cabins, and the UAV is grasped and transferred by the manipulator assembly.

[0006] The manipulator assembly includes a Y-axis rotation joint, an X-axis rotation joint, a lifting arm, a turntable and a manipulator, wherein the Y-axis rotation joint is installed on the transfer seat, the X-axis rotation joint is installed on the rotation drive end of the Y-axis rotation joint, a lifting mounting seat is provided on the rotation drive end of the X-axis rotation joint, a lifting arm and a lifting drive assembly are provided on the lifting mounting seat, and the lifting arm is driven to lift and lower by the lifting drive assembly, a turntable mounting seat is provided at the lower end of the lifting arm, a turntable and a turntable motor are provided on the turntable mounting seat, and the turntable is driven to rotate by the turntable motor, a manipulator is provided on the lower side of the turntable, and a visual capture camera is provided on the mounting frame.

[0007] The pneumatic ejection system includes a pneumatic ejection cylinder, an air pump and an ejection control assembly, wherein the ejection control assembly includes an electromagnetic reversing valve, a switch valve and an air pressure control switch, the air pressure control switch is installed on the air pump, and the air pump is connected to the electromagnetic reversing valve through an air path, and a switch valve is provided on the air path, a first port on the output side of the electromagnetic reversing valve is connected to the front end of the pneumatic ejection cylinder through an air pipe, and a second port is connected to the rear end of the pneumatic ejection cylinder through an air pipe.

[0008] The arresting cable assembly includes a frame, an arresting cable, an arresting cable height adjustment assembly and a tensioning device, wherein the lower end of the frame is hingedly installed on both sides of the storage and support compartment group and supported by the corresponding side's lodging drive device, the frame is provided with an arresting cable height adjustment assembly, and the lower end of the frame is provided with a tensioning device, wherein the arresting cable height adjustment assembly is provided with a height adjustment support that is raised and lowered along the corresponding frame, and both ends of the arresting cable are respectively wrapped around the height adjustment support on the corresponding side and then wound in the tensioning device on the corresponding side.

[0009] The arresting cable height adjustment assembly includes a height adjustment motor and a lead screw. The height adjustment support is provided with a nut sleeve mounted on the lead screw. The lead screw is driven to rotate by the height adjustment motor. The height adjustment support is provided with a steering wheel and a clamping device. The arresting cable passes around the steering wheel and through the clamping device and then is wound around the corresponding tensioning device.

[0010] The tensioning device comprises a tensioning motor and a cable winding disc, wherein the cable winding disc is installed on the output shaft of the tensioning motor, and the arresting cable is wound on the cable winding disc.

[0011] The blocking buffer net assembly is provided with a buffer net driving assembly, and the buffer net driving assembly includes a buffer net support rod, a driving line motor, a driving line and a driving sleeve, wherein buffer net support rods are provided on both sides of the mounting frame, and a plurality of supporting sleeves are provided on the buffer net support rods, and the two sides of the blocking buffer net are respectively installed on the supporting sleeves on the corresponding sides, a driving line motor is provided at one end of the mounting frame, and a driving wheel is provided on the output shaft of the driving line motor, and a driven wheel is provided at the other end of the mounting frame, one end of the driving line bypasses the driving wheel, and the other end bypasses the driven wheel, and a driving sleeve is sleeved on one end of the buffer net support rod close to the driven wheel, and the driving sleeve is fixedly connected to the driving line, and the driving sleeve and each supporting sleeve are connected in series in sequence through a connecting line.

[0012] The transfer mechanism includes a Y-axis drive component and an X-axis drive component, wherein upper beams are provided at the upper ends of both sides of the mounting frame, the Y-axis drive component is installed on the upper beams on the corresponding side, the Y-axis drive component includes a Y-axis moving seat, and both ends of the X-axis drive component are respectively installed on the Y-axis moving seat on the corresponding side, the X-axis drive component includes an X-axis moving seat, and the transfer seat is arranged on the X-axis moving seat.

[0013] A movable counterweight chassis is provided at the lower end of the drone storage rack, a liftable drone storage platform is provided at the upper end of the drone storage rack, a storage platform lifting drive device is provided inside the drone storage rack, and the lower end of the storage platform lifting drive device is fixedly connected to the counterweight chassis, and the upper end is fixedly connected to the drone storage platform.

[0014] The support cabin is provided with an openable door, a central platform is provided between adjacent support cabins, and the pneumatic ejection system is arranged on the central platform.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention integrates the arresting cable assembly, the arresting buffer net assembly, the manipulator assembly, the transfer mechanism, etc. on the storage support cabin group, so that the present invention can achieve overall movement, solving the environmental adaptability problems encountered by the fixed-wing UAV cluster when operating in a complex environment, such as long-distance transportation, platform deployment, equipment maintenance, etc.

[0017] 2. The manipulator assembly of the present invention includes a lifting arm and multiple rotating joints, which can cooperate with the visual capture camera and the control system to adjust the drone posture, which can meet the drone posture requirements when the drone is ejected and released, and can also meet the drone posture requirements when the drone is recovered and stored.

[0018] 3. The pneumatic ejection system, arresting cable assembly, arresting buffer net assembly, transfer mechanism and other partial structures of the present invention have a compact layout and can be integrated into the storage support cabin group, and the pneumatic ejection system can meet the take-off requirements of the UAV. When the UAV is ejected and taken off, the arresting cable assembly is in a lying state, and the arresting buffer net in the arresting buffer net assembly is in a retracted state, which will not affect the grabbing and take-off of the UAV. When the UAV is recovered, the arresting cable assembly is driven to stand up by the lying drive device, and the arresting buffer net in the arresting buffer net assembly is unfolded. Therefore, the present invention can realize the flexible conversion of the two operating states of UAV ejection release and UAV recovery according to needs. Compared with the single operation of the UAV platform in the prior art, the flexibility and applicability of the use of the present invention are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the front view of the present invention,

[0020] Figure 2 for Figure 1 Schematic diagram of the pneumatic ejection system structure,

[0021] Figure 3 for Figure 2 Schematic diagram of the pneumatic control module in the figure.

[0022] Figure 4 for Figure 1 Schematic diagram of the position relationship between the arresting cable assembly and the arresting buffer net assembly,

[0023] Figure 5 for Figure 4 Schematic diagram of the arresting cable assembly structure,

[0024] Figure 6 for Figure 4 Schematic diagram of the structure of the barrier buffer net component,

[0025] Figure 7 for Figure 1 Schematic diagram of the transport mechanism structure in

[0026] Figure 8 for Figure 7 Schematic diagram of the structure of the robot component in the figure.

[0027] Fig. 9 for Figure 8 Schematic diagram of the working status of the robot component in the figure.

[0028] Fig.10 for Figure 1 Another structural diagram of the storage support cabin group.

[0029] Fig.11 for Fig.10 The main view of the internal structure of the storage support cabin assembly.

[0030] Among them, 1 is a mounting frame, 101 is an upper beam, 102 is a side beam, 103 is a mounting beam, 2 is a pneumatic ejection system, 201 is a pneumatic ejection cylinder, 202 is an air pipe, 203 is a front tripod, 204 is an air pump, 205 is a rear leg, 206 is an electromagnetic reversing valve, 207 is a switch valve, 208 is an air pressure control switch, 3 is an arresting buffer net assembly, 301 is a buffer net support rod, 302 is a drive line motor, 303 is a drive line, 304 is a support sleeve, 305 is a drive sleeve, 306 is a driven wheel, 4 is an arresting cable assembly, 401 is a stand, 402 is an arresting cable, 403 is a height adjustment support, 4031 is a steering wheel, 4032 is a clamping device, 4033 is a nut sleeve, 404 is a tensioning device, 4041 is a cable reel, 4042 is a tensioning electric Machine, 405 is a lodging drive device, 4051 is a front hinge seat, 4052 is a rear hinge seat, 406 is a lead screw, 407 is a height adjustment motor, 5 is a transfer mechanism, 501 is a Y-axis drive component, 502 is an X-axis drive component, 503 is a visual capture camera, 504 is a manipulator component, 5041 is a lifting arm, 5042 is a turntable, 5043 is a manipulator, 5044 is a Y-axis rotation joint, 5045 is an X-axis rotation joint, 5046 is a turntable motor, 505 is a visual positioning module, 506 is a lighting device, 6 is a storage and support cabin group, 601 is a support cabin, 602 is a central platform, 603 is a UAV storage rack, 604 is a UAV storage table, 605 is a storage table lifting drive device, 606 is a fixed seat, 607 is a counterweight chassis, and 608 is a roller. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] like Figures 1 to 11 As shown, the present invention includes a storage support cabin assembly 6, a pneumatic ejection system 2, an arresting cable assembly 4, an arresting buffer net assembly 3 and a transfer mechanism 5, wherein Figure 1 As shown, the arresting cable assembly 4 is arranged on the upper side of the front end of the storage and support cabin group 6, the pneumatic ejection system 2 is arranged on the upper side of the front part of the storage and support cabin group 6, the upper side of the rear part of the storage and support cabin group 6 is provided with a mounting frame 1, and the arresting buffer net assembly 3 is arranged in the lower end of the mounting frame 1, and the transfer mechanism 5 is arranged on the upper end of the mounting frame 1. Figures 4-5 As shown, the arresting cable assembly 4 is provided with an arresting cable 402 with adjustable height and tension, and the arresting cable assembly 4 can be driven to lie down and be stowed by a lying down driving device 405 provided on both sides of the front end of the storage and support cabin assembly 6, as shown in FIG. Figure 4 and Figure 6As shown, the blocking buffer net assembly 3 includes a blocking buffer net and a buffer net driving assembly, and the blocking buffer net is driven to move and open or retract by the buffer net driving assembly, as shown in FIG. Figures 7 to 9 As shown, the transfer mechanism 5 includes a manipulator assembly 504 and a transfer seat with X-direction and Y-direction movement freedom, and the manipulator assembly 504 is installed on the transfer seat, as shown in FIG. Figures 10-11 As shown, the storage support cabin group 6 includes a support cabin 601 and a drone storage rack 603, and the drone storage rack 603 is placed in the corresponding support cabin 601, as shown in FIG. Fig.10 As shown, during recovery, the UAV is stopped after being arrested by the arresting cable assembly 4 and the arresting buffer net assembly 3, and then the manipulator assembly 504 grabs the UAV and places it on the corresponding UAV storage rack 603. During ejection, the manipulator assembly 504 grabs the UAV from the corresponding UAV storage rack 603 and places it on the pneumatic ejection system 2 after adjusting its posture. At this time, the arresting cable assembly 4 is in a lying state, and the arresting buffer net of the arresting buffer net assembly 3 is in a retracted state, which does not affect the take-off of the UAV.

[0033] like Figures 8-9 As shown, in this embodiment, the manipulator assembly 504 includes a Y-axis rotation joint 5044, an X-axis rotation joint 5045, a lifting arm 5041, a turntable 5042 and a manipulator 5043, wherein the Y-axis rotation joint 5044 is installed on the transfer seat, the X-axis rotation joint 5045 is installed on the rotation drive end of the Y-axis rotation joint 5044, and the rotation drive end of the X-axis rotation joint 5045 is provided with a lifting mounting seat, the lifting mounting seat is provided with a lifting arm 5041 and a lifting drive assembly, and the lifting arm 5041 is driven to lift and lower by the lifting drive assembly, the lower end of the lifting arm 5041 is provided with a turntable mounting seat, the turntable mounting seat is provided with a turntable 5042 and a turntable motor 5046, and the turntable 5042 is driven to rotate by the turntable motor 5046, and the lower side of the turntable 5042 is provided with a manipulator 5043 for grabbing the drone, as shown in FIG. Figure 7As shown, the rear end of the mounting frame 1 is provided with a mounting beam 103, and the mounting beam 103 is provided with a visual capture camera 503, and the transfer mechanism is provided with a visual positioning module 505 that cooperates with the visual capture camera 503. When the present invention is working, the manipulator assembly 504 is adjusted accordingly according to the posture of the drone captured by the visual capture camera 503, so that the posture of the drone meets the requirements of catapult take-off or storage. The adjustment action is realized by the relevant joints of the manipulator assembly 504, specifically: the lifting arm 5041 first drives the manipulator 5043 to rise to the set height to ensure that the drone has enough posture adjustment space. After the height is adjusted in place, the Y-axis rotation joint 5044 drives the X-axis rotation joint 504 5. The lifting arm 5041, the manipulator 5043, etc. rotate together along the Y direction. After the rotation is in place, the X-direction rotation joint 5045 drives the lifting arm 5041, the manipulator 5043, etc. to rotate together along the X direction. After the rotation is in place again, the turntable 5042 rotates and drives to adjust the angle of the manipulator 5043. In the above process, the drone is adjusted synchronously with the manipulator 5043, and the visual capture camera 503 captures the drone posture in real time and feeds it back to the control system in real time until the drone posture meets the requirements. In this embodiment, the corresponding drone posture that meets the requirements can be pre-stored. During adjustment, the drone posture is fed back in real time by the visual capture camera 503 and compared with the pre-stored drone posture until it coincides. The manipulator 5043, the visual capture camera 503 and the visual positioning module 505 are all well-known technologies in the art and are commercially available products. The adjustment-related algorithms of the visual capture camera 503 and the posture adjustment control system are obtained according to programming, which is also well-known technologies in the art.

[0034] like Figures 8-9 As shown, in this embodiment, the Y-axis rotation joint 5044 and the X-axis rotation joint 5045 can be rotationally driven by commercially available rotation servos.

[0035] like Figures 8-9 As shown, in this embodiment, the lifting drive assembly includes a lifting drive motor, a lifting drive gear and a lifting drive rack, wherein the lifting drive gear is driven to rotate by the lifting drive motor, the lifting drive rack is installed on the lifting arm 5041 and meshes with the lifting drive gear, the lifting drive gear rotates to drive the lifting drive rack to move up and down, and then drives the lifting arm 5041 to move up and down.

[0036] like Figures 8-9As shown, in this embodiment, the turntable 5042 is rotatably mounted on the lower side of the turntable mounting base, and the turntable motor 5046 drives the turntable 5042 to rotate by transmitting torque through a transmission assembly, such as a transmission belt assembly, wherein a driving pulley is provided on the output shaft of the turntable motor 5046, and a driven pulley is provided on the central axis of the turntable 5042, and the driving pulley and the driven pulley are connected by a synchronous belt.

[0037] like Figures 2-3 As shown, in this embodiment, the pneumatic ejection system 2 includes a pneumatic ejection cylinder 201, an air pump 204 and an ejection control component, wherein the ejection control component includes an electromagnetic reversing valve 206, a switch valve 207 and an air pressure control switch 208, one end of the air pump 204 is connected to the air intake pipeline, and the air pressure control switch 208 is installed on the air tank of the air pump 204 to realize air pressure monitoring and control, the other end of the air pump 204 is connected to the electromagnetic reversing valve 206 through an air path, and a switch valve 207 is provided on the air path for controlling the on-off, and the first port on the output side of the electromagnetic reversing valve 206 is connected to the front of the pneumatic ejection cylinder 201 through the air pipe 202. The first end is connected to the second end, and the second port is connected to the rear end of the pneumatic ejector cylinder 201 through the air pipe 202. The control principle is as follows: after the air pump 204 is powered on, it compresses the air into its own gas tank. When ejection is required, the switch valve 207 is opened and the left part of the electromagnetic reversing valve 206 is connected. The high-pressure gas pushes the piston in the cylinder ejector cylinder 201 to move, and the piston drives the ejection seat on the outside to push the drone to move to achieve ejection. After 5 seconds, the electromagnetic reversing valve 206 is reversed, and the high-pressure gas pushes the ejection seat in the opposite direction to reset. When the air pressure control switch 208 detects that the air pressure in the air tank of the air pump 204 becomes smaller, the air pump 204 replenishes high-pressure air, and the air intake pipeline can also be used for exhaust at the same time. The pneumatic ejector cylinder 201, the air pump 204 and each valve in the ejection control assembly are all well-known technologies in the art. In addition, Figures 2-3 As shown, in this embodiment, the front end of the pneumatic catapult cylinder 201 is provided with a front tripod 203 and the rear end is provided with a rear support leg 205 to achieve support.

[0038] like Figures 4-5 As shown, in this embodiment, the arresting cable assembly 4 includes a stand 401, an arresting cable 402, an arresting cable height adjustment assembly and a tensioning device 404, wherein the lower end of the stand 401 is hingedly installed on both sides of the storage and support compartment group 6 and supported by the lodging drive device 405 on the corresponding side, the stand 401 is provided with an arresting cable height adjustment assembly, and the lower end of the stand 401 is provided with a tensioning device 404, wherein the arresting cable height adjustment assembly is provided with a height adjustment support 403 which can be raised and lowered along the corresponding stand 401, and the two ends of the arresting cable 402 are respectively wrapped around the height adjustment support 403 on the corresponding side and then wound in the tensioning device 404 on the corresponding side.

[0039] like Figures 4-5 As shown, in this embodiment, the arresting cable height adjustment assembly includes a height adjustment motor 407 and a lead screw 406, the height adjustment support 403 includes a nut sleeve 4033, and the nut sleeve 4033 is sleeved on the lead screw 406, the height adjustment motor 407 drives the lead screw 406 to rotate, and then drives the nut sleeve 4033 to drive the height adjustment support 403 to move up and down, and the height adjustment support 403 is also provided with a steering wheel 4031 and a clamping device 4032, wherein the arresting cable 402 bypasses the steering wheel 4031 and passes through the clamping device 4032 and then is wound around the corresponding tensioning device 404, when the arresting cable 402 is tensioned and adjusted, the clamping device 4032 clamps the arresting cable 402 to keep it in a tensioned state, in this embodiment, the clamping device 4032 can adopt a splint structure, and the two splints are closed and clamped by a cylinder.

[0040] like Figures 4-5 As shown, in this embodiment, the tensioning device 404 includes a tensioning motor 4042 and a cable winding disc 4041. The cable winding disc 4041 is installed on the output shaft of the tensioning motor 4042. The arresting cable 402 is wound around the cable winding disc 4041. The cable winding disc 4041 is driven to rotate by the tensioning motor 4042 to change the tensioning degree of the arresting cable 402.

[0041] like Figures 4-5 As shown, in this embodiment, the lodging drive device 405 adopts a cylinder structure, wherein a rear hinge seat 4052 is provided on the upper side of the storage and support compartment group 6, a front hinge seat 4051 is provided on the vertical frame 401, and both ends of the cylinder are respectively hinged to the corresponding hinge seats.

[0042] like Figure 6As shown, in this embodiment, the buffer net driving assembly in the blocking buffer net assembly 3 includes a buffer net support rod 301, a drive line motor 302, a drive line 303 and a drive sleeve 305, wherein the buffer net support rods 301 are provided on both sides of the mounting frame 1, and a plurality of support sleeves 304 are provided on the buffer net support rods 301, and the two sides of the blocking buffer net are respectively installed on the respective support sleeves 304 on the corresponding sides, the drive line motor 302 is provided at one end of the mounting frame 1, and a driving wheel is provided on the output shaft of the drive line motor 302, and a driven wheel 306 is provided at the other end of the mounting frame 1, and one end of the drive line 303 bypasses the driving wheel, and the other end bypasses the driven wheel 30 6. A driving sleeve 305 is mounted on one end of the buffer net support rod 301 close to the driven wheel 306, and the driving sleeve 305 is fixedly connected to the driving wire 303. At the same time, the driving sleeve 305 and each supporting sleeve 304 are connected in series in sequence through connecting lines. The driving wire motor 302 drives the driving wire 303 to move through the active wheel, and then drives the driving sleeve 305 to slide along the buffer net support rod 301. When the driving sleeve 305 moves backward, it pushes each supporting sleeve 304 to move backward, thereby closing the blocking buffer net. When the driving sleeve 305 moves forward, it drives each supporting sleeve 304 to move forward in sequence through the connecting line, thereby opening the blocking buffer net.

[0043] like Figure 6 As shown, the mounting frame 1 is provided with side beams 102 on both the front and rear sides, and the two ends of the buffer net support rod 301 and the driving line motor 302 and the driven wheel 306 are respectively installed on the corresponding side beams 102 .

[0044] like Figure 7 As shown, the transfer mechanism 5 includes a Y-axis driving component 501 and an X-axis driving component 502, wherein upper beams 101 are provided at the upper ends of both sides of the mounting frame 1, the Y-axis driving component 501 is installed on the upper beam 101 on the corresponding side, the Y-axis driving component 501 includes a Y-axis moving seat, and both ends of the X-axis driving component 502 are respectively installed on the Y-axis moving seat on the corresponding side, the X-axis driving component 502 includes an X-axis moving seat, and the transfer seat is arranged on the X-axis moving seat. In this embodiment, the Y-axis driving assembly 501 and the X-axis driving assembly 502 are both driven by a gear rack structure, wherein the Y-axis driving assembly 501 includes a Y-axis motor, a Y-axis gear and a Y-axis rack, the Y-axis moving seat is slidably connected with the corresponding upper beam 101, the Y-axis rack is arranged on the upper beam 101, the Y-axis motor is arranged on the Y-axis moving seat, the Y-axis gear is arranged on the output shaft of the Y-axis motor and meshes with the Y-axis rack, the Y-axis motor drives the Y-axis gear to rotate and roll along the Y-axis rack, thereby driving the Y-axis moving seat to move, and the X-axis driving assembly 502 has the same structure as the Y-axis driving assembly 501. Figure 7 As shown, a visual positioning module 505 and a lighting device 506 are provided on the X-axis driving component 502 .

[0045] like Figures 10-11 As shown, in this embodiment, a movable counterweight chassis 607 is provided at the lower end of the drone storage rack 603, and a liftable drone storage platform 604 is provided at the upper end of the drone storage rack 603. The counterweight chassis 607 is provided with rollers 608 and a chassis moving motor, and the chassis moving motor drives the corresponding rollers 608 to rotate, thereby enabling the counterweight chassis 607 to drive the entire drone storage rack 603 to move in and out of the support cabin 601. In this embodiment, the weight of the counterweight chassis 607 is 50 kilograms to prevent the drone storage rack 603 from tipping over. The lifting of the drone storage platform 604 is used to cooperate with the lowered drone to fall into the support cabin 601 or drive the drone to rise to a set height so that the manipulator assembly 504 can complete the grabbing.

[0046] like Figures 10-11 As shown, in this embodiment, the drone storage rack 603 is provided with a storage platform lifting drive device 605, and the lower end of the storage platform lifting drive device 605 is fixedly connected to the counterweight chassis 607, and the upper end is fixedly connected to the drone storage platform 604, and the storage platform lifting drive device 605 is used to drive the lifting movement of the drone storage platform 604. The storage platform lifting drive device 605 can use a suitable driving device as needed, such as a commercially available product such as a cylinder, an electric push rod, etc., and the drone storage rack 603 is provided with a fixing seat 606 inside to assist in fixing the storage platform lifting drive device 605 to keep it in a vertical state.

[0047] like Fig.10 As shown, the support cabin 601 is provided with an openable door for the drone to enter and exit, which is a well-known technology in the art. In addition, a central platform 602 is provided between adjacent support cabins 601 , and the pneumatic ejection system 2 is provided on the central platform 602 .

[0048] The working principle of the present invention is:

[0049] The present invention includes two operations when working, namely, grabbing a drone for ejection and recovering the drone. When grabbing a drone, the hatch on the support cabin 601 is opened, and the drone storage platform 604 on the upper end of the drone storage rack 603 rises to a set height. Then, the manipulator assembly 504 is driven by the transfer mechanism 5 to move to the top of the drone storage platform 604. The lifting arm 5041 in the manipulator assembly 504 descends to a set height. Then, the manipulator 5043 grabs the drone, and the lifting arm 5041 rises to a set height. The transfer mechanism 5 drives the manipulator assembly 504 and the drone to move to a specified position. The manipulator assembly 504 cooperates with the visual capture camera 503 and the control system program to adjust the posture of the UAV so that it meets the ejection requirements and can be placed on the pneumatic ejection system 2. When the posture of the UAV is adjusted, the rotating mechanism 5 drives the manipulator assembly 504 to move above the pneumatic ejection system 2. The lifting arm 5041 in the manipulator assembly 504 descends to accurately place the UAV on the pneumatic ejection system 2. Finally, the pneumatic ejection system 2 is started to eject and release the UAV. At this time, the arresting cable assembly 4 needs to be in a lying state, and the arresting buffer net assembly 3 is in a retracted state, which will not affect the grabbing and takeoff of the UAV.

[0050] When the UAV is recovered, the stands 401 on both sides of the arresting cable assembly 4 are driven to stand up by the lodging drive device 405, and then the control system adjusts the height and tension of the arresting cable 402 according to the feedback parameters such as the flight attitude of the UAV, and at the same time, the arresting buffer net in the arresting buffer net assembly 3 is opened, and a hook is provided on the lower side of the UAV for hooking on the arresting cable 402. This is a well-known technology in the art. After the height and tension of the arresting cable 402 are adjusted, the hook on the lower side of the UAV can be accurately hooked on the arresting cable 402 and finally stay in the arresting buffer net. At this time, the visual capture camera 503 captures the position of the UAV and feeds back to the control system, and the control system drives the mechanical The hand assembly 504 moves to the top of the drone, and then the lifting arm 5041 in the manipulator assembly 504 descends to complete the drone grabbing and rises to the set height. Then the manipulator assembly 504 cooperates with the visual capture camera 503 and the control system to adjust the drone posture so that it meets the storage requirements. After the drone posture adjustment is completed, the manipulator assembly 504 is driven by the transfer mechanism 5 to move to the top of the corresponding drone storage rack 603. At this time, the hatch of the support cabin 601 is opened, and the lifting arm 5041 in the manipulator assembly 504 descends to place the drone on the corresponding drone storage platform 604. Finally, the drone storage platform 604 descends to drive the drone into the support cabin 601 to complete the drone recovery.

[0051] The present invention can move as a whole, thereby solving the environmental adaptability problems encountered by fixed-wing UAV clusters when operating in complex environments, such as long-distance transportation, platform deployment, equipment maintenance, etc., and the present invention can realize flexible conversion between the two operating states of UAV catapult release and UAV recovery as needed. Compared with the single operation of the UAV platform in the prior art, the flexibility and applicability of the present invention are greatly improved.

Claims

1. A fixed-wing UAV cellular system, characterized by: The invention comprises a storage support cabin group (6), a pneumatic ejection system (2), an arresting cable assembly (4), an arresting buffer net assembly (3) and a transfer mechanism (5), wherein the arresting cable assembly (4) is arranged on the upper side of the front end of the storage support cabin group (6), the pneumatic ejection system (2) is arranged on the upper side of the front part of the storage support cabin group (6), a mounting frame (1) is arranged on the upper side of the rear part of the storage support cabin group (6), the arresting buffer net assembly (3) is arranged in the lower end of the mounting frame (1), the transfer mechanism (5) is arranged on the upper end of the mounting frame (1), the arresting cable assembly (4) is provided with an arresting cable (402) with adjustable height and tension, and the arresting cable assembly (4) The storage and support cabin group (6) is driven to fall down and be folded up by a falling down driving device (405) arranged at the front end of the storage and support cabin group (6); the arresting buffer net assembly (3) is provided with a movable and foldable arresting buffer net; the transfer mechanism (5) comprises a manipulator assembly (504) and a transfer seat with X-direction and Y-direction movement freedom, and the manipulator assembly (504) is installed on the transfer seat; the storage and support cabin group (6) comprises a support cabin (601) and a UAV storage rack (603), and the UAV storage rack (603) is respectively placed in the corresponding support cabin (601), and the UAV is grasped and transferred by the manipulator assembly (504).

2. The fixed-wing UAV cellular system according to claim 1, characterized in that: The manipulator assembly (504) comprises a Y-axis rotating joint (5044), an X-axis rotating joint (5045), a lifting arm (5041), a turntable (5042) and a manipulator (5043), wherein the Y-axis rotating joint (5044) is mounted on the transfer seat, the X-axis rotating joint (5045) is mounted on the rotation drive end of the Y-axis rotating joint (5044), a lifting mounting seat is provided at the rotation drive end of the X-axis rotating joint (5045), and a lifting arm is provided on the lifting mounting seat (5041) and a lifting drive assembly, and the lifting arm (5041) is driven to lift by the lifting drive assembly, a turntable mounting seat is provided at the lower end of the lifting arm (5041), a turntable (5042) and a turntable motor (5046) are provided on the turntable mounting seat, and the turntable (5042) is driven to rotate by the turntable motor (5046), a manipulator (5043) is provided on the lower side of the turntable (5042), and a visual capture camera (503) is provided on the mounting frame (1).

3. The fixed-wing UAV cellular system according to claim 1, characterized in that: The pneumatic ejection system (2) comprises a pneumatic ejection cylinder (201), an air pump (204) and an ejection control component, wherein the ejection control component comprises an electromagnetic reversing valve (206), a switch valve (207) and an air pressure control switch (208), the air pressure control switch (208) being mounted on the air pump (204), and the air pump (204) being connected to the electromagnetic reversing valve (206) via an air path, the switch valve (207) being arranged on the air path, the first port on the output side of the electromagnetic reversing valve (206) being connected to the front end of the pneumatic ejection cylinder (201) via a first air pipe, and the second port being connected to the rear end of the pneumatic ejection cylinder (201) via a second air pipe.

4. The fixed-wing UAV cellular system according to claim 1, characterized in that: The arresting cable assembly (4) comprises a stand (401), an arresting cable (402), an arresting cable height adjustment assembly and a tensioning device (404), wherein the lower end of the stand (401) is hingedly mounted on both sides of the storage support cabin group (6) and supported by a corresponding side lodging drive device (405), the stand (401) is provided with an arresting cable height adjustment assembly, and the lower end of the stand (401) is provided with a tensioning device (404), wherein the arresting cable height adjustment assembly is provided with a height adjustment support (403) that is raised and lowered along the corresponding stand (401), and the two ends of the arresting cable (402) respectively pass around the corresponding side height adjustment support (403) and are then wound around the corresponding side tensioning device (404).

5. The fixed-wing UAV cellular system according to claim 4, characterized in that: The arresting cable height adjustment assembly comprises a height adjustment motor (407) and a lead screw (406); the height adjustment support (403) is provided with a nut sleeve (4033) sleeved on the lead screw (406); the lead screw (406) is driven to rotate by the height adjustment motor (407); the height adjustment support (403) is provided with a steering wheel (4031) and a clamping device (4032); and the arresting cable (402) passes around the steering wheel (4031) and through the clamping device (4032) and is then wound around the corresponding tensioning device (404).

6. The fixed-wing UAV cellular system according to claim 4, characterized in that: The tensioning device (404) comprises a tensioning motor (4042) and a cable winding disc (4041), wherein the cable winding disc (4041) is mounted on an output shaft of the tensioning motor (4042), and the arresting cable (402) is wound around the cable winding disc (4041).

7. The fixed-wing UAV cellular system according to claim 1, characterized in that: The blocking buffer net assembly (3) is provided with a buffer net drive assembly, and the buffer net drive assembly comprises a buffer net support rod (301), a drive line motor (302), a drive line (303) and a drive sleeve (305), wherein the buffer net support rods (301) are provided on both sides of the mounting frame (1), and a plurality of support sleeves (304) are provided on the buffer net support rods (301), and the two sides of the blocking buffer net are respectively installed on the respective support sleeves (304) on the corresponding sides, and the drive line motor (302) is provided at one end of the mounting frame (1). , and a driving wheel is provided on the output shaft of the driving line motor (302), and a driven wheel (306) is provided at the other end of the mounting frame (1), one end of the driving line (303) bypasses the driving wheel, and the other end bypasses the driven wheel (306), and a driving sleeve (305) is sleeved on one end of the buffer net support rod (301) close to the driven wheel (306), and the driving sleeve (305) is fixedly connected to the driving line (303), and the driving sleeve (305) and each supporting sleeve (304) are connected in series in sequence through a connecting line.

8. The fixed-wing UAV cellular system according to claim 1, characterized in that: The transfer mechanism (5) comprises a Y-direction drive component (501) and an X-direction drive component (502), wherein upper beams (101) are provided at the upper ends of both sides of the mounting frame (1), the Y-direction drive component (501) is installed on the upper beam (101) on the corresponding side, the Y-direction drive component (501) comprises a Y-direction moving seat, and both ends of the X-direction drive component (502) are respectively installed on the Y-direction moving seat on the corresponding side, the X-direction drive component (502) comprises an X-direction moving seat, and the transfer seat is arranged on the X-direction moving seat.

9. The fixed-wing UAV cellular system according to claim 1, characterized in that: A movable counterweight chassis (607) is provided at the lower end of the drone storage rack (603), a liftable drone storage platform (604) is provided at the upper end of the drone storage rack (603), a storage platform lift drive device (605) is provided inside the drone storage rack (603), and the storage platform lift drive device (605) has a lower end fixedly connected to the counterweight chassis (607) and an upper end fixedly connected to the drone storage platform (604).

10. The fixed-wing UAV cellular system according to claim 1, characterized in that: The support cabin (601) is provided with an openable cabin door, a central platform (602) is provided between adjacent support cabins (601), and the pneumatic ejection system (2) is provided on the central platform (602).

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