Aircraft aerial recovery system and method, carrier aircraft, and recovery aircraft

Abstract

The present invention discloses an aircraft aerial recovery system, including an active mounting part, an active recovery part, a passive mounting part and a passive recovery part; among the active mounting part and the passive mounting part: one is used to be installed on a carrier aircraft, and the other is used to be installed on a recovery aircraft; the active recovery part is movably mounted on the active mounting part, and the abutment part of the active recovery part can be operated to move toward the abutment part of the passive recovery part; the passive recovery part is mounted on the passive mounting part; one of the abutment parts of the active recovery part and the passive recovery part is a strip extending in the left and right directions, and the other abutment part has a lock hole and the lock mouth of the lock hole is located on the abutment side. The problem of poor recovery effect of aerial aircraft can be effectively solved. The present invention also discloses a carrier aircraft, a recovery aircraft, and an aircraft aerial recovery system including the above-mentioned carrier aircraft and recovery aircraft, and also discloses an aircraft aerial recovery method.

Description

Technical Field

[0001] The present invention relates to the field of aircraft technology, and more specifically, to an aircraft aerial recovery system, a carrier aircraft, a recovery aircraft, and an aircraft aerial recovery system comprising the carrier aircraft and the recovery aircraft, and also to an aircraft aerial recovery method. Background Art

[0002] The drone industry is booming, and drones are currently developing towards swarm distribution. However, swarm drones or loyal wingmen generally have limited range, so solving the problem of aerial recovery can comprehensively improve the short actual range of drones, allowing drones to be launched by carrier aircraft and recovered in the air after completing the mission, so as to achieve low-cost reuse. At present, there is no aerial recovery technology for small aircraft such as drones, and the biggest difficulty in aerial recovery is that the distance between the carrier aircraft and the recovery aircraft is uncontrollable, and the error range is relatively large, making it difficult to perform effective recovery.

[0003] In summary, how to effectively solve the problem that an aircraft cannot be recovered in the air is an issue that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of this, the first object of the present invention is to provide an aircraft aerial recovery system, which can effectively solve the problem that the aircraft cannot be recovered in the air;

[0005] A second object of the present invention is to provide a carrier aircraft;

[0006] A third object of the present invention is to provide a recovery aircraft;

[0007] A fourth object of the present invention is to provide an aircraft aerial recovery system comprising the above-mentioned carrier aircraft and recovery aircraft;

[0008] A fifth object of the present invention is to provide a method for recovering an aircraft in mid-air.

[0009] In order to achieve the above first object, the present invention provides the following technical solutions:

[0010] An aircraft aerial recovery system comprises an active mounting part, an active recovery part, a passive mounting part and a passive recovery part; of the active mounting part and the passive mounting part: one is used for mounting on a carrier aircraft, and the other is used for mounting on a recovery aircraft; the active recovery part is movably mounted on the active mounting part, and the abutment part of the active recovery part can be operated to move toward the abutment part of the passive recovery part; the passive recovery part is mounted on the passive mounting part; when the active recovery part and the passive recovery part are docked, their abutment sides are arranged opposite to each other, and one of the abutment parts is a strip extending in the left-right direction, and the other abutment part has a locking hole and the locking mouth of the locking hole is located on the abutment side for introducing the strip.

[0011] When in use, one of the active mounting member and the passive mounting member is mounted on the carrier aircraft, and the other is mounted on the recovery aircraft. Then the recovery aircraft and the carrier aircraft are made to fly synchronously, and the relative positions of the abutment parts of the active recovery member and the abutment parts of the passive recovery member are made to be in a waiting docking state. Then the abutment part of the active recovery member is actively operated to move toward the abutment part of the passive recovery member, that is, relatively move, until the strip member enters the lock hole from the lock mouth to complete the buckle connection. In the aircraft aerial recovery system, the active recovery member can be actively operated to move without achieving docking through the speed difference between the recovery aircraft and the carrier aircraft. So that when the active recovery member and the passive recovery member abut and collide with each other during docking, the collision force between them is controllable, that is, the operating force on the active recovery member, avoiding excessive collision force to ensure the recovery effect. In summary, the aircraft aerial recovery system can effectively solve the problem of poor recovery effect of aerial aircraft.

[0012] Preferably, between the active recovery member and the active mounting member, and between the passive recovery member and the passive mounting member: one group of the two are connected by rotation around an axis parallel to the strip member, and the other group of the two are connected by rotation around an axis parallel to the strip member or by sliding connection along the abutment direction.

[0013] Preferably, a hinged end at one end of the active recovery member is rotatably connected to the active mounting member; and when the rotation axis is in a horizontal state, when the active recovery member is unlocked from the locking member between the active mounting member, the abutment portion of the active recovery member can be actively released to swing back and forth along the flight direction under the action of gravity.

[0014] Preferably, the connecting end at one end of the passive recovery member is rotatably connected to the passive mounting member, and when the rotation axis is in a horizontal state, the abutment portion at the other end of the passive recovery member can swing backward; a torsion spring is arranged between the passive recovery member and the passive mounting member to prevent the abutment portion of the passive recovery member from rotating backward.

[0015] Preferably, the passive recovery member is provided with a plurality of the abutting portions in sequence along the extension direction; each of the abutting portions is provided with the locking hole.

[0016] Preferably, the passive recovery component includes an inclined rod, a vertical rod and a cross rod arranged at the abutment portion, one end of the inclined rod is connected to the cross rod and the other end is connected to the vertical rod, and the inclined rod is rotatably connected to the vertical rod and is directly provided with a lock hole torsion spring so that it can be rotated inward to open and form a lock.

[0017] Preferably, the active recovery member comprises an articulated seat, the strip member and two connecting rods, the two connecting rods are respectively connected to two ends of the strip member, and both of the connecting rods are connected to the articulated seat; the strip member is a rope body.

[0018] In order to achieve the above second purpose, the present invention also provides a carrier aircraft, including a carrier body, an active mounting part and an active recovery part, wherein one end of the active mounting part is connected to the belly of the carrier body, and the other end is rotatably connected to the active recovery part, and the active recovery part has a strip extending in the left and right directions; the active recovery part is operated to rotate so that the strip can swing back and forth. The same carrier aircraft is like the above aircraft air recovery system, in which the active recovery part can be operated to rotate. Since the above aircraft air recovery system has the above technical effects, the carrier aircraft should also have the corresponding technical effects.

[0019] It includes a carrier body, and is characterized in that it also includes an active mounting part and an active recovery part, one end of the active mounting part is connected to the abdomen of the carrier body, and the other end is rotatably connected to the active recovery part, and the active recovery part has a strip extending in the left and right directions; the active recovery part is operated to rotate so that the strip can swing back and forth.

[0020] Preferably, when the rotation axis of the active recovery member is in a horizontal state, when the locking member between the active recovery member and the active mounting member is unlocked, the strip member of the active recovery member can be actively released to swing back and forth along the flight direction under the action of gravity.

[0021] Preferably, it also includes a lifting driver, the active mounting member is rotatably connected to the belly of the carrier body, and the lifting driver is used to drive the active mounting member to rotate so that the active recovery member moves closer to the belly of the carrier body.

[0022] Preferably, the active recovery member comprises an articulated seat, the strip member and two connecting rods, the two connecting rods are respectively connected to two ends of the strip member, and both of the connecting rods are connected to the articulated seat; the strip member is a rope body.

[0023] In order to achieve the third objective, the present invention also provides a recovery aircraft, including a recovery body, characterized in that it also includes a passive mounting member and a passive recovery member, wherein the passive mounting member is mounted on the back of the recovery body, and one end of the passive recovery member is connected to the passive mounting member in a rotational manner, and when the rotation axis is in a horizontal state, the abutment portion at the other end of the passive recovery member can swing backward, and the abutment portion is provided with a lock hole, and the lock opening of the lock hole is located on the abutment side, so as to match the strip member of the carrier aircraft in any of the above embodiments. Since the above carrier aircraft has the above technical effects, the recovery aircraft should also have corresponding technical effects.

[0024] Preferably, an obstructing torsion spring is arranged between the passive recovery member and the passive mounting member to prevent the abutting portion of the passive recovery member from rotating backward.

[0025] Preferably, the passive recovery component includes a vertical rod and a horizontal rod arranged at the abutment portion, and also includes an inclined rod, one end of the inclined rod is connected to the horizontal rod and the other end is connected to the vertical rod, and the inclined rod is rotatably connected to the vertical rod and is directly provided with a lock hole torsion spring so that it can be rotated inward to open and form a lock.

[0026] Preferably, it also includes a releasable locking device, which locks the position of the passive recovery component when the passive recovery component rotates to abut against the back of the recovery body, and enables the passive recovery component to rotate to stand on the back of the recovery body under the action of the blocking torsion spring when released.

[0027] In order to achieve the fourth objective, the present invention also provides an aircraft aerial recovery system, which includes any of the above-mentioned carrier aircraft and any of the above-mentioned recovery aircraft, wherein the strip of the carrier aircraft can be operated to move toward the passive recovery part of the recovery aircraft, and after abutting against the passive recovery part of the recovery aircraft, it can continue to swing upward and backward, and when pushing the passive recovery part to rotate backward, it enters the lock of the passive recovery part along the guide surface on the passive recovery part. Since the above-mentioned carrier aircraft has the above-mentioned technical effects, the aircraft aerial recovery system should also have corresponding technical effects.

[0028] In order to achieve the fifth objective, the present invention also provides an aircraft aerial recovery method, which includes the following steps: flying the carrier aircraft to the top of the recovery aircraft and maintaining synchronous flight; operating the active recovery component on the carrier aircraft to move toward the passive recovery component abutment portion of the recovery aircraft, so that the strip on the active recovery component swings and rotates backward, and during the backward rotation, after the active recovery component abuts against the passive recovery component abutment portion of the recovery aircraft, it continues to swing backward and upward, so that when pushing the passive recovery component to rotate backward, the strip moves along the guide surface on the passive recovery component to enter the lock. Since the above-mentioned aircraft aerial recovery system has the above-mentioned technical effects, the aircraft aerial recovery method that uses the same recovery method should also have corresponding technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the structure before docking of an aircraft air recovery system provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the structure of the aircraft air recovery system in docking according to an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of the docking structure of the active recovery component and the passive recovery component provided in an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of a partial structure of a passive recovery component provided by an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of the connection structure between a passive recovery component and a passive installation component provided in an embodiment of the present invention.

[0035] The following are marked in the accompanying drawings:

[0036] Active mounting parts 1, active recovery parts 2, strip parts 3, passive recovery parts 4, lock holes 5, passive mounting parts 6, blocking torsion springs 7, lock hole torsion springs 8, diagonal rods 9, vertical rods 10, and horizontal rods 11. DETAILED DESCRIPTION

[0037] The embodiment of the present invention discloses an aircraft aerial recovery system, which effectively solves the problem that the aircraft cannot be recovered in the air.

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] See also Figure 1-Figure 5 , Figure 1 A schematic diagram of the structure before docking of an aircraft air recovery system provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of the aircraft air recovery system in docking according to an embodiment of the present invention; Figure 3 A schematic diagram of the docking structure of the active recovery component and the passive recovery component provided in an embodiment of the present invention; Figure 4 A schematic diagram of a partial structure of a passive recovery component provided by an embodiment of the present invention; Figure 5 A schematic diagram of the connection structure between a passive recovery component and a passive installation component provided in an embodiment of the present invention.

[0040] In some specific embodiments, this embodiment provides an aircraft aerial recovery system, which is mainly used to realize the recovery of another aircraft by one aircraft. For the convenience of explanation, the aircraft to be recovered is the recovery aircraft, which is generally a small drone; the aircraft that performs the recovery operation on the recovery aircraft is called the carrier aircraft, which is generally a large drone. Of course, the size of the recovery aircraft and the carrier aircraft can be equal, such as using aircraft of the same specifications, or the recovery aircraft can be larger than the carrier aircraft. Specifically, corresponding settings can be made according to actual recovery needs.

[0041] The aircraft aerial recovery system mainly includes an active mounting part 1, an active recovery part 2, a passive mounting part 6 and a passive recovery part 4, wherein the active recovery part 2 is mounted on the active mounting part 1, and the passive recovery part 4 is mounted on the passive mounting part 6. Among the active mounting part 1 and the passive mounting part 6: one is used to be installed on the carrier aircraft, and the other is used to be installed on the recovery aircraft. When recovering, the active recovery part 2 moves toward the passive recovery part 4, so that the active recovery part 2 and the passive recovery part 4 are in contact with each other to form a buckling relationship, so that the recovery force can be transmitted to each other. After the buckling is completed, the carrier aircraft can transmit the force to the recovery aircraft through the buckling connection between the active recovery part 2 and the passive recovery part 4, so as to drive the recovery aircraft to fly back.

[0042] The active recovery member 2 is movably mounted on the active mounting member 1 so as to be able to move relative to the active mounting member 1. Through the above-mentioned movable mounting, the abutting portion of the active recovery member 2 moves toward the abutting portion of the passive recovery member 4, so as to achieve the interlocking connection between the abutting portion of the active recovery member 2 and the abutting portion of the passive recovery member 4 by moving toward the abutting portion of the passive recovery member 4 until abutting. The movable mounting includes sliding connection, rotating connection or other connection methods.

[0043] The abutment of the active recovery member 2 can be operated to move toward the abutment of the passive recovery member 4. The operation can be: the control operation can be realized by a driving mechanism, such as controlling the driving mechanism to start, so as to apply a driving force to the active recovery member 2, so as to drive the abutment of the active recovery member 2 to move toward the abutment of the passive recovery member 4, the driving mechanism is such as a telescopic mechanism, a rotating driving mechanism, etc., that is, such as a telescopic cylinder, a motor, etc.; the control operation can also be realized by a release mechanism, wherein the release mechanism is generally a locking mechanism, such as an electric bolt, a hydraulic bolt, etc., when the release mechanism is released, the active recovery member 2 can be driven to move by a pre-compressed elastic device, or accumulated potential energy, wherein the accumulated potential energy is such as height potential energy. That is, the abutment of the active recovery member 2 can be operated to actively move, that is, it can actively perform a buckle operation.

[0044] The active recovery member 2 and the passive recovery member 4 form a buckling relationship after abutment, wherein the buckling is generally achieved through the strip member 3 and the matching lock hole 5. A lock opening is provided on one side of the lock hole 5, and the lock opening can be opened automatically or passively so that the strip member 3 can move laterally into the lock hole 5, and then the closed door body at the lock opening automatically or passively moves to close the lock opening to maintain it in a buckled state.

[0045] Specifically, the active recovery member 2 and the passive recovery member 4 are arranged opposite to each other at their abutting sides when they are docked, and the abutting portion of one of them is a strip member 3 extending in the left-right direction, and the abutting portion of the other has a locking hole 5, and the locking opening of the locking hole 5 is located on the abutting side for introducing the strip member 3. As shown in the accompanying drawings, the strip member 3 is arranged on the active recovery member 2 as the abutting portion of the active recovery member 2, and the locking hole 5 is arranged on the abutting portion of the passive recovery member 4; of course, the opposite arrangement can also be used. The strip member 3 is, for example, a rod, a stretched rope member, etc. The structural form of the locking opening can refer to the side opening of the safety buckle, and of course, other structures can also be used.

[0046] When in use, one of the active mounting member 1 and the passive mounting member 6 is mounted on the carrier aircraft, and the other is mounted on the recovery aircraft. Then the recovery aircraft and the carrier aircraft are made to fly synchronously, and the relative positions of the abutment of the active recovery member 2 and the abutment of the passive recovery member 4 are made to be in a waiting docking state. Then the abutment of the active recovery member 2 is actively operated to move toward the abutment of the passive recovery member 4, that is, relatively moved, until the strip member 3 enters the lock hole 5 from the lock mouth to complete the buckle connection. In the aircraft aerial recovery system, the active recovery member 2 can be actively operated to move without achieving docking through the speed difference between the recovery aircraft and the carrier aircraft. So that when the active recovery member 2 and the passive recovery member 4 abut and collide with each other during docking, the collision force between them is controllable, that is, the operating force on the active recovery member 2, avoiding excessive collision force to ensure the recovery effect. In summary, the aircraft aerial recovery system can effectively solve the problem of poor recovery effect of aerial aircraft.

[0047] In some embodiments, when recycling, the distance between the carrier aircraft and the recovery aircraft is uncontrollable, and the relative distance range is relatively large. Based on this, the active recovery component 2 and the active mounting component 1, as well as the passive recovery component 4 and the passive mounting component 6 can be connected by rotating around an axis parallel to the strip 3, and the other group of the two can be connected by rotating around an axis parallel to the strip 3 or sliding along the abutment direction. Because one of the active recovery component 2 and the passive recovery component 4 has a strip 3 and the other has a lock hole 5, the rotation axis of the recovery component with the strip 3 can be referenced to the strip 3, and the rotation axis of the recovery component with the lock hole 5 can be referenced to the extension direction of the hole portion of the lock hole 5 matched with the strip 3. It should be noted that the abutment direction is generally set perpendicular to the extension direction of the strip 3. One scheme is shown in the accompanying drawings, the abutment direction is the front-to-back direction, and the extension direction of the strip 3 is the left-right direction. At this time, the recovery aircraft and the carrier aircraft are arranged up and down. Of course, the recovery aircraft and the carrier aircraft can also be arranged left and right, and the abutment direction can be the up and down direction, and the extension direction of the strip 3 is the front and back direction.

[0048] In one solution, the extension direction, the abutment direction and the parallel direction of the strip 3 may be perpendicular to each other, wherein the parallel direction refers to the parallel direction between the carrier aircraft and the recovery aircraft.

[0049] As mentioned above, one of the recovery parts rotates around an axis parallel to the strip 3, and one end moves after the abutment. Because of the rotation, there is not only relative movement in the abutment direction, but also a partial movement in a direction perpendicular to the abutment direction and perpendicular to the strip 3, so that the two recovery parts produce relative movement in this direction. During the relative movement, the strip 3 can be offset relative to the lock mouth.

[0050] The active recovery member 2 is rotating, and the passive recovery member 4 can be sliding. The active recovery member 2 starts to rotate until the active recovery member 2 and the passive recovery member 4 abut against each other. At this time, if the lock and the strip member 3 are staggered, especially the staggered direction, the lock is closer to the rotating shaft of the active recovery member 2 than the strip member 3. At this time, the active recovery member 2 continues to rotate, and while rotating, it pushes the passive recovery member 4 to slide along the abutting direction to adjust the positions of each other in the abutting direction. Because of the rotation, the active recovery member 2 can also have a sub-movement perpendicular to the abutting direction, so that the strip member 3 and the lock have relative movement in a direction perpendicular to the abutting direction and perpendicular to the extension direction of the strip member 3, until the strip member 3 and the lock go from staggered to overlap in this direction, and when they overlap, the strip member 3 enters the lock hole 5 from the lock mouth to complete the locking, that is, complete the docking.

[0051] Of course, the passive recovery member 4 is rotating, while the active recovery member 2 is sliding, and the movement forms are similar. Similarly, when both the passive recovery member 4 and the active recovery member 2 are rotating, their docking operation is also similar.

[0052] The ultimate purpose is that when one of them rotates, the other slides or slides correspondingly, so that the abutting direction keeps moving synchronously, and in the direction perpendicular to the abutting direction and perpendicular to the extending direction of the strip 3 (such as the up and down direction in the figure), relative movement is formed, so that the strip 3 and the lock mouth are from staggered to overlap, and the docking is completed when they overlap. Because of the rotation, they can rotate relatively to overlap when staggered within a certain range.

[0053] In some embodiments, the hinged end of one end of the active recovery member 2 can be rotatably connected to the active mounting member 1, so that the movement of the active recovery member 2 to be released is rotation. The rotation can be achieved by a motor, such as setting a motor between the active mounting member 1 and the active recovery member 2 to drive the active recovery member 2 to rotate, and the degree of rotation can be detected by a detector to detect whether the buckle is completed to determine whether to stop the rotation, such as determining the opening and closing state of the lock rod at the lock port. If the opening and closing are detected continuously, it means that the docking is completed, that is, the motor can be controlled to stop driving.

[0054] In some embodiments, when the axis of rotation between the active mounting member 1 and the active recovery member 2 is in a horizontal state, when the active recovery member 2 is unlocked from the locking member between the active mounting member 1, the abutment portion of the active recovery member 2 can be actively released to swing back and forth along the flight direction under the action of gravity, so as to complete docking with the abutment portion of the passive recovery member 4 during the backward swinging process. Before unlocking, the center of gravity of the active recovery member 2 should be as high as possible, so that after rotating to a vertical state, the amplitude of the backward swing will be greater, so as to better ensure that the maximum allowable misalignment is greater, so as to have a larger fault tolerance space. The active recovery member 2 can be provided with a center weight to control the center of gravity position.

[0055] In some embodiments, the connecting end at one end of the passive recovery component 4 and the passive mounting component 6 can be rotatably connected, and when the rotation axis between them is in a horizontal state, the abutment portion at the other end of the passive recovery component 4 can swing backward to adapt to the backward swinging of the active recovery component 2, that is, the rotation axis between the passive recovery component 4 and the passive mounting component 6 is also extended left and right.

[0056] In some embodiments, an obstruction torsion spring 7 can be provided between the passive recovery member 4 and the passive mounting member 6 to prevent the abutment portion of the passive recovery member 4 from rotating backward. By providing the obstruction torsion spring 7, when the active recovery member 2 rotates and collides with the passive recovery member 4, the collision force acts on the passive recovery member 4, and the passive recovery member 4 transmits power to the obstruction torsion spring 7, causing the obstruction torsion spring 7 to deform, so that the passive recovery member 4 can be adaptively deformed. Of course, the passive recovery member 4 will not be directly bounced off by the collision force under the action of the obstruction torsion spring 7, but will maintain contact with the active recovery member 2 to ensure that the buckle is completed during the later relative motion process. The elastic coefficient of the obstruction torsion spring 7 should not be too small, otherwise it will still be bounced off, and should not be too large, otherwise the rotational kinetic energy of the active recovery member 2 will be quickly released, resulting in a small degree of relative motion.

[0057] In some embodiments, other damping devices, such as friction pair devices or general damping devices, may be provided between the passive recovery member 4 and the passive mounting member 6 to prevent the passive recovery member 4 from being bounced off during a collision.

[0058] In some embodiments, in order to prevent the passive recovery member 4 from being in a protruding state all the time, a locking device can be provided between the passive mounting member 6 and the passive recovery member 4 during use, so that the passive recovery member 4 can be placed in a lying position before docking, and at this time, a locking device, such as a latch, can be used to prevent the passive recovery member 4 from being placed upright. Then, when docking is required, the locking device is released, and the passive recovery member 4 can be placed in the upright position under the action of the blocking torsion spring 7, so as to prepare for docking with the active recovery member 2.

[0059] In some embodiments, in order to increase the fault tolerance space, a plurality of abutment portions may be sequentially arranged on the passive recovery member 4 along the extension direction, and each abutment portion is provided with a locking hole 5, and each locking hole 5 is correspondingly provided with a locking port.

[0060] It should be noted that the passive recovery component 4 is along the extension direction, that is, perpendicular to the abutment direction and perpendicular to the rotation axis direction of the passive recovery component 4.

[0061] By providing a plurality of abutting portions in this direction, more room for error is provided in this direction, that is, more room for error is provided between the carrier aircraft and the recovery aircraft.

[0062] In some embodiments, regarding the setting of the lock hole 5, the passive recovery component 4 can specifically include a diagonal rod 9, a vertical rod 10 and a horizontal rod 11 set at the abutment portion, wherein the diagonal rod 9, the vertical rod 10 and the horizontal rod 11 form a lock hole 5 structure, and the diagonal rod 9 is fully or partially rotatably connected to the vertical rod 10 or the horizontal rod 11, and a lock hole torsion spring 8 is arranged between the two to prevent the diagonal rod 9 from rotating so that the diagonal rod 9 remains in a closed state. During docking, under the action of the strip member 3, the abutment force between the strip member 3 and the diagonal rod 9 can push the diagonal rod 9 to rotate into the lock hole 5, so that the diagonal rod 9 is opened, that is, rotated inward to form a lock opening, and the strip member 3 enters the lock hole 5 from the lock opening.

[0063] A guiding surface is formed at the oblique rod 9 so that when the staggered abutment is performed, the strip member 3 will abut against the guiding surface and move along the guiding surface to enter the lock opening to complete the buckling.

[0064] When a plurality of abutting portions are provided, a cross bar 11 may be provided at a plurality of locations of the vertical bar 10 , and an oblique bar 9 is correspondingly provided at each cross bar 11 to form a plurality of locking holes 5 in combination.

[0065] In some embodiments, the active recovery member 2 may include an articulated seat, a strip member 3 and two connecting rods, wherein the two connecting rods are respectively connected to the two ends of the strip member 3, and the two connecting rods are both connected to the articulated seat, so that the strip member 3 and the two connecting rods are combined into a triangle, wherein the distance between the strip member 3 and the articulated seat determines the size of the fault tolerance space. Similarly, the length of the strip member 3 along the extension direction determines the fault tolerance space in this direction. The strip member 3 may be a rod or a rope body, and the strip member 3 is preferably a rope body here, which has a good pneumatic buffering effect and can effectively avoid the passive recovery member 4 being bounced open due to the collision between the strip member 3 and the passive recovery member 4.

[0066] In some embodiments, a carrier aircraft is provided, including a carrier body, and also including any of the above-mentioned active mounting components 1 and any of the above-mentioned active recovery components 2, wherein one end of the active mounting component 1 is connected to the belly of the carrier body, and the other end is rotatably connected to the active recovery component 2, and the active recovery component 2 has a strip 3 extending in the left and right directions; and the active recovery component 2 can be operated to rotate so that the strip 3 can swing back and forth.

[0067] The manner in which the active recovery member 2 is operated to rotate can refer to the above-mentioned embodiment, and the rotational connection between the active mounting member 1 and the active recovery member 2, that is, the rotational connection is realized around the axis extending left and right of the carrier body, wherein the strip member 3 is extended along the left and right directions. When the active recovery member 2 rotates, the strip member 3 swings back and forth, and when the distance between the strip member 3 and the carrier body is the maximum, the strip member 3 continues to swing backward. At this time, the strip member 3 can be called a capture member, so that when rotating, it can capture the corresponding part on the recovery aircraft, such as a hook, a protrusion or the above-mentioned passive recovery member 4, such as a lock hole 5 with a lock. The active recovery member 2 can be actively operated to rotate, and can actively complete the recovery, avoiding the relative movement of the two bodies to complete the recovery.

[0068] In some embodiments, in the carrier aircraft, when the rotation axis of the active recovery member 2 is in a horizontal state, when the locking member between the active recovery member 2 and the active mounting member 1 is unlocked, the strip member 3 of the active recovery member 2 can actively release the forward and backward swing along the flight direction under the action of gravity. That is, the setting of the active recovery member 2 is as described above, and no further description is given here.

[0069] In some embodiments, when the return is completed, that is, when the active recovery member 2 and the passive recovery member 4 are docked, that is, when the buckle is completed, the active mounting member 1 droops, which is not conducive to flight. Based on this, it is preferred that a lifting drive is also included, wherein the active mounting member 1 is rotatably connected to the belly of the carrier body, and the lifting drive is used to drive the active mounting member 1 to rotate so that the active recovery member 2 moves closer to the belly of the carrier body. The lifting drive mechanism drives the hydraulic drive cylinder, the motor, etc.

[0070] In some embodiments, as described above, the active recovery member 2 of the carrier aircraft may include an articulated seat, a strip member 3 and two connecting rods, wherein the two connecting rods are respectively connected to the two ends of the strip member 3, and both connecting rods are connected to the articulated seat.

[0071] In some embodiments, as described above, the strip 3 is a rope.

[0072] In some embodiments, a recovery aircraft is also provided, including a recovery body, such as the above embodiment, and also including a passive mounting part 6 and a passive recovery part 4, wherein the passive mounting part 6 is installed on the back of the recovery body, and wherein one end of the passive recovery part 4 is rotatably connected to the passive mounting part 6, and when the rotation axis between the passive recovery part 4 and the passive mounting part 6 is in a horizontal state, the abutment part at the other end of the passive recovery part 4 can be swung backward, and the corresponding abutment part is provided with a locking hole 5 and the locking mouth of the locking hole 5 is located on the abutment side, so as to facilitate capture by the capture structure on the carrier aircraft.

[0073] In some embodiments, as described above, a blocking torsion spring 7 may be provided between the passive recovery member 4 and the passive mounting member 6 to prevent the abutting portion of the passive recovery member 4 from rotating backward.

[0074] In some embodiments, as described above, the passive recovery component 4 can include a vertical rod 10 and a horizontal rod 11 arranged at the abutment portion, and also include a diagonal rod 9, one end of the diagonal rod 9 is connected to the horizontal rod 11 and the other end is connected to the vertical rod 10, and the diagonal rod 9 is rotatably connected to the vertical rod 10 and is directly provided with a lock hole torsion spring 8 so that it can be rotated inward to open and form a lock.

[0075] In some embodiments, a releasable locking device is also included, which locks the position of the passive recovery component 4 when the passive recovery component 4 rotates to be close to the back of the recovery body, and enables the passive recovery component 4 to rotate to the back of the recovery body under the action of the blocking torsion spring 7 when released.

[0076] In some embodiments, an aircraft aerial recovery system is also provided, characterized in that it includes any of the above-mentioned carrier aircraft and any of the above-mentioned recovery aircraft. The strip 3 of the carrier aircraft is operated to move toward the abutment portion of the passive recovery component 4, and after abutting against the passive recovery component 4 of the recovery aircraft, it can continue to swing backward and upward, and when pushing the passive recovery component 4 to rotate backward, it enters the lock of the passive recovery component 4 along the guide surface on the passive recovery component 4.

[0077] In some embodiments, a method for recovering an aircraft in mid-air is also provided, which specifically includes the following steps:

[0078] Step 100: Fly the carrier aircraft above the recovery aircraft and keep flying synchronously.

[0079] During operation, the carrier aircraft and the recovery aircraft are controlled to fly at the same speed, that is, synchronously, and the carrier aircraft and the recovery aircraft are relatively stationary.

[0080] Step 200: The active recovery component 2 on the carrier aircraft is operated to move toward the abutment portion of the passive recovery component 4 of the recovery aircraft, so that the strip component 3 on the active recovery component 2 swings and rotates backward, and during the backward rotation, after the active recovery component 2 abuts against the abutment portion of the passive recovery component 4 of the recovery aircraft, it continues to swing backward and upward, so that when pushing the passive recovery component 4 to rotate backward, the strip component 3 moves along the guide surface on the passive recovery component 4 to enter the lock.

[0081] The active recovery member 2 on the carrier aircraft is operated to move toward the abutment part of the passive recovery member 4 of the recovery aircraft, so that the active recovery member 2 moves actively. For specific operation, please refer to the above embodiment. After moving to abutment, the lock and the strip 3 are staggered, and the strip 3 is set lower relative to the lock. Under the action of the active recovery member 2, the passive recovery member 4 rotates backward, and the abutment part rotates backward and downward, while the active recovery member 2 rotates in the upward and backward direction, so that while rotating in the upward and backward direction, it rotates upward relative to the passive recovery member 4, so that the strip 3 moves upward relative to the lock until the strip 3 enters the lock.

[0082] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0083] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An aircraft air recovery system, characterized in that: It comprises an active mounting part, an active recovery part, a passive mounting part and a passive recovery part; of the active mounting part and the passive mounting part: one is used for mounting on a carrier aircraft, and the other is used for mounting on a recovery aircraft; the active recovery part is movably mounted on the active mounting part, and the abutment part of the active recovery part can be operated to move toward the abutment part of the passive recovery part; the passive recovery part is mounted on the passive mounting part; when the active recovery part and the passive recovery part are docked, the abutment sides of each other are arranged opposite to each other, and one of the abutment parts is a strip extending in the left-right direction, and the other abutment part has a locking hole, and the locking mouth of the locking hole is located on the abutment side for introducing the strip; The active recovery member and the active mounting member, as well as the passive recovery member and the passive mounting member: one group is connected by rotation around an axis parallel to the strip member, and the other group is connected by rotation around an axis parallel to the strip member; one hinged end of the active recovery member is connected by rotation to the active mounting member; and when the rotation axis is in a horizontal state, when the active recovery member is unlocked from the locking member between the active mounting member, the abutting portion of the active recovery member can actively release the swing forward and backward along the flight direction under the action of gravity, so that in the process of swinging backward, it can contact with the passive recovery member. The abutment of the receiving part completes the docking; the connecting end at one end of the passive recovery part is rotatably connected to the passive mounting part, and when the rotation axis is in a horizontal state, the abutment at the other end of the passive recovery part can swing backward; an obstruction torsion spring is arranged between the passive recovery part and the passive mounting part to prevent the abutment of the passive recovery part from rotating backward; the passive recovery part includes an inclined rod, a vertical rod and a cross rod arranged at the abutment part, one end of the inclined rod is docked with the cross rod and the other end is connected to the vertical rod, and the inclined rod is rotatably connected to the vertical rod and is directly provided with a lock hole torsion spring so that it can be rotated inward to open and form a lock.

2. The aircraft air recovery system according to claim 1, characterized in that: The passive recovery component is sequentially provided with a plurality of the abutting portions along the extending direction; each of the abutting portions is provided with the locking hole.

3. The aircraft air recovery system according to claim 2, characterized in that: The active recovery member comprises an articulated seat, the strip member and two connecting rods, the two connecting rods are respectively connected to two ends of the strip member, and both of the connecting rods are connected to the articulated seat; the strip member is a rope body.

4. A method for recovering an aircraft in mid-air, characterized in that: An aircraft aerial recovery system based on any one of claims 1 to 3; comprising the following steps: Fly the carrier aircraft above the recovery aircraft and maintain synchronous flight; The active recovery component on the carrier aircraft is operated to move toward the passive recovery component abutment portion of the recovery aircraft, so that the strip component on the active recovery component swings and rotates backwards, and during the backward rotation, after the active recovery component abuts against the passive recovery component abutment portion of the recovery aircraft, it continues to swing backwards and upwards, so that when pushing the passive recovery component to rotate backwards, the strip component moves along the guide surface on the passive recovery component to enter the lock.

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