A folding-wing UAV cluster launch and recovery system

Abstract

The present invention provides a folding-wing UAV cluster launch and recovery system, which includes a launch device, a netting device, and a retraction device; the launch device includes a plurality of launch box units, each launch box unit includes a launch box and a first guiding transmission mechanism and an adapter bracket arranged in the launch box, the adapter bracket is arranged on the guiding transmission mechanism, and the first guiding transmission mechanism can drive the adapter bracket to extend out of the launch box; a positioning and guiding mechanism matching the UAV is arranged on the adapter bracket; the netting device includes a telescopic and folding netting mechanism and a recovery net and a winch mechanism arranged thereon, and the four corners of the recovery net are hung on the winch mechanism through ropes; the retraction device includes a multi-degree-of-freedom robotic arm and a manipulator arranged at its end, the multi-degree-of-freedom robotic arm can drive the manipulator to move to the launch box and the recovery net, and the manipulator is used for grasping the UAV. By adopting the technical solution of the present invention, it is possible to efficiently and independently complete multiple UAV launch and recovery tasks continuously within a limited time.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) launch and recovery, and particularly relates to a folding-wing UAV cluster launch and recovery system. Background Art

[0002] The launch methods of small folding-wing UAVs can be divided into hand-throwing, gun-launching, tube-launching, rail launching, box launching, etc. The recovery methods of UAVs mainly include rope hook, wire strike, arrester landing, runway recovery, parachute recovery, post-stall recovery, sea landing and small boat salvage recovery, and rotorcraft aerial capture recovery, etc.

[0003] Most of the existing UAV launch and recovery systems work in a single-flight launch and single-flight recovery mode, and generally require two or even more sets of equipment to cooperate to complete the launch and recovery tasks. A single large-space platform or multiple platforms need to cooperate to provide storage and transfer support to complete the task of single-flight UAV reconnaissance or attack. This brings problems such as high cost, poor mobility and concealment, and cannot complete the combat task of launching multiple UAVs within a limited time to form a UAV combat group. Summary of the Invention

[0004] The present invention provides a folding-wing UAV cluster launch and recovery system, which can automatically and independently complete the tasks of launching, recovering and withdrawing multiple UAVs.

[0005] A folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention adopts the following technical solutions:

[0006] A folding-wing UAV cluster launch and recovery system includes a launch device, a netting device and a withdrawal device; the launch device includes a plurality of launch box units, each launch box unit includes a launch box and a first guiding transmission mechanism and a fitting frame arranged in the launch box, the fitting frame is arranged on the guiding transmission mechanism, and the first guiding transmission mechanism can drive the fitting frame to extend out of the launch box; a positioning and guiding mechanism matching the UAV is arranged on the fitting frame; the netting device includes a telescopic and folding netting mechanism, a recovery net and a hoisting mechanism arranged thereon, and the four corners of the recovery net are hung on the hoisting mechanism through ropes; the withdrawal device includes a multi-degree-of-freedom robotic arm and a manipulator arranged at its end, and the multi-degree-of-freedom robotic arm can drive the manipulator to move to the launch box and the recovery net, and the manipulator is used to grab the UAV.

[0007] Optionally, the folding-wing UAV cluster launch and recovery system further includes a container, and a launch cabin, a withdrawal cabin and a netting cabin are arranged in the container; the launch cabin is located on one side inside the container, and the plurality of launch box units of the launch device are regularly arranged in the launch cabin; the withdrawal cabin is located above the launch cabin, and the withdrawal device is arranged in the withdrawal cabin; the netting cabin is located on the other side inside the container, and the telescopic and folding netting mechanism is arranged in the netting cabin.

[0008] Optionally, the net spreading device further includes a second guiding and driving mechanism. The telescopic and folding net spreading mechanism is arranged on the second guiding and driving mechanism, and the second guiding and driving mechanism can drive the telescopic and folding net spreading mechanism to move along the depth direction of the net spreading cabin.

[0009] Optionally, the net spreading device further includes a rotating support mechanism. The rotating support mechanism is arranged on the second guiding and driving mechanism, and the telescopic and folding net spreading mechanism is arranged on the rotating support mechanism.

[0010] Optionally, the telescopic and folding net spreading mechanism includes a support rod, an upper telescopic cross arm and a lower telescopic cross arm; the lower telescopic cross arm includes a lower cross arm, the first end of the lower cross arm is fixedly connected to the lower end of the support rod, and a lower telescopic rod that can extend out of its second end is arranged in the lower cross arm; a first hydraulic cylinder is arranged on the lower cross arm, and the output end of the first hydraulic cylinder is connected to the lower telescopic rod for driving the lower telescopic rod to expand and contract; the upper telescopic cross arm includes an upper cross arm, the first end of the upper cross arm is fixedly connected to the upper end of the support rod, and an upper telescopic rod that can extend out of its second end is arranged in the upper cross arm; a second hydraulic cylinder is arranged on the upper cross arm, and the output end of the second hydraulic cylinder is connected to the upper telescopic rod for driving the upper telescopic rod to expand and contract; the support rod includes an upper support rod and a lower support rod, and the upper support rod is arranged at the top end of the lower support rod through a folding hinge mechanism; the recovery net is hung on the ends of the upper telescopic rod and the lower telescopic rod as well as the upper cross arm and the lower cross arm; there are four winch mechanisms, which are respectively arranged at both ends of the upper cross arm and the lower cross arm, and the four corners of the recovery net are respectively hung on a winch mechanism through ropes.

[0011] Optionally, the upper support rod includes a third hydraulic cylinder and a telescopic support rod, and the output end of the third hydraulic cylinder is connected to the telescopic support rod for driving the telescopic support rod to expand and contract.

[0012] Optionally, the winch mechanism includes a magnetorheological damper integrated with a winch assembly.

[0013] Optionally, the retracting device further includes a third guiding and driving mechanism. The multi-degree-of-freedom robotic arm is arranged on the third guiding and driving mechanism, and the third guiding and driving mechanism can drive the multi-degree-of-freedom robotic arm to move along the depth and length directions of the launch cabin.

[0014] Optionally, an equipment cabin is further arranged in the container. A power mechanism and an electric control box are arranged in the equipment cabin. The power mechanism and the electric control box are respectively connected to each launch box unit, the net spreading device and the retracting device. The electric control box is also communicatively connected to the UAV swarm control system.

[0015] Optionally, a box door, a fourth hydraulic cylinder and a link mechanism are arranged on the container. The link mechanism is arranged at the opening of the container. The upper end of the box door is fixedly arranged with the link mechanism. The output end of the fourth hydraulic cylinder is connected to the link mechanism for driving the box door to open in an upward flipping manner and close in a downward flipping manner.

[0016] A folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention sets the launch device as a plurality of independent launch box units. Each launch box unit can independently execute the UAV launch task, enabling the system to launch multiple UAVs in a short time, form a UAV swarm to execute tasks, and there is no need to use multiple sets of equipment for coordinated cooperation, so the UAV launch efficiency is relatively high; and, the UAV is recovered by hitting a net through a netting device, and a multi-degree-of-freedom robotic arm is used to grab the UAV after hitting the net and place it into the launch box unit to complete the recovery of the UAV, so that multiple UAV launch and recovery tasks can be independently and continuously completed, and the efficiency is relatively high. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a three-dimensional view of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention in the ship transportation state.

[0019] Figure 2 It is a three-dimensional view of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention in the recovery task state;

[0020] Figure 3 It is a three-dimensional view of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention in the UAV launch state;

[0021] Figure 4 It is a three-dimensional view of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention in the UAV recovery state;

[0022] Figure 5 It is a front view of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention in the storage state;

[0023] Figure 6 It is a top view cross-sectional view of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention in the storage state;

[0024] Figure 7 It is a left view cross-sectional view of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention in the storage state;

[0025] Figure 8 It is a three-dimensional view of the launch box unit of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention;

[0026] Figure 9 A perspective view of the recovery device of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention;

[0027] Figure 10 A perspective view of the telescopic folding netting mechanism of the folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention.

[0028] Reference numerals:

[0029] 1, container; 11, box door; 12, fourth hydraulic cylinder; 13, linkage mechanism; 2, launch cabin; 21, launch box unit; 22, launch box; 23, UAV; 24, first guiding transmission mechanism; 25, adapter frame; 3, netting cabin; 31, telescopic folding netting mechanism; 32, winch mechanism; 33, second guiding transmission mechanism; 34, rotary support mechanism; 351, lower support rod; 352, telescopic support rod; 353, third hydraulic cylinder; 354, folding hinge mechanism; 361, lower cross arm; 362, lower telescopic rod; 363, first hydraulic cylinder; 371, upper cross arm; 372, upper telescopic rod; 373, second hydraulic cylinder; 38, recovery net; 39, rope; 4, retraction cabin; 41, retraction device; 42, multi-degree-of-freedom robotic arm; 43, suction cup manipulator; 44, third guiding transmission mechanism; 5, equipment cabin; 51, hydraulic pump station; 52, generator set; 53, vacuum pump; 54, electric control box. Detailed implementation manners

[0030] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe in detail the specific implementation manners of the present invention with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the matrix implementation disclosed below.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0032] As Figure 2-10As shown in the figure, a cluster launch and recovery system for folding-wing unmanned aerial vehicles 23 according to an embodiment of the present invention includes a launch device, a netting device, and a retraction device 41; wherein, the launch device includes a plurality of launch box units 21, each launch box unit 21 includes a launch box 22 and a first guiding transmission mechanism 24 and an adapter frame 25 disposed in the launch box 22. The adapter frame 25 is disposed on the guiding transmission mechanism, and the first guiding transmission mechanism 24 can drive the adapter frame 25 to extend out of the launch box 22; a positioning and guiding mechanism matching the unmanned aerial vehicle 23 is disposed on the adapter frame 25; the netting device includes a telescopic and folding netting mechanism 31, a recovery net 38 disposed thereon, and a hoisting mechanism 32. Four corners of the recovery net 38 are hung on the hoisting mechanism 32 through ropes 39; the retraction device 41 includes a multi-degree-of-freedom robotic arm 42 and a manipulator disposed at its end. The multi-degree-of-freedom robotic arm 42 can drive the manipulator to move to the launch box 22 and the recovery net 38, and the manipulator is used to grab the unmanned aerial vehicle 23.

[0033] The cluster launch and recovery system for folding-wing unmanned aerial vehicles 23 according to an embodiment of the present invention is applicable to launching, recovering, and storing folding-wing unmanned aerial vehicles 23. Among them, each launch box unit 21 is used to store and launch the unmanned aerial vehicle 23. The unmanned aerial vehicle 23 is stored in the launch box 22 and can perform a launch mission by using a box-type launch method. A booster rocket is installed at the tail of the folding-wing unmanned aerial vehicle 23, and the box-type launch power of the unmanned aerial vehicle 23 adopts rocket boost. In the launch box unit 21, the first guiding transmission mechanism 24 is a single-axis linear sliding transmission mechanism, which may include a transmission drive assembly and a slide seat plate. The adapter frame 25 is disposed on the slide seat plate, and the first guiding transmission mechanism 24 can drive the adapter frame 25 to slide so as to extend out of the launch box 22 or retract into the launch box 22. The adapter frame 25 cooperates with the unmanned aerial vehicle 23, and the specific structure can be determined according to the size and model of the unmanned aerial vehicle 23 as long as it can park the unmanned aerial vehicle 23. Moreover, a fixing component for fixing the unmanned aerial vehicle 23, such as a limiting block or a limiting pull rope, etc., can be disposed on the adapter frame 25. Positioning and guiding mechanisms are disposed on both the adapter frame 25 and the unmanned aerial vehicle 23, which are used for positioning when the unmanned aerial vehicle 23 is stored in the box and guiding during box-type launch. By driving the adapter frame 25 to extend out of the launch box 22 through the first guiding transmission mechanism 24, controlling the fixing component for fixing the unmanned aerial vehicle 23 to release the fixation, and controlling the folding-wing unmanned aerial vehicle 23 to unfold its wings, the unmanned aerial vehicle 23 can be controlled to perform the launch mission.

[0034] According to an example of the present invention, the netting device uses the method of hitting the net to recover the unmanned aerial vehicle 23. Specifically, the telescopic and folding netting mechanism 31 extends and unfolds the recovery net 38, and the hoisting mechanism 32 provides resistance when the unmanned aerial vehicle 23 hits the net; and, the multi-degree-of-freedom robotic arm 42 of the retraction device 41 can conveniently grab the unmanned aerial vehicle 23 and move the unmanned aerial vehicle 23 to the launch box 22 for storage.

[0035] In an alternative embodiment, the cluster launch and recovery system of the folding-wing UAV 23 further includes a container, in which a launch cabin 2, a retraction cabin 4, and a net-setting cabin 3 are independently arranged. The launch cabin 2 is located on one side inside the container, and multiple launch box units 21 of the launch device are regularly arranged in the launch cabin 2. The size of the combination of the multiple launch box units 21 is the same as that of the launch cabin 2. The retraction cabin 4 is located above the launch cabin 2, and a retraction device 41 is arranged in the retraction cabin 4; the net-setting cabin 3 is located on the other side inside the container, and a telescopic folding net-setting mechanism 31 is arranged in the net-setting cabin 3. Arranging each device inside the container features reasonable structural design, compact overall configuration, high space utilization rate, and is convenient for transportation and storage.

[0036] Among them, the net-setting device further includes a second guiding transmission mechanism 33. The telescopic folding net-setting mechanism 31 is arranged on the second guiding transmission mechanism 33, and the second guiding transmission mechanism 33 can drive the telescopic folding net-setting mechanism 31 to move along the depth direction of the net-setting cabin 3. The second guiding transmission mechanism 33 is a single-axis linear sliding transmission mechanism, which may include a driving component, a slide rail, and a slide block. The telescopic folding net-setting mechanism 31 is arranged on the slide block. The setting direction of the slide rail is the depth direction of the net-setting cabin 3 and extends outside the net-setting cabin 3; the driving component is used to drive the slide block to move along the slide rail and can slide outside the net-setting cabin 3, so as to drive the telescopic folding net-setting mechanism 31 to extend outside the net-setting side to perform the recovery task of the UAV 23.

[0037] Optionally, the net-setting device further includes a rotary support mechanism 34. The rotary support mechanism 34 is arranged on the second guiding transmission mechanism 33, and the telescopic folding net-setting mechanism 31 is arranged on the rotary support mechanism 34. The second guiding transmission mechanism 33 can drive the rotary support mechanism 34 to move outside the net-setting cabin 3, and further drive the telescopic folding net-setting mechanism 31 arranged on the rotary support mechanism 34 to move outside the net-setting cabin 3. The rotary support mechanism 34 not only supports the telescopic folding net-setting mechanism 31, but also drives the telescopic folding net-setting mechanism 31 to rotate, so as to adjust its recovery net 38 to a direction convenient for performing the recovery task of the UAV 23. Specifically, the rotary support mechanism 34 may include a driving motor and a support base. The support base is rotatably arranged on the second guiding transmission mechanism 33, and the telescopic folding net-setting mechanism 31 is arranged on the support base. The driving motor is used to drive the support base to rotate on the second guiding transmission mechanism 33.

[0038] In addition, the telescopic and foldable net spreading mechanism 31 may include a support rod, an upper telescopic cross arm, and a lower telescopic cross arm; the lower telescopic cross arm includes a lower cross arm 361, the first end of the lower cross arm 361 is fixedly connected to the lower end of the support rod, and a lower telescopic rod 362 that can extend out of its second end is arranged in the lower cross arm 361; a first hydraulic cylinder 363 is arranged on the lower cross arm 361, and the output end of the first hydraulic cylinder 363 is connected to the lower telescopic rod 362 for driving the lower telescopic rod 362 to expand and contract. The upper telescopic cross arm includes an upper cross arm 371, the first end of the upper cross arm 371 is fixedly connected to the upper end of the support rod, and an upper telescopic rod 372 that can extend out of its second end is arranged in the upper cross arm 371; a second hydraulic cylinder 373 is arranged on the upper cross arm 371, and the output end of the second hydraulic cylinder 373 is connected to the upper telescopic rod 372 for driving the upper telescopic rod 372 to expand and contract. The recovery net 38 is hung on the ends of the upper telescopic rod 372 and the lower telescopic rod 362, as well as on the upper cross arm 371 and the lower cross arm 361. Specifically, hanging plates with hanging holes can be respectively arranged at the ends of the upper telescopic rod 372 and the lower telescopic rod 362 far from the support rod (outer ends), and at the ends of the upper cross arm 371 and the lower cross arm 361 close to the support rod (inner ends) to facilitate hanging the recovery net 38, and the recovery net 38 is driven to open by the telescopic movement of the upper and lower telescopic cross arms. When net spreading is required, the piston rods of the first hydraulic cylinder 363 and the second hydraulic cylinder 373 can be controlled to extend to drive the upper telescopic rod 372 and the lower telescopic rod 362 to extend, thereby completing the net spreading action; correspondingly, the piston rods of the first hydraulic cylinder 363 and the second hydraulic cylinder 373 can be controlled to retract to drive the upper telescopic rod 372 and the lower telescopic rod 362 to retract, thereby completing the net recovery action.

[0039] Further, the support rod includes an upper support rod and a lower support rod 351. The upper support rod is arranged at the top end of the lower support rod 351 through a folding hinge mechanism 354. Specifically, the folding hinge mechanism 354 may include an upper connecting piece, a hinge shaft, a lower connecting piece, and a hydraulic motor (which may be two). The upper and lower connecting pieces are respectively used to hinge the upper and lower support rods 351 to the hinge shaft. The upper support rod is driven to rotate around the hinge shaft by the hydraulic motor, which is equivalent to the upper support rod performing a folding hinge action relative to the lower support rod 351, thereby driving the recovery net 38 on the upper and lower telescopic cross arms arranged on one side of the upper and lower support rods 351 to fold. When the net needs to be deployed, the upper support rod can be first driven by the hydraulic motor to move above the lower support rod 351 and be in the same direction as the lower support rod 351 to open the recovery net 38 in the vertical direction; then the recovery net 38 is opened in the horizontal direction by the extension of the first hydraulic cylinder and the second hydraulic cylinder to complete the net deployment action. Correspondingly, when the net is retracted, the upper support rod can be driven by the hydraulic motor to fold, and cooperate with the retraction of the upper telescopic rod and the lower telescopic rod to complete the net retraction. By setting the telescopic mode of the upper and lower telescopic cross arms and the folding mode of the upper and lower support rods 351, it is convenient to deploy and retract the recovery net 38, reduce the space occupied by the retracted recovery net 38, and facilitate moving the recovery net 38 into the net deployment cabin 3 through the second guiding transmission mechanism 33.

[0040] Furthermore, the upper support rod includes a third hydraulic cylinder 353 and a telescopic support rod 352. The output end of the third hydraulic cylinder 353 is connected to the telescopic support rod 352 and is used to drive the telescopic support rod 352 to extend and retract. The upper telescopic cross arm is arranged at the top end of the upper support rod. Setting the upper support rod in a telescopic form can further reduce the space occupied by the retracted recovery net 38. During the net deployment process, after the upper telescopic rod moves above the lower support rod 351, the telescopic support rod 352 can be driven to extend by the extension and retraction of the third hydraulic rod to complete the net deployment action.

[0041] In addition, there are four winch mechanisms 32, which are respectively arranged at both ends of the upper cross arm and the lower cross arm. The four corners of the recovery net 38 are respectively hung on a winch mechanism 32 through ropes 39. The winch mechanism 32 provides a pulling force for the recovery net 38 through the ropes 39, so that the UAV 23 is resisted when hitting the net. Specifically, the winch mechanism 32 may include a magnetorheological damper integrated with a winch assembly. The four magnetorheological dampers can be respectively installed at both ends of one side of the upper and lower telescopic cross arms. The ropes 39 of the winch assembly are connected to the recovery net 38 after passing through the magnetorheological damper to provide resistance.

[0042] The retraction device 41 further includes a third guiding and driving mechanism 44. The multi-degree-of-freedom robotic arm 42 is arranged on the third guiding and driving mechanism 44, and the third guiding and driving mechanism 44 can drive the multi-degree-of-freedom robotic arm 42 to move along the depth and length directions of the launch cabin 2. In the embodiment of the present invention, the retraction device 41 is a multi-degree-of-freedom retraction robot. By driving the multi-degree-of-freedom robotic arm 42 to move through the third guiding and driving mechanism 44, the multi-degree-of-freedom robotic arm 42 can extend out of the retraction cabin 4 and move along the length direction of the launch cabin 2, so that the multi-degree-of-freedom robotic arm 42 can place the grabbed unmanned aerial vehicle 23 into any one of the launch boxes 22. Among them, the third guiding and driving mechanism 44 may include a guide rail arranged along the length direction of the retraction cabin 4 and a telescopic guide rail arranged along the depth direction of the retraction cabin 4, and the multi-degree-of-freedom robotic arm 42 is arranged on the telescopic guide rail. The multi-degree-of-freedom robotic arm 42 may include multiple articulated and foldable connecting shafts for realizing the rotation and folding of the robotic arm in multiple degrees of freedom; the manipulator at the end of the multi-degree-of-freedom robotic arm 42 may be a suction cup type manipulator 43 for realizing the stable grasping of the unmanned aerial vehicle.

[0043] In an actual application scenario, the folding-wing unmanned aerial vehicle 23 cluster launch and recovery system of the embodiment of the present invention may further include other devices or components to realize the actual installation, application and other functions of the folding-wing unmanned aerial vehicle 23 cluster launch and recovery system. For example, an equipment cabin 5 is further arranged in the container. A power mechanism and an electric control box 54 are arranged in the equipment cabin 5. The power mechanism and the electric control box 54 are respectively connected to each launch box unit 21, the netting device and the retraction device 41, and the electric control box 54 is also in communication connection with the unmanned aerial vehicle 23 group control system. Among them, the power mechanism may include a hydraulic pump station 51, a generator set 52, a vacuum pump 53, etc., for providing power and power supply for each component in the launch box unit 21, the netting device and the retraction device 41; the electric control box 54 may integrate a microprocessor, a servo driver, an encoder, a solenoid valve, a wired or wireless communication component, a surveillance camera, etc.

[0044] In addition, a box door 11, a fourth hydraulic cylinder 12 and a link mechanism 13 may be further arranged on the container. The link mechanism 13 is arranged at the opening of the container. The upper end of the box door 11 is fixedly arranged with the link mechanism 13, and the output end of the fourth hydraulic cylinder 12 is connected to the link mechanism 13 for driving the box door 11 to open in an upward flipping manner and close in a downward flipping manner. The fourth hydraulic cylinder 12 and the link mechanism 13 together form a linear actuator for driving the opening and closing of the box door 11.

[0045] It should be noted that the folding-wing unmanned aerial vehicle 23 cluster launch and recovery system of the embodiment of the present invention is not limited to Figure 1As shown, it can be loaded on the side of the stern of the hull, and can also be loaded on other appropriate parts of the hull; of course, it is not limited to being loaded on a ship, and can also be loaded on other movable platforms, such as trains or trucks. By setting the container on the movable platform, the folding-wing UAV 23 cluster launch and recovery system has high adaptability and concealment. By communicatingly connecting the electric control box 54 with the UAV 23 control system and receiving control instructions to control the launch box unit 21, the netting device, and the retracting device 41 to act, the launch and recovery tasks of the UAV 23 can be carried out.

[0046] A folding-wing UAV cluster launch and recovery system according to an embodiment of the present invention, by setting the launch device as a plurality of independent launch box units, each launch box unit can independently execute the UAV launch task, enabling the system to launch multiple UAVs in a short time, form a UAV group to execute tasks, without the need to use multiple sets of equipment to cooperate, and the UAV launch efficiency is relatively high; and, by using the netting device to recover the UAV by hitting the net, using a multi-degree-of-freedom robotic arm to grab the UAV after hitting the net and place it in the launch box unit to complete the retraction of the UAV, so that multiple UAV launch and recovery tasks can be independently and continuously completed, and the efficiency is relatively high.

[0047] It should be noted that according to the needs of implementation, each component described in the embodiment of the present invention can be split into more components, or two or more components or parts of components can be combined into a new component to achieve the purpose of the embodiment of the present invention.

[0048] The above embodiments only represent several implementation manners of the present invention, and the description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A folding-wing UAV cluster launch and recovery system, characterized in that, it includes a launch device, a netting device and a retraction device; The launch device includes a plurality of launch box units. Each launch box unit includes a launch box and a first guiding transmission mechanism and an adapter frame arranged in the launch box. The adapter frame is arranged on the guiding transmission mechanism, and the first guiding transmission mechanism can drive the adapter frame to extend out of the launch box; a positioning and guiding mechanism matching the UAV is arranged on the adapter frame; The netting device includes a telescopic and folding netting mechanism, a recovery net and a hoisting mechanism arranged thereon. The four corners of the recovery net are hung on the hoisting mechanism by ropes; The retraction device includes a multi-degree-of-freedom robotic arm and a manipulator arranged at its end. The multi-degree-of-freedom robotic arm can drive the manipulator to move to the launch box and the recovery net, and the manipulator is used to grab the UAV; The folding-wing UAV cluster launch and recovery system further includes a container. A launch cabin, a retraction cabin and a netting cabin are arranged in the container; the launch cabin is located on one side inside the container, and a plurality of launch box units of the launch device are regularly arranged in the launch cabin; the retraction cabin is located above the launch cabin, and the retraction device is arranged in the retraction cabin; the netting cabin is located on the other side inside the container, and the telescopic and folding netting mechanism is arranged in the netting cabin; the netting device further includes a second guiding transmission mechanism, and the telescopic and folding netting mechanism is arranged on the second guiding transmission mechanism, and the second guiding transmission mechanism can drive the telescopic and folding netting mechanism to move along the depth direction of the netting cabin; the retraction device further includes a third guiding transmission mechanism, the multi-degree-of-freedom robotic arm is arranged on the third guiding transmission mechanism, and the third guiding transmission mechanism can drive the multi-degree-of-freedom robotic arm to move along the depth and length directions of the launch cabin.

2. A folding-wing UAV cluster launch and recovery system according to claim 1, characterized in that, the netting device further includes a rotary support mechanism, the rotary support mechanism is arranged on the second guiding transmission mechanism, and the telescopic and folding netting mechanism is arranged on the rotary support mechanism.

3. A folding-wing UAV cluster launch and recovery system according to claim 1, characterized in that, the telescopic and folding netting mechanism includes a support rod, an upper telescopic cross arm and a lower telescopic cross arm; the lower telescopic cross arm includes a lower cross arm, the first end of the lower cross arm is fixedly connected to the lower end of the support rod, and a lower telescopic rod that can extend out of its second end is arranged in the lower cross arm; a first hydraulic cylinder is arranged on the lower cross arm, and the output end of the first hydraulic cylinder is connected to the lower telescopic rod for driving the lower telescopic rod to expand and contract; the upper telescopic cross arm includes an upper cross arm, the first end of the upper cross arm is fixedly connected to the upper end of the support rod, and an upper telescopic rod that can extend out of its second end is arranged in the upper cross arm; a second hydraulic cylinder is arranged on the upper cross arm, and the output end of the second hydraulic cylinder is connected to the upper telescopic rod for driving the upper telescopic rod to expand and contract; the support rod includes an upper support rod and a lower support rod, and the upper support rod is arranged at the top of the lower support rod through a folding hinge mechanism; the recovery net is hung on the ends of the upper telescopic rod, the lower telescopic rod and the upper cross arm, the lower cross arm; there are four hoisting mechanisms, which are respectively arranged at both ends of the upper cross arm and the lower cross arm, and the four corners of the recovery net are respectively hung on a hoisting mechanism by ropes.

4. A folding-wing UAV cluster launch and recovery system according to claim 3, characterized in that, the upper support rod includes a third hydraulic cylinder and a telescopic support rod, and the output end of the third hydraulic cylinder is connected to the telescopic support rod for driving the telescopic support rod to extend and retract.

5. A folding-wing UAV cluster launch and recovery system according to claim 1, characterized in that, the hoisting mechanism includes a magnetorheological damper integrated with a hoisting component.

6. A folding-wing UAV cluster launch and recovery system according to claim 1, characterized in that, an equipment cabin is further arranged in the container, a power mechanism and an electric control box are arranged in the equipment cabin, the power mechanism and the electric control box are respectively connected to each launch box unit, the net spreading device and the retracting device, and the electric control box is further in communication connection with the UAV swarm control system.

7. A folding-wing UAV cluster launch and recovery system according to any one of claims 2 to 6, characterized in that, a box door, a fourth hydraulic cylinder and a link mechanism are arranged on the container, the link mechanism is arranged at the opening of the container, the upper end of the box door is fixedly arranged with the link mechanism, and the output end of the fourth hydraulic cylinder is connected to the link mechanism for driving the box door to open in an upward flipping manner and close in a downward flipping manner.

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