Automatic recovery device for flexible aircraft

Abstract

The present invention provides an automatic recovery device for a flexible aircraft. By automatically combing and pulling the flexible aircraft's sling rope, the sling rope and the flexible aircraft body are efficiently recovered into a storage tank under the traction of a combing rope assembly's traction rope. This prevents the flexible aircraft from swinging significantly in the wind when it returns to a certain distance from the ground, ensuring the safety of ground recovery personnel. The automatic recovery device includes a storage tank and multiple automatic recovery units. The automatic recovery units traction the combing rope assembly's traction rope, which in turn tractions the combing rope assembly, sling rope, and flexible aircraft body, and finally recover the traction combing rope assembly, sling rope, and flexible aircraft body into the storage tank.

Description

Technical Field

[0001] The present invention relates to an automatic recovery device, in particular to an automatic recovery device for a flexible aircraft. Background Art

[0002] Flexible aircraft are made of flexible materials and can expand and contract, such as aerostats, hot air balloons, and parafoils. The recovery of traditional flexible aircraft is extremely complex, especially for large aerostats and hot air balloons in windy weather. Once the payload cabin is recovered to the ground, the numerous ties attached to the flexible aircraft capsule or parafoil cannot be automatically retracted. This can cause the capsule or parafoil to sway significantly in the wind even after it is recovered to a certain distance from the ground or even after it has been recovered to the ground, posing a safety hazard to ground recovery personnel.

[0003] Currently, when the rope needs to be recovered, multiple people are required to slowly pull the rope down to recover it. The recovery process requires a large number of people to cooperate with each other, and recovery security is very troublesome. In addition, during the recovery process, if it is windy, the flexible aircraft capsule or wing parachute will swing greatly with the wind, which may cause the rope to injure people, posing a major safety hazard. Summary of the Invention

[0004] In view of this, the present invention provides an automatic recovery device for a flexible aircraft. By automatically combing and pulling the flexible aircraft's sling, the sling and the flexible aircraft body are automatically recovered into a storage tank under the traction of the traction rope of the combing rope assembly, which can greatly reduce the difficulty of ensuring the recovery of the flexible aircraft and achieve efficient and safe recovery; thereby avoiding the safety hazard to ground recovery personnel caused by the flexible aircraft still swinging greatly with the wind when it returns to a certain distance from the ground.

[0005] The technical solution adopted by the present invention is: an automatic recovery device for a flexible aircraft, wherein the flexible aircraft body is connected to the automatic recovery device arranged on the load compartment through a plurality of suspension ropes;

[0006] The automatic recovery device includes: a storage tank and multiple automatic recovery units; a plurality of lifting ropes are divided into multiple lifting rope groups, each lifting rope group corresponds to an automatic recovery unit;

[0007] The automatic recovery unit includes: a main lifting rope, a combing rope assembly, a combing rope assembly traction rope and an electric reel;

[0008] The rope group is combed by the rope combing assembly and connected to the main rope; the main rope is connected to the load compartment;

[0009] One end of the comb rope assembly traction rope is connected to the comb rope assembly, and the other end is wound around and fixed on the electric reel. The electric reel recycles the comb rope assembly traction rope, and recycles the comb rope assembly, the sling group and the flexible aircraft body into a storage tank arranged on the load compartment.

[0010] As a preferred embodiment of the present invention, it further includes a main suspension rope fixing support mechanism;

[0011] The main suspension rope fixing support mechanism includes: a combing rope assembly bracket, a main suspension rope support spring, and a support spring fixing base;

[0012] The rope assembly support is used to support the rope assembly when the flexible aircraft body is in the lift-off state. At this time, the main sling rope passes through the center hole of the rope assembly support and is connected to the main sling rope ring fixed bearing bolt; the main sling rope ring fixed bearing bolt is connected to the payload compartment;

[0013] The main suspension rope is sheathed with a main suspension rope support spring, one end of which is fixedly connected to the comb rope assembly bracket, and the other end is connected to the support spring fixed base; a vertical hollow support rod is provided in the center of the support spring fixed base, and the bottom of the suspension rope support spring is sheathed outside the hollow support rod;

[0014] The support spring fixing base is fixedly connected to the load compartment.

[0015] As a preferred embodiment of the present invention, a main rope support spring flexible sheath is coaxially arranged on the outside of the rope support spring.

[0016] As a preferred embodiment of the present invention, the main lifting rope fixing support mechanism also includes: a main lifting rope load-bearing transfer support; the main lifting rope ring fixing load-bearing bolt is arranged in the load-bearing bolt installation hole on the main lifting rope load-bearing transfer support, and the support spring fixing base is fixedly connected to the main lifting rope ring fixing load-bearing bolt through a positioning hole provided on the main lifting rope load-bearing transfer support; at the same time, the support spring fixing base and the main lifting rope load-bearing transfer support are fixedly connected.

[0017] As a preferred embodiment of the present invention, the rope combing assembly is a rope combing ball; the rope combing ball is a hemispherical structure with the spherical surface facing downward; a plurality of rope combing holes for passing the ropes are distributed on the upper surface of the rope combing ball; and a plurality of ropes are connected to the rope nodes of the main rope after being combed through the rope combing holes.

[0018] As a preferred embodiment of the present invention, a traction range extension mechanism is provided corresponding to each traction rope of the combing rope assembly;

[0019] The traction range extension mechanism includes a circuitous slideway provided in the tank;

[0020] The detour slide is a hollow pipe; the traction rope of the combing rope assembly passes through the detour slide and is wound around the electric reel; one end of the detour slide serves as an inlet and outlet for the combing rope assembly and the sling rope group; a limited position seat is provided at the end of the other end.

[0021] As a preferred embodiment of the present invention, the traction range extending mechanism further includes a compression energy storage device provided in the circuitous slideway;

[0022] A compression energy storage device is provided at the end where the internal limit seat of the detour slide is located; one end of the compression energy storage device is connected to the limit seat; when the traction rope of the combing rope assembly pulls the combing rope assembly and the suspension rope group into the detour slide and hits the compression energy storage device inside the detour slide, the compression energy storage device is squeezed to store energy.

[0023] As a preferred embodiment of the present invention, the electric reel comprises: a reel mechanism and a clutch mechanism; the power output end of the power device is connected to the reel mechanism via the clutch mechanism;

[0024] When the traction rope of the combing rope assembly is recovered, the clutch mechanism is in a coupled state; when the traction rope of the combing rope assembly is released, the clutch mechanism is in a separated state.

[0025] As a preferred embodiment of the present invention, when an energy cable is provided between the payload compartment and the flexible aircraft body, the automatic recovery device further comprises a reciprocating cable grabbing mechanism for automatically recovering the energy cable;

[0026] The reciprocating cable grabbing mechanism includes: an automatic opening and closing locker and a reciprocating motion mechanism;

[0027] The reciprocating motion mechanism is vertically fixed on the load compartment, and the automatic opening and closing lock is installed on the reciprocating motion mechanism. The energy cable passes through the automatic opening and closing lock, and the automatic opening and closing lock can clamp or release the energy cable; the reciprocating motion mechanism drives the automatic opening and closing lock to move up and down repeatedly. When the automatic opening and closing lock clamps the energy cable, it drags the energy cable downward to realize the orderly recovery of the energy cable.

[0028] As a preferred embodiment of the present invention, the automatic opening and closing locker comprises: a locker body, an electric push rod A, a fixed fastening ring and a movable fastening ring;

[0029] The locker body is a hollow structure and is mounted on the reciprocating motion mechanism; the fixed fastening ring is fixed to one end of the locker body, and the electric push rod A is fixed to the other end of the locker body;

[0030] The movable fastening ring and the fixed fastening ring are arranged opposite to each other, forming an insertion cavity therebetween; the energy cable passes through the insertion cavity;

[0031] The telescopic end of the electric push rod A is connected to the movable fastening ring and is used to push and pull the movable fastening ring to clamp or loosen the energy cable located in the clamping cavity.

[0032] As a preferred embodiment of the present invention, a guide hole and a movable slide rod that slides with the guide hole are provided inside the locker body; the movable fastening ring is connected to the movable slide rod;

[0033] The end of the locker body is provided with a movable slide rod limiting piece for limiting the travel of the movable slide rod.

[0034] As a preferred embodiment of the present invention, the automatic opening and closing locker comprises: an upper finger cross ring, a lower finger cross ring, a fixing bracket and an electric push rod B;

[0035] The fixing bracket is an annular structure and is mounted on the reciprocating motion mechanism through a support. The upper finger cross ring and the lower finger cross ring simulate the crossing action of two human hands to achieve the clamping and loosening of the energy cable. The open end of the upper finger cross ring faces downward, and the open end of the lower finger cross ring faces upward. They are arranged opposite to the upper finger cross ring, thereby forming an insertion cavity for the energy cable to pass through between the two.

[0036] Electric push rods B are respectively provided at the upper and lower opposite ends of the inner surface of the fixed bracket, wherein the electric push rod B at the upper end is connected to the upper finger cross ring and is used to push and pull the upper finger cross ring to move in the vertical direction, and the electric push rod B at the lower end is connected to the lower finger cross ring and is used to push and pull the lower finger cross ring to move in the vertical direction;

[0037] When the upper finger cross ring moves downward and the lower finger cross ring moves upward, the energy cable located in the clamping cavity is clamped by the intersection of the upper finger cross ring and the lower finger cross ring; conversely, when the upper finger cross ring moves upward and the lower finger cross ring moves downward, the energy cable located in the clamping cavity is loosened.

[0038] As a preferred embodiment of the present invention, an upper limit switch and a lower limit switch are respectively provided at the upper and lower ends of the reciprocating motion mechanism, which are used to control the moving stroke of the automatic opening and closing lock on the reciprocating motion mechanism. At the same time, the automatic opening and closing lock clamps or releases the energy cable according to the signals provided by the upper limit switch and the lower limit switch.

[0039] As a preferred embodiment of the present invention, two automatic opening and closing lockers are installed on the reciprocating motion mechanism.

[0040] As a preferred embodiment of the present invention, when the flexible aircraft body has an airbag, an inflation and deflation device provided in the load compartment or on the ground is connected to the airbag via an energy cable provided with a controller and a valve assembly;

[0041] A gas recovery storage is provided in the load compartment or on the ground, and the gas recovery storage is connected to the energy cable through a pipeline provided with a valve; when the inflation and deflation equipment controls the deflation of the airbag, the gas is recovered to the gas recovery storage.

[0042] Beneficial effects:

[0043] (1) The automatic recovery device for the flexible aircraft of the present invention automatically combs and pulls the suspension rope of the flexible aircraft, and automatically and efficiently recovers the suspension rope and the flexible aircraft body into the storage tank under the traction of the traction rope of the combing rope assembly, so as to prevent the flexible aircraft from swinging greatly with the wind after returning to the ground, which would bring safety hazards to ground personnel; and the entire recovery process does not require manual operation, thereby avoiding the safety hazards caused by the swinging of the flexible aircraft with the wind during the recovery process.

[0044] The automatic recovery device for flexible aircraft of the present invention solves the problem of autonomous and rapid recovery of the numerous suspension cords of flexible aircraft, improving recovery efficiency. During the recovery process, a rope combing assembly is provided to comb the suspension cords, effectively preventing them from becoming entangled. This automatic recovery device not only significantly reduces the difficulty of ensuring the recovery of flexible aircraft, ensuring reliable recovery, but also lays the foundation for future unmanned operation.

[0045] (2) The present invention is provided with a main suspension rope fixing support mechanism that can support the comb rope assembly when the flexible aircraft is in a floating state; and a main suspension rope support spring is provided in the main suspension rope fixing support mechanism to realize the automatic return of the flexible aircraft body when released.

[0046] (3) Due to the long length of the sling rope, in order to ensure that the sling rope and the flexible aircraft body can be completely recovered into the tank through the traction rope of the combing rope assembly during the recovery process, a detour slide is further set to extend the length of the traction rope of the combing rope assembly, thereby achieving an extended traction range of the traction rope of the combing rope assembly and ensuring that it is recovered in one go.

[0047] (4) In order to realize the automatic rebound of the flexible aircraft body after release, a compression energy storage device is further provided in the circuitous slide, which can compress and store energy when the flexible aircraft body is recovered to its proper position, so as to provide kinetic energy for the return of the combing rope assembly and the suspension rope when the flexible aircraft body is released next time.

[0048] (5) When the flexible aircraft has an energy cable, the energy cable needs to be recovered during the recovery process. Based on this, the automatic recovery device of the present invention is further provided with a reciprocating cable grabbing mechanism, which realizes the recovery of the energy cable through the reciprocating motion of the self-controlled opening and closing locker on the reciprocating motion mechanism.

[0049] (6) The present invention integrates the tank, payload compartment and power unit into one, which can realize the integrated autonomous control of the flexible aircraft's launch and recovery, improve the convenience of control, and lay the foundation for unmanned control. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of the structure of a flexible aircraft equipped with an automatic recovery device;

[0051] Among them: 1-power unit; 2-tank; 3-cable assembly traction rope; 4-main sling fixed support mechanism; 5-flexible aircraft body; 6-sling rope; 7-energy cable; 8-cable ball; 9-main sling rope; 10-main sling rope support spring; 11-traction range extension mechanism; 12-electric reel; 13-payload cabin.

[0052] Figure 2 Schematic diagram of the structure of the comb rope assembly;

[0053] Among them: 3-comb rope assembly traction rope; 6-sling rope; 9-main sling rope; 14-main sling rope ring; 15-sling rope node; 16-comb rope hole; 18-comb rope assembly traction rope fixing bolt;

[0054] Figure 3 A schematic diagram of the structure of the main lifting rope fixing support mechanism;

[0055] Among them: 9-main lifting rope; 10-main lifting rope support spring; 14-main lifting rope ring; 20-main lifting rope ring fixed load-bearing bolt; 22-support spring flexible sheath; 23-comb rope assembly support; 24-main lifting rope load-bearing adapter support;

[0056] Figure 4 It is a structural diagram of the support spring fixing base;

[0057] Wherein: 21-support spring fixed base; 25-hollow support rod; 26-mounting hole A;

[0058] Figure 5 This is a structural diagram of the main hoist rope load-bearing transfer support;

[0059] Among them: 24-main lifting rope load-bearing adapter support; 242-load-bearing bolt installation hole; 243-positioning hole; 244-installation hole B;

[0060] Figure 6 It is a structural diagram of the traction range extension mechanism;

[0061] Among them: 3-comb rope assembly traction rope; 110-reel mechanism; 111-clutch mechanism; 113-compression energy storage device; 114-circuitous slide; 115-limit seat; 116-entrance and exit; 117-slide first slope; 118-slide tail valley; 119-slide tail slope;

[0062] Figure 7 Schematic diagram of the structure of the automatic opening and closing locker in Example 4;

[0063] Wherein: 27-locking device body; 28-clamping cavity; 29-movable slide rod limiter; 30-movable slide rod; 31-fixed fastening ring; 32-movable fastening ring; 33-electric ejector A;

[0064] Figure 8 Based on Figure 7 A schematic structural diagram of the reciprocating cable grabbing mechanism of the automatic opening and closing locking device shown;

[0065] Among them: 5-flexible aircraft body; 7-energy cable; 39-reciprocating motion mechanism; 43-gas recovery storage; 45-automatic opening and closing lock; 46-controller and valve assembly; 47-inflating and deflation equipment.

[0066] Figure 9 This is a schematic structural diagram of the finger-cross type automatic opening and closing locker in Example 5;

[0067] Among them: 7-energy cable; 28-clamping cavity; 34-upper finger cross ring; 36-lower finger cross ring; 37-electric push rod B; 38-fixed bracket; 39-reciprocating motion mechanism; 40-connector. DETAILED DESCRIPTION

[0068] The present invention will be further described in detail below with reference to the accompanying drawings and examples.

[0069] Example 1:

[0070] This embodiment provides an automatic recovery device for a flexible aircraft. The device can efficiently recover the flexible aircraft and the sling into a storage tank by automatically combing and pulling the sling, thereby achieving automatic and efficient recovery of the flexible aircraft to ensure the safety of ground recovery personnel.

[0071] like Figure 1 As shown, in this example, the flexible aircraft body 5 is constructed with airbags and connected to an automatic recovery device via several slings 6. The recovery compartment, or tank 2, of the automatic recovery device is integrated with the power unit 1 and the payload compartment 13. Both the tank 2 and the power unit 1 are mounted on the payload compartment 13. Inflation of the airbags ensures that the flexible aircraft achieves the desired aerodynamic shape, lift-to-drag ratio, and lift. The slings 6 are distributed around the flexible aircraft body 5, primarily to generate distributed forces to control the aerodynamic stability of the flexible aircraft body 5 and to increase payload. The payload compartment 13 is used to carry equipment or personnel. The power unit 1 provides flight propulsion and electrical energy to the equipment within the payload compartment 13.

[0072] The automatic recovery device includes a storage box 2 and multiple automatic recovery units; a plurality of suspension ropes 6 can be divided into a plurality of suspension rope groups, each suspension rope group corresponding to an automatic recovery unit. In this example, the plurality of suspension ropes 6 are divided into two suspension rope groups on the left and right, and two automatic recovery units are set accordingly.

[0073] The automatic recovery unit includes: a main suspension rope 9, a combing rope assembly and an electric reel 12; in this example, the two automatic recovery units share one electric reel 12, and the electric reel 12 is arranged in the storage box 2.

[0074] The rope group is connected to the main rope 9 after being combed by the rope assembly. The rope assembly is provided with a rope traction rope 3, which is connected to the electric reel 12 provided in the storage box 2.

[0075] The combing rope assembly is mainly used to pull the combing rope group so that it does not get entangled and maintains its original position relationship, and is pulled into the storage box 2 along with the combing rope assembly traction rope 3.

[0076] The main lifting rope 9 is the main load-bearing member, one end of which is a lifting rope node 15 for gathering the lifting rope group; the other end is connected to the load cabin 13 through the main lifting rope ring 14.

[0077] One end of the combing rope assembly traction rope 3 is connected to the combing rope assembly, and the other end is wound around and fixed on the electric reel 12. The electric reel 12 recycles the combing rope assembly traction rope 3, and then recycles the combing rope assembly, the sling group and the flexible aircraft body 5.

[0078] The tank 2 is mainly used to store the flexible aircraft body 5 after the aerostat body 5 is recovered.

[0079] The electric reel 12 is used to provide power for the traction rope 3 of the traction comb rope assembly. When the flexible aircraft body 5 is recovered, the electric reel 12 is responsible for winding the traction rope 3 of the traction comb rope assembly; when the flexible aircraft body 5 is released, the power of the electric reel 1 is disconnected, thereby releasing the restraint on the traction rope 3 of the traction comb rope assembly, facilitating the rapid return of the traction comb rope assembly, the sling and the flexible aircraft body 5.

[0080] like Figure 2 As shown, the rope assembly utilizes a rope ball 8; in this example, the rope ball 8 is hemispherical, with the spherical surface facing downward. Its upper surface is provided with a plurality of through-holes, namely rope holes 16, for the passage of the sling ropes 6 (one rope hole 16 may correspond to each rope 6, or multiple ropes 6 may correspond to each rope hole 16). The ropes 6 are then combed through the rope holes 16 and connected to the rope nodes 15 of the main rope 9. The rope holes 16 organize the ropes 6, preventing them from becoming entangled and maintaining their original positional relationship. The ropes are then pulled into the storage tank 2 along with the rope ball. The surface of the rope ball 8 is machined with a rope assembly traction rope fixing bolt 18 for connecting the rope assembly traction rope 3.

[0081] Example 2:

[0082] On the basis of the above-mentioned embodiment 1, the automatic recovery unit further includes: a main suspension rope fixing support mechanism 4 .

[0083] The main sling rope fixing and support mechanism 4 is used to support the main sling rope 9, which is connected to the payload compartment 13 via the main sling rope fixing and support mechanism 4. The main sling rope fixing and support mechanism 4 supports and stabilizes the comb rope assembly and the main sling rope 9 when the flexible vehicle body 5 is in the lift-off state. Furthermore, the main sling rope fixing and support mechanism 4 is capable of storing energy when the flexible vehicle body 5 is in the recovery state, facilitating the pulling of the comb rope assembly and the sling rope group back into position when the flexible vehicle body 5 is released into the air the next time.

[0084] like Figure 3 As shown, the main suspension rope fixing support mechanism includes: a combing rope assembly bracket 23, a main suspension rope support spring 10, a support spring fixing base 21 and a main suspension rope load-bearing transfer support 24.

[0085] The upper surface of the cord assembly support 23 is a spherical surface that mates with the lower surface of the cord ball 8. It is used to support the cord ball 8 when the flexible aircraft body 5 is in the air. That is, when the flexible aircraft body 5 is in the air, the cord ball 8 is located exactly on the cord assembly support 23. At this time, the main sling rope 9 passes through the center hole of the cord assembly support 23 and is connected to the main sling rope ring fixed load-bearing bolt 20 through the main sling rope ring at its end. A main sling rope support spring 10 is sheathed around the main sling rope 9. One end of the main sling rope support spring 10 is fixedly connected to the lower end surface of the cord assembly support 23, and the other end is connected to the support spring fixed base 21. The main sling rope support spring 10 is used to support and stabilize the cord assembly support 23. It is compressed and deflected to store energy when the flexible aircraft body 5 is retracted. When the flexible aircraft body 5 is released, the restoring force is used to return the cord ball 8 and the cord assembly to their original position.

[0086] A main rope support spring flexible sheath 22 is coaxially arranged on the outside of the rope support spring 10 to prevent the main rope support spring 10 from interfering with other objects during operation, especially to prevent the rope from being stuck in the gap of the rope support spring 10.

[0087] The support spring fixing base 21 is used to support and fix the bottom of the main suspension rope support spring 10 to ensure that the main suspension rope support 10 is vertically upward. Figure 4 As shown, a mounting hole A26 is provided on the support spring fixing base 21, which is used to fix the support spring fixing base 21 on the main lifting rope load-bearing adapter support 24; a vertical hollow support rod 25 is provided in the center of the support spring fixing base 21, and the bottom of the lifting rope support spring 10 is mounted on the outside of the hollow support rod 25. The hollow support rod 25 ensures that the bottom of the main lifting rope support spring 10 is stable and the main lifting rope support spring 10 is vertically upward.

[0088] like Figure 5 As shown, the main lifting rope load-bearing adapter support 24 is used to install and fix the main lifting rope ring fixed load-bearing bolt 20 and the support spring fixed base 21, and accommodate the main lifting rope ring 14. The main lifting rope ring fixed load-bearing bolt 20 is the main load-bearing structural component. The main lifting rope ring fixed load-bearing bolt 20 is set in the load-bearing bolt mounting hole 242 on the main lifting rope load-bearing adapter support 24. The main lifting rope ring fixed load-bearing bolt 20 is connected to the main load-bearing structure of the load compartment 13 and to the main lifting rope ring 14. The support spring fixed base 21 is fixedly connected to the main lifting rope ring fixed load-bearing bolt 20 through a positioning hole provided on the main lifting rope load-bearing adapter support 24. The main lifting rope load-bearing adapter support 24 is provided with a mounting hole B244 that cooperates with the mounting hole A26 to achieve a fixed connection between the support spring fixed base 21 and the main lifting rope load-bearing adapter support 24.

[0089] By setting up a main suspension rope fixing support mechanism 4, the comb rope assembly and the main suspension rope 9 are supported and stabilized when the flexible aircraft body 5 is in the lift-off working state; during the recovery process of the flexible aircraft body 5, the main suspension rope 9 laterally squeezes the comb rope assembly bracket 23, thereby compressing and deforming the main suspension rope support spring 10 to store energy. When the flexible aircraft body 5 is lifted and released next time, the restoring force of the main suspension rope support spring 10 assists the comb rope assembly and the suspension rope group to return to their positions.

[0090] Example 3:

[0091] On the basis of the above-mentioned embodiment 1 or embodiment 2, the sling rope 6 is relatively long and the size of the payload compartment 13 is limited, so that the size of the traction rope 3 of the combing rope assembly is limited, which is not conducive to the complete recovery of the sling rope 6; based on this, the present embodiment further provides a traction range extension mechanism 11 for the traction rope 3 of the combing rope assembly.

[0092] The traction range extension mechanism 11 increases the size of the traction rope 3 of the combing rope assembly through the circuitous slideway 114 provided in the storage box 2, thereby achieving full recovery of the suspension rope.

[0093] Furthermore, in order to realize automatic return of the comb rope assembly and the suspension rope after release, a compression energy storage device 113 is provided in the traction range extension mechanism 11, thereby forming a traction range extension energy storage mechanism.

[0094] like Figure 6As shown, the traction and range extension mechanism 11 includes a detour slide 114, a compressed energy storage device 113, and a limit seat 115. The detour slide 114 is designed mainly because the size of the storage tank 2 is limited. Straight-line traction cannot complete the traction of the combing rope assembly and the suspension rope group, and thus cannot recover the flexible aircraft body 5 so that it can be completely inserted into the storage tank 2. According to actual use needs, the detour slide 114 has multiple ramps. The first uphill slope of the detour slide 114 where the combing rope assembly and the suspension rope group rebound is the slide head slope 117, the last uphill slope of the combing rope assembly and the suspension rope group rebound is the slide tail slope 119, and the last trough of the slide where the combing rope assembly and the suspension rope group rebound is the slide tail valley 118. The detour slide 114 is a hollow pipe. The traction rope 3 of the combing rope assembly passes through the detour slide 114 and is wound around the electric reel 12 and connected to the electric reel 12. One end of the detour slide 114 serves as an inlet and outlet 116 for the combing rope assembly and the sling group to enter and exit. A compression energy storage device 113 (such as a compression spring) is provided inside the other end of the detour slide 114. A limit seat 115 is provided at the end of the detour slide 114. One end of the compression energy storage device 113 is connected to the limit seat 115. The limit seat 115 is the end point of the detour slide 114. On the one hand, it limits the combing rope assembly and the sling group from retrieving and traction beyond the boundary. At the same time, the energy stored by the compression energy storage device 113 provides energy when the flexible aircraft body 5 is released to ensure that the combing rope assembly and the sling group are pushed over the first slope 117 of the slide and slide down to the tail valley 118 of the slide under their own weight.

[0095] The electric reel 12 includes a reel mechanism 110 and a clutch mechanism 111. The power output end of the power unit 1 is connected to the reel mechanism 110 via the clutch mechanism 111. The reel mechanism 110 is mainly used to release or recycle the combing assembly traction rope 3. When reclaiming the combing assembly traction rope 3, the clutch mechanism 111 is in an engaged state, and the power unit 1 drives the reel mechanism 110 to rotate, realizing the recycle of the combing assembly traction rope 3; when releasing the combing assembly traction rope 3, the clutch mechanism 111 is in a disengaged state.

[0096] Basic working principle: When recovering the flexible aircraft body 5, if the flexible aircraft body 5 is an airbag, the air suction device is first used to suck the gas in the flexible aircraft body 5 to make it shrink quickly; then the clutch mechanism 111 is engaged, and the reel mechanism 110 works, driving the combing rope assembly traction rope 3 to pull the combing rope assembly and the suspension rope group from the inlet and outlet 116 of the detour slide 114 into the detour slide 114 until they hit the compression energy storage device 113 inside the detour slide 114, squeezing the compression energy storage device 113 to store energy, and reaching the preset position (just when the flexible aircraft body 5 is recovered in place, that is, the flexible aircraft body 5 enters the storage tank 2) to stop dragging, and the reel mechanism 110 stops working, thereby completing the recovery of the flexible aircraft body 5. When the flexible aircraft body 5 is released, the clutch mechanism 111 is separated, the compression energy storage device 113 releases energy, and the comb rope assembly and the suspension rope group are squeezed in the reverse direction to rush out of the first slope 117 of the slideway, and the traction rope 3 of the traction rope combination is pulled back in the reverse direction. At this time, the wound comb rope assembly traction rope 3 on the drum mechanism 110 is quickly reduced under the reverse pulling force.

[0097] When a main suspension rope fixing support mechanism is provided, the deflected main suspension rope support spring 10 returns to its original position at the same time, and the suspension rope group and the comb rope assembly are pulled out of the entrance and exit 116 from the tail valley 118 of the slide through the airbag suspension rope node 15, and return to the comb rope assembly bracket 23.

[0098] Example 4:

[0099] On the basis of the above-mentioned embodiments 1 to 3, when an energy cable 7 is provided between the payload cabin 13 and the flexible aircraft body 5 , a reciprocating cable grabbing mechanism is further provided for automatic recovery of the energy cable 7 .

[0100] For example, when the flexible aircraft body 5 is an airbag or an airbag is installed within the flexible aircraft body 5, an air inflation and deflation transmission pipe is installed between the payload compartment 13 and the flexible aircraft body 5 as an energy cable 7 to achieve inflation and deflation of the airbag. An inflation and deflation device 47, located in the payload compartment 13 or on the ground, is connected to the airbag via an energy cable equipped with a controller and a valve assembly 46. The controller and valve assembly 46 control the automatic inflation and deflation of the airbag. Furthermore, a gas recovery reservoir 43 is installed in the payload compartment 13 or on the ground. The gas recovery reservoir 43 is connected to the energy cable 7 via a pipeline equipped with a valve. Therefore, when the inflation and deflation device 47 controls the deflation of the airbag, gas is recovered to the gas recovery reservoir 43, facilitating gas reuse.

[0101] like Figure 7 and Figure 8As shown, the reciprocating cable grabbing mechanism includes an automatic opening and closing locker 45 and a reciprocating mechanism 39. The reciprocating mechanism 39 is vertically fixed to the load compartment 13. The automatic opening and closing locker 45 is mounted on the reciprocating mechanism 39. The energy cable passes through the automatic opening and closing locker 45, which can clamp or release the energy cable. The reciprocating mechanism 39 drives the automatic opening and closing locker 45 to move up and down repeatedly. Therefore, when the automatic opening and closing locker 45 clamps the energy cable 7, it reciprocates on the reciprocating mechanism 39, repeatedly dragging the energy cable 7 downward, thereby achieving orderly recovery of the energy cable 7.

[0102] In this example, the automatic opening and closing locker includes: a locker body 27, an electric push rod A33, a movable slide rod 30, a fixed fastening ring 31, and a movable fastening ring 32. The locker body 27 is a hollow structure installed on the reciprocating motion mechanism 39. The fixed fastening ring 31 and the movable fastening ring 32 are both semicircular structures. The fixed fastening ring 31 is fixed to one end of the locker body 27, and the electric push rod A33 is fixed to the other end of the locker body 27. The outer convex surface of the movable fastening ring 32 is opposite to the inner concave surface of the fixed fastening ring 31, and an insertion cavity 28 is formed between the two. The energy cable 7 passes through the insertion cavity 28. The telescopic end of the electric push rod A33 is connected to the inner concave surface of the movable fastening ring 32. When the energy cable 7 needs to be recovered, the electric push rod A33 pushes the movable fastening ring 32 toward the fixed fastening ring 31 to clamp the energy cable 7 located in the insertion cavity 28. In order to ensure that the electric push rod A33 can reliably drive the movable fastening ring 32 to move linearly, a guide hole and a movable slide rod 30 that slides with the guide hole are provided inside the locker body 27. The movable fastening ring 32 is connected to the movable slide rod 30, thereby ensuring the linear movement of the movable fastening ring 32 through the guidance of the movable slide rod 30; in addition, a movable slide rod limiter 29 is provided at the end of the locker body 27, which is used to limit the stroke of the movable slide rod 30 to prevent the movable fastening ring 32 from over-pressing the energy cable 7.

[0103] An upper limit switch and a lower limit switch are respectively provided at the upper and lower ends of the reciprocating motion mechanism 39, which are used to control the moving stroke of the automatic opening and closing locker 45 on the reciprocating motion mechanism 39. At the same time, the electric push rod A33 in the automatic opening and closing locker 45 pushes or pulls back the movable fastening ring 32 according to the signals provided by the upper limit switch and the lower limit switch to realize the opening and closing of the clamping cavity 28 (closing the clamping cavity 28 means clamping the energy cable 7, and opening it means releasing the energy cable 7).

[0104] The working principle of the reciprocating cable grabbing mechanism is as follows: when the flexible aircraft body 5 is recovered, the energy cable 7 needs to be recovered; initially, the automatic opening and closing locker 45 is in the open state, and moves upward under the drive of the reciprocating motion mechanism 39 to reach the upper limit position, that is, after the automatic opening and closing locker 45 touches the upper limit switch, it sends a closing signal to the electric push rod A33, and the electric push rod A33 pushes the movable fastening ring 32 to clamp the energy cable 7 located in the clamping cavity 28, and then moves downward under the drive of the reciprocating motion mechanism 39, thereby dragging the energy cable 7 downward to reach the lower limit position, that is, after the automatic opening and closing locker 45 touches the lower limit switch, it sends an opening signal to the electric push rod A33, and the electric push rod A33 pulls back the movable fastening ring 32 to release the energy cable 7 located in the clamping cavity 28, and repeats this operation to realize the automatic recovery of the energy cable 7.

[0105] When a certain downward pulling force is required to ensure the smooth recovery of the energy cable 7, two automatic opening and closing locks 45 can be installed on the reciprocating mechanism 39. The working mode of the two automatic opening and closing locks 45 is set according to the actual use requirements. In this example, one of the automatic opening and closing locks 45 is fixed to the lower end of the reciprocating mechanism 39 (that is, it does not move up and down along the reciprocating mechanism 39). At this time, the lower limit switch can be set above the automatic opening and closing lock 45 located below. The automatic opening and closing lock 45 located below only performs the action of clamping and releasing the energy cable 7, and the automatic opening and closing lock 45 located above completes the dragging action of repeatedly moving up and down.

[0106] Example 5:

[0107] The difference from the above-mentioned embodiment 4 is that this embodiment provides another structural form of the automatic opening and closing locker 45. The automatic opening and closing locker 45 in this embodiment is a finger-cross type automatic opening and closing locker.

[0108] like Figure 9 As shown, the automatic opening and closing locker 45 includes: an upper finger cross ring 34, a lower finger cross ring 36, a fixing bracket 38 and an electric push rod B37.

[0109] The fixed bracket 38 is a circular ring structure, mounted on the reciprocating mechanism 39 via a support. The upper finger cross ring 34 and the lower finger cross ring 36 simulate the interlacing motion of a person's two hands to achieve the clamping and loosening of the energy cable 7. In this example, the upper finger cross ring 34 and the lower finger cross ring 36 each have three semicircular cross rings. The open end of the upper finger cross ring 34 faces downward, while the open end of the lower finger cross ring 36 faces upward and is arranged opposite the upper finger cross ring 34, thereby forming an insertion cavity 28 between the two for passing the energy cable 7.

[0110] Electric push rods B37 are respectively provided at the upper and lower opposite ends of the inner circumference of the fixed bracket 38, wherein the upper finger cross ring 34 is connected to the electric push rod B37 at the upper end through the connecting head 40, and is used to push and pull the upper finger cross ring 34 to move in the vertical direction, and the lower finger cross ring 36 is connected to the electric push rod B37 at the lower end through the connecting head 40, and is used to push and pull the lower finger cross ring 36 to move in the vertical direction; therefore, when the upper finger cross ring 34 moves downward and the lower finger cross ring 36 moves upward, the energy cable 7 located in the clamping cavity 28 can be clamped by crossing the upper finger cross ring 34 and the lower finger cross ring 36; conversely, when the upper finger cross ring 34 moves upward and the lower finger cross ring 36 moves downward, the energy cable 7 located in the clamping cavity 28 can be loosened.

[0111] The self-controlled opening and closing locker reciprocates on the reciprocating mechanism, continuously dragging the energy cable 7 downwards again and again, thereby realizing orderly recovery of the energy cable 7.

[0112] The above content is a further detailed description of the present invention in conjunction with specific embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. An automatic recovery device for a flexible aircraft, characterized by: The flexible aircraft body (5) is connected to an automatic recovery device provided on the payload cabin (13) via a plurality of suspension ropes (6); The automatic recovery device comprises: a storage box (2) and a plurality of automatic recovery units; a plurality of suspension ropes (6) are divided into a plurality of suspension rope groups, each suspension rope group corresponding to an automatic recovery unit; The automatic recovery unit comprises: a main suspension rope (9), a combing rope assembly, a combing rope assembly traction rope (3) and an electric reel (12); The sling rope group is connected to the main sling rope (9) after being combed by the combing rope assembly; the main sling rope (9) is connected to the load compartment (13); One end of the combing rope assembly traction rope (3) is connected to the combing rope assembly, and the other end is wound around and fixed on the electric reel (12). The electric reel (12) recycles the combing rope assembly traction rope (3) and recycles the combing rope assembly, the sling group and the flexible aircraft body (5) into a storage box (2) provided on the load compartment (13); It also includes a main lifting rope fixing support mechanism (4); The main suspension rope fixing support mechanism comprises: a combing rope assembly bracket (23), a main suspension rope support spring (10), and a support spring fixing base (21); The comb rope assembly bracket (23) is used to support the comb rope assembly when the flexible aircraft body (5) is in a lifted-off state; The main suspension rope (9) is sheathed with a main suspension rope support spring (10), one end of the main suspension rope support spring (10) is fixedly connected to the comb rope assembly bracket (23), and the other end is connected to the support spring fixed base (21); the support spring fixed base (21) is fixedly connected to the load cabin (13).

2. The automatic recovery device for a flexible aircraft according to claim 1, characterized in that: Also included is a main rope ring fixing bearing bolt (20); The main lifting rope (9) passes through the central hole of the combing rope assembly bracket (23) and is connected to the main lifting rope ring fixed load-bearing bolt (20); the main lifting rope ring fixed load-bearing bolt (20) is connected to the load compartment (13); A vertical hollow support rod (25) is provided at the center of the support spring fixing base (21), and the bottom of the suspension rope support spring (10) is sleeved on the outside of the hollow support rod (25).

3. The automatic recovery device for a flexible aircraft according to claim 2, characterized in that: A main suspension rope support spring flexible sheath (22) is coaxially arranged on the outside of the suspension rope support spring (10).

4. The automatic recovery device for a flexible aircraft according to claim 2 or 3, characterized in that: The main lifting rope fixing support mechanism also includes: a main lifting rope load-bearing transfer support (24); the main lifting rope ring fixing load-bearing bolt (20) is arranged in the load-bearing bolt installation hole on the main lifting rope load-bearing transfer support (24); the support spring fixing base (21) is fixedly connected to the main lifting rope ring fixing load-bearing bolt (20) through a positioning hole provided on the main lifting rope load-bearing transfer support (24); at the same time, the support spring fixing base (21) and the main lifting rope load-bearing transfer support (24) are fixedly connected.

5. The automatic recovery device for a flexible aircraft according to claim 1, 2 or 3, characterized in that: The combing rope assembly is a combing rope ball (17); the combing rope ball (17) is a hemispherical structure with the spherical surface facing downward; a plurality of combing rope holes (16) for allowing the sling ropes (6) to pass through are distributed on the upper surface of the combing rope ball (17); the plurality of sling ropes (6) are combed through the combing rope holes (16) and then connected to the sling rope nodes (15) of the main sling rope (9).

6. The automatic recovery device for a flexible aircraft according to claim 1, 2 or 3, characterized in that: A traction range extension mechanism (11) is provided corresponding to each traction rope (3) of the comb rope assembly; The traction range extending mechanism (11) includes a circuitous slideway (114) provided in the tank (2); The circuitous slideway (114) is a hollow pipe; the combing rope assembly traction rope (3) passes through the circuitous slideway (114) and is wound around the electric reel (12); one end of the circuitous slideway (114) serves as an inlet and outlet (116) for the combing rope assembly and the sling rope group to enter and exit; the other end is provided with a limit seat (115).

7. The automatic recovery device for a flexible aircraft according to claim 6, characterized in that: The traction range extension mechanism (11) further includes a compression energy storage device (113) disposed in the circuitous slideway (114); A compression energy storage device (113) is provided at the end of the internal limit seat (115) of the detour slide (114); one end of the compression energy storage device (113) is connected to the limit seat (115); when the combing rope assembly traction rope (3) pulls the combing rope assembly and the suspension rope group into the detour slide (114) and hits the compression energy storage device (113) inside the detour slide (114), the compression energy storage device (113) is squeezed to store energy.

8. The automatic recovery device for a flexible aircraft according to claim 1, 2 or 3, characterized in that: The electric reel (12) comprises: a reel mechanism (110) and a clutch mechanism (111); the power output end of the power device (1) is connected to the reel mechanism (110) via the clutch mechanism (111); When the combing rope assembly traction rope (3) is recovered, the clutch mechanism (111) is in a coupled state; when the combing rope assembly traction rope (3) is released, the clutch mechanism (111) is in a separated state.

9. The automatic recovery device for a flexible aircraft according to claim 1, 2 or 3, characterized in that: When an energy cable (7) is provided between the payload compartment (13) and the flexible aircraft body (5), the automatic recovery device further comprises a reciprocating cable grabbing mechanism for automatically recovering the energy cable (7); The reciprocating cable grabbing mechanism comprises: an automatic opening and closing locker (45) and a reciprocating motion mechanism (39); The reciprocating mechanism (39) is vertically fixed on the load compartment (13), and the automatic opening and closing lock (45) is installed on the reciprocating mechanism (39). The energy cable (7) passes through the automatic opening and closing lock (45), and the automatic opening and closing lock (45) can clamp or release the energy cable (7); the reciprocating mechanism (39) drives the automatic opening and closing lock (45) to move up and down repeatedly. When the automatic opening and closing lock (45) clamps the energy cable (7), it drags the energy cable (7) downward, thereby realizing orderly recovery of the energy cable (7).

10. The automatic recovery device for a flexible aircraft according to claim 9, characterized in that: The automatic opening and closing locker comprises: a locker body (27), an electric push rod A (33), a fixed fastening ring (31) and a movable fastening ring (32); The locking device body (27) is a hollow structure and is mounted on the reciprocating motion mechanism (39); the fixing fastening ring (31) is fixed to one end inside the locking device body (27), and the electric push rod A (33) is fixed to the other end inside the locking device body (27); The movable fastening ring (32) and the fixed fastening ring (31) are arranged opposite to each other, forming an insertion cavity (28) therebetween; the energy cable (7) passes through the insertion cavity (28); The telescopic end of the electric push rod A (33) is connected to the movable fastening ring (32) and is used to push and pull the movable fastening ring (32) to clamp or loosen the energy cable (7) located in the clamping cavity (28).

11. The automatic recovery device for a flexible aircraft according to claim 10, characterized in that: A guide hole and a movable slide rod (30) that slides with the guide hole are provided inside the locker body (27); the movable fastening ring (32) is connected to the movable slide rod (30); A movable slide rod limiting member (29) is provided at the end of the locking body (27) for limiting the travel of the movable slide rod (30).

12. The automatic recovery device for a flexible aircraft according to claim 9, characterized in that: The automatic opening and closing locker (45) comprises: an upper finger cross ring (34), a lower finger cross ring (36), a fixing bracket (38) and an electric push rod B (37); The fixing bracket (38) is an annular structure and is mounted on the reciprocating motion mechanism (39) via a support. The upper finger cross ring (34) and the lower finger cross ring (36) simulate the cross-hand movement of a person to achieve the clamping and loosening of the energy cable (7). The open end of the upper finger cross ring (34) faces downward, and the open end of the lower finger cross ring (36) faces upward and is arranged opposite to the upper finger cross ring (34), thereby forming an insertion cavity (28) between the two for allowing the energy cable (7) to pass through. The upper and lower opposite ends of the inner surface of the fixed bracket (38) are respectively provided with electric push rods B (37), wherein the electric push rod B (37) at the upper end is connected to the upper finger cross ring (34) and is used to push and pull the upper finger cross ring (34) to move in the vertical direction, and the electric push rod B (37) at the lower end is connected to the lower finger cross ring (36) and is used to push and pull the lower finger cross ring (36) to move in the vertical direction; When the upper finger cross ring (34) moves downward and the lower finger cross ring (36) moves upward, the energy cable (7) located in the inclusion cavity (28) is clamped by the intersection of the upper finger cross ring (34) and the lower finger cross ring (36); conversely, when the upper finger cross ring (34) moves upward and the lower finger cross ring (36) moves downward, the energy cable (7) located in the inclusion cavity (28) is loosened.

13. The automatic recovery device for a flexible aircraft according to claim 10, 11 or 12, characterized in that: An upper limit switch and a lower limit switch are respectively provided at the upper and lower ends of the reciprocating mechanism (39) for controlling the movement stroke of the automatic opening and closing locker (45) on the reciprocating mechanism (39). At the same time, the automatic opening and closing locker (45) clamps or releases the energy cable (7) according to the signals provided by the upper limit switch and the lower limit switch.

14. The automatic recovery device for a flexible aircraft according to claim 10, 11 or 12, characterized in that: Two automatic opening and closing lockers (45) are installed on the reciprocating motion mechanism (39).

15. The automatic recovery device for a flexible aircraft according to claim 9, characterized in that: When the flexible aircraft body (5) has an airbag, an air-inflating and deflation device (47) provided in the load compartment (13) or on the ground is connected to the airbag via an energy cable (7) provided with a controller and a valve assembly (46); A gas recovery storage (43) is provided in the payload cabin (13) or on the ground. The gas recovery storage (43) is connected to the energy cable (7) via a pipeline provided with a valve. When the inflation and deflation device (47) controls the deflation of the airbag, the gas is recovered to the gas recovery storage (43).

16. The automatic recovery device for a flexible aircraft according to claim 6, characterized in that: When an energy cable (7) is provided between the payload compartment (13) and the flexible aircraft body (5), the automatic recovery device further comprises a reciprocating cable grabbing mechanism for automatically recovering the energy cable (7); The reciprocating cable grabbing mechanism comprises: an automatic opening and closing locker (45) and a reciprocating motion mechanism (39); The reciprocating mechanism (39) is vertically fixed on the load compartment (13), and the automatic opening and closing lock (45) is installed on the reciprocating mechanism (39). The energy cable (7) passes through the automatic opening and closing lock (45), and the automatic opening and closing lock (45) can clamp or release the energy cable (7); the reciprocating mechanism (39) drives the automatic opening and closing lock (45) to move up and down repeatedly. When the automatic opening and closing lock (45) clamps the energy cable (7), it drags the energy cable (7) downward, thereby realizing orderly recovery of the energy cable (7).

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