A fixed-wing unmanned aerial vehicle net recovery device

Abstract

The present application relates to the technical field of aircraft recovery, in particular to a fixed-wing unmanned aircraft net recovery device, which comprises a support, a recovery net, four deceleration tow ropes and four damping output mechanisms, four pulleys are installed on the support, one end of each of the four deceleration tow ropes is connected to a damping output mechanism, the other end of each of the four deceleration tow ropes is connected to a corresponding corner of the recovery net after passing through a corresponding pulley, the recovery device further comprises two net tensioning ropes arranged on the front side of the recovery net, one end of each of the two net tensioning ropes is connected to the left side and the right side of the recovery net respectively, and the other end of each of the two net tensioning ropes is fixed relative to the ground, the two net tensioning ropes and the four deceleration tow ropes are in a tensioned state, and the recovery net is suspended in the air in a ">" shape. The recovery device can adopt a larger recovery net, and can avoid the middle and lower parts of the recovery net from being in a sagging state, ensure a good wrapping and restraining effect, and the height of the net supporting rod is low, and the structure of the device is more compact and simplified.

Description

Technical Field

[0001] This invention relates to the field of aircraft recovery technology, specifically to a fixed-wing unmanned aerial vehicle (UAV) net-collision recovery device. Background Technology

[0002] Net-pole arresting net recovery is a traditional solution for recovering small and medium-sized fixed-wing UAVs on land or ships. This method originates from the safety arresting nets at the end of land-based airport runways and has decades of experience in use, making it technically mature. Net-pole arresting net recovery schemes can be divided into four typical structures based on their composition and layout: single net single pole, single net double pole, single net triple pole, and double net double pole. For small and medium-sized fixed-wing UAVs, the single net triple pole and double net double pole schemes are currently the most commonly used. For some larger fixed-wing UAVs or other types of fixed-wing unmanned aerial vehicles with higher terminal velocities, if net-pole arresting net recovery is implemented, a larger buffer stroke is needed to control the recovery overload within an acceptable range for the target. Traditional single net triple pole and double net double pole schemes, due to their inherent arrangement, are difficult to achieve a large buffer stroke.

[0003] In response, Chinese invention patent application CN112340045A discloses a small aircraft net-collision recovery device, including a recovery net energy absorption device (i.e., a damping output mechanism), a recovery net, a support frame, traction ropes, and pulleys. One end of the traction rope passes over the pulley and is fixedly connected to the periphery of the recovery net, while the other end is wound around the damping output mechanism. Four traction ropes are respectively connected to the upper left, lower left, upper right, and lower right corners of the recovery net. In use, after the aircraft impacts the recovery net, it drives the recovery net forward. The recovery net pulls the traction ropes to extend, and the damping output mechanism generates a frictional resistance torque, which hinders the extension trend of the traction ropes, thereby slowing down the recovery net and the aircraft, absorbing its kinetic energy, until the aircraft's kinetic energy drops to zero, thus achieving its recovery. During the process, the frictional resistance torque of the damping output mechanism continuously increases, reducing the time and distance required for the aircraft to reduce its kinetic energy to zero after impacting the net. Moreover, the initial frictional resistance torque is very small, reducing the impact overload when the aircraft initially impacts the net.

[0004] However, to achieve a good recovery effect, a large recovery net is usually required to safely cover and restrain the aircraft during the buffering process. But when the size of the recovery net, especially its height, is large, a taller support is needed to install the pulleys and the recovery net, making the device structure more complex and reducing the stability and reliability of the support. If the size of the recovery net is increased without changing the size of the support, the lower part of the net will droop. In this case, the point where the aircraft impacts and contacts the net will not be in the center of the net, failing to guarantee a good covering and restraining effect. In severe cases, this may lead to recovery failure and damage to the aircraft. Summary of the Invention

[0005] The purpose of this invention is to provide a fixed-wing unmanned aerial vehicle (UAV) net-collision recovery device to solve the problems in the prior art where, when using a larger recovery net, either a taller support is required, leading to structural complexity, decreased stability and reliability, or the lower part of the recovery net droops without changing the support structure, failing to achieve a good covering and restraining effect.

[0006] To achieve the above objectives, the fixed-wing unmanned aerial vehicle collision and recovery device of the present invention adopts the following technical solution:

[0007] A fixed-wing unmanned aerial vehicle (UAV) impact-net recovery device includes a support frame, a recovery net for the fixed-wing UAV to impact from rear to front, four deceleration tow ropes, and four damping output mechanisms. The support frame is equipped with four pulleys located at the upper left, lower left, upper right, and lower right. One end of each of the four deceleration tow ropes is connected to a damping output mechanism, and the other end passes over the corresponding pulley and connects to the four corners of the recovery net at the upper left, lower left, upper right, and lower right, respectively. The device also includes two net-tensioning ropes located in front of the recovery net. One end of each rope is connected to the left and right sides of the recovery net, and the other end is used for fixed installation relative to the ground. All two ropes and the four deceleration tow ropes are taut, causing the recovery net to suspend in the air in a ">" shape.

[0008] The beneficial effects of the above technical solution are as follows: The recovery device of the present invention also includes two tension ropes located at the front of the recovery net. One end of each tension rope is connected to the left and right sides of the recovery net, respectively, and the other end is used for fixed installation relative to the ground. Both tension ropes and four deceleration tow ropes are in a taut state, so that the recovery net is suspended in the air in a ">" shape, i.e., the recovery net is in a folded and open state. This prevents the lower part of the recovery net from drooping, even when using a larger recovery net, ensuring that the impact point of the aircraft is in the center of the recovery net, thus producing a better containment effect and achieving a better recovery result. Simultaneously, there is no need to install a very tall support structure, meaning the structure of the support structure does not need to be changed, thereby avoiding structural complexity and ensuring stability and reliability.

[0009] Furthermore, the support includes a base platform and two uprights mounted on the base platform. The upper left and lower left pulleys are both mounted on the left upright, and the upper right and lower right pulleys are both mounted on the right upright. The fixed-wing UAV collision net recovery device also includes upright pulling ropes set on the rear side of each upright. One end of each upright pulling rope is connected to the corresponding upright, and the other end is used for fixed installation relative to the ground.

[0010] The beneficial effects of the above technical solution are as follows: the pole pulling rope is located on the rear side of the pole and connected to the pole, which helps to ensure the overall stability of the support when the pole is subjected to a large forward force.

[0011] Furthermore, two upright supports are fixed on the base platform, and the bottom end of each upright is hinged to the upright support. The hinge axis of the upright extends in the left and right direction, and the pull rope of each upright includes an elastic section and the pull rope of the upright is in a taut state.

[0012] The beneficial effects of the above technical solution are as follows: the bottom end of the upright is hinged to the upright support, and the hinge axis of the upright extends in the left and right direction, so that the upright can swing back and forth relative to the base platform. At the same time, each upright pulling rope includes an elastic section and the upright pulling rope is in a taut state. Thus, at the beginning of the aircraft's collision with the net, each taut deceleration tow rope drives the upright to swing forward through the corresponding pulley to buffer the impact, thereby reducing the overload at the beginning of the aircraft's collision with the net. It also helps to improve the overall stability and service life of the support.

[0013] Furthermore, the distance between the bottom ends of the pull ropes of the two uprights is greater than the distance between the two uprights.

[0014] The beneficial effect of the above technical solution is that it makes the two pole pulling ropes stretch outward to tighten the corresponding poles. This is because when the aircraft hits the net, the recovery net applies a forward and inward force to the poles through the four deceleration towing ropes. The pole pulling ropes stretch outward, which can resist the poles from bending and deforming inward.

[0015] Furthermore, the base platform includes a left platform and a right platform. The left upright, the two left damping output mechanisms, and the left upright pull rope are all set on the left platform, while the right upright, the two right damping output mechanisms, and the right upright pull rope are all set on the right platform.

[0016] The beneficial effects of the above technical solution are as follows: the base platform includes two platforms, left and right, and the uprights, damping output mechanism and upright traction ropes are arranged in two groups on different platforms. This arrangement facilitates the modularization of the entire device when implementing the invention, and at the same time, it is convenient to change the distance between the two platforms to change the size of the recovery net and adapt to the recovery of aircraft of different sizes.

[0017] Furthermore, the fixed-wing unmanned aerial vehicle net-collision recovery device also includes two tethering seats arranged on the left and right, with the bottom ends of the two net-pulling ropes connected to the tethering seats respectively, and the distance between the two tethering seats is greater than the distance between the two uprights.

[0018] The beneficial effect of the above technical solution is that it allows the two net-pulling ropes to be stretched outward to tighten the recovery net, which can make the recovery net extend further and ensure the effectiveness of the aircraft's net-collision recovery.

[0019] Furthermore, each deceleration towing rope is connected with an elastic element, and each elastic element is located between the four corners of the recovery net and the corresponding pulley.

[0020] The beneficial effect of the above technical solution is that it enables the deceleration tow rope to have a certain buffering effect, reducing the overload of the aircraft at the beginning of the collision with the net.

[0021] Furthermore, the fixed-wing unmanned aerial vehicle (UAV) collision recovery device also includes a receiving and buffering assembly located in front of the recovery net, which is used to receive the landing fixed-wing UAV.

[0022] The beneficial effect of the above technical solution is that it avoids the aircraft from directly hitting the ground and causing damage.

[0023] Furthermore, the buffer assembly includes a support net and a support member, with the support net connected to the support member and suspended horizontally above the ground.

[0024] The advantages of the above technical solution are: the structure of the buffer assembly is simple, easy to manufacture, and can provide a buffering effect for the aircraft.

[0025] Furthermore, the damping output mechanism includes a drum and a first rotary damper and a second rotary damper respectively disposed on both sides of the drum and coaxial with the drum. The output characteristic of at least one of the first rotary damper and the second rotary damper is a variable damping characteristic where the output torque is related to the rotation of the drum.

[0026] The advantages of the above technical solution are: it facilitates obtaining different resistance torque output characteristics and can meet various overload control requirements under different recovery conditions. Attached Figure Description

[0027] Figure 1 This is a perspective view (one view) of Embodiment 1 of the fixed-wing unmanned aerial vehicle collision net recovery device of the present invention;

[0028] Figure 2 This is a perspective view (another perspective) of Embodiment 1 of the fixed-wing unmanned aerial vehicle collision net recovery device of the present invention;

[0029] Figure 3 This is a side view of Embodiment 1 of the fixed-wing unmanned aerial vehicle net-collision recovery device of the present invention;

[0030] Figure 4 This is a structural diagram of the damping output mechanism in Embodiment 1 of the fixed-wing unmanned aerial vehicle collision and recovery device of the present invention;

[0031] Figure 5 This is a diagram illustrating the usage process of Embodiment 1 of the fixed-wing unmanned aerial vehicle collision and recovery device of the present invention;

[0032] Figure 6 This is a perspective view of Embodiment 2 of the fixed-wing unmanned aerial vehicle collision net recovery device of the present invention.

[0033] In the diagram: 1. Base platform; 11. Left platform; 12. Right platform; 2. Retrieval net; 21. Corner traction point; 22. Side traction point; 3. Support rod assembly; 31. Upright pole; 32. Upright pole support; 33. Pulley; 34. Upright pole traction rope; 4. Damping output mechanism; 41. Drum; 42. Drum support; 43. First rotational damper; 44. Second rotational damper; 5. Deceleration tow rope; 51. Elastic element; 6. Tensioning net traction rope; 7. Receiving buffer assembly; 71. Receiving net; 72. Support element; 73. Tensioning rope; 7'. Flexible buffer pad; 8. Tethering seat; 9. Fixed-wing unmanned aerial vehicle. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described embodiments are merely some embodiments of the invention, not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0036] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, terms such as "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0037] The features and performance of the present invention will be further described in detail below with reference to embodiments.

[0038] Embodiment 1 of the fixed-wing unmanned aerial vehicle collision net recovery device of the present invention is as follows: Figure 1 , Figure 2 and Figure 3 As shown, it includes a support frame, a recovery net 2 for the fixed-wing UAV 9 to impact from back to front, four deceleration tow ropes 5, four damping output mechanisms 4, two net tension ropes 6, two tether seats 8, and a receiving and buffering assembly 7.

[0039] The support frame includes a base platform 1 and two symmetrical support rod assemblies 3. Each support rod assembly 3 includes a vertical rod 31 and two pulleys 33 mounted on the vertical rod 31. The two vertical rods 31 are parallel and spaced apart. The four pulleys 33 respectively constitute the upper left pulley, lower left pulley, upper right pulley, and lower right pulley mounted on the support frame. That is, the upper left and lower left pulleys are mounted on the left vertical rod, and the upper right and lower right pulleys are mounted on the right vertical rod. Specifically, the pulleys 33 are suspended from the vertical rods 31, with one of the two pulleys 33 on the same vertical rod suspended at the top and the other suspended in the lower middle part.

[0040] The base platform 1 consists of two parts: a left platform 11 and a right platform 12. The left platform 11 and right platform 12 have the same structure, both being reinforced concrete foundations fixed to the ground, arranged symmetrically side-by-side at a certain interval. Four damping output mechanisms 4 are installed in pairs on the left platform 11 and right platform 12, respectively. The two sets of damping output mechanisms 4 are arranged symmetrically from left to right, with the two damping output mechanisms 4 in each set aligned front to back, and each set of damping output mechanisms 4 is located in front of the upright 31. Four deceleration towing ropes 5 are also located in pairs in front of the upright 31. One end of each of the four deceleration towing ropes 5 is connected to each damping output mechanism 4, and the other end passes over the corresponding pulley 33 and connects to the upper left, lower left, upper right, and lower right corners of the recovery net 2, respectively.

[0041] The recycling net 2 is made of interwoven fiber ropes, and when flattened, it is a rectangle with sides longer than the top and bottom sides. Corner traction points 21 are set at the four corners of the recycling net 2, and side traction points 22 are set at the midpoints of the two sides. The other ends of the four deceleration towing ropes 5 are connected to the corner traction points 21 respectively. The four deceleration towing ropes 5, the four damping output mechanisms 4, the four pulleys 33 on the two uprights 31, and the four corner traction points 21 of the recycling net 2 correspond one-to-one, forming four deceleration rope system branches: upper left, lower left, upper right, and lower right.

[0042] Combination Figure 4As shown, each damping output mechanism 4 includes a drum 41, a drum support 42, a first rotary damper 43, and a second rotary damper 44. The drum support 42 is fixed on a corresponding platform. The first rotary damper 43 and the second rotary damper 44 are both coaxially arranged with the drum 41 and are respectively installed on the two side walls of the drum support 42. The output characteristic of the first rotary damper 43 is constant damping characteristic, such as block brake, shoe brake, disc brake, etc. The output characteristic of the second rotary damper 44 is variable damping characteristic, where the output torque is related to the rotation of the drum. Specifically, it can be a variable damping characteristic where the output torque is related to the drum speed, such as a worm gear damper; or it can be a variable damping characteristic where the output torque is related to the drum angle, such as the energy absorption device of the recovery net in patent document CN112340045A. In addition, a clutch can be provided between the first rotary damper 43 and the second rotary damper 44 and the drum 41, so that each rotary damper can be used individually or together during operation, making it more flexible to use.

[0043] The main body of each deceleration tow rope 5 is wound on the drum 41 of the corresponding damping output mechanism 4 on the same side. The lead-out section passes through the corresponding pulley on the same side and is connected to the corner traction point 21 on the same side of the recovery net 2. Each deceleration tow rope 5 includes an elastic element 51, which is connected in series as a segment of the deceleration tow rope 5. The connection position is between the pulley 33 and the corner traction point 21. The elastic element 51 can be a spring or a rope with its own elasticity, so that the deceleration tow rope 5 also has a certain buffering effect, reducing the overload at the beginning of the aircraft hitting the net.

[0044] like Figures 1-3 As shown, the bottom ends of the two uprights 31 are respectively mounted on the left platform 11 and the right platform 12. Specifically, upright supports 32 are fixed on both the left and right platforms, and the bottom ends of each upright 31 are hinged to the upright supports 32. The hinge axis of the upright 31 extends in the left-right direction, allowing the upright 31 to swing back and forth relative to the base platform. Each support rod assembly 3 also includes an upright pulling rope 34 located on the rear side of the upright 31. One end of the two upright pulling ropes 34 is fixed to the left platform 11 and the right platform 12 respectively (thus fixing them relative to the ground), and the other end is connected to the top of the corresponding upright. Furthermore, each upright pulling rope 34 includes an elastic section and is in a taut state. Thus, at the initial moment of the aircraft hitting the net, each taut deceleration tow rope 5 drives the upright 31 to swing forward through the corresponding pulley to buffer the impact, thereby reducing the overload at the initial moment of the aircraft hitting the net, and also improving the overall stability and service life of the support structure. The damping output mechanism 4 and the deceleration towing rope 5 are both located on the front side of the pole 31 in order to better drive the pole 31 to swing forward, thereby cooperating with the pole traction rope 34 to achieve a buffering effect.

[0045] In addition, the connection points of the two pole pulling ropes 34 to the platform are located on the outer side behind the pole 31. That is, the distance between the bottom ends of the two pole pulling ropes 34 is greater than the distance between the bottom ends of the two poles 31. The two pole pulling ropes 34 are stretched outward to tighten the corresponding poles. This is because when the aircraft hits the net, the recovery net 2 applies a forward and inward force to the pole 31 through the four deceleration towing ropes 5. The pole pulling ropes 34 are stretched outward, which can play a role in resisting the inward bending and deformation of the pole 31.

[0046] like Figures 1-3 As shown, two net-holding traction ropes 6 are positioned at the front of the recovery net 2. One end is connected to the middle of the left and right sides of the recovery net 2, respectively, that is, to the side traction points 22 on the same side of the recovery net 2. The other end is connected to the tethering seat 8 on the same side, thus fixing it relative to the ground. The two net-holding traction ropes 6, the two side traction points 22 of the recovery net 2, and the two tethering seats 8 correspond one-to-one, forming two net-holding rope branches on the left and right. The two tethering seats 8 are separated to the left and right, symmetrically arranged, and fixed in front of the recovery net 2. Their spacing is greater than the spacing between the two uprights 31. In this way, the two net-holding traction ropes 6 are stretched outward to tighten the recovery net 2, allowing the recovery net 2 to extend further and ensuring the effective retrieval of the aircraft.

[0047] Before the fixed-wing UAV 9, serving as the recovery target, impacts the net, all four deceleration tow ropes 5 and two net-tensioning ropes 6 are under appropriate tension. The four deceleration rope branches and the two net-tensioning rope branches are symmetrically positioned, allowing the recovery net 2 to be suspended in the air in a ">" shaped fold, directly in front of the two support rod assemblies 3. Because the recovery net 2 is in a folded, open state, even with a large recovery net, the lower and middle parts of the net are prevented from drooping, ensuring that the UAV impacts the net at its center, resulting in better containment and a more efficient recovery. Furthermore, compared to existing technologies, there is no need for a very tall support structure, meaning the support structure remains unchanged, thus avoiding structural complexity and ensuring stability and reliability.

[0048] The receiving and buffering assembly 7 is positioned directly in front of the recovery net 2 to receive the fixed-wing unmanned aerial vehicle (UAV) landing at the end of its buffering journey, preventing the UAV from directly impacting the ground and causing damage. Specifically, in this embodiment, the receiving and buffering assembly 7 includes a receiving net 71 and four support members 72. The four corners of the receiving net 71 are connected to the four support members 72 via tension ropes 73, so that the receiving net 71 is suspended horizontally above the ground.

[0049] The working process of the fixed-wing unmanned aerial vehicle collision net recovery device of the present invention is as follows:

[0050] like Figure 5As shown, before the recovery begins, the recovery net 2 is in a ">" shaped folded open state. The fixed-wing UAV 9, which is the target object, flies horizontally at a certain height above the ground and enters the recovery space formed by the upper and lower parts of the recovery net 2. Then, the front end touches the roughly central area of ​​the recovery net 2. The net mesh in this area bulges and wraps around the head of the target object, and at the same time, it begins to apply resistance to its forward motion. The deformation and force in the center of the net are quickly transmitted to the traction points at the four corners. The branch deceleration tow ropes 5 are pulled forward. The rotational inertia of the drum 41, the first rotational damper 43 and the second rotational damper 44 causes the tension of the deceleration tow ropes 5 to increase rapidly. The entire recovery net 2 quickly covers the target object. The target object continues to move forward with the recovery net 2. The recovery net 2 and the deceleration tow ropes 5 apply a backward pulling force to the target object. The forward speed of the target object decreases rapidly, and it falls under the action of gravity, finally landing safely on the receiving buffer assembly 7.

[0051] The fixed-wing unmanned aerial vehicle net-collision recovery device of the present invention has no buffer travel limit, the net support rod is low, the structure of the whole device is more compact and simplified, the versatility is better, the storage and deployment efficiency is higher, and the modularity and corresponding transportation convenience are stronger.

[0052] Embodiment 2 of the fixed-wing unmanned aerial vehicle collision net recovery device of the present invention is as follows: Figure 6 As shown, unlike Embodiment 1, the receiving and buffering component in this embodiment is a flexible buffer pad 7'. The flexible buffer pad 7' can be a single independent buffer pad or a combination of multiple buffer pads. The combination method can be stacked vertically or arranged continuously front and back.

[0053] In other embodiments of the fixed-wing unmanned aerial vehicle collision and recovery device: both rotating dampers can be dampers with variable damping output characteristics, or the damping output mechanism can be configured with only one damper with constant damping output characteristics, or only one damper with variable damping output characteristics.

[0054] In other embodiments of the fixed-wing unmanned aerial vehicle collision net recovery device: no receiving buffer component is provided.

[0055] In other embodiments of the fixed-wing unmanned aerial vehicle collision and recovery device: no elastic element is connected in series on each deceleration tow rope.

[0056] In other embodiments of the fixed-wing unmanned aerial vehicle net-crashing recovery device: no tethering seat is provided, and the bottom end of the net-pulling rope is fixed to anchor bolts or other fixed objects on the ground.

[0057] In other embodiments of the fixed-wing unmanned aerial vehicle (UAV) net-collision recovery device: the base platform is an integrated, complete platform.

[0058] In other embodiments of the fixed-wing unmanned aerial vehicle collision net recovery device: the left platform and the right platform can also be two vehicle chassis, and the two vehicle chassis are fixed in position relative to the ground when the recovery device is working.

[0059] In other embodiments of the fixed-wing unmanned aerial vehicle net-collision recovery device: the support rod assembly may also include a pole pitch drive that can raise or lower the pole from the base platform onto the base platform.

[0060] In other embodiments of the fixed-wing unmanned aerial vehicle collision and recovery device: the uprights of the support rod assembly are nested telescopic structures or multi-section folding arm structures.

[0061] In other embodiments of the fixed-wing unmanned aerial vehicle collision and recovery device: the distance between the bottom ends of the pull ropes of the two uprights is equal to the distance between the bottom ends of the two uprights.

[0062] In other embodiments of the fixed-wing unmanned aerial vehicle collision and recovery device: the upright supports are not fixed on the base platform, and the bottom ends of each upright are directly welded or bolted to the base platform, that is, the uprights cannot swing. In this case, the upright pulling rope does not need to include the elastic section, and the upright can be tightened directly.

[0063] In other embodiments of the fixed-wing unmanned aerial vehicle collision and recovery device: the connection point between one end of the pole pulling rope and the pole may not be at the top of the pole, but in the middle or upper middle part; the other end of the pole pulling rope may also be directly fixed to the ground, rather than on the base platform; similarly, the four damping output mechanisms may also be fixed to the ground.

[0064] In other embodiments of the fixed-wing unmanned aerial vehicle collision and recovery device: the support does not include the base platform, and each upright and each damping output mechanism is directly fixed to the ground. In this case, depending on the actual situation, the upright pulling rope can be connected to the rear side of the upright, and the bottom end of the upright pulling rope is directly fixed to the ground, or the upright pulling rope is not set. The structure of the support is the same as that in patent document CN112340045A.

[0065] In other embodiments of the fixed-wing unmanned aerial vehicle collision and recovery device: four damping output mechanisms and four deceleration towing ropes can also be set on the rear side of the two uprights, the same as in patent document CN112340045A.

[0066] In other embodiments of the fixed-wing unmanned aerial vehicle collision net recovery device: the recovery net is made of interwoven fiber woven strips.

[0067] In other embodiments of the fixed-wing unmanned aerial vehicle net recovery device: the two net pulling ropes may not be connected to the middle of the left and right sides of the recovery net, but rather to the upper third or lower third of the net. In this case, the recovery net is not folded in half.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. A fixed-wing unmanned aerial vehicle net recovery device, comprising a support, a recovery net (2) for the fixed-wing unmanned aerial vehicle (9) to impact from back to front, four deceleration drag ropes (5) and four damping output mechanisms (4), the support is provided with four upper left, lower left, upper right and lower right pulleys (33), one end of each of the four deceleration drag ropes (5) is connected to each of the damping output mechanisms (4), and the other end is connected to the upper left, lower left, upper right and lower right four corners of the recovery net (2) after passing through the corresponding pulley (33), characterized in that: The fixed-wing unmanned aerial vehicle net-recovery device further comprises two net-tensioning ropes (6) arranged at the front side of the recovery net (2), one end of each of the two net-tensioning ropes (6) is connected with the left middle part and the right middle part of the recovery net (2) respectively, and the other end is arranged to be fixed relative to the ground, the two net-tensioning ropes (6) and the four deceleration-dragging ropes (5) are all in a tension state, so that the recovery net (2) is suspended in the air in a ">" shape, and the position of the aerial vehicle impacting the recovery net is ensured to be the central region of the recovery net.

2. The fixed-wing unmanned aerial vehicle net recovery apparatus of claim 1, wherein: The support comprises a base platform (1) and two left and right vertical rods (31) mounted on the base platform (1), the left upper and left lower pulleys are both mounted on the left vertical rod (31), and the right upper and right lower pulleys are both mounted on the right vertical rod (31); the fixed-wing unmanned aerial vehicle net-recovery device further comprises a vertical rod-pulling rope (34) arranged at the back side of each vertical rod (31), one end of each vertical rod-pulling rope (34) is connected with the corresponding vertical rod (31), and the other end is arranged to be fixed relative to the ground.

3. The fixed-wing unmanned aerial vehicle net recovery apparatus of claim 2, wherein: The base platform (1) is fixed with two vertical rod supports (32), the bottom end of each vertical rod (31) is hinged to the vertical rod support (32), the hinge axis of the vertical rod (31) extends along the left-right direction, and each vertical rod-pulling rope (34) comprises an elastic section and is in a tension state.

4. The fixed-wing unmanned aerial vehicle net recovery apparatus according to claim 2 or 3, wherein: The distance between the bottom ends of the two vertical rod-pulling ropes (34) is greater than the distance between the two vertical rods (31).

5. The fixed-wing unmanned aerial vehicle net recovery apparatus according to claim 2 or 3, wherein: The base platform (1) comprises a left platform (11) and a right platform (12), the left vertical rod, the left two damping output mechanisms and the left vertical rod-pulling rope are all arranged on the left platform (11), and the right vertical rod, the right two damping output mechanisms and the right vertical rod-pulling rope are all arranged on the right platform (12).

6. The fixed-wing unmanned aerial vehicle net recovery apparatus according to claim 2 or 3, wherein: The fixed-wing unmanned aerial vehicle net-recovery device further comprises two tethering seats (8) arranged left and right, the bottom ends of the two net-tensioning ropes (6) are connected with the tethering seats (8) respectively, and the distance between the two tethering seats (8) is greater than the distance between the two vertical rods (31).

7. The fixed-wing UAV net recovery apparatus according to any one of claims 1-3, wherein: Each deceleration-dragging rope (5) is serially connected with an elastic member (51), and each elastic member (51) is located between the corresponding pulley and the four corner parts of the recovery net (2).

8. The fixed-wing UAV net recovery apparatus according to any one of claims 1-3, wherein: The fixed-wing unmanned aerial vehicle net-recovery device further comprises a receiving and buffering assembly (7) arranged in front of the recovery net (2), which is used to receive the fixed-wing unmanned aerial vehicle (9) falling.

9. The fixed-wing UAV crash net recovery apparatus of claim 8, wherein: The receiving and buffering assembly (7) comprises a receiving net and a supporting member, and the receiving net is connected to the supporting member and suspended above the ground in a horizontal state.

10. The fixed-wing UAV net recovery apparatus according to any one of claims 1-3, wherein: The damping output mechanism comprises a winding drum and first and second rotary dampers arranged on both sides of the winding drum coaxially, and the output characteristic of at least one of the first and second rotary dampers is a variable-damping characteristic that the output torque is related to the rotation of the winding drum.

Images