A mother-daughter separable unmanned aerial vehicle

Abstract

The application relates to the technical field of unmanned planes, and discloses a parent-child separable unmanned plane, which has a foldable carrying and detecting parent unmanned plane, a plurality of batteries arranged in the foldable carrying and detecting parent unmanned plane, and further comprises a quick mounting mechanism arranged at the connecting position of a power rod of the foldable carrying and detecting parent unmanned plane, a buffer rotating mechanism arranged at the bottom of the foldable carrying and detecting parent unmanned plane, and a parent-child separation mechanism arranged at the bottom of the buffer rotating mechanism; a child robot is arranged at the bottom of the parent-child separation mechanism; the parent-child separation mechanism is used for separating and combining the parent and child unmanned planes in different scenes and is used for carrying and launching special devices; the superior load capacity of the large unmanned plane and the mobile and concealed capacity of the small robot are combined, so that the working range of the whole machine can be effectively expanded.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and more specifically, relates to a detachable UAV. Background Technology

[0002] Existing drones are unmanned aircraft controlled by radio remote control equipment and onboard program control devices. However, most of them can only conduct large-scale, rough aerial photography, especially in complex terrain with many obstacles, where precise point reconnaissance is difficult. In contrast, small tracked robots are more adaptable to such situations, but robots cannot perform simple and effective long-distance transportation. The characteristics of current drones limit their overall working range, and drones are also inconvenient for carrying radio equipment and other heavy equipment.

[0003] Based on the above background, this device combines the advantages of UAV's area reconnaissance and superior carrying capacity with the point reconnaissance of tracked machinery, and thus proposes a mother-child detachable UAV. Summary of the Invention

[0004] The purpose of this invention is to provide a detachable mother-daughter unmanned aerial vehicle (UAV) to solve the problems in the background art, such as the overly rough surface reconnaissance capabilities of UAVs and the unsuitability of robots for long-distance transportation.

[0005] The technical solution adopted by this invention is as follows: a detachable mother-daughter unmanned aerial vehicle (UAV), comprising a foldable carrier / reconnaissance mother UAV, several batteries disposed inside the foldable carrier / reconnaissance mother UAV, and further comprising:

[0006] A quick-installation mechanism is located at the connection point of the power rod of the foldable reconnaissance mother drone;

[0007] A buffer rotation mechanism is provided at the bottom of the foldable reconnaissance mother drone. A mother-daughter separation mechanism is provided at the bottom of the buffer rotation mechanism, and the buffer rotation mechanism moves in the vertical direction. A daughter tracked robot is provided at the bottom of the mother-daughter separation mechanism.

[0008] The buffer rotation mechanism includes a buffer component and a rotating component. The buffer component is located at the bottom of the foldable reconnaissance mother drone and is fixedly connected to the rotating component. The rotating component includes two large circular plates that clamp the outer ring of the bearing and are used to connect the large circular plate at the bottom of the mother drone to the buffer component. At this time, two smaller circular plates clamp the inner ring of the bearing and are connected to the lower part of the mother drone.

[0009] The primary-secondary separation mechanism comprises a double worm drive, and the double worm drive comprises a short worm and a long worm, the motor controls the rotation of the short worm, at this time, the long worm is driven to move, and the outer frame of the primary-secondary separation mechanism realizes self-locking function.

[0010] Optionally, the foldable carrying and detecting primary unmanned aerial vehicle comprises a plurality of power arms, an end part at one end of the power arm, a first driving fan blade, and an unmanned aerial vehicle frame body, the quick mounting mechanism comprises a mounting column, a mounting cylinder, a connecting arm, a T-shaped rod, and a supporting rod, the first driving fan blade is mounted at one end of the power arm, the end part is rotatably connected to the side of the unmanned aerial vehicle frame body, an installation groove is formed in one end of the end part, and the T-shaped rod is fitted into the installation groove.

[0011] Optionally, the first driving fan blade comprises a first driving motor and a first fan blade, the first driving motor is mounted at one end of the power arm, and the first fan blade is mounted at the output end of the first driving motor.

[0012] Optionally, the quick mounting mechanism comprises a mounting column, a mounting cylinder, a connecting arm, a T-shaped rod, and a supporting rod, the mounting column is connected to the middle part of the bottom end of the unmanned aerial vehicle frame body, the mounting cylinder is mounted on the side wall of the mounting column through internal and external threads, the connecting arm is rotatably connected to one end of the mounting cylinder, and one end of the T-shaped rod is rotatably connected to one end of the connecting arm.

[0013] Optionally, the supporting rod is mounted on the inner side of the unmanned aerial vehicle frame body, and the supporting rod is supported at the bottom of the T-shaped rod.

[0014] Optionally, the buffer comprises a limiting column and a buffer spring, the limiting column slides on the bottom of the unmanned aerial vehicle frame body, the top of the limiting column is fixedly connected with a limiting part, the bottom of the limiting column is fixedly connected to the top of the rotating part, the buffer spring is mounted on the side wall of the limiting column, one end of the buffer spring is supported on one end of the unmanned aerial vehicle frame body, and the other end is supported on one end of the rotating part.

[0015] Optionally, the primary-secondary separation mechanism further comprises a buckle mechanism, and the hollow part of the buckle mechanism is composed of two equilateral triangle guide lines through center inversion, when the three buckle connecting rods are in expansion movement, the rollers thereof are in contact with the hollow boundary, after the connecting rods move along the triangular guide lines to the vertex position, the buckle mechanism locks the three connecting rods.

[0016] Optionally, the primary body tracked robot comprises a robot main body, a connecting frame, a tracked frame, a track, and a second driving fan blade, the connecting frame is connected to one side of the robot main body, the tracked frame is fixedly connected to the connecting frame, the track is mounted on the tracked frame, and the second driving fan blade is mounted on the connecting frame and connected with the tracked frame.

[0017] Optionally, the track frame is provided with rollers matched with the track, and the track is installed on the rollers of the track frame.

[0018] Optionally, the second driving fan blade comprises a second driving motor and a second fan blade, the second driving motor is installed on the track frame, and the second fan blade is installed on the output end of the second driving motor.

[0019] The present application has the following technical effects:

[0020] (1) The sub-mother separation mechanism can separate and combine the unmanned aerial vehicle with various robots, and can also carry and release special devices. When the sub-mother is integrated, the working signal is stronger, the data quality collected by the combination of the two is higher, when the sub-mother is separated, the working range is larger, the application field is wider, and the details collected are more.

[0021] (2) The buffer rotation mechanism can buffer the impact on the machine body during landing;

[0022] (3) The sub-machine adopts a 45-degree angle track, which can climb over gullies in complex terrain, and the sub-mother machine is equipped with sensors and microcomputers, which is conducive to the division of labor and cooperation of the sub-mother machine;

[0023] (4) The four-rotor landing mechanism of the sub-machine can be used for buffering during landing of the sub-machine, and can also be used for short-distance flight, which can better overcome terrain obstacles;

[0024] (5) Each component of the present application can be manufactured by 3D printing, which has simple process, short time cycle, guaranteed performance, simple structure and convenient assembly. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor

[0026] Figure 1 It is a structure schematic diagram of the sub-mother separable unmanned aerial vehicle of the present application;

[0027] Figure 2 It is a structure schematic diagram of the foldable carrying and detecting mother unmanned aerial vehicle of the present application;

[0028] Figure 3 It is a folding schematic diagram of the foldable carrying and detecting mother unmanned aerial vehicle of the present application;

[0029] Figure 4 It is a partial sectional view of the unmanned aerial vehicle frame body of the present application;

[0030] Figure 5 Partial structure diagram of quick mounting mechanism of the application;

[0031] Figure 6 Sectional view of unmanned aerial vehicle frame body of the application;

[0032] Figure 7 Structure diagram of buffer rotation mechanism of the application;

[0033] Figure 8 Mounting diagram of parent-child separation mechanism of the application;

[0034] Figure 9 Structure diagram of parent-child separation mechanism of the application;

[0035] Figure 10 Sectional view of rotating part of the application;

[0036] Figure 11 Top view of parent-child separation mechanism of the application;

[0037] Figure 12 Partial diagram of parent-child separation mechanism of the application;

[0038] Figure 13 Structure diagram of parent-body tracked robot of the application;

[0039] Figure 14 Partial structure diagram of parent-body tracked robot of the application.

[0040] In the drawings, the components represented by each reference numeral are listed as follows:

[0041] 1, foldable carrying and detecting parent unmanned aerial vehicle; 11, end part; 111, mounting groove; 12, power arm; 13, first driving fan blade; 14, unmanned aerial vehicle frame body; 2, quick mounting mechanism; 21, mounting column; 22, mounting cylinder; 23, connecting arm; 24, T-shaped rod; 25, supporting rod; 3, buffer rotation mechanism; 31, buffer part; 32, rotating part; 4, parent-child separation mechanism; 5, parent-body tracked robot; 51, robot main body; 52, connecting frame; 53, tracked frame; 54, tracked belt; 55, second driving fan blade. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0043] Please refer toFigures 1-14 The application provides a parent-child separable unmanned aerial vehicle, which has a foldable carrying and detecting parent unmanned aerial vehicle and a plurality of batteries arranged in the foldable carrying and detecting parent unmanned aerial vehicle, and further comprises:

[0044] The quick mounting mechanism is arranged at the connecting position of the power rod of the foldable carrying and detecting parent unmanned aerial vehicle; a special and quick mounting mode is adopted, so that when the T-shaped rod 24 moves horizontally, the folding fastener is driven to rotate, and the folding of the parent is realized.

[0045] The buffer rotating mechanism 3 is arranged at the bottom of the foldable carrying and detecting parent unmanned aerial vehicle, the bottom of the buffer rotating mechanism 3 is provided with a parent-child separation mechanism, and the buffer rotating mechanism 3 moves along the vertical direction; the bottom of the parent-child separation mechanism is provided with a child body tracked robot; the buffer rotating mechanism 3 connects the triangular excavated hole upper end cover with the body part, the body fixes the triangular excavated hole upper end cover of the mechanism, then the triangular excavated hole upper end cover fixes the triangular block, and the triangular block is connected with a rudder mechanism; when the rudder mechanism works, the rudder mechanism rotates relative to the triangular block, drives the rotating mechanism lower end cover to rotate, and then realizes the rotation of the parent-child separation mechanism relative to the parent machine. The buffer spring is connected with the outer end of the rotating mechanism, and the parent-child separation mechanism is connected with the inner end of the rotating mechanism. The inner end and the outer end of the rotating mechanism are respectively fixed with the inner end and the outer end of the bearing, specifically, two large circular plates of the structure clamp the outer ring of the bearing, the large circular plate at the lower end of the parent machine is connected with the buffer mechanism, and then two smaller circular plates than the outer ring of the bearing clamp the inner ring of the bearing and are connected with the parent-child mechanism at the lower end. By respectively fixing the outer end part and the inner end part of the bearing on different structures, the independent rotation of the parent and child bodies is realized.

[0046] The buffer rotating mechanism 3 includes a buffer part 31 and a rotating part 32, the buffer part 31 is arranged at the bottom of the foldable carrying and detecting parent unmanned aerial vehicle 1, and the buffer part 31 is fixedly connected with the rotating part 32, the two large circular plates of the rotating part 32 clamp the outer ring of the bearing, for connecting the large circular plate at the lower end of the parent machine with the buffer part 31, at this time, the two smaller circular plates than the outer ring of the bearing clamp the inner ring of the bearing and are connected with the parent-child mechanism at the lower end, and the buffer rotating mechanism 3 can buffer the impact on the body when landing;

[0047] The sub-mother separation mechanism 4 comprises a double worm drive, and the double worm drive comprises a short worm and a long worm, the motor controls the rotation of the short worm, at this time, the long worm is driven to move, and the outer frame of the sub-mother separation mechanism is used for movement constraint; the core of the power part is a double worm drive, the motor controls the rotation of the short worm, drives the long worm to move, the outer frame of the sub-mother separation mechanism is used as movement constraint, so that the long worm can only move horizontally in one direction, and then through the conversion of the first connecting rod, the second connecting rod moves vertically, and the third connecting rod converts again, so that the buckle connecting rod close to the sub-machine moves horizontally, the three buckle connecting rods are evenly distributed at an angle of 120 degrees, and after conversion by the power part, the buckle mechanism expands and contracts, the buckle mechanism is designed by using this characteristic, the hollow part of the buckle mechanism is obtained by flipping two equilateral triangles, and when the three buckle connecting rods expand, the rollers thereof are in contact with the hollow boundary, since the hollow part is a triangle, the connecting rod expands again, so that the connecting rod slides along the triangular guide line to the vertex position, after expansion, the buckle mechanism locks the three connecting rods, realizes the integration of the sub-machine body and the mother machine body, and when the connecting rod contracts, the sub-mother machine body is separated.

[0048] In some embodiments, the foldable carrying and detecting mother unmanned machine comprises a plurality of power arms 12, an end part 11 at one end of the power arm 12, a first driving fan blade 13 and an unmanned machine frame body 14, a quick mounting mechanism comprises a mounting column 21, a mounting cylinder 22, a connecting arm 23, a T-shaped rod 24 and a supporting rod 25, the first driving fan blade 13 is mounted at one end of the power arm 12, the end part 11 is rotationally connected to the side edge of the unmanned machine frame body 14, an installation groove 111 is formed at one end of the end part 11, and the T-shaped rod 24 is fitted into the installation groove 111, and through the adjustment of the mounting position of the T-shaped rod 24 and the installation groove 111, the power arm 12 can be folded, the first driving fan blade 13 comprises a first driving motor and a first fan blade, the first driving motor is mounted at one end of the power arm 12, and the first fan blade is mounted at the output end of the first driving motor, and the first driving motor can drive the first fan blade to rotate;

[0049] Further, the quick mounting mechanism 2 comprises a mounting column 21, a mounting cylinder 22, a connecting arm 23, a T-shaped rod 24 and a supporting rod 25, the mounting column 21 is connected to the bottom end of the middle part of the unmanned machine frame body 14, the mounting cylinder 22 is mounted on the side wall of the mounting column 21 through internal and external threads, the connecting arm 23 is rotationally connected to one end of the mounting cylinder 22, and one end of the T-shaped rod 24 is rotationally connected to one end of the connecting arm 23; the mounting cylinder 22 is rotated to act on the T-shaped rod 24 through the connecting arm 23.

[0050] Further, the supporting rod 25 is mounted on the inner side of the unmanned machine frame body 14, and the supporting rod 25 supports the bottom of the T-shaped rod 24, so that the T-shaped rod 24 can be supported.

[0051] In some embodiments, the buffer 31 includes a limiting post and a buffer spring, the limiting post slides at the bottom of the UAV frame body 14, and the top of the limiting post is fixedly connected with a limiting piece, the bottom of the limiting post is fixedly connected with the top of the rotating piece 32, the buffer spring is installed on the side wall of the limiting post, and one end of the buffer spring is supported at one end of the UAV frame body 14, and the other end is supported at one end of the rotating piece 32.

[0052] In some embodiments, the parent-child separation mechanism 4 further includes a buckle mechanism, and the hollow part of the buckle mechanism is composed of two equilateral triangles through central inversion, when the three buckle connecting rods are in expansion motion, the rollers thereof are in contact with the hollow boundary, and after the connecting rods slide along the triangular guide line to the vertex position, the buckle mechanism locks the three connecting rods at this time, the parent-child separation mechanism 4 can separate and combine the UAV with various robots, and can also carry and release special devices.

[0053] In some embodiments, the sub-body tracked robot 5 includes a robot main body 51, a connecting frame 52, a tracked frame 53, a tracked belt 54, and a second driving fan blade 55, the connecting frame 52 is connected to one side of the robot main body 51, the tracked frame 53 is fixedly connected to the connecting frame 52, the tracked belt 54 is installed on the tracked frame 53, and the second driving fan blade 55 is installed on the tracked frame 53; the four second driving fan blades 55 can be used for buffering when the sub-machine lands, and can also be used for short-distance flight, which can better overcome terrain obstacles.

[0054] The tracked frame 53 is provided with a roller matched with the tracked belt 54, and the tracked belt 54 is installed on the roller of the tracked frame 53; the second driving fan blade 55 includes a second driving motor and a second fan blade, the second driving motor is installed on the tracked frame 53, and the second fan blade is installed on the output end of the second driving motor, and one end of the roller is provided with a driving motor for driving the roller to rotate, which can drive the tracked belt 54 to rotate under the action of the rotating roller.

[0055] The sub-body tracked robot adopts special design, four brushless motors are embedded in the middle of the tracked belt, so that the robot has dual capabilities of flight and walking, wherein the brushless motor controls flight, and four small motors control the tracked belt of the robot through gear transmission.

[0056] The parent-child machine separation and combination coordination, the sub-machine is small and convenient, and can be applied to more complex environments, such as narrow gaps, and the parent machine can provide auxiliary action for the sub-machine, such as real-time signal transmission and data storage of the sub-machine as a base station.

[0057] In practical application, the application has folding, flying and parent-child separation capabilities, and separate hiding capabilities, is suitable for high temperature, low pressure, oxygen-free environment, various complex terrains, can perform special tasks by fixed-point launching of the child machine, can also detect and reconnaissance in dangerous areas full of toxic and corrosive gases and many poisonous snakes and beasts, can perform complex environmental disaster rescue and a series of work in uncertain environments such as high-rise fire, forest fire, marine accident, remote area disaster, etc., and the working surface can be extended to many fields such as fire fighting, logistics, rescue, supply, police use, etc.

[0058] In practical application scenarios:

[0059] ①. When the parent-child machine body is not separated, in addition to being able to perform the most basic aerial photography, the combined signal of the two is stronger, in addition to having fewer signal bad conditions than ordinary unmanned aerial vehicles, the image superposition of the respective cameras of the parent-child machine can perform large-area reconnaissance in the sky above complex terrain, can be used to find signs of life, can be used in biological and natural science research, marine environment reconnaissance, can be used for early warning of natural disasters such as forest fires, and can be used for large-scale rescue, and the image effect can far surpass that of ordinary aerial photography unmanned aerial vehicles.

[0060] ②. After the parent-child machine body is separated, the parent machine can be used as a signal base station, and the ground operator can directly control the child machine, which can make the overall working range larger and the working point surface finer. The small child machine body can be used for reconnaissance, especially in military and anti-terrorism monitoring and listening, can also be applied to earthquake disaster relief, scientific research and rescue in ruins and caves that humans cannot explore, and can also be applied to dense rainforests, high-temperature swamps, deserts and gobi deserts with many obstacles, and areas that require a large working radius, and can also enter high-corrosion and high-radiation areas to monitor toxic substances.

[0061] Among them, the application parameters are as follows: the parent machine has a maximum flight height of 5000m, a flight distance of 15km, a flight time of 220min, a load of 32kg, and a control distance of 10km. The child machine has a maximum flight height of 1000m, a flight distance of 5km, a flight time of 75min, a control distance of 2km, and a total control distance of 12km.

[0062] Linkage of each mechanism: in theory, the hollow part of the mother machine body carries a microcomputer and a micro signal tower, and through information transmission with the ground human-controlled laptop, the flight control of the machine body is realized, when the child machine executes the task, the machine vision integrated observation of the terrain on the mother machine transmits the signal to the ground computer for judgment, when the judgment is that the child machine needs to be launched to execute the task, the computer transmits the signal to the unmanned aerial vehicle, the unmanned aerial vehicle transmits the waveform current to each mechanism to control the rotating mechanism to find the best launching angle, the rotor of the child machine is started, the balance power is found, and then the motor of the child-mother separation mechanism is started, the child machine is separated, and then the child machine transmits the signal to the mother machine, the mother machine acts as a signal tower to relay the signal to the ground, and the ground controls the unmanned aerial vehicle to fly to the fixed point to complete the task.

[0063] The principle of the application: first, the six-rotor mechanism scheme is designed, mainly considering the motor selection, endurance and power from three aspects, and then the assembly is carried out. The core parts in the folding machine body mechanism are designed, which are rod folding fastener and T-shaped pull rod. The main folding motor assembly: the motor, turbine and screw are assembled together to form a motor power transmission system. The core components of the buffer and rotating mechanism are bearing and spring, after the bearing selection, the assembly is carried out. The core of the child-mother separation mechanism is linkage rod, and the assembly is carried out after the optimization of the structure. The core of the child body tracked robot is track and motor, and the track and motor are selected, and then the design and assembly are carried out. Finally, the general assembly is carried out.

[0064] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details, nor limit the application to the specific embodiments described. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application. The application is limited by the claims and their entire scope and equivalents.

Claims

1. A detachable mother-daughter unmanned aerial vehicle (UAV), characterized in that, The detachable UAV includes a foldable reconnaissance carrier UAV, several batteries located inside the foldable reconnaissance carrier UAV, and also includes: A quick-installation mechanism (2) is provided at the connection of the power rod of the foldable reconnaissance mother UAV; the quick-installation mechanism (2) includes a mounting column (21), a mounting cylinder (22), a connecting arm (23), a T-shaped rod (24) and a support rod (25). The mounting column (21) is connected to the middle of the bottom end of the UAV frame (14). The mounting cylinder (22) is installed on the side wall of the mounting column (21) by internal and external threads. The connecting arm (23) is rotatably connected to one end of the mounting cylinder (22). One end of the T-shaped rod (24) is rotatably connected to one end of the connecting arm (23). A buffer rotation mechanism (3) is provided at the bottom of the foldable reconnaissance mother drone. A mother-daughter separation mechanism (4) is provided at the bottom of the buffer rotation mechanism (3), and the buffer rotation mechanism (3) moves in the vertical direction. A daughter tracked robot (5) is provided at the bottom of the mother-daughter separation mechanism (4). The buffer rotation mechanism (3) includes a buffer (31) and a rotating component (32). The buffer (31) is located at the bottom of the foldable reconnaissance mother drone (1) and is fixedly connected to the rotating component (32). The rotating component (32) includes two large circular plates that clamp the outer ring of the bearing and are used to connect the large circular plate at the bottom of the mother machine to the buffer (31). At this time, two smaller circular plates clamp the inner ring of the bearing and are connected to the lower part of the mother machine mechanism. The separation mechanism (4) includes a double worm gear drive, and the double worm gear drive includes a short worm and a long worm. The motor controls the short worm to rotate, which in turn drives the long worm to move. The outer frame of the separation mechanism (4) is used for motion constraint.

2. The detachable unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The foldable reconnaissance drone includes several power arms (12), an end component (11) at one end of the power arm (12), a first drive fan blade (13), and a drone frame (14). The quick installation mechanism (2) includes a mounting column (21), a mounting cylinder (22), a connecting arm (23), a T-shaped rod (24), and a support rod (25). The first drive fan blade (13) is installed at one end of the power arm (12). The end component (11) is rotatably connected to the side of the drone frame (14). One end of the end component (11) is provided with a mounting groove (111), and the T-shaped rod (24) is fitted into the mounting groove (111).

3. A detachable unmanned aerial vehicle (UAV) according to claim 2, characterized in that: The first drive fan blade (13) includes a first drive motor and a first fan blade. The first drive motor is installed at one end of the power arm (12), and the first fan blade is installed at the output end of the first drive motor.

4. A detachable unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The support rod (25) is installed inside the drone frame (14) and is supported on the bottom of the T-shaped rod (24).

5. A detachable unmanned aerial vehicle (UAV) according to claim 2, characterized in that: The buffer (31) includes a limiting post and a buffer spring. The limiting post slides on the bottom of the UAV frame (14), and the top of the limiting post is fixedly connected to a limiting component. The bottom of the limiting post is fixedly connected to the top of the rotating component (32). The buffer spring is installed on the side wall of the limiting post, and one end of the buffer spring is supported on one end of the UAV frame (14), and the other end is supported on one end of the rotating component (32).

6. A detachable unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The mother-child separation mechanism (4) also includes a buckle mechanism, and the hollow part of the buckle mechanism is formed by two equilateral triangles flipped through the center. When the three buckle links are in an expanding motion, their rollers contact the hollow boundary. After the link moves along the triangular guide line to the vertex position, the buckle mechanism locks the three links.

7. A detachable unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The sub-tracked robot (5) includes a robot body (51), a connecting frame (52), a track frame (53), a track (54), and a second drive fan blade (55). The connecting frame (52) is connected to one side of the robot body (51), the track frame (53) is fixedly connected to the connecting frame (52), the track (54) is mounted on the track frame (53), and the second drive fan blade (55) is mounted on the connecting frame (52) and connected to the track frame (53).

8. A detachable unmanned aerial vehicle (UAV) according to claim 7, characterized in that: The track frame (53) is provided with rollers that fit with the track (54), and the track (54) is mounted on the rollers of the track frame (53).

9. A detachable unmanned aerial vehicle (UAV) according to claim 7, characterized in that: The second drive fan blade (55) includes a second drive motor and a second fan blade. The second drive motor is mounted on the track frame (53), and the second fan blade is mounted on the output end of the second drive motor.

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