A mother-daughter type unmanned aerial vehicle

Abstract

The application relates to a mother-daughter type unmanned plane and belongs to the technical field of unmanned planes, which solves the problem that the existing unmanned planes cannot consider flexibility and realize long flight time. A mother-daughter type unmanned plane comprises a mother plane, at least two daughter planes and a hanger, the mother plane comprises a mother plane wing, the daughter planes are symmetrically installed below the two mother plane wings through corresponding hangers, the hanger comprises a fixed connection mechanism, a hanger fixing plate, a hanger front hanging point and a hanger rear hanging rod, the daughter planes are provided with a daughter plane front hanging point and a daughter plane rear hanging rod which are matched with the hanger front hanging point and the hanger rear hanging rod respectively. The mother-daughter type unmanned plane structure of the mother plane carrying the daughter planes can realize long-time and long-range flight of the mother plane, on the one hand, and on the other hand, the daughter planes have the characteristics of small size and high flexibility, so that the daughter planes can realize supply dropping at specified locations.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a mother-daughter UAV. Background Technology

[0002] With the development of drone technology, drones are increasingly being used for long-distance, precise delivery of supplies. This requires drones to be able to fly for long periods and over long distances, and to carry a large amount of supplies.

[0003] To achieve long-duration and long-range flights, existing drones are relatively large, with high takeoff weights, and require aerodynamically stable designs. However, large size makes the drone a large target, vulnerable to attack; high takeoff weight results in a cumbersome aircraft with high minimum speed and poor delivery accuracy; and a stable aerodynamic design combined with large size leads to poor maneuverability and agility. Furthermore, to achieve resupply to designated locations, drones need to be small and highly maneuverable. However, high maneuverability and a small size result in low takeoff weights, limiting the amount of energy carried for long-endurance flights. Summary of the Invention

[0004] Based on the above analysis, the present invention aims to provide a mother-daughter unmanned aerial vehicle (UAV) to solve the problem that existing UAVs cannot simultaneously achieve flexibility and long endurance.

[0005] The objective of this invention is mainly achieved through the following technical solutions:

[0006] A mother-daughter unmanned aerial vehicle (UAV) includes a mother aircraft, at least two daughter aircraft, and pylons. The mother aircraft includes mother aircraft wings, and the daughter aircraft are symmetrically mounted below the two mother aircraft wings via corresponding pylons.

[0007] The mounting bracket includes a fixed connection mechanism, a mounting bracket fixing plate, a front mounting point, and a rear mounting rod. One end of the fixed connection mechanism is fixed to the wing of the mother machine, and the other end is connected to the mounting bracket fixing plate. The mounting bracket fixing plate is a triangular plate. The front mounting point is located below the top corner of the mounting bracket fixing plate, and the rear mounting rod is fixed to the bottom edge of the mounting bracket fixing plate.

[0008] The submachine is provided with a front mounting point and a rear mounting rod. The front mounting point and the rear mounting rod of the submachine cooperate with the front mounting point and the rear mounting rod of the bracket, respectively. The rear mounting rod of the submachine is symmetrically arranged along the central axis of the submachine.

[0009] Furthermore, the fixed connection mechanism is provided with a pylon fairing with a symmetrical airfoil cross-section. The upper surface of the pylon fairing is in close contact with the lower skin of the mother aircraft wing, and the lower surface is in close contact with the pylon fixing plate.

[0010] The front mounting point of the mounting bracket is located on the axis of symmetry of the cross-section of the mounting bracket fairing, and the two rear mounting rods of each submachine are mounted on the rear mounting rods of the mounting bracket and are symmetrically distributed on both sides of the mounting bracket fairing.

[0011] Furthermore, the rear hanging rod of the bracket is a smooth round tube, and the rear hanging rod of the submachine has a semi-circular opening, the direction of which is towards the head of the submachine.

[0012] Furthermore, the front mounting point of the submachine is located directly above the center of gravity of the submachine.

[0013] Furthermore, the rear hanging rod of the submachine includes a hook, a base, and an adjusting screw; the base is detachably connected to the submachine, the hook and the base are fixed by the adjusting screw, and the hook has an elongated groove along the length of the rear hanging rod of the submachine.

[0014] Furthermore, the front mounting point of the bracket is a frustum-shaped groove that is smaller at the top and larger at the bottom, and the front mounting point of the submachine is a frustum-shaped boss that is smaller at the top and larger at the bottom, and the boss is adapted to the groove.

[0015] Furthermore, the mounting bracket is installed on a column beam at a predetermined distance from the fuselage of the mother aircraft.

[0016] Furthermore, the mounting bracket also includes mounting bolts, and the mounting bracket is connected to the mother aircraft wing via the mounting bolts.

[0017] Furthermore, the front mounting point of the mounting bracket is located on the axis of symmetry of the cross-section of the mounting bracket fairing.

[0018] Furthermore, the front mounting point of the submachine and the front mounting point of the mounting bracket are fixed electromagnetically.

[0019] Furthermore, the contact area between the rear mounting rod of the submachine and the rear mounting rod of the mounting bracket is made of conductive material; when the submachine is in the mounted state, the front mounting point of the mounting bracket and the circuit where the two rear mounting rods of the submachine form a loop.

[0020] Furthermore, the front mounting point of the submachine is a neodymium magnet, and the front mounting point of the bracket is an electromagnet.

[0021] Furthermore, the sub-machine also includes sub-machine winglets with the wingtips pointing downwards.

[0022] Furthermore, the sub-unit also includes a payload compartment, which is used to load the materials to be deployed, and is located directly below the sub-unit's center of gravity.

[0023] Furthermore, the mother aircraft also includes a control module, which can acquire the release command and the current flight speed of the mother aircraft. When the flight speed of the mother aircraft is detected to be at a preset threshold, the release task of the daughter aircraft is executed. The preset threshold is the cruising speed of the daughter aircraft.

[0024] A method for delivering supplies using a mother-daughter drone includes the following steps:

[0025] Step 1: Place the materials to be delivered into the payload compartments of each submachine, and then install the payload compartments onto the submachines.

[0026] Step 2: Power on the mother machine, which energizes the electromagnet at the front hanging point of the bracket;

[0027] Step 3: Install each sub-unit onto both ends of the mother aircraft's wings;

[0028] Step 4: Adjust the height of the hook on the rear arm of the slave unit to keep the slave unit relatively parallel to the mother unit;

[0029] Step 5: Power on the daughter unit and start the mother unit's engine and propeller;

[0030] Step 6: Mothership takes off;

[0031] Step 7: Upon reaching the designated position, the electromagnet at the front mounting point of the hanger is de-energized, and the slave unit separates from the mother unit.

[0032] Furthermore, it also includes the following steps:

[0033] Step 8: After the daughter unit separates from the mother unit, start the daughter unit's propellers and the mother unit returns to land;

[0034] Step 9: The submachine gun reaches the designated location and deploys the payload compartment;

[0035] Step 10: After completing the mission, the sub-unit reaches a nearby landing point and deploys its parachute to land.

[0036] Furthermore, in step 4, the length of the rear hook of the submachine is adjusted by adjusting the position of the adjusting screw of the submachine rear hook in the long groove of the hook, thereby adjusting the parallelism between the submachine and the mother machine.

[0037] Furthermore, in step 6, when the front mounting point of the submachine or any of the rear mounting rods of the submachine separates from the mounting frame, the front mounting point of the mounting frame will automatically lose power, allowing the submachine to be completely detached from the mother machine.

[0038] Furthermore, in step 7, when the flight speed of the mother aircraft is detected to be at a preset threshold, the deployment task of the sub-aircraft is executed based on the deployment command of the sub-aircraft; otherwise, the flight speed of the mother aircraft must be adjusted to the preset threshold before the deployment task of the sub-aircraft is executed.

[0039] In one or more technical solutions provided in exemplary embodiments of the present invention, at least one of the following beneficial effects can be achieved:

[0040] (1) In this embodiment, when a task needs to be performed, the mother aircraft first carries the daughter aircraft to the designated location, then the daughter aircraft and the mother aircraft separate, the mother aircraft returns, the daughter aircraft arrives at the designated location to drop the supplies it carries, and then the daughter aircraft arrives at the landing point on its own. The mother-daughter UAV structure of the mother aircraft carrying the daughter aircraft in this embodiment can achieve long-term and long-range flight through the mother aircraft. On the other hand, the daughter aircraft has the characteristics of small size and high flexibility, thereby realizing the delivery and replenishment of supplies to the designated location.

[0041] (2) In this embodiment, the front mounting point of the pylon is a frustum-shaped groove structure with a smaller top and a larger bottom, and the front mounting point of the sub-aircraft is a frustum-shaped boss structure with a smaller top and a larger bottom. The boss and the groove are matched. After the front mounting point of the pylon holds the front mounting point of the sub-aircraft, the boss of the front mounting point of the sub-aircraft is located in the groove of the front mounting point of the pylon, thereby restricting the relative horizontal movement between the sub-aircraft and the mother aircraft. At the same time, it also ensures that after the suction of the front mounting point of the pylon is released, the boss can smoothly disengage from the groove under the resistance of the flight direction.

[0042] (3) In this embodiment, the surface of the rear hanging rod of the bracket is coated with metal, and the rear hanging rod of the sub-machine is made of metal. The circuit of the electromagnet of the front hanging point of the bracket forms a loop with the two rear hanging rods of the sub-machine. When the front hanging point of the sub-machine or any one of the rear hanging rods of the sub-machine is separated from the bracket, the front hanging point of the bracket will automatically de-energize, so that the sub-machine can be completely detached, ensuring the safety of the mother machine and the sub-machine.

[0043] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0044] The accompanying drawings illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification.

[0045] Figure 1 This is a schematic diagram of the structure of a mother-daughter unmanned aerial vehicle (UAV) in a specific embodiment.

[0046] Figure 2 This is a schematic diagram of the structure of the mother machine in a specific embodiment.

[0047] Figure 3 This is a front view of the hanger in a specific embodiment.

[0048] Figure 4 This is a top view of the hanger in a specific embodiment.

[0049] Figure 5 This is a schematic diagram of the submachine in a specific embodiment.

[0050] Figure 6 This is a schematic diagram of the structure of the rear mounting bar of the submachine in a specific embodiment;

[0051] Figure 7 This is a structural schematic diagram of the front mounting point of the bracket in a specific embodiment;

[0052] Figure 8 This is a schematic diagram of the structure of the front mounting point of the slave unit in a specific embodiment;

[0053] Figure 9 This is a schematic diagram of the connection between the slave unit and the master unit in a specific embodiment.

[0054] Figure label:

[0055] 1-Main aircraft, 11-Main aircraft wing, 12-Landing gear, 2-Sub-aircraft, 21-Sub-aircraft front hardpoint, 22-Sub-aircraft rear hardpoint, 221-Hook, 222-Base, 223-Adjusting screw, 23-Sub-aircraft wing, 231-Sub-aircraft winglet, 24-Payment bay, 3-Pulley, 31-Pulley front hardpoint, 32-Pulley rear hardpoint, 33-Pulley fairing, 34-Pulley mounting clip, 35-Pulley mounting plate, 36-Pulley bolt. Detailed Implementation

[0056] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0057] When drones are used for material delivery, they typically need to simultaneously achieve long-distance flight and precise delivery. To achieve long-distance flight, the drone needs to be relatively large and have a high takeoff weight; to achieve precise delivery, the drone needs to be small and highly maneuverable. Existing drones cannot simultaneously meet both performance requirements.

[0058] To address the above problems, a specific embodiment of the present invention is as follows: Figure 1 As shown, a mother-daughter unmanned aerial vehicle (UAV) is disclosed, including a mother unit 1, at least two daughter units 2, and a mounting bracket 3. The mother unit 1 includes mother unit wings 11, and the daughter units 2 are mounted below the two mother unit wings 11 via corresponding mounting brackets 3.

[0059] In this embodiment, when a mission needs to be performed, the mother drone 1 first carries the daughter drone 2 to the designated location. Then, the daughter drone 2 separates from the mother drone 1, the mother drone 1 returns to its origin, and the daughter drone 2 arrives at the designated location to drop the supplies it carries. Subsequently, the daughter drone 2 arrives at the landing point on its own and lands. This mother-daughter drone structure, with the mother drone 1 carrying the daughter drone 2, allows the mother drone 1 to achieve long-duration, long-range flights. On the other hand, the daughter drone 2 is small in size and highly flexible, thus enabling the delivery and resupply to the designated location.

[0060] In this embodiment, as Figure 2 The pylon 3 shown is mounted on the lower surface of the mother aircraft wing 11. Preferably, the pylon 3 is mounted on the tip of the mother aircraft wing 11, so that the distance between the pylon 3 and the fuselage of the mother aircraft 1 is maximized, thereby accommodating a larger size daughter aircraft 2.

[0061] Specifically, such as Figure 3 and Figure 4 As shown, the pylon 3 includes a front mounting point 31, a rear mounting rod 32, a fixing connection mechanism, and a mounting fixing plate 35. One end of the fixing connection mechanism is fixed to the mother aircraft wing 11, and the other end is connected to the mounting fixing plate 35. The mounting fixing plate 35 is a triangular plate, with the front mounting point 31 located below the apex corner and the rear mounting rod 32 fixed to the bottom edge.

[0062] Furthermore, a pylon fairing 33 with a symmetrical airfoil cross-section is provided around the fixed connection mechanism to reduce drag during flight. The upper surface of the pylon fairing 33 is in close contact with the lower skin of the mother aircraft wing 11, and the lower surface is in close contact with the pylon fixing plate 35. The upper and lower surfaces play a role in structural reinforcement.

[0063] Preferably, the mounting bracket 3 is connected to the mother aircraft wing 11 by mounting bracket bolts 36.

[0064] In this embodiment, the hanger fairing 33 is glued to the hanger fixing plate 35 with epoxy resin adhesive.

[0065] Furthermore, the mounting plate 35 is a triangular thin plate, and the bottom edge of the mounting plate 35 is perpendicular to the axis of symmetry of the cross-section of the mounting fairing 33. Two mounting clips 34 are symmetrically provided at the two bottom corners of the mounting plate 35 for fixing the rear mounting rod 32 of the mounting bracket.

[0066] In this embodiment, the front mounting point 31 of the mounting bracket is located on the axis of symmetry of the cross-section of the mounting bracket fairing 33, and the rear mounting rod 32 of the mounting bracket is a smooth circular tube. The rear mounting rod 32 of the mounting bracket is perpendicular to the axis of symmetry of the cross-section of the fairing, so that the front mounting point 31 and the rear mounting point together form a stable triangular structure, which increases the stability of the submachine 2.

[0067] Furthermore, such as Figure 5As shown, the submachine 2 is provided with a front mounting point 21 and a rear mounting rod 22, which respectively cooperate with the front mounting point 31 and the rear mounting rod 32 of the bracket. The rear mounting rod 22 of the submachine is symmetrically arranged along the central axis of the submachine 2.

[0068] Furthermore, such as Figure 9 As shown, the two rear mounting rods 22 of each sub-unit 2 are hung on the rear mounting rod 32 of the mounting frame and are symmetrically distributed on both sides of the mounting frame fairing 33.

[0069] Specifically, the front mounting point 21 of the sub-unit and the front mounting point 31 of the bracket are fixed by electromagnetic means.

[0070] Preferably, the front mounting point 21 of the sub-machine is a neodymium magnet, and the front mounting point 31 of the bracket is an electromagnet. When the electromagnet is energized, it generates a magnetic field that attracts the neodymium magnet.

[0071] Furthermore, the rear mounting rod 22 of the submachine has a semi-circular opening, the radius of which matches the radius of the rear mounting rod 32 of the mounting bracket, and the direction of the semi-circular opening is towards the head of the submachine.

[0072] Furthermore, such as Figure 6 As shown, the rear mounting bar 22 of the submachine includes a hook 221, a base 222, and an adjusting screw 223. The base 222 is detachably connected to the submachine 2, and the hook 221 and the base 222 are fixed by the adjusting screw 223.

[0073] Furthermore, the hook 221 has an elongated groove along the length of the rear hanging rod 22 of the submachine, so that the length of the rear hanging rod 22 of the submachine can be adjusted by adjusting the screw 223, thereby adjusting the parallelism between the submachine 2 and the mother machine 1.

[0074] Furthermore, in order to limit the horizontal displacement between the slave unit 2 and the mother unit 1, such as Figure 7 and Figure 8 As shown, the front mounting point 31 of the pylon is a frustum-shaped groove structure with a smaller top and a larger bottom, while the front mounting point 21 of the slave unit is a frustum-shaped boss structure with a smaller top and a larger bottom. The boss and the groove are matched, and the overlap depth h between the boss and the groove is within a preset range and can be adjusted according to the size of the slave unit and the cruising speed at the time of disengagement. Preferably, it is 5mm≤h≤8mm. The angle between the inclined surface of the groove and the bottom surface is less than 90°, preferably 30-45°. After the front mounting point 31 of the pylon attaches to the front mounting point 21 of the slave unit, the boss of the front mounting point 21 of the slave unit is located in the groove of the front mounting point 31 of the pylon, thereby restricting the relative horizontal movement between the slave unit 2 and the mother unit 1. At the same time, it also ensures that after the suction of the front mounting point 31 of the pylon is released, the boss of the slave unit 2 can smoothly disengage from the groove under the resistance of the flight direction.

[0075] In this embodiment, the mother aircraft 1 also includes landing gear 12, which allows the mother aircraft 1 to take off and land via takeoff and landing.

[0076] Furthermore, the mothership 1 also includes a tail fin, which is a twin-boom, twin-vertical-tail structure, thereby increasing the stability of the mothership 1 during flight.

[0077] In this embodiment, the mounting bracket 3 is installed on a column beam at a preset distance away from the fuselage of the mother aircraft 11 on the wing of the mother aircraft 1. The preset distance is determined according to the wingspan of the daughter aircraft 2.

[0078] Furthermore, in order to increase the wingspan of the sub-aircraft 2, when multiple sub-aircraft 2 are mounted under each mother aircraft wing 11, the outermost sub-aircraft 2 is preferably located at the top of the inner column beam of the mother aircraft wing 11, so that the distance between the sub-aircraft 2 reaches the maximum value, thereby accommodating larger sub-aircraft 2.

[0079] In this embodiment, as Figure 5 As shown, the winglet 231 of the sub-aircraft wing 23 points downward to prevent the winglet 231 from colliding with the tail of the mother aircraft 1 after the sub-aircraft 2 separates from the mother aircraft 1.

[0080] Furthermore, the sub-aircraft 2 also includes a parachute and a payload compartment 24. The parachute is used for the landing of the sub-aircraft 2, and the payload compartment 24 is used to load the materials to be dropped.

[0081] Furthermore, the payload compartment 24 is located directly below the center of gravity of the sub-machine 2, ensuring the stability of the sub-machine 2 during flight.

[0082] Furthermore, the front mounting point 21 of the submachine is located directly above the center of gravity of the submachine 2. The front mounting point 21 of the submachine bears the main gravity of the submachine 2 and restricts the horizontal and vertical movement of the submachine 2. The rear mounting rod 22 of the submachine restricts the roll and pitch movements of the submachine 2 to ensure the relative stability between the submachine 2 and the mother machine 1.

[0083] Furthermore, to prevent the rear pylon 22 of the slave aircraft from abnormally detaching from the rear pylon 32 of the pylon when encountering special circumstances during flight (such as being affected by adverse environmental factors such as turbulence), since the mother aircraft 1 has not executed the separation command, the front pylon 21 of the slave aircraft and the front pylon 31 of the pylon will not separate, which may cause the slave aircraft 2 to collide with the mother aircraft 1 and affect the safety of the slave aircraft 2 and the mother aircraft 1, the mother-daughter UAV in this embodiment is equipped with a redundant control system.

[0084] Specifically, the surface of the rear mounting post 32 of the pylon is coated with metal, and the contact area between the slave unit's rear mounting post 22 and the pylon's rear mounting post 32 is made of conductive material. When the slave unit 2 is in the mounted state, the circuit of the electromagnet at the front mounting point 31 of the pylon forms a loop with the two slave unit rear mounting posts 22. When the front mounting point 21 of the slave unit or any one of the slave unit's rear mounting posts 22 separates from the pylon 3, the front mounting point 31 of the pylon will automatically de-energize, allowing the slave unit 2 to detach completely and ensuring the safety of the mother unit 1 and the slave unit 2. At this time, the mother unit 1 continues to perform the mission with the slave unit 2 that has not detached, while the detached slave unit 2 opens its parachute and descends on its own.

[0085] Furthermore, before the mother aircraft 1 releases the daughter aircraft 2, during flight, the daughter aircraft 2 will generate upward lift. If the speed at which the daughter aircraft 2 separates from the mother aircraft 1 is too high, the lift of the daughter aircraft 2 will exceed its gravity, causing the daughter aircraft 2 to climb upwards after separation, and the wingtip of the daughter aircraft winglet 231 may collide with the tail of the mother aircraft 1. If the speed at which the daughter aircraft 2 separates from the mother aircraft 1 is too low, the lift of the daughter aircraft 2 will be less than its gravity, and the hook 221 of the daughter aircraft's rear pylon 22 will not easily detach during separation. In this embodiment, the speed at which the mother aircraft 1 separates from the daughter aircraft 2 is the cruising speed of the daughter aircraft 2, that is, the flight speed at which the lift of the daughter aircraft 2 equals its own weight.

[0086] Specifically, the mother aircraft 1 in this embodiment also includes a control module. The control module can acquire the deployment command and the current flight speed of the mother aircraft 1. When the flight speed of the mother aircraft 1 is detected to be at a preset threshold, the deployment task of the sub-aircraft 2 is executed based on the deployment command. Otherwise, the flight speed of the mother aircraft 1 needs to be adjusted to the preset threshold before the deployment task of the sub-aircraft 2 is executed, thereby avoiding collision between the sub-aircraft 2 and the mother aircraft 1 after deployment, or the sub-aircraft 2 failing to effectively detach from the mother aircraft 1 after deployment. The preset threshold ranges from (1±5%) times the cruising speed of the sub-aircraft 2, preferably the cruising speed of the sub-aircraft 2.

[0087] The material delivery method of the mother-daughter UAV in this embodiment includes the following steps:

[0088] Step 1: Place the materials to be delivered into the load compartments 24 of each submachine 2, and then load the load compartments 24 onto the submachine 2.

[0089] Step 2: Power on the mother machine 1, which energizes the electromagnet at the front hanging point 31 of the hanger.

[0090] Step 3: Install each of the sub-machines 2 onto both ends of the mother machine's wing 11.

[0091] Step 4: Adjust the height of the hook 221 on the rear hanging rod 22 of the submachine to keep the submachine 2 parallel to the mother machine 1.

[0092] Step 5: Power on submachine 2 and start the engine and propeller of machine 1.

[0093] Step 6: Mothership 1 takes off.

[0094] Step 7: Upon reaching the designated position, the electromagnet at the front mounting point 31 of the hanger is de-energized, and the slave unit 2 separates from the mother unit 1.

[0095] Step 8: After the daughter unit 2 separates from the mother unit 1, start the propeller of the daughter unit 2 and the mother unit 1 returns to land.

[0096] Step 9: Submachine 2 reaches the designated position and deploys payload compartment 24.

[0097] Step 10: After completing the mission, Submachine 2 arrives at a nearby landing point and deploys its parachute to land.

[0098] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A mother-daughter unmanned aerial vehicle (UAV), characterized in that, It includes a mother aircraft, at least two daughter aircraft, and pylons. The mother aircraft includes mother aircraft wings, and the daughter aircraft are symmetrically mounted below the two mother aircraft wings via corresponding pylons. The mounting bracket includes a fixed connection mechanism, a mounting bracket fixing plate, a front mounting point, and a rear mounting rod. One end of the fixed connection mechanism is fixed to the wing of the mother machine, and the other end is connected to the mounting bracket fixing plate. The mounting bracket fixing plate is a triangular plate. The front mounting point is located below the top corner of the mounting bracket fixing plate, and the rear mounting rod is fixed to the bottom edge of the mounting bracket fixing plate. The submachine is provided with a front mounting point and a rear mounting rod. The front mounting point and the rear mounting rod of the submachine cooperate with the front mounting point and the rear mounting rod of the bracket, respectively. The rear mounting rod of the submachine is symmetrically arranged along the central axis of the submachine. The front mounting point of the submachine is located directly above the center of gravity of the submachine. The front mounting point of the bracket is a frustum-shaped groove that is smaller at the top and larger at the bottom, and the front mounting point of the sub-unit is a frustum-shaped boss that is smaller at the top and larger at the bottom. The boss is adapted to the groove. The front mounting point of the sub-unit and the front mounting point of the bracket are fixed by electromagnetic means. The front mounting point of the sub-unit is a neodymium magnet, and the front mounting point of the bracket is an electromagnet. Each submachine has two rear mounting rods that are attached to the rear mounting rod of the mounting bracket. The rear mounting rod of the mounting bracket is a smooth circular tube. The rear mounting rod of the submachine has a semi-circular opening with a radius that matches the radius of the rear mounting rod of the mounting bracket. The semi-circular opening faces the head of the submachine. The contact area between the rear mounting rod of the submachine and the rear mounting rod of the mounting bracket is made of conductive material. When the submachine is in the mounted state, the circuit where the front mounting point of the mounting bracket is located and the rear mounting rods of the two submachines are located form a loop.

2. The mother-daughter UAV according to claim 1, characterized in that, The fixed connection mechanism is surrounded by a pylon fairing with a symmetrical airfoil cross-section. The upper surface of the pylon fairing is in close contact with the lower skin of the mother aircraft wing, and the lower surface is in close contact with the pylon fixing plate. The front mounting point of the mounting bracket is located on the axis of symmetry of the cross-section of the mounting bracket fairing, and the two rear mounting rods of each submachine are mounted on the rear mounting rods of the mounting bracket and are symmetrically distributed on both sides of the mounting bracket fairing.

3. The mother-daughter UAV according to claim 1, characterized in that, The rear hanging rod of the submachine includes a hook, a base and an adjusting screw; the base is detachably connected to the submachine, the hook and the base are fixed by the adjusting screw, and the hook has an elongated groove along the length of the rear hanging rod of the submachine.

4. The mother-daughter UAV according to claim 1, characterized in that, The mounting bracket is installed on a column beam at a predetermined distance from the fuselage of the mother aircraft.

5. The mother-daughter UAV according to any one of claims 1-4, characterized in that, The sub-aircraft also includes sub-aircraft winglets, with the wingtips pointing downwards.

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