An airborne cyclic recovery system for fixed-wing aircraft

Abstract

The present invention discloses an airborne recycling system for fixed-wing aircraft, belonging to the technical field of airborne recycling of aircraft. The system includes a recycling device and a transportation device; the recycling device includes a lower capture mechanism, an upper capture mechanism, and a driving mechanism. An elastic net extending horizontally is respectively arranged on the lower capture mechanism and the upper capture mechanism. The two elastic nets are symmetrically arranged and can make relative vertical movements under the drive of the driving mechanism; the transportation device includes a docking device for docking with the recovered fixed-wing aircraft and a moving mechanism capable of controlling the spatial position and the angle with the vertical direction of the docking device. Compared with the prior art, the present invention has the advantages of light weight, compact structure, and recyclability, and can achieve a high recycling success rate and recycling speed under the condition of limited occupied space.

Description

Technical Field

[0001] The present invention relates to the technical field of airborne recovery of aircraft, and in particular to an airborne recycling system for fixed-wing aircraft. Background Art

[0002] With the advancement of technology and the development of information warfare, the status and role of drones in the entire equipment system are becoming increasingly prominent, and they are developing from performing single reconnaissance missions in the past to performing high-level tasks such as alert, strike, and even air combat. With the development of new sensors and the integration of payloads, the cost of large drone systems continues to rise, which has exceeded the limit of sustainable development. Small and medium-sized drones will provide more powerful support for the military at a lower operational cost, and will further support new operational concepts such as formation, swarm, and loyal wingman. Therefore, small and medium-sized tactical drones will play an increasingly important role in the future drone system.

[0003] At present, there is no mature drone recovery solution for air-based platforms. However, domestic and foreign research institutions have proposed a variety of small and medium-sized drone recovery solutions for the recycling problem of the above-mentioned small and medium-sized drones on mobile and narrow platforms. For example, parachute recovery, net recovery, hook rope recovery, boom recovery and other technical routes. However, there are still many disadvantages in directly applying the above solutions to the recovery of small and medium-sized drones on air-based platforms. For example, the size of the boom recovery device is large, which is difficult to apply on air-based platforms with narrow space; hook rope recovery requires a certain buffer space for the drone hooked on the arresting rope during the recovery process, which is almost impossible to achieve on air-based platforms. Parachute recovery requires the drone to carry a parachute, which is undoubtedly a double whammy for small and medium-sized drones with not very large payloads, and is not very suitable for small and medium-sized drones. And due to the particularity of air-based platforms, it is impossible to manually recover the drone captured by the device to the cabin and then proceed to the next flight. Therefore, unlike traditional land drone recovery, air-based drone recovery also requires the recovery device to be able to fully autonomously recover the drone. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an air-based recycling system for fixed-wing aircraft, which has the advantages of light weight, compact structure, and can achieve recycling, and can obtain a higher recovery success rate and recovery speed under limited space.

[0005] The present invention specifically adopts the following technical solutions to solve the above technical problems:

[0006] An airborne recycling system for a fixed-wing aircraft, comprising a recycling device and a transportation device; the recycling device includes a lower capture mechanism, an upper capture mechanism, and a driving mechanism. An elastic net extending horizontally is respectively arranged on the lower capture mechanism and the upper capture mechanism. The two elastic nets are symmetrically arranged and can make relative vertical movements under the drive of the driving mechanism; the transportation device includes a docking device for docking with the recovered fixed-wing aircraft and a moving mechanism capable of controlling the spatial position of the docking device and the included angle with the vertical direction.

[0007] Preferably, the lower capture mechanism includes: a lower recovery frame slide rail bracket 1201, a lower recovery frame elastic net 1202, an upper recovery frame slide rail bracket 1203, a lower recovery rectangular frame 1204, a cross beam 1206, a base 1208, a lower recovery frame slide rail 1209, a cushion block 1210, a lower recovery frame slider 1211, a rectangular frame connecting piece 1212, and an upper recovery frame slide rail 1213; the base 1208 is fixed on the ground of the mother aircraft cabin and is used to fix the whole device; the lower recovery frame slide rail bracket 1201 and the upper recovery frame slide rail bracket 1203 are vertically fixed on the base 1208; the lower recovery frame slide rail 1209 and the upper recovery frame slide rail 1213 are respectively fixed on the lower recovery frame slide rail bracket 1201 and the upper recovery frame slide rail bracket 1203; both ends of the cross beam 1206 are fixed below the upper recovery frame slide rail bracket 1203; the lower recovery frame slide rail 1209 is fixed to the lower recovery frame slide rail bracket 1201 through the cushion block 1210; the lower recovery frame slider 1211 is fixedly connected to the lower recovery rectangular frame 1204 through the rectangular frame connecting piece 1212, and the lower recovery frame slider 1211 can slide on the lower recovery frame slide rail 1209; the lower recovery frame elastic net 1202 is connected to the lower recovery rectangular frame 1204 around to form a movable elastic surface.

[0008] Further preferably, the upper capture mechanism includes: an upper recovery rectangular frame 1101, a reinforcing rod 1102, an upper recovery frame bracket 1103, a connecting plate 1104, an upper recovery frame slider 1105, a pulley block 1106, an upper recovery frame connector 1107, a cable 1108, and a lower recovery frame connector 1109; the upper recovery frame bracket 1103 is vertically fixed to the lower half of the upper recovery rectangular frame 1101, and the reinforcing rod 1102 is fixed between two adjacent recovery frame brackets 1103 to form a C-shaped frame; the upper recovery frame slider 1105 is fixed to the connecting plate 1104 and can slide on the upper recovery frame slide rail 1213. The upper recovery frame brackets 1103 on both sides of the C-shaped frame are also respectively fixed to a pair of connecting plates 1104; the upper recovery frame connector 1107 is fixed to the uppermost connecting plate 1104, the lower recovery frame connector 1109 is fixed to the lower recovery rectangular frame 1204, the pulley block 1106 is fixed to the side of the upper recovery frame slide rail bracket 1203, the cable 1108 passes through the pulley block 1106, and both ends are respectively connected to the upper recovery frame connector 1107 and the lower recovery frame connector 1109.

[0009] Even more preferably, the driving mechanism includes: a synchronous belt 1301, a synchronous belt locking block 1302, a driving wheel 1303, a coupling 1304, a motor cage 1305, a servo motor 1306, a driving wheel bearing 1307, a driving wheel bracket 1308, an idler wheel 1309, an idler wheel bracket 1310, an idler wheel bearing 1311, a smooth shaft 1312, and a locking block support plate 1313; the driving wheel bearing 1307 is installed in the bearing hole of the driving wheel bracket 1308. One side of the driving wheel bracket 1308 is fixed to the lowermost reinforcing rod 1102, and the other side is fixed to the lowermost connecting plate 1104; the transmission shaft of the driving wheel 1303 passes through the bearings in the two driving wheel brackets 1308 on both sides and is connected to the output shaft of the servo motor 1306 through the coupling 1304; both ends of the motor cage 1305 are respectively fixed to the two connecting plates 1104, and the motor housing of the servo motor 1306 is fixed to the motor cage 1305; the idler wheel bracket 1310 is fixed to the upper recovery rectangular frame 1101, the idler wheel bearing 1311 is installed in the bearing holes on both sides of the idler wheel bracket 1310, the idler wheel 1309 is located in the middle of the idler wheel bracket 1310, and the smooth shaft 1312 passes through the central holes of the two idler wheel bearings 1311 and the idler wheel 1309, so that the idler wheel 1309 can rotate freely; the synchronous belt 1301 bypasses the driving wheel 1303 and the idler wheel 1309 respectively, and the synchronous belt locking block 1302 is locked on the synchronous belt 1301 and is fixedly connected to the locking block support plate 1313, so that the locked part of the synchronous belt cannot move.

[0010] Preferably, the moving mechanism in the transportation device includes: an X-axis electric slide rail, an X-axis slide table, a Y-axis electric slide rail, a Y-axis slide table, a Z-axis electric slide rail, a Z-axis slide table, and a servo motor; the X-axis electric slide rail is fixed inside the fuselage of the mother aircraft and is located behind the recycling device, and the X-axis slide table can move along the X-axis electric slide rail under the drive of a motor; the Y-axis electric slide rail is vertically fixed on the X-axis slide table, and the Y-axis slide table can move along the Y-axis electric slide rail under the drive of a motor; the Z-axis electric slide rail is horizontally fixed on the Y-axis slide table, and the Z-axis slide table can move along the Z-axis electric slide rail under the drive of a motor; the servo motor is fixed on the Z-axis slide table, and the docking device is connected to the output disc of the servo motor through a connecting rod.

[0011] Preferably, the docking device is a conical docking device, and an electromagnet is fixed in the cylindrical cavity in the middle thereof.

[0012] Preferably, the recycling device further includes a detection device for detecting whether the recovered fixed-wing aircraft enters the recovery area.

[0013] Compared with the prior art, the technical solution of the present invention and its further preferred solutions have the following beneficial effects:

[0014] The present invention first realizes the airborne capture of a fixed-wing aircraft by using the method of clamping with two elastic nets stretching horizontally up and down, and further adopts a double-rail structure and a driving scheme combining a motor and a cable, obtaining a larger recovery space with a relatively small volume, and reducing the control accuracy during the recovery of the unmanned aircraft, having the advantages of light weight and compact structure. Description of the Drawings

[0015] Figure 1 is the overall structural schematic diagram of a preferred embodiment of the airborne recycling system for a fixed-wing aircraft of the present invention;

[0016] Figure 2 is the structural schematic diagram of the recycling device;

[0017] Figure 3 is the structural schematic diagram of the lower capture mechanism;

[0018] Figure 4 is the structural schematic diagram of the upper capture mechanism;

[0019] Figure 5 is the structural principle schematic diagram of the upper and lower capture mechanisms realizing linkage;

[0020] Figure 6 is the structural schematic diagram of the lower half of the driving mechanism;

[0021] Figure 7 is the structural schematic diagram of the upper half of the driving mechanism;

[0022] Figure 8It is a schematic structural diagram of a recyclable drone in a preferred embodiment;

[0023] Figure 9 It is a schematic structural diagram of a transportation device;

[0024] Figures 10 to 17 It is a schematic process diagram of the airborne recycling of an airborne drone by the airborne cyclic recycling system of a fixed-wing aircraft of the present invention.

[0025] The meanings of the reference numerals in the figure are as follows:

[0026] 1. Cyclic recycling device, 11. Upper capture mechanism, 12. Lower capture mechanism, 13. Driving mechanism, 1101. Upper recycling rectangular frame, 1102. Reinforcing rod, 1103. Upper recycling frame support, 1104. Connecting plate, 1105. Upper recycling frame slider, 1106. Pulley block, 1107. Upper recycling frame connector, 1108. Cable, 1109. Lower recycling frame connector, 1110. Lidar, 1201. Lower recycling frame slide rail support, 1202. Lower recycling frame elastic net, 1203. Upper recycling frame slide rail support, 1204. Lower recycling rectangular frame, 1205. Longitudinal reinforcing plate, 1206. Cross beam, 1207. Transverse reinforcing plate, 1208. Base, 1209. Lower recycling frame slide rail, 1210. Pad block, 1211. Lower recycling frame slider, 1212. Rectangular frame connector, 1213. Upper recycling frame slide rail, 1301. Synchronous belt, 1302. Synchronous belt locking block, 1303. Driving wheel, 1304. Coupling, 1305. Motor cage, 1306. Servo motor, 1307. Driving wheel bearing, 1308. Driving wheel support, 1309. Idler wheel, 1310. Idler wheel support, 1311. Idler wheel bearing, 1312. Optical axis, 1313. Locking block support plate, 2. Transportation device, 201. X-axis electric slide rail, 202. X-axis slide table, 203. Y-axis electric slide rail, 204. Y-axis slide table, 205. Z-axis electric slide rail, 206. Z-axis slide table, 207. Steering gear, 208. Conical docking device, 209. Electromagnet, 3. Recyclable drone, 31. Airframe, 32. Retractable hook claw, 33. Connecting column, 34. Ferromagnetic suction piece, 35. Conical guide ring. Detailed implementation manners

[0027] Aiming at the deficiencies of the prior art, the solution idea of the present invention is to realize the airborne capture of a fixed-wing aircraft by the method of sandwiching with two upper and lower elastic nets that extend horizontally.

[0028] Specifically, the airborne cyclic recovery system of the fixed-wing aircraft of the present invention includes a cyclic recovery device and a transportation device; the cyclic recovery device includes a lower capture mechanism, an upper capture mechanism, and a driving mechanism. An elastic net extending horizontally is respectively arranged on the lower capture mechanism and the upper capture mechanism. The two elastic nets are symmetrically arranged and can make relative vertical movements under the drive of the driving mechanism; the transportation device includes a docking device for docking with the recoverable fixed-wing aircraft and a moving mechanism that can control the spatial position of the docking device and the angle with the vertical direction.

[0029] For the convenience of public understanding, the technical solution of the present invention will be described in detail below through a preferred embodiment in conjunction with the accompanying drawings:

[0030] The airborne cyclic recovery system of the fixed-wing aircraft in this embodiment is as Figure 1 shown, and is composed of a cyclic recovery device 1 and a transportation device 2, and is used for airborne cyclic recovery of the recoverable unmanned aircraft 3. The cyclic recovery device 1 and the transportation device 2 are fixed at the end of the mother aircraft cabin. After the recoverable unmanned aircraft 3 flies into the cyclic recovery device 1 and is captured, the captured recoverable unmanned aircraft 3 is taken out of the cyclic recovery device 1 by the transportation device 2 and sent back to the storage warehouse in the cabin.

[0031] The cyclic recovery device 1 is as Figure 2 shown, and is composed of a lower capture mechanism 12, an upper capture mechanism 11, and a driving mechanism 13. The lower capture mechanism 12 is as Figure 3As shown in the figure, it is composed of a lower recycling frame slide rail bracket 1201, a lower recycling frame elastic net 1202, an upper recycling frame slide rail bracket 1203, a lower recycling rectangular frame 1204, a longitudinal reinforcing plate 1205, a cross beam 1206, a transverse reinforcing plate 1207, a base 1208, a lower recycling frame slide rail 1209, a cushion block 1210, a lower recycling frame slider 1211, a rectangular frame connecting piece 1212, and an upper recycling frame slide rail 1213. The base 1208 is fixed on the cabin floor and is used to fix the whole device; the lower recycling frame slide rail bracket 1201 and the upper recycling frame slide rail bracket 1203 are vertically welded on the base 1208, and the longitudinal reinforcing plate is fixed at the connection, thereby enhancing the transverse shear resistance of the whole device; the lower recycling frame slide rail 1209 and the upper recycling frame slide rail 1213 are respectively fixed on the lower recycling frame slide rail bracket 1201 and the upper recycling frame slide rail bracket 1203 to enable the sliding of the upper and lower recycling surfaces; both ends of the cross beam 1206 are welded below the upper recycling frame slide rail bracket 1203, and the transverse reinforcing plate 1207 is fixed at the connection, thereby enhancing the transverse shear resistance of the whole device; the lower recycling frame slide rail 1209 is fixed to the lower recycling frame slide rail bracket 1201 through the cushion block 1210 to avoid interference with the longitudinal reinforcing plate 1205; the lower recycling frame slider 1211 is fixedly connected to the lower recycling rectangular frame 1204 through the rectangular frame connecting piece 1212, and the lower recycling frame slider 1211 can slide on the lower recycling frame slide rail 1209. Therefore, the lower recycling rectangular frame 1204 can slide parallel along the lower recycling frame slide rail 1209 on the lower recycling frame slide rail bracket 1201; the lower recycling frame elastic net 1202 is connected to the lower recycling rectangular frame 1204 around to form a movable elastic surface.

[0032] The upper capture mechanism 11 is as Figure 4 and Figure 5As shown in the figure, it is composed of an upper recovery rectangular frame 1101, a reinforcing rod 1102, an upper recovery frame bracket 1103, a connecting plate 1104, an upper recovery frame slider 1105, a pulley block 1106, an upper recovery frame connector 1107, a cable 1108, and a lower recovery frame connector 1109. The upper recovery frame bracket 1103 is vertically welded to the lower half of the upper recovery rectangular frame 1101. The reinforcing rod 1102 is welded between two adjacent recovery frame brackets 1103 to form a C-shaped frame. The upper recovery frame slider 1105 is fixed to the connecting plate 1104 by screws. Since the upper recovery frame slider 1105 can slide on the upper recovery frame slide rail 1213, it drives the connecting plate to slide along the slide rail. The upper recovery frame brackets 1103 on both sides of the C-shaped frame are also respectively fixedly connected to a pair of connecting plates. Therefore, the entire C-shaped frame can slide along the slide rail, and then the upper recovery rectangular frame 1101 moves parallelly. The upper recovery frame connector 1107 is fixed to the topmost connecting plate 1104, the lower recovery frame connector 1109 is fixed to the lower recovery rectangular frame 1204, the pulley block 1106 is fixed to the side of the upper recovery frame slide rail bracket 1203, and the cable passes through the pulley block 1106 and is respectively connected to the upper recovery frame connector 1107 and the lower recovery frame connector 1109 at both ends, so that the upper recovery rectangular frame 1101 can drive the lower recovery rectangular frame 1204 to move upward synchronously while moving downward.

[0033] The driving mechanism 13 is as Figure 6 and Figure 7As shown in the figure, it is composed of a synchronous belt 1301, a synchronous belt locking block 1302, a driving wheel 1303, a coupling 1304, a motor cage 1305, a servo motor 1306, a driving wheel bearing 1307, a driving wheel bracket 1308, a idler wheel 1309, an idler wheel bracket 1310, an idler wheel bearing 1311, a smooth shaft 1312, and a locking block support plate 1313. The driving wheel bearing 1307 is installed in the bearing hole of the driving wheel bracket 1308. One side of the driving wheel bracket 1308 is fixed to the lowermost reinforcing rod 1102 by screws, and the other side is fixed to the lowermost connecting plate 1104 by screws. The transmission shaft of the driving wheel 1303 passes through the bearings in the two driving wheel brackets 1308 on both sides to realize the radial positioning of the driving wheel 1303, and is connected to the output shaft of the servo motor 1306 through the coupling 1304. The two ends of the motor cage 1305 are respectively fixed to the two connecting plates 1104 by screws, and the motor housing of the servo motor 1306 is fixed on the motor cage 1305 to realize the radial and axial positioning of the servo motor 1306. The idler wheel bracket 1310 is welded to the upper recovery rectangular frame 1101. The idler wheel bearings 1311 are installed in the bearing holes on both sides of the idler wheel bracket 1310. The idler wheel 1309 is located in the middle of the idler wheel bracket 1310. The smooth shaft 1312 passes through the central holes of the two idler wheel bearings 1311 and the idler wheel 1309, enabling the idler wheel to rotate freely. The synchronous belt 1301 bypasses the driving wheel 1303 and the idler wheel 1309 respectively. The synchronous belt locking block 1302 is locked on the synchronous belt 1301 and is fixedly connected to the locking block support plate 1313, making the locked part of the synchronous belt immovable. When the servo motor 1306 drives the driving wheel 1303 to rotate counterclockwise, the distance of the synchronous belt between the synchronous belt locking block 1302 and the driving wheel 1303 continuously decreases. Since the locked part of the synchronous belt cannot move, the upper capture mechanism 11 is driven to move upward, and the lower recovery rectangular frame 1204 is driven to move downward under the action of gravity through the cable 1108. When the servo motor 1306 drives the driving wheel 1303 to rotate clockwise, the distance of the synchronous belt between the synchronous belt locking block 1302 and the driving wheel 1303 continuously increases. Since the locked part of the synchronous belt cannot move, the upper capture mechanism 11 is driven to move downward, and the lower recovery rectangular frame 1204 is driven to move upward through the cable 1108.

[0034] The recyclable drone 3 adopts a flying wing layout, as Figure 8 shown, which includes a fuselage 31, a retractable hook claw 32, a connecting column 33, a ferromagnetic suction sheet 34, and a conical guide ring 35. The retractable hook claw 32 is located on the back of the fuselage 31, with a total of four pairs. The retractable hook claw 32 has two states: open and closed. Figure 8Among them, the first two are in the state where the telescopic hook claws are open, and the last two are in the state where the telescopic hook claws are closed. There are four connecting columns 33 in total, which are located on the abdomen of the fuselage 31 and are integrated with the fuselage; the ferromagnetic suction sheet 35 is welded in the middle of the four connecting columns, and the conical guide ring 36 is welded at the ends of the four connecting columns 33.

[0035] The transportation device 2 is as Figure 9 shown, and is composed of an X-axis electric slide rail 201, an X-axis slide table 202, a Y-axis electric slide rail 203, a Y-axis slide table 204, a Z-axis electric slide rail 205, a Z-axis slide table 206, a servo motor 207, a conical docking device 208, and an electromagnet 209. The X-axis electric slide rail 201 is fixed in the cabin and is located behind the recycling device 1. Driven by the motor of the X-axis electric slide rail 201, the X-axis slide table 202 can move to any position on the X-axis electric slide rail; the Y-axis electric slide rail 203 is vertically welded to the X-axis slide table 202 and fixed with a reinforcing rib. Driven by the motor of the Y-axis electric slide rail 203, the Y-axis slide table 204 can move to any position on the Y-axis electric slide rail; the Z-axis electric slide rail 205 is horizontally welded to the Y-axis slide table 204 and fixed with a reinforcing rib. Driven by the motor of the Z-axis electric slide rail 205, the Z-axis slide table 206 can move to any position on the Z-axis electric slide rail. Therefore, the Z-axis slide table 206 can move to any point in space relying on the X, Y, and Z-axis electric slide rails; the electromagnet 209 is fixed in the cylindrical cavity in the middle of the conical docking device 208. The lower half connecting rod of the conical docking device 208 is connected to the output disc of the servo motor 207 through a screw, so that the angle between the conical docking device 208 and the vertical direction can be controlled by the servo motor; the servo motor 207 is fixed to the Z-axis slide table 206; therefore, the conical docking device 208 has a total of three translational degrees of freedom and one rotational degree of freedom.

[0036] The following combines Figures 10 to 17 to describe the working process of the above fixed-wing aircraft air-based recycling system:

[0037] Step 1: As Figure 10As shown in the figure, after the rear hatch of the carrier aircraft is opened, the recycling device 1 is exposed. The area outlined by the black frame is the recovery area for the fixed-wing UAV. As long as the UAV flies into this area, the recovery can be completed. At this time, the Z-axis electric slide rail 205 is located at the leftmost side, without affecting the area of the recovery area. The width of this area is 1.5 times the wingspan, and the height is equal to the width. Compared with the traditional point-to-point in-air refueling docking, the requirement for the control accuracy of the UAV is greatly reduced, thereby improving the recovery success rate. When the UAV flies into the plane of the recovery area under the control of the flight control system, the lidar 1110 installed on the upper recovery rectangular frame 1101 (depending on the actual situation, a vision detection device or a microwave radar can also be used to detect whether the recovered fixed-wing aircraft enters the recovery area) will detect that an aircraft passes through the plane of the recovery area. After the controller receives the detection signal from the lidar 1110, it quickly closes the upper recovery rectangular frame 1101 and the lower recovery rectangular frame 1204 by controlling the drive mechanism 13.

[0038] Step 2: As Figure 11 shown, since there is an elastic net between the upper recovery rectangular frame 1101 and the lower recovery rectangular frame 1204, and the space between the upper recovery rectangular frame 1101 and the lower recovery rectangular frame 1204 is much smaller than the height of the aircraft, it can be ensured that the UAV will not fall out of the two rectangular frames, and the elastic net will not damage the UAV. As Figure 12 shown, since the retractable hook claws 32 of the UAV are in the open state before being recovered, the elastic net can be hooked after the upper and lower recovery rectangular frames are closed. Subsequently, the retractable hook claws 32 are in the closed state, and the aircraft is connected to the upper elastic net 1111.

[0039] Step 3: As Figure 13 shown, the upper recovery rectangular frame 1101 and the lower recovery rectangular frame 1204 are reopened under the drive of the drive mechanism 13, and the upper recovery rectangular frame 1101 drives the UAV to be lifted to the highest position. Subsequently, the Z-axis slider drives the conical docking device 208 to move to directly below the conical guide ring 35 under the UAV.

[0040] Step 4: As Figure 14 shown, the Z-axis slider drives the conical docking device 208 to move upward, and at the same time, the electromagnet 209 is energized. When the conical docking device 208 moves upward into the conical guide ring 35, under the action of the conical guide ring 35, as the conical docking device 208 continues to move upward, the electromagnet 209 is in contact with the ferromagnetic suction piece 34 and generates a great electromagnetic suction force, realizing the fixed connection between the conical docking device 208 and the conical guide ring 35.

[0041] Step 5: As Figure 15As shown in the figure, after the recyclable drone 3 is fixedly connected to the drone transportation device 2 through the docking device, all the retractable hooks 32 on the back of the drone are fully opened, so that the drone is separated from the upper recycling rectangular frame 1101. Subsequently, it is driven by the drone transportation device 2 and moves out of the recycling device 1.

[0042] Step 6: As Figure 16 shown in the figure, after the drone transportation device 2 moves the recyclable drone 3 out of the recycling device 1, the servo 207 drives the conical docking device 208 to rotate 90 degrees, making the drone in a vertical state.

[0043] Step 7: As Figure 17 shown in the figure, finally, the drone transportation device 2 sends the vertically positioned drone into the rear drone storage mechanism. Since the drone is in a vertical state finally, the storage density of the drone can be greatly increased. Subsequently, the system is in the state of preparing to recycle the next drone, realizing the cyclic recycling of the drone.

[0044] In summary, compared with other airborne drone recycling systems, this system has the advantages of a compact structure, light weight, high recycling success rate, and fast recycling speed. This is due to the double-rail structure of the recycling device, which enables the device to obtain a larger recycling space in a relatively small volume. At the same time, it can also increase the docking margin when the fixed-wing drone docks with the device, thereby reducing the control accuracy during drone recycling and indirectly improving the recycling success rate of the drone. Additionally, a driving scheme using a servo motor to provide power and driving through a cable is designed, which not only ensures the stable and reliable movement of the upper and lower recycling surfaces but also takes into account the compactness of the structure, greatly reducing the weight of the entire system and making it more practical to be deployed on an airborne platform. The drone transportation device with a three-axis slide rail structure can easily remove the drone hanging at any position on the upper recycling net and send it into the drone storage bin of the airborne platform. Subsequently, the entire system resumes the recycling of the next drone, thus realizing the cyclic recycling of fully autonomous airborne fixed-wing drones and improving the recycling efficiency of the drones.

Claims

1. An airborne recycling system for fixed-wing aircraft, characterized in that It includes a recycling device and a transportation device; the recycling device includes a lower capture mechanism, an upper capture mechanism, and a driving mechanism. An elastic net extending horizontally is respectively arranged on the lower capture mechanism and the upper capture mechanism. The two elastic nets are symmetrically arranged and can make relative vertical movements under the drive of the driving mechanism; the transportation device includes a docking device for docking with the recovered fixed-wing aircraft and a moving mechanism that can control the spatial position of the docking device and the included angle with the vertical direction; the lower capture mechanism includes: a lower recovery frame slide rail bracket (1201), a lower recovery frame elastic net (1202), an upper recovery frame slide rail bracket (1203), a lower recovery rectangular frame (1204), a cross beam (1206), a base (1208), a lower recovery frame slide rail (1209), a cushion block (1210), a lower recovery frame slider (1211), a rectangular frame connecting piece (1212), and an upper recovery frame slide rail (1213); the base (1208) is fixed on the ground of the mother aircraft cabin and is used to fix the entire device; the lower recovery frame slide rail bracket (1201) and the upper recovery frame slide rail bracket (1203) are vertically fixed on the base (1208); the lower recovery frame slide rail (1209) and the upper recovery frame slide rail (1213) are respectively fixed on the lower recovery frame slide rail bracket (1201) and the upper recovery frame slide rail bracket (1203); both ends of the cross beam (1206) are fixed below the upper recovery frame slide rail bracket (1203); the lower recovery frame slide rail (1209) is fixed to the lower recovery frame slide rail bracket (1201) through the cushion block (1210); the lower recovery frame slider (1211) is fixedly connected to the lower recovery rectangular frame (1204) through the rectangular frame connecting piece (1212), and the lower recovery frame slider (1211) can slide on the lower recovery frame slide rail (1209); the lower recovery frame elastic net (1202) is connected to the lower recovery rectangular frame (1204) around its perimeter to form a movable elastic surface.

2. The airborne cyclic recovery system for a fixed-wing aircraft according to claim 1, wherein The upper capture mechanism includes: an upper recovery rectangular frame (1101), a reinforcing rod (1102), an upper recovery frame bracket (1103), a connecting plate (1104), an upper recovery frame slider (1105), a pulley set (1106), an upper recovery frame connector (1107), a cable (1108), and a lower recovery frame connector (1109); the upper recovery frame bracket (1103) is vertically fixed to the lower half of the upper recovery rectangular frame (1101), the reinforcing rod (1102) is fixed between two adjacent recovery frame brackets (1103) to form a C-shaped frame; the upper recovery frame slider (1105) is fixed to the connecting plate (1104) and can slide on the upper recovery frame slide rail (1213), and the upper recovery frame brackets (1103) on both sides of the C-shaped frame are also respectively fixedly connected to a pair of connecting plates (1104); the upper recovery frame connector (1107) is fixed to the uppermost connecting plate (1104), the lower recovery frame connector (1109) is fixed to the lower recovery rectangular frame (1204), the pulley set (1106) is fixed to the side of the upper recovery frame slide rail bracket (1203), the cable (1108) passes through the pulley set (1106), and both ends are respectively connected to the upper recovery frame connector (1107) and the lower recovery frame connector (1109).

3. The airborne cyclic recovery system for a fixed-wing aircraft according to claim 2, wherein The driving mechanism includes: a synchronous belt (1301), a synchronous belt locking block (1302), a driving wheel (1303), a coupling (1304), a motor cage (1305), a servo motor (1306), a driving wheel bearing (1307), a driving wheel bracket (1308), a idler wheel (1309), an idler wheel bracket (1310), an idler wheel bearing (1311), a optical axis (1312), and a locking block support plate (1313); the driving wheel bearing (1307) is installed in the bearing hole of the driving wheel bracket (1308), one side of the driving wheel bracket (1308) is fixed to the lowermost reinforcing rod (1102), and the other side is fixed to the lowermost connecting plate (1104); the transmission shaft of the driving wheel (1303) passes through the bearings in the two driving wheel brackets (1308) on both sides and is connected to the output shaft of the servo motor (1306) through the coupling (1304); both ends of the motor cage (1305) are respectively fixed to the two connecting plates (1104), and the motor housing of the servo motor (1306) is fixed on the motor cage (1305); the idler wheel bracket (1310) is fixed to the upper recycling rectangular frame (1101), the idler wheel bearings (1311) are installed in the bearing holes on both sides of the idler wheel bracket (1310), the idler wheel (1309) is located in the middle of the idler wheel bracket (1310), and the optical axis (1312) passes through the central holes of the two idler wheel bearings (1311) and the idler wheel (1309) so that the idler wheel (1309) can rotate freely; the synchronous belt (1301) bypasses the driving wheel (1303) and the idler wheel (1309) respectively, the synchronous belt locking block (1302) is locked on the synchronous belt (1301) and is fixedly connected to the locking block support plate (1313) so that the locked part of the synchronous belt cannot move.

4. The airborne cyclic recovery system of a fixed-wing aircraft according to claim 1, wherein, The moving mechanism in the transportation device includes: an X-axis electric slide rail, an X-axis slide table, a Y-axis electric slide rail, a Y-axis slide table, a Z-axis electric slide rail, a Z-axis slide table, and a servo motor; the X-axis electric slide rail is fixed in the fuselage cabin of the mother machine and is located behind the recycling device, and the X-axis slide table can move along the X-axis electric slide rail under the drive of the motor; the Y-axis electric slide rail is vertically fixed on the X-axis slide table, and the Y-axis slide table can move along the Y-axis electric slide rail under the drive of the motor; the Z-axis electric slide rail is horizontally fixed on the Y-axis slide table, and the Z-axis slide table can move along the Z-axis electric slide rail under the drive of the motor; the servo motor is fixed on the Z-axis slide table, and the docking device is connected to the output disk of the servo motor through a connecting rod.

5. The airborne cyclic recovery system for fixed-wing aircraft according to claim 1, wherein The docking device is a conical docking device, and an electromagnet is fixed in the cylindrical cavity in the middle thereof.

6. The airborne cyclic recovery system of a fixed-wing aircraft as claimed in claim 1, wherein The recycling device further includes a detection device for detecting whether the recovered fixed-wing aircraft enters the recovery area.

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