A mobile UAV launching device

Abstract

The present invention relates to the field of UAV launch technology, and in particular to a mobile UAV launch device, comprising an off-road chassis, a foldable launch track mechanism, a launch support mechanism, an energy storage power mechanism, and may also include a launch monitoring mechanism, a sighting mechanism and a launch control mechanism. The present invention forms a folding structure by combining an off-road chassis, a foldable launch track and a foldable launch support mechanism. The folding structure is compactly designed. The launch support mechanism is combined with a launch monitoring mechanism and a sighting mechanism to ensure that the UAV is launched into the air with a stable posture and speed. The launch hole taking mechanism and the energy storage power mechanism are provided to effectively monitor and control the launch energy storage loss of each launch, ensure the effective operation of the elastic energy storage component, and further improve the launch performance of the UAV.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) launching, and in particular to a mobile UAV launching device. Background Art

[0002] In modern warfare and various complex mission scenarios, the demand for drones is growing. Traditional drone launchers often have the problem of insufficient mobility. On the one hand, with the continuous changes in the combat environment, it is necessary to be able to respond quickly and deploy drones in different locations. For example, in emergency rescue missions, drones need to be quickly transported to the vicinity of the disaster site and launched into the air to obtain real-time information. However, fixed-position launchers cannot meet this demand for rapid response. On the other hand, modern warfare emphasizes rapid mobility and flexible operations in order to better perform reconnaissance, strike and other tasks. In addition, with the continuous development of drone technology, the types and performance of drones are also constantly improving. Different types of drones may require different launch methods and conditions. Therefore, in order to adapt to the mobility and launch requirements of drones in complex scenarios, it is of great practical significance to develop a mobile drone launcher.

[0003] Chinese Patent Publication No.: CN108116690A discloses a UAV launch device, including a launch platform, a rotating table and a launch base, wherein four walking wheels are arranged at the bottom of the launch base, the rotating table is rotatably connected to the upper surface of the launch base through a thrust bearing, a hydraulic station and a rotating power mechanism for driving the rotating table to rotate are arranged in the launch base, the length direction of the launch platform is arranged along the front-to-back direction, the rear bottom of the launch platform is hinged to the rear side of the rotating table, a lifting cylinder is hinged between the front bottom of the launch platform and the front side of the rotating table, a launch pushing mechanism is arranged on the launch platform, and a folding plate auxiliary mechanism is arranged on the rear side of the launch platform; it can be seen that the length of the launch platform of the above-mentioned UAV launch device cannot be adjusted, the maneuverability during transportation is limited, and the thrust of the launch platform is transmitted by the non-fixed contact between the traction block and the UAV, so it is greatly disturbed by the environment, which reduces the launch accuracy and stability of the launch device. Summary of the invention

[0004] To this end, the present invention provides a mobile UAV launch device to overcome the problems in the prior art that the mobility of the launch device is limited by the length of the launch platform and the launch accuracy is low.

[0005] To achieve the above object, the present invention provides a mobile UAV launching device, comprising:

[0006] An off-road chassis comprises a chassis platform, a movable wheel set arranged at the lower part of the chassis platform, and a shock absorbing assembly for absorbing shock of the chassis platform;

[0007] A foldable launch track mechanism, comprising a foldable track mechanism for forming a launch track for a UAV and an elastic launch mechanism for driving the UAV to generate inertial motion in a set direction through elastic energy storage;

[0008] A launching support mechanism, comprising a front supporting arm and a rear supporting arm rotatably connected to the off-road chassis, and a driving arm assembly for adjusting an angle between the launching track of the folding track mechanism and a horizontal plane, wherein the driving arm assembly is arranged between the front supporting arm and the rear supporting arm;

[0009] An energy storage power mechanism is arranged at the rear of the launch track of the foldable track mechanism, and includes a pulling rope group for pulling the UAV to move in the opposite direction of the launch of the launch track and an electric winch for adjusting the pulling length of the pulling rope group to generate a pulling force in the opposite direction of the launch of the launch track;

[0010] Wherein, the elastic launching mechanism comprises:

[0011] An elastic pulling assembly, which is used to generate elastic force to provide inertial energy storage for the UAV, comprises a first slider and a second slider arranged inside a foldable track mechanism at the lower part of the launch track, a movable pulley fixedly connected to the second slider, a fixed pulley fixedly connected to the front end of the foldable track mechanism, and a steel wire traction rope, wherein the first slider and the second slider are connected by a high-elastic rubber band, one end of the steel wire traction rope is fixedly connected to the front end of the foldable track mechanism, and the other end passes through the turning of the movable pulley and the fixed pulley in turn, and is connected to the ejection pulley loaded on the launch track;

[0012] The ejection trolley slides in cooperation with the track surface of the launch track and is connected to the elastic pulling component, so as to load the UAV and move along the track extension direction of the launch track under the pulling force of the elastic pulling component.

[0013] Furthermore, the foldable track mechanism includes a middle track connected to the chassis platform through the rear support arm, a front track arranged at the front end of the middle track, and a rear track arranged at the rear end of the middle track, wherein the front track is connected to the middle track through a rotatable folding part, and the rear track is connected to the middle track through a rotatable folding part.

[0014] Furthermore, the middle track, the front track and the rear track are all provided with a pulley track that slides with the ejection pulley and a slider cavity located below the pulley track, each pulley track constitutes the launch track, and each slider cavity constitutes the slider track;

[0015] Among them, a wire fixing component is provided at the front end of the slider cavity on the front rail, and an opening for installing a fixed pulley is provided at the top of the slider cavity on the front rail near the front end of the front rail, and the fixed pulley is installed at the opening position through the fixing component.

[0016] Furthermore, the elastic launching mechanism also includes a release buffer arranged at the front end of the front track, which is used to buffer the impact force of the ejection pulley and release the drone to make the drone detach from the ejection pulley.

[0017] Furthermore, the ejection pulley comprises:

[0018] A moving vehicle body, which is used to cooperate with the pulley track to enable the ejection pulley to move on the launch track;

[0019] The UAV fixing mechanism is arranged on the upper part of the mobile body, and includes a support assembly for supporting the working posture of the UAV and a spring locking assembly for locking / releasing the connection between the UAV and the support assembly, wherein after the ejection pulley slides to contact the release buffer, the spring of the spring locking assembly is limited by the position of the release buffer to produce a compressed displacement to release the UAV.

[0020] Furthermore, the first slider and the second slider are arranged in the slider cavity, and the end of the first slider opposite to the end connected to the high-elastic rubber band is connected to one end of the Kevlar traction rope, and the other end of the Kevlar traction rope is fixed on the electric winch, so that the first slider is driven by the electric winch to move in the opposite direction of the launch on the slider track through the winding of the rope, so that the high-elastic rubber band generates elastic deformation and stores energy.

[0021] Furthermore, the elastic launching mechanism also includes a pulley locking and releasing mechanism arranged at the rear end of the rear track, which is used to lock the ejection pulley so that the position of the ejection pulley on the rear track is fixed after the elastic pulling assembly reaches the set position and completes energy storage, and disconnect the fixed connection between the ejection pulley and the rear track through a release switch to allow the ejection pulley to slide along the launching direction on the launching track.

[0022] Further, the driving arm assembly comprises:

[0023] A lifting arm, one end of which is hinged to the chassis platform, and the other end of which is hinged to one end of the electric drive arm, so as to adjust the height of the one end of the electric drive arm;

[0024] An electric drive support arm, one end of which is hinged to the lifting end of the lifting support arm, and the other end of which is connected to the lower part of the middle track;

[0025] The electric push rod has a telescopic end hinged to the middle section of the electric drive arm, and the fixed end of the electric push rod is connected to the chassis platform, so as to adjust the angle between the electric drive arm and the lifting arm by changing the extension length of the electric push rod to adjust the connection angle between the middle track and the rear support arm.

[0026] Furthermore, it also includes:

[0027] A launch monitoring mechanism, which is respectively connected to the elastic launch mechanism and the driving arm assembly, and is used to obtain the angle between the launch track and the horizontal plane, the traction length of the pulling rope group, and the traction force on the elastic launch mechanism;

[0028] A sighting mechanism, which is arranged at the rear end of the launch track and is used to predict the flight altitude of the UAV according to the angle between the launch track and the horizontal plane, the current traction length and the traction force;

[0029] A launch control mechanism connected to the launch monitoring mechanism, for determining a traction force curve before each launch according to the traction length and the traction force, determining an elastic energy storage loss curve of the elastic launch mechanism according to the characteristics of the traction force curve, and determining a replacement timing of the elastic energy storage component of the elastic launch mechanism according to the elastic energy storage loss curve;

[0030] Among them, the aiming mechanism also includes a weight detector arranged on the ejection pulley for detecting the weight of the UAV. The aiming mechanism calculates the load weight based on the weight of the UAV combined with the weight of the ejection pulley, and calculates the flight height of the UAV based on the angle between the launch track and the horizontal plane, the current traction length and traction force combined with the load weight.

[0031] Furthermore, the launch drive control mechanism determines the traction length according to the traction distance of the single electric winch, and determines the traction force curve based on the traction length and the corresponding traction force detection value;

[0032] The launching mechanism determines the length of the force mutation section in each traction force curve according to a preset force mutation amount, and determines the elastic energy storage loss curve based on the change in the length of the force mutation section in each launch.

[0033] Compared with the prior art, the beneficial effect of the present invention lies in that the launch device of the present invention forms a folding structure through an off-road chassis, a folding launch track and a foldable launch support mechanism. The folding structure is compactly designed, easy to operate and transport, and can be directly folded and integrated on a towing vehicle. It is towed and transported by an off-road vehicle, which occupies a small space, improves the convenience of transportation, reduces the dependence on the carrier, and improves the maneuverability of the launch device.

[0034] Furthermore, the launch device of the present invention can ensure that the UAV is launched into the air with a stable posture and speed through the launch support mechanism combined with the launch monitoring mechanism and the aiming mechanism, thereby reducing the launch error between each launch and improving the launch performance of the UAV.

[0035] Furthermore, the launch device of the present invention is provided with a launch monitoring mechanism and an energy storage power mechanism, which effectively monitors and controls the launch energy storage loss of each launch, ensures the effective operation of the elastic energy storage component, and further improves the launch performance of the UAV.

[0036] Furthermore, the launch device of the present invention is fixedly connected to the UAV during the track sliding stage before launch through the ejection pulley, which effectively transmits the energy storage inertial force, improves the utilization rate and stability of the launch inertial energy storage, and further improves the launch performance of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the structure of a mobile UAV launch device according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the connection structure inside the front track of the mobile UAV launch device according to an embodiment of the present invention;

[0039] Figure 3 This is a track cross-section diagram of a mobile UAV launch device according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of a catapult pulley portion of a mobile UAV launch device according to an embodiment of the present invention;

[0041] Figure 5 It is an enlarged view of the spring locking assembly part A of the ejection pulley of the mobile UAV launching device according to the embodiment of the present invention;

[0042] Figure 6 It is an enlarged view of the pulley locking release mechanism part B of the mobile UAV launching device according to an embodiment of the present invention;

[0043] Figure 7 A schematic diagram of the front end of the front track of the mobile UAV launch device according to an embodiment of the present invention;

[0044] In the figure: 1, front track; 101, pulley track; 102, slider cavity; 103, opening; 104, movable pulley; 2, middle track; 3, rear track; 4, electric winch; 5, battery; 6, Kevlar traction rope; 7, first slider; 8, high elastic rubber band; 9, second slider; 10, wire traction rope; 11, fixed pulley; 12, ejection pulley; 121, moving body; 122, support assembly; 123, spring locking assembly; 1230, rotating shaft; 1231, rotatable support; 1232, spring; 1233, movable pin; 13, release lock; 14, release handle; 15, safety pin; 1 6. Off-road chassis; 17. Rear support arm; 18. Front support arm; 19. Lifting arm; 20. Electric push rod; 21. Tail support leg; 22. Trailer support leg; 23. Portable trailer hook; 24. Quick clamp; 25. UAV; 26. Release buffer; 27. Electric drive arm; 201. Pulley release card; 2010. Locking through hole; 202. Locking wrench; 2021. Locking protrusion; 2022. Fixed rotating shaft; 2023. Movable rotating shaft; 2031. First connecting rod; 2032. Second connecting rod; 2033. Second fixed shaft; 2034. Second movable shaft; 2035. Wire rope. DETAILED DESCRIPTION

[0045] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0047] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0048] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] See also Figures 1 to 7 As shown, an embodiment of the present invention provides a mobile UAV launching device, comprising:

[0050] The off-road chassis 16 includes a chassis platform, a movable wheel set arranged at the lower part of the chassis platform, and a shock absorbing assembly for absorbing shock of the chassis platform;

[0051] A foldable launch track mechanism, which includes a foldable track mechanism for forming a launch track for the UAV 25 and an elastic launch mechanism for driving the UAV to generate inertial motion in a set direction through elastic energy storage;

[0052] A launching support mechanism, comprising a front supporting arm 18 and a rear supporting arm 17 rotatably connected to the off-road chassis 16, and a driving arm assembly for adjusting the angle between the launching track of the folding track mechanism and the horizontal plane, wherein the driving arm assembly is arranged between the front supporting arm 18 and the rear supporting arm 17;

[0053] An energy storage power mechanism, which is arranged at the rear of the launch track of the foldable track mechanism, includes a pulling rope group for pulling the drone 25 to move in the opposite direction of the launch of the launch track and an electric winch 4 for adjusting the pulling length of the pulling rope group to generate a pulling force in the opposite direction of the launch of the launch track;

[0054] Wherein, the elastic launching mechanism comprises:

[0055] An elastic pulling assembly, which is used to generate elastic force to provide inertial energy storage for the UAV, comprises a first slider 7 and a second slider 9 arranged inside a foldable track mechanism at the lower part of the launch track, a movable pulley 104 fixedly connected to the second slider 9, a fixed pulley 11 fixedly connected to the front end of the foldable track mechanism, and a steel wire traction rope 10, wherein the first slider 7 and the second slider 9 are connected by a high-elastic rubber band 8, one end of the steel wire traction rope 10 is fixedly connected to the front end of the foldable track mechanism (the front end of the front track 1), and the other end is connected to the ejection pulley 12 loaded on the launch track through the turning of the movable pulley 104 and the fixed pulley 11 in turn;

[0056] The ejection trolley 12 slides in cooperation with the track surface of the launch track and is connected to the elastic pulling component to load the drone 25 and moves along the track extension direction of the launch track under the pulling force of the elastic pulling component.

[0057] For more details, please refer to Figure 1As shown, the foldable track mechanism includes a middle track 2 connected to the chassis platform, a front track 1 arranged at the front end of the middle track 2, and a rear track 3 arranged at the rear end of the middle track 2, wherein the front track 1 is connected to the middle track 2 through a rotatable folding part, and the rear track 3 is connected to the middle track 2 through a rotatable folding part.

[0058] In practice, the rotatable folding member is preferably configured as a hinge type hinge and is locked by a quick clip 24. The quick clip can quickly and effectively form a fixed connection and has the function of locking the connection state.

[0059] Specifically, see Figure 3 and Figure 7 As shown, the middle track 2, the front track 1 and the rear track 3 are all provided with a pulley track 101 that slides with the ejection pulley and a slider cavity 102 located below the pulley track, each pulley track constitutes the ejection track, and each slider cavity constitutes the slider track;

[0060] Among them, a wire fixing component is provided at the front end of the slider cavity 102 on the front rail 1, and an opening 103 for installing a fixed pulley is provided at the top of the slider cavity 102 on the front rail 1 near the front end of the front rail 1, and the fixed pulley 11 is installed at the opening 103 through a fixing component.

[0061] Specifically, the traction rope group includes a Kevlar traction rope 6, the first slider 7 and the second slider 9 are arranged in the slider cavity 102, the first slider 7 is connected to one end of the Kevlar traction rope 6 at the opposite end of the end connected to the high-elastic rubber band 8, and the other end of the Kevlar traction rope 6 is fixed on the electric winch 4, so that the first slider 7 is driven by the electric winch 4 to control the winding of the Kevlar traction rope 6 to move in the opposite direction of the launch on the slider track, so that the high-elastic rubber band 8 generates elastic deformation and stores energy.

[0062] For more details, please refer to Figure 1 As shown, the elastic launching mechanism further includes a release buffer 26 disposed at the front end of the front track 1, for buffering the impact force of the ejection pulley 12, and releasing the drone 25 so that the drone 25 is detached from the ejection pulley 12. Preferably, the embodiment of the present invention selects two rubber band buffers disposed at the front end of the front track 1 as the release buffer for releasing the drone 25.

[0063] Specifically, see Figure 3 As shown, it is a schematic diagram of the ejection pulley part of the mobile UAV launch device according to an embodiment of the present invention, and the ejection pulley 12 includes:

[0064] A moving vehicle body 121, which is used to cooperate with the trolley track to enable the ejection trolley 12 to move on the launching track;

[0065] The UAV fixing mechanism is arranged on the upper part of the mobile body, and includes a support component 122 for supporting the working posture of the UAV and a spring locking component 123 for locking / releasing the connection between the UAV and the support component 122. After the ejection pulley 12 slides to contact the release buffer 26, the spring 1232 of the spring locking component 123 is limited by the position of the release buffer 26 to produce a compressed displacement to release the UAV 25.

[0066] Specifically, see Figure 5 As shown, the spring locking assembly 123 of the drone fixing mechanism includes:

[0067] A rotatable support member 1231, which can rotate around the rotation axis 1230 to switch between a vertical state and a horizontal state, so as to support and lock the drone 25 in the vertical state, and release the drone 25 and avoid the movement space of the drone 25 when rotating to the horizontal state;

[0068] A release lock 13, which is used to form a locking state with the rotatable support member 1231 in a connected state to control the rotatable support member 1231 to be in a vertical state, and can be disconnected from the rotatable support member 1231 by moving backward in the launching direction;

[0069] A spring 1232, one end of which is connected to the release lock 13 and can move the release lock 13 backward in the firing direction in a compressed state;

[0070] The movable pin 1233 is parallel to the axial direction and the launching direction and can slide along the launching direction, and the axis of the movable pin is at the same height as the restraining rubber band of the release buffer 26 in the launching track direction, so as to press the release lock 13 during the sliding process and compress the spring 1232 by driving the release lock 13 to move backward.

[0071] Specifically, the elastic launching mechanism also includes a pulley locking and releasing mechanism arranged at the rear end of the rear track, which is used to lock the ejection pulley so that the position of the ejection pulley on the rear track is fixed after the elastic pulling assembly reaches the set position and completes energy storage, and disconnect the fixed connection between the ejection pulley and the rear track through a release switch to allow the ejection pulley to slide on the launching track along the launching direction.

[0072] Specifically, see Figure 6 As shown, the pulley lock release mechanism includes:

[0073] The trolley release card plate 201 is arranged at the rear end of the lower part of the moving vehicle body 121, and includes a locking through hole 2010 for forming a locking bayonet;

[0074] The locking wrench 202 is rotatably fixed on the rear end of the rear track 3, and includes a locking protrusion 2021 for cooperating with the locking through hole 2010 to lock the moving body 121, a fixed rotating shaft 2022 and a movable rotating shaft 2023, wherein the fixed rotating shaft 2022 is fixedly connected to the rear track 3; preferably, a safety pin 15 is provided on the locking wrench 202.

[0075] The connecting rod locking assembly includes a first connecting rod 2031 rotatably connected to the movable rotating shaft 2023, a second connecting rod 2032 rotatably connected to the rear end of the rear track 3 via a second fixed shaft 2033, and the first connecting rod 2031 and the second connecting rod 2032 are rotatably connected via a second movable shaft 2034;

[0076] It can be understood that, in the locked state, the first connecting rod and the second connecting rod form a straight dead point. When the drone needs to be released, the second movable shaft 2034 is pulled toward the front lower part of the launch direction by controlling the rotating handle (release handle 14) connected to the wire rope 2035, driving the locking wrench 202 connected to the first connecting rod 2031 to rotate, so that the locking protrusion 2021 of the locking wrench 202 is disengaged from the locking through hole 2010, thereby releasing the mobile body 121.

[0077] See also Figure 1 As shown, specifically, the driving arm assembly includes:

[0078] A lifting arm 19, one end of which is hinged to the chassis platform, and the other end of which is hinged to one end of the electric drive arm 27, so as to adjust the height of one end of the electric drive arm;

[0079] An electrically driven support arm 27, one end of which is hinged to the lifting end of the lifting support arm 19, and the other end of which is connected to the lower part of the middle track 2;

[0080] The electric push rod 20 has a telescopic end hinged to the middle section of the electric drive arm 27, and the fixed end of the electric push rod 20 is connected to the chassis platform, so as to adjust the angle between the electric drive arm 27 and the lifting arm 19 by changing the extension length of the electric push rod 20 to adjust the connection angle between the middle track 2 and the rear support arm 17.

[0081] Specifically, in a specific embodiment, the mobile UAV launch device of the present invention further includes:

[0082] A launch monitoring mechanism, which is respectively connected to the elastic launch mechanism and the driving arm assembly, and is used to obtain the angle between the launch track and the horizontal plane, the traction length of the pulling rope group, and the traction force on the elastic launch mechanism;

[0083] A sighting mechanism, which is arranged at the rear end of the launch track and is used to predict the flight altitude of the UAV according to the angle between the launch track and the horizontal plane, the current traction length and the traction force;

[0084] A launch control mechanism connected to the launch monitoring mechanism, for determining a traction force curve before each launch according to the traction length and the traction force, determining an elastic energy storage loss curve of the elastic launch mechanism according to the characteristics of the traction force curve, and determining a replacement timing of the elastic energy storage component of the elastic launch mechanism according to the elastic energy storage loss curve;

[0085] Specifically, the launch monitoring mechanism is provided with an angle measuring device for detecting the angle between the launch track and the horizontal plane at the connection between the middle track and the rear support arm, and the electric winch is connected with a meter for detecting the traction length of the pulling rope group and a tension detection device for detecting the traction force exerted on the elastic launching mechanism to obtain detection data.

[0086] Specifically, the aiming mechanism also includes a weight detector arranged on the ejection pulley for detecting the weight of the UAV. The aiming mechanism calculates the load weight based on the weight of the UAV combined with the deadweight of the ejection pulley, and calculates the initial ejection speed of the UAV according to the angle between the launch track and the horizontal plane, the current traction length and the traction force combined with the load weight, and can calculate the unassisted flight height of the UAV in combination with the flight parameters of the UAV. It is understandable that the present invention is applicable to aerodynamic calculations in the prior art by physically calculating the initial ejection speed of the UAV and the unassisted flight height of the UAV, which will not be repeated here. Those skilled in the art can obtain a predicted value of the flight height by fitting the angle between the launch track and the horizontal plane, the current traction length and the traction force through theoretical calculations or several experiments according to actual needs, which will not be repeated here.

[0087] During implementation, the aiming mechanism obtains the angle between the launch track and the horizontal plane through an angle measuring device, obtains the current traction length through a meter of an electric winch, and obtains the traction force through a dynamometer set on the ejection pulley.

[0088] In implementation, the aiming mechanism calculates and predicts the flight altitude of the UAV based on the angle between the launch track and the horizontal plane, the current traction length, and the traction force combined with the load weight which can be determined through physical calculation or several flight test simulations.

[0089] Specifically, the launch drive control mechanism determines the traction length according to the traction distance of the single electric winch, and determines the traction force curve based on the traction length and the corresponding traction force detection value;

[0090] In implementation, the launch control mechanism can form a variation curve of traction length and traction force (traction force curve) according to the traction force detection values ​​in several traction detections.

[0091] The launch control mechanism can also determine a preset force mutation amount based on several traction tests. Preferably, it is the increase in traction force per unit traction length increase at several (50 to 80 times) extreme traction lengths (80% of the broken traction length) measured after the elastic energy storage component (high-elastic rubber band) is replaced for the first time.

[0092] Furthermore, the launching mechanism determines the traction length before the force mutation section in the traction force curve according to a preset force mutation amount, and determines the elastic energy storage loss curve based on the change in the traction length before the force mutation section in each launch.

[0093] During implementation, the launching mechanism determines the traction length before the force mutation section according to the force mutation amount in the traction force curve being less than the preset force mutation amount, and determines the elastic energy storage loss curve formed by the traction number and the traction length before the force mutation section according to the traction length before the force mutation section in each launch.

[0094] It is understandable that if the pulling length before the force mutation section of the elastic energy storage loss curve exceeds the preset variation range, it is determined that the replacement time of the elastic energy storage member of the elastic launching mechanism has been reached. Preferably, the preset variation range is 5% to 10% of the working condition pulling length.

[0095] In a specific embodiment, Figure 1As shown, the two ends of the middle track 2 are respectively connected to the front track 1 and the rear track 3 by hinges and are locked and fixed by quick clips 24. The electric winch 4 is fixed to the rear end of the rear track 3 by bolts. The battery 5 supplies power to the electric winch 4 and the electric push rod 20. One end of the Kevlar traction rope 6 is fixed to the electric winch 4, and the other end is fixed to the first slider 7. One end of the elastic rubber band 8 is connected to the first slider 7, and the other end is connected to the second slider 9. One end of the steel wire traction rope 10 is connected to the front track 1, and the other end is connected to the ejection pulley 12. The pulley and the fixed pulley 11 with the second slider 9 are connected in the middle. The fixed pulley 11 is fixed to the front end of the front track 1 by bolts. The ejection pulley 12 slides on the launch track formed by the front track 1, the middle track 2 and the rear track 3. The release lock 13 presses the rotatable support 1231, and the lock The tightening wrench 202 is fixed to the rear end of the rear track 3 by an axle pin, and is used to fix the ejection pulley 12 on the launching track. The release handle 14 is connected to the locking wrench 202 by pulling the connecting rod. The safety pin 15 is installed with clearance fit with the locking wrench 202. The rear support arm 17 and the front support arm 18 are fixed to the off-road chassis 16 by welding. The lifting arm 19 is connected to the off-road chassis 16 by a pin shaft and is connected to the middle track 2 pin shaft. The electric push rod 20 is connected to the lifting arm 19 of the off-road chassis 16 by a pin shaft. The tail support leg 21 is connected to the rear track 3 by a pin shaft through a hinge. The trailer support leg 22 is connected to the off-road chassis 16 by a pin shaft. The portable trailer hook 23 is connected to the off-road chassis 16 by bolts. The quick clip 24 is fixed to the connection points of the tracks by bolts respectively. The drone 25 is installed on the ejection pulley 12.

[0096] Working process:

[0097] See also Figure 1 As shown, the off-road chassis 16 is parked at the designated position, the trailer support legs 22 are supported, the front track 1 and the rear track 3 are rotated around the axis and fixed to a straight state through the quick clip 24 to form the track of the ejection pulley, the battery 5 is powered, the electric push rod 20 is operated to lift the launch track formed by the front track 1, the middle track 2 and the rear track 3 to the required angle, the rear support arm 17 is supported, the electric winch 4 is operated to roll the Kevlar traction rope 6, at this time, the first slider 7 drives the elastic rubber band 8 to store force, and stops when the required tension is reached, the UAV 25 is installed on the ejection pulley 12 and waits, and when ready, the safety pin 15 is pulled out, the release handle 14 is pulled to eject the UAV 25, and the ejection pulley 12 hits the release buffer 26 to stop, and the UAV 25 is detached to complete the ejection takeoff.

[0098] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A mobile UAV launching device, characterized in that: include: An off-road chassis comprises a chassis platform, a movable wheel set arranged at the lower part of the chassis platform, and a shock absorbing assembly for absorbing shock of the chassis platform; A foldable launch track mechanism, comprising a foldable track mechanism for forming a launch track for a UAV and an elastic launch mechanism for driving the UAV to generate inertial motion in a set direction through elastic energy storage; A launching support mechanism, comprising a front supporting arm and a rear supporting arm rotatably connected to the off-road chassis, and a driving arm assembly for adjusting an angle between the launching track of the folding track mechanism and a horizontal plane, wherein the driving arm assembly is arranged between the front supporting arm and the rear supporting arm; An energy storage power mechanism is arranged at the rear of the launch track of the foldable track mechanism, and includes a pulling rope group for pulling the UAV to move in the opposite direction of the launch of the launch track and an electric winch for adjusting the pulling length of the pulling rope group to generate a pulling force in the opposite direction of the launch of the launch track; Wherein, the elastic launching mechanism comprises: An elastic pulling assembly, which is used to generate elastic force to provide inertial energy storage for the UAV, comprises a first slider and a second slider arranged inside a foldable track mechanism at the lower part of the launch track, a movable pulley fixedly connected to the second slider, a fixed pulley fixedly connected to the front end of the foldable track mechanism, and a steel wire traction rope, wherein the first slider and the second slider are connected by a high-elastic rubber band, one end of the steel wire traction rope is fixedly connected to the front end of the foldable track mechanism, and the other end passes through the turning of the movable pulley and the fixed pulley in turn, and is connected to the ejection pulley loaded on the launch track; A launching trolley, which slides in cooperation with the track surface of the launching track and is connected to the elastic pulling assembly, is used to load the UAV, and moves along the track extension direction of the launching track under the pulling force of the elastic pulling assembly; A launch monitoring mechanism, which is respectively connected to the elastic launch mechanism and the driving arm assembly, and is used to obtain the angle between the launch track and the horizontal plane, the traction length of the pulling rope group, and the traction force on the elastic launch mechanism; A sighting mechanism, which is arranged at the rear end of the launch track and is used to predict the flight altitude of the UAV according to the angle between the launch track and the horizontal plane, the current traction length and the traction force; A launch control mechanism connected to the launch monitoring mechanism, for determining a traction force curve before each launch according to the traction length and the traction force, determining an elastic energy storage loss curve of the elastic launch mechanism according to the characteristics of the traction force curve, and determining a replacement timing of the elastic energy storage component of the elastic launch mechanism according to the elastic energy storage loss curve; Among them, the aiming mechanism also includes a weight detector arranged on the ejection pulley for detecting the weight of the UAV. The aiming mechanism calculates the load weight based on the weight of the UAV combined with the weight of the ejection pulley, and calculates the flight height of the UAV based on the angle between the launch track and the horizontal plane, the current traction length and traction force combined with the load weight.

2. The mobile UAV launch device according to claim 1, characterized in that: The foldable track mechanism includes a middle track connected to the chassis platform through the rear support arm, a front track arranged at the front end of the middle track, and a rear track arranged at the rear end of the middle track, wherein the front track is connected to the middle track through a rotatable folding member, and the rear track is connected to the middle track through a rotatable folding member.

3. The mobile UAV launch device according to claim 2, characterized in that: The middle track, the front track and the rear track are all provided with a pulley track that slides with the ejection pulley and a slider cavity located below the pulley track, each pulley track constitutes the ejection track, and each slider cavity constitutes the slider track; Among them, a wire fixing component is provided at the front end of the slider cavity on the front rail, and an opening for installing a fixed pulley is provided at the top of the slider cavity on the front rail near the front end of the front rail, and the fixed pulley is installed at the opening position through the fixing component.

4. The mobile UAV launch device according to claim 3, characterized in that: The elastic launching mechanism also includes a release buffer arranged at the front end of the front track, which is used to buffer the impact force of the ejection pulley and release the drone so that the drone is detached from the ejection pulley.

5. The mobile UAV launch device according to claim 4, characterized in that: The ejection pulley comprises: A moving vehicle body, which is used to cooperate with the pulley track to enable the ejection pulley to move on the launch track; The UAV fixing mechanism is arranged on the upper part of the mobile body, and includes a support assembly for supporting the working posture of the UAV and a spring locking assembly for locking / releasing the connection between the UAV and the support assembly, wherein after the ejection pulley slides to contact the release buffer, the spring of the spring locking assembly is limited by the position of the release buffer to produce a compressed displacement to release the UAV.

6. The mobile UAV launch device according to claim 3, characterized in that: The first slider and the second slider are arranged in the slider cavity, and the end of the first slider opposite to the end connected to the high-elastic rubber band is connected to one end of the Kevlar traction rope, and the other end of the Kevlar traction rope is fixed on the electric winch, so that the first slider is driven by the electric winch to move in the opposite direction of the launch on the slider track through the winding of the rope, so that the high-elastic rubber band generates elastic deformation and stores energy.

7. The mobile UAV launch device according to claim 3, characterized in that: The elastic launching mechanism also includes a pulley locking and releasing mechanism arranged at the rear end of the rear track, which is used to lock the ejection pulley to fix the position of the ejection pulley on the rear track after the elastic pulling assembly reaches the set position and completes energy storage, and disconnect the fixed connection between the ejection pulley and the rear track through a release switch to allow the ejection pulley to slide on the launching track along the launching direction.

8. The mobile UAV launch device according to claim 2, characterized in that: The driving arm assembly comprises: A lifting arm, one end of which is hinged to the chassis platform, and the other end of which is hinged to one end of the electric drive arm, so as to adjust the height of the one end of the electric drive arm; An electric drive support arm, one end of which is hinged to the lifting end of the lifting support arm, and the other end of which is connected to the lower part of the middle track; The electric push rod has a telescopic end hinged to the middle section of the electric drive arm, and the fixed end of the electric push rod is connected to the chassis platform, so as to adjust the angle between the electric drive arm and the lifting arm by changing the extension length of the electric push rod to adjust the connection angle between the middle track and the rear support arm.

9. The mobile UAV launch device according to claim 1, characterized in that: The launch control mechanism determines the traction length according to the traction distance of the single electric winch, and determines the traction force curve based on the traction length and the corresponding traction force detection value; The launching mechanism determines the length of the force mutation section in each traction force curve according to a preset force mutation amount, and determines the elastic energy storage loss curve based on the change in the length of the force mutation section in each launch.

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