Unmanned aerial vehicle hoisting and recycling equipment for offshore unmanned surface vehicle

Abstract

The invention belongs to the technical field of offshore unmanned ships, particularly relates to unmanned aerial vehicle hoisting and recycling equipment for an offshore unmanned ship, and aims to solve the problem that the hoisting and recycling efficiency is affected due to the fact that disassembly and reinstallation of a hoisting cable need to be manually assisted during recycling and operation is inconvenient. Movable openings are formed in the outer walls of the two sides of the recovery seat frame, movable blocks are arranged on the inner walls of the two movable openings, the outer walls of the opposite sides of the two movable blocks are fixedly connected with the same hoisting seat, and four limiting pieces are fixedly connected to the top of the hoisting seat. The unmanned aerial vehicle hoisting and recycling equipment for the offshore unmanned ship has the effect of facilitating hoisting and recycling of the unmanned ship, a hoisting cable on an unmanned aerial vehicle body can be automatically disassembled by the device during use, the hoisting cable can be fixed to the recycling equipment, manual auxiliary operation is not needed, the automation effect is high, and the labor intensity of workers is reduced. The operation is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned marine boats, and in particular to a drone hoisting and recovery device for an unmanned marine boat. Background Art

[0002] An unmanned boat is an unmanned surface ship. It is mainly used to perform dangerous tasks that are not suitable for manned ships. Once equipped with advanced control systems, sensor systems, communication systems and weapon systems, it can perform a variety of war and non-war military tasks, such as reconnaissance, search, detection and mine clearance; search and rescue, navigation and hydrographic surveys; anti-submarine warfare, anti-special operations, patrols, anti-piracy, anti-terrorism attacks, etc.

[0003] Due to the shallow draft and strong maneuverability of unmanned boats, they can perform excellent tasks in ocean surveying and mapping, providing ocean geographic information, data and basic graphics, and detecting ocean meteorological elements, ocean water quality elements, and marine biological elements, providing timely and comprehensive information for the country to take timely disaster relief measures, and facilitating patrol protection of marine economic targets and marine monitoring of illegal activities. Therefore, the development and utilization of unmanned boats is of great significance.

[0004] Existing offshore unmanned boat drone lifting and recovery equipment mostly uses lifting cables to assist in recovery. Therefore, the lifting cables on the drone need to be connected to the recovery equipment during recovery. However, manual assistance is required to dismantle and reinstall the lifting cables during operation, which is inconvenient to operate and affects the lifting and recovery efficiency. Summary of the invention

[0005] The present invention discloses a drone lifting and recovery device for an unmanned marine boat, aiming to solve the technical problem that the existing drone lifting and recovery device for an unmanned marine boat in the background technology mostly adopts lifting cables to assist in recovery during recovery. Therefore, the lifting cables on the drone need to be connected to the recovery device during recovery. However, manual assistance is required to dismantle and reinstall the lifting cables during operation, which is inconvenient to operate and thus affects the lifting and recovery efficiency.

[0006] The present invention proposes a drone lifting and recovery device for an unmanned marine boat, comprising a recovery frame and an unmanned boat body, movable openings are provided on both side outer walls of the recovery frame, movable blocks are provided on the inner walls of the two movable openings, and the outer walls on the opposite sides of the two movable blocks are fixedly connected to the same lifting seat, four limiting members are fixedly connected to the top of the lifting seat, and a drone body is provided on the top of the lifting seat, the drone body is located between the four limiting members, a guide frame plate is fixedly connected to one side outer wall of the lifting seat, and the lifting seat is located inside the recovery frame, a stagnation stabilization module is provided on the top of the unmanned boat body, and two mounting frames are fixedly connected to the top of the unmanned boat body, and the same winding roller is provided between the two mounting frames.

[0007] By providing a recovery seat frame, an unmanned boat body, a drone body, a movable block, a lifting seat, a limit piece, a convenient recovery module, a guide frame plate, a stagnation stabilization module, a winding roller, and a mounting frame, the movable block and the movable opening can limit the movement of the lifting seat when in use, and the limit piece can limit the position of the drone body when in use, so as to ensure the subsequent disassembly operation of the lifting cable; the guide frame plate can cooperate with the convenient recovery module to guide the winding and lifting position of the lifting cable when in use, so as to avoid the lifting cable being wound between the two lifting rollers, and the convenient recovery module can increase the automation effect of the device during operation and improve the convenience of use of the device when in use; the stagnation stabilization module can stably fix the drone body on the unmanned boat body when in use, so as to avoid damage to the drone and subsequent inability to lift and recover it, so as to meet the use requirements of the device.

[0008] In a preferred embodiment, the convenient recovery module includes a side bracket, the two side brackets are respectively fixedly connected to the outer walls of both sides of the lifting seat, the two side brackets are fixedly connected with an electric push rod, the output ends of the two electric push rods are fixedly connected with a movable guide frame, the two movable guide frames are movably connected with an axle rod members, the outer walls of the two axle rod members are fixedly connected with a lifting roller, the inner walls of one side of the two lifting rollers are fixedly connected with a hydraulic rod, the output ends of the two hydraulic rods are fixedly connected with a cable clamp, and the outer walls of both sides of the lifting seat are provided with mounting openings, and the two movable guide frames are respectively located inside the two mounting openings; the outer walls of the opposite sides of the two movable guide frames are movably connected with the same transmission rod, the outer wall of the transmission rod is fixedly connected with a worm gear, the outer wall of the transmission rod is fixedly connected with two transmission wheels, and the outer walls of the two axle rod members are fixedly connected with driven wheels The outer walls of the driven wheel and the transmission wheel on the same side are both provided with the same transmission belt, and a fixing opening is opened on the inner wall of one side of the lifting seat, and a driving motor is fixedly connected to the inner wall of one side of the fixing opening, and the output shaft of the driving motor is connected to the driving gear through a coupling, and a worm gear is fixedly connected to the outer wall of one side of the driving gear, and the worm gear is meshed with the worm gear; a cable fixing part is provided on the drone body, and a gear locking part is movably connected to the outer wall of the cable fixing part, and four connecting rod parts are fixedly connected to the outer wall of one side of the gear locking part, and one end of the four connecting rod parts is fixedly connected to the same limiting ring, and the inner wall of the limiting ring contacts the outer wall of the cable fixing part, and an elastic cable end is provided inside the cable fixing part, and the elastic cable end is located between the two cable clamps, and one end of the elastic cable end is fixedly connected to the lifting cable, and one end of the lifting cable is fixedly connected to the inner wall of the winding roller.

[0009] By providing a convenient recovery module, the convenient recovery module can automatically disassemble the lifting cables installed on the drone body when in use, and can automatically reinstall the lifting cables on the recovery equipment through the device after disassembly, thereby increasing the convenience effect of the device when in use, and when performing lifting and recovery, the convenient recovery module can increase the automation effect of the device, reduce the workload of the staff during the recovery operation, so as to increase the use effect of the device, and further improve the lifting and recovery efficiency of the device during operation; after the gear lock is loosened, it can be prevented from falling off through the connecting rod and the limit ring, so as to facilitate the connection of the lifting cable, the elastic cable end and the cable fixing part when the unmanned boat is used subsequently.

[0010] In a preferred scheme, the stagnation stabilization module includes a mounting support, the two mounting supports are respectively fixedly connected to the outer walls of one side of the two mounting frames, the interiors of the two mounting supports are fixedly connected with mounting rods, the outer walls of the two mounting rods are movably connected with stabilization pressure plates, and the top of the unmanned boat body is fixedly connected with a stagnation plate seat, and the stagnation plate seat is located between the two mounting supports; a stepper motor is arranged on the top of the unmanned boat body, and the output shaft of the stepper motor is connected to a winding piece through a coupling, and the winding piece is provided with two fixing ribs, one end of the two fixing ribs are respectively fixedly connected to the bottom of the two stabilization pressure plates, and the outer walls of the two mounting rods are respectively provided with torsion springs, one end of the two torsion springs are respectively fixedly connected to the inner walls of one side of the two mounting supports, and the other ends of the two torsion springs are respectively fixedly connected to the outer walls of one side of the two stabilization pressure plates; one of the mounting frames is fixedly connected with motor 1, and the output shaft of motor 1 is connected to the outer wall of one side of the winding roller through a coupling.

[0011] By providing a stagnation stabilization module, the stagnation stabilization module can assist in fixing the drone body when in use, so that the drone body can be stably stopped on the unmanned boat body, avoiding the drone body from shaking and falling into the sea when the unmanned boat body is in use, thereby avoiding unnecessary losses and preventing the drone from being damaged and subsequently unable to be lifted and recovered, so as to increase the practicality and use effect of the device, and when the unmanned boat body is in use, the device can reel in the lifting cables to avoid the lifting cables from falling into the sea, further improving the use effect of the device.

[0012] In a preferred scheme, the two movable blocks are each provided with an electric telescopic rod, the output ends of the two electric telescopic rods are fixedly connected to the same fixed clamping rod, and the outer walls on both sides of the recovery frame are provided with a plurality of stable openings, and the fixed clamping rod is clamped with two of the stable openings; the recovery frame is fixedly connected with a fixed bracket, the fixed bracket is provided with a second motor, and the output shaft of the second motor is connected to a winding wheel through a coupling; the inner wall of the winding wheel is provided with a connecting wire, one end of the connecting wire is fixedly connected to an outer wall of one side of the lifting seat, a circular hole is provided on an inner wall of one side of the recovery frame, the connecting wire is located inside the circular hole, and two pressure springs are fixedly connected to the inner wall of one side of the recovery frame, one end of the two pressure springs are fixedly connected to an outer wall of one side of the lifting seat, and the two pressure springs are respectively located on both sides of the connecting wire.

[0013] By providing a pressure spring, a connecting line, a fixed bracket, a second motor, a winding wheel, a stabilizing mouth, an electric telescopic rod and a fixed clamping rod, the position of the lifting seat can be adjusted by the pressure spring and the connecting line when the device is in use, so that the distance between the unmanned boat and the mother ship can be adjusted according to the size of the unmanned boat body during lifting and recovery operation, so as to avoid the collision between the unmanned boat body and the mother ship hull during recovery, so as to increase the safety effect when the device is in use, and when performing lifting adjustments, the position of the lifting seat can be fixed by the electric telescopic rod, the fixed clamping rod and the stabilizing mouth to ensure the stability of the device operation.

[0014] From the above, it can be seen that the drone lifting and recovery equipment for an unmanned offshore boat provided by the present invention has the function of facilitating the lifting and recovery of the unmanned boat. When in use, the device can automatically disassemble the lifting cables on the drone body and re-fix the lifting cables to the recovery equipment. No manual auxiliary operation is required, the automation effect is high, and the operation is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of a drone hoisting and recovery device for an unmanned boat at sea proposed by the present invention; Figure 2 This is a schematic diagram of the overall upward structure of a drone hoisting and recovery device for an unmanned boat at sea proposed by the present invention; Figure 3 This is a schematic diagram of the structure of a convenient recovery module of a drone hoisting and recovery device for an unmanned boat at sea proposed by the present invention; Figure 4 This is a schematic diagram of the combined structure of a hoisting roller and a worm gear member of a drone hoisting and recovery device for an unmanned boat at sea proposed by the present invention; Figure 5 This is a schematic diagram of the combined structure of a gear lock and a driving gear of a drone hoisting and recovery device for an unmanned boat at sea proposed by the present invention; Figure 6 This is a schematic diagram of the combined structure of an unmanned boat body and a mounting frame of a drone hoisting and recovery device for an unmanned boat at sea proposed by the present invention; Figure 7 This is a schematic diagram of the stabilization module structure of a drone hoisting and recovery device for an unmanned boat at sea proposed by the present invention; Figure 8 This is a schematic diagram of the combined structure of a pressure spring and a fixed bracket of a drone lifting and recovery device for an unmanned marine boat proposed by the present invention.

[0016] In the figure: 1. Recovery frame; 2. Stabilization port; 3. UAV body; 4. Convenient recovery module; 401. Electric push rod; 402. Side bracket; 403. Hoisting roller; 404. Worm gear; 405. Worm wheel; 406. Driving gear; 407. Driving motor; 408. Cable fixing part; 409. Limiting ring; 410. Connecting rod; 411. Gear lock; 412. Transmission belt; 413. Transmission wheel; 414. Transmission rod; 415. Elastic cable end; 416. Movable guide frame; 417. Driven wheel; 418. Shaft rod; 419. Hydraulic rod; 420. Cable clamp; 5. Movable opening; 6. Stagnation stabilization module; 601. Mounting support; 602. Stepper motor; 603. Fixed rib; 604. Stabilizing pressure plate; 605. Mounting rod; 606. Torsion spring; 607. Stagnation plate seat; 608. Winding piece; 7. Unmanned boat body; 8. Lifting seat; 9. Lifting cable; 10. Guide frame; 11. Movable block; 12. Electric telescopic rod; 13. Fixed clamping rod; 14. Limiting piece; 15. Motor 1; 16. Mounting frame; 17. Winding roller; 18. Pressure spring; 19. Winding wheel; 20. Fixed bracket; 21. Motor 2; 22. Connecting wire. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] The invention discloses a drone lifting and recovery device for an unmanned marine boat, which is mainly used in scenarios where manual assistance is required for disassembly and reinstallation of lifting cables during recovery, which is inconvenient to operate and thus affects the lifting and recovery efficiency.

[0019] Reference Figure 1-8 A drone lifting and recovery device for an unmanned boat at sea comprises a recovery frame 1 and an unmanned boat body 7, movable openings 5 ​​are provided on both side outer walls of the recovery frame 1, movable blocks 11 are provided on the inner walls of the two movable openings 5, and the outer walls on the opposite side of the two movable blocks 11 are fixedly connected with the same lifting seat 8, four limiting members 14 are fixedly connected to the top of the lifting seat 8, and a drone body 3 is provided on the top of the lifting seat 8, the drone body 3 is located between the four limiting members 14, a guide frame plate 10 is fixedly connected to the outer wall of one side of the lifting seat 8, and the lifting seat 8 is located inside the recovery frame 1, a stagnation stabilization module 6 is provided on the top of the unmanned boat body 7, and two mounting frames 16 are fixedly connected to the top of the unmanned boat body 7, and the same winding roller 17 is provided between the two mounting frames 16.

[0020] Specifically, the movable block 11 and the movable opening 5 can limit the movement of the lifting seat 8 when in use, and the limiter 14 can limit the position of the UAV body 3 when in use, so as to ensure the subsequent disassembly operation of the lifting cable 9; the guide frame plate 10 can cooperate with the convenient recovery module 4 to guide the winding and lifting position of the lifting cable 9 when in use, so as to avoid the lifting cable 9 being wound between the two lifting rollers 403, and the convenient recovery module 4 can increase the automation effect of the device during operation when in use, and improve the convenience of use of the device; the stagnation stabilization module 6 can stably fix the UAV body 3 on the unmanned boat body 7 when in use, so as to avoid damage to the UAV and subsequent inability to lift and recover it, so as to meet the use requirements of the device.

[0021] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5In a preferred embodiment, the convenient recycling module 4 includes a side bracket 402, and the two side brackets 402 are respectively fixedly connected to the outer walls of the two sides of the hanging seat 8, and the two side brackets 402 are fixedly connected to the electric push rods 401, and the output ends of the two electric push rods 401 are fixedly connected to the movable guide frame 416, and the two movable guide frames 416 are connected to the shaft rods 418 through bearings, and the outer walls of the two shaft rods 418 are fixedly connected to the hanging rollers 403, and the inner walls of one side of the two hanging rollers 403 are fixedly connected to the liquid The pressure rod 419, the output ends of the two hydraulic rods 419 are fixedly connected with the cable clamps 420, and the outer walls on both sides of the lifting seat 8 are provided with installation openings, and the two movable guide frames 416 are respectively located inside the two installation openings; the outer walls on the opposite sides of the two movable guide frames 416 are connected to the same transmission rod 414 through bearings, the outer wall of the transmission rod 414 is fixedly connected with a worm gear 405, the outer wall of the transmission rod 414 is fixedly connected with two transmission wheels 413, and the outer walls of the two shaft rods 418 are fixedly connected with driven wheels 417, The driven wheel 417 and the transmission wheel 413 on the same side are both provided with the same transmission belt 412, and a fixing port is provided on the inner wall of one side of the hanging seat 8, and a driving motor 407 is fixedly connected to the inner wall of one side of the fixing port, and the output shaft of the driving motor 407 is connected to the driving gear 406 through a coupling, and a worm member 404 is fixedly connected to the outer wall of one side of the driving gear 406, and the worm member 404 is meshed with the worm wheel 405; a cable fixing member 408 is provided on the drone body 3, and the outer wall of the cable fixing member 408 is connected to A gear lock 411, an outer wall of one side of the gear lock 411 is fixedly connected with four connecting rods 410, one end of the four connecting rods 410 is fixedly connected with the same limiting ring 409, the inner wall of the limiting ring 409 is in contact with the outer wall of the cable fixing member 408, and an elastic cable end 415 is provided inside the cable fixing member 408, the elastic cable end 415 is located between the two cable clamps 420, one end of the elastic cable end 415 is fixedly connected with a lifting cable 9, and one end of the lifting cable 9 is fixedly connected to the inner wall of the winding roller 17.

[0022] Specifically, during recovery, the drone body 3 falls on the hoisting seat 8, at which time the gear lock 411 meshes with the drive gear 406, and the drive motor 407 is started. The drive motor 407 drives the drive gear 406 and the worm member 404 to rotate, and the drive gear 406 drives the gear lock 411 to rotate, so that the gear lock 411 is loosened, and the hydraulic rod 419 is started, and the hydraulic rod 419 drives the cable clamp 420 to clamp and fix the elastic cable end 415. After fixing, the electric push rod 401 runs until the elastic cable end 415 is separated from the cable fixing member 408, and at the same time, the worm member 404 and the worm wheel 405 are connected. The worm gear 404 drives the worm wheel 405 to rotate, and then drives the transmission rod 414 to rotate, and the shaft rod 418 rotates through the transmission wheel 413, the transmission belt 412 and the driven wheel 417, and then drives the hoisting roller 403 to reel the hoisting cable 9 until the unmanned boat body 7 is hoisted and recovered. When the unmanned boat body 7 is lowered, the electric push rod 401 moves to reconnect the elastic cable end 415 with the cable fixing part 408, and the reverse rotation of the driving gear 406 can reconnect the unmanned aerial vehicle body 3 with the hoisting cable 9, further increasing the automation effect of the device; In a specific application scenario, the convenient recovery module 4 is suitable for the disassembly and reinstallation of the unmanned boat recovery hoisting cable 9, that is, the convenient recovery module 4 can automatically disassemble the hoisting cable 9 installed on the drone body 3 when in use, and after the hoisting cable 9 is disassembled, it can be automatically reinstalled on the recovery equipment through the device, thereby increasing the convenience effect of the device when in use, and when performing hoisting recovery, the convenient recovery module 4 can increase the automation effect of the device, reduce the work intensity of the staff during the recovery operation, so as to increase the use effect of the device, and then improve the hoisting recovery efficiency when the device is in operation; It should be noted that the gear lock 411 can be prevented from falling off through the connecting rod 410 and the limiting ring 409 after being loosened, so that the hoisting cable 9, the elastic cable end 415 and the cable fixing member 408 can be connected when the unmanned boat is used later.

[0023] Reference Figure 1 , Figure 2 , Figure 6 and Figure 7In a preferred embodiment, the stagnation stabilization module 6 includes a mounting support 601, and the two mounting supports 601 are respectively fixedly connected to the outer wall of one side of the two mounting frames 16, and the interiors of the two mounting supports 601 are fixedly connected with mounting rods 605, and the outer walls of the two mounting rods 605 are connected with stabilization pressure plates 604 through bearings, and the top of the unmanned boat body 7 is fixedly connected with a stagnation plate seat 607, and the stagnation plate seat 607 is located between the two mounting supports 601; a stepper motor 602 is arranged on the top of the unmanned boat body 7, and the output shaft of the stepper motor 602 is connected through a coupling There is a winding piece 608, and two fixing ribs 603 are arranged on the winding piece 608, one end of the two fixing ribs 603 are respectively fixedly connected to the bottom of two stabilizing pressure plates 604, and the outer walls of the two mounting rods 605 are respectively provided with torsion springs 606, one end of the two torsion springs 606 are respectively fixedly connected to the inner wall of one side of the two mounting supports 601, and the other ends of the two torsion springs 606 are respectively fixedly connected to the outer wall of one side of the two stabilizing pressure plates 604; a motor 15 is fixedly connected to one of the mounting frames 16, and the output shaft of the motor 15 is connected to the outer wall of one side of the winding roller 17 through a coupling.

[0024] Specifically, when the unmanned boat body 7 conducts ocean exploration, the unmanned aerial vehicle body 3 falls on the stagnant plate seat 607. At this time, starting the stepper motor 602 can drive the reel 608 to reel, and then the fixed rib 603 is reeled by the reel 608. At this time, the fixed rib 603 can drive the stabilizing plate 604 to rotate on the mounting rod 605, so that the stabilizing plate 604 fixes the bottom bracket of the unmanned aerial vehicle body 3. At the same time, the motor 15 is started, and the motor 15 can drive the reel roller 17 to reel the hoisting cable 9 to prevent the hoisting cable 9 from being scattered until the unmanned boat body 7 is recovered. At this time, the fixed rib 603 is loose, and the torsion spring 606 can drive the stabilizing plate 604 to unfold, so as to start the unmanned aerial vehicle body 3; In a specific application scenario, the stagnation stabilization module 6 is suitable for the stagnation stage of the drone when the unmanned boat is in use, that is, the stagnation stabilization module 6 can assist the drone body 3 to be fixed when in use, so that the drone body 3 can be stably stagnant on the unmanned boat body 7, thereby preventing the drone body 3 from shaking and falling into the sea when the unmanned boat body 7 is in use, thereby avoiding unnecessary losses, and at the same time avoiding damage to the drone that leads to subsequent inability to lift and recover it, so as to increase the practicality and use effect of the device, and when the unmanned boat body 7 is in use, the device can reel in the lifting cable 9 to prevent the lifting cable 9 from falling into the sea in a scattered manner, thereby further improving the use effect of the device.

[0025] Reference Figure 1 , Figure 3 and Figure 8In a preferred embodiment, the two movable blocks 11 are each provided with an electric telescopic rod 12, the output ends of the two electric telescopic rods 12 are fixedly connected to the same fixed clamping rod 13, and the outer walls on both sides of the recovery frame 1 are provided with a plurality of stable openings 2, and the fixed clamping rod 13 is clamped with two of the stable openings 2; a fixed bracket 20 is fixedly connected to the recovery frame 1, a motor 21 is provided on the fixed bracket 20, and the output shaft of the motor 21 is connected to a winding wheel 19 through a coupling; a connecting wire 22 is provided on the inner wall of the winding wheel 19, one end of the connecting wire 22 is fixedly connected to the outer wall of one side of the lifting seat 8, a circular hole is provided on the inner wall of one side of the recovery frame 1, the connecting wire 22 is located inside the circular hole, and two pressure springs 18 are fixedly connected to the inner wall of one side of the recovery frame 1, one end of the two pressure springs 18 are fixedly connected to the outer wall of one side of the lifting seat 8, and the two pressure springs 18 are respectively located on both sides of the connecting wire 22.

[0026] Specifically, when in use, the motor 21 is started, and the motor 21 drives the winding wheel 19 to wind up or loosen the connecting line 22, so as to cooperate with the pressure spring 18 to make the lifting seat 8 move inside the recovery seat frame 1, and at this time, the movable block 11 moves inside the movable opening 5, and when it moves to a suitable position, the electric telescopic rod 12 is extended and retracted, so that the electric telescopic rod 12 drives the fixed clamping rod 13 to enter the stable opening 2, so that the fixed clamping rod 13 is clamped with the stable opening 2, and then the position of the lifting seat 8 is fixed, so as to carry out subsequent lifting; In a specific application scenario, when the device is in use, the position of the lifting seat 8 can be adjusted through the pressure spring 18 and the connecting line 22, so that the distance between the unmanned boat and the mother ship can be adjusted according to the size of the unmanned boat body 7 during lifting and recovery, so as to avoid the collision between the unmanned boat body 7 and the mother ship hull during recovery, so as to increase the safety effect when the device is in use, and when performing lifting adjustments, the position of the lifting seat 8 can be fixed by the electric telescopic rod 12, the fixed clamp rod 13 and the stabilizing mouth 2 to ensure the stability of the device operation.

[0027] Working principle: When in use, start the motor 21, the motor 21 drives the winding wheel 19 to wind up or loosen the connecting line 22, so as to cooperate with the pressure spring 18 to make the lifting seat 8 move inside the recovery seat frame 1, at this time, the movable block 11 moves inside the movable opening 5, and when it moves to a suitable position, the electric telescopic rod 12 is extended and retracted, so that the electric telescopic rod 12 drives the fixed clamping rod 13 to enter the stable opening 2, so that the fixed clamping rod 13 is clamped with the stable opening 2, and then the position of the lifting seat 8 is fixed for subsequent lifting; when recycling, no one is there The machine body 3 falls on the lifting seat 8, at which time the gear lock 411 meshes with the driving gear 406, and the driving motor 407 is started. The driving motor 407 drives the driving gear 406 and the worm member 404 to rotate, and the driving gear 406 drives the gear lock 411 to rotate, so that the gear lock 411 is loosened. At this time, the hydraulic rod 419 is started, and the hydraulic rod 419 drives the cable clamp 420 to clamp and fix the elastic cable end 415. After fixing, the electric push rod 401 runs until the elastic cable end 415 and the cable fixing member 408 are fixed. The worm gear 404 is separated, and the worm gear 405 is meshed with the worm wheel 405. At this time, the worm gear 404 drives the worm wheel 405 to rotate, and then drives the transmission rod 414 to rotate and cooperates with the transmission wheel 413, the transmission belt 412 and the driven wheel 417 to make the shaft rod 418 rotate, and then drives the lifting roller 403 to reel the lifting cable 9 until the unmanned boat body 7 is lifted and recovered; when the unmanned boat body performs ocean exploration, the unmanned boat body 3 falls on the stagnation plate seat 607. At this time, starting the stepper motor 602 can drive the reel 608 to reel , and then the fixing rib 603 is rolled up by the winding piece 608. At this time, the fixing rib 603 can drive the stabilizing pressure plate 604 to rotate on the mounting rod 605, so that the stabilizing pressure plate 604 fixes the bottom bracket of the UAV body 3. At the same time, the motor 15 is started, and the motor 15 can drive the winding roller 17 to roll up the lifting cable 9 to prevent the lifting cable 9 from being scattered until the unmanned boat body 7 is recovered. At this time, the fixing rib 603 is loose, and the torsion spring 606 can drive the stabilizing pressure plate 604 to unfold, so as to start the UAV body 3.

[0028] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A drone hoisting and recovery device for an unmanned boat at sea, comprising a recovery frame (1) and an unmanned boat body (7), characterized in that: The outer walls of both sides of the recovery frame (1) are provided with movable openings (5), the inner walls of the two movable openings (5) are provided with movable blocks (11), and the outer walls of the two movable blocks (11) on the opposite side are fixedly connected to the same lifting seat (8), the top of the lifting seat (8) is fixedly connected to four limiting members (14), and the top of the lifting seat (8) is provided with a drone body (3), the drone body (3) is located between the four limiting members (14), the outer wall of one side of the lifting seat (8) is fixedly connected to a guide frame plate (10), and the lifting seat (8) is located inside the recovery frame (1), the top of the unmanned boat body (7) is provided with a stagnation stabilization module (6), and the top of the unmanned boat body (7) is fixedly connected to two mounting frames (16), and the same winding roller (17) is provided between the two mounting frames (16).

2. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 1 is characterized in that: The convenient recovery module (4) comprises a side bracket (402), wherein the two side brackets (402) are respectively fixedly connected to the outer walls of both sides of the hanging seat (8), the two side brackets (402) are fixedly connected to the electric push rods (401), the output ends of the two electric push rods (401) are fixedly connected to the movable guide frames (416), the two movable guide frames (416) are movably connected to the shaft rods (418), the outer walls of the two shaft rods (418) are fixedly connected to the hanging rollers (403), the inner walls of one side of the two hanging rollers (403) are fixedly connected to the hydraulic rods (419), the output ends of the two hydraulic rods (419) are fixedly connected to the cable clamps (420), and the outer walls of both sides of the hanging seat (8) are provided with installation openings, and the two movable guide frames (416) are respectively located inside the two installation openings.

3. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 2 is characterized in that: The outer walls of the two movable guide frames (416) on opposite sides are movably connected to a same transmission rod (414), the outer wall of the transmission rod (414) is fixedly connected to a worm wheel (405), the outer wall of the transmission rod (414) is fixedly connected to two transmission wheels (413), the outer walls of the two shaft members (418) are fixedly connected to driven wheels (417), the outer walls of the driven wheels (417) and the transmission wheels (413) on the same side are both provided with a same transmission belt (412), and a fixing opening is provided on the inner wall of one side of the hanging seat (8), the inner wall of one side of the fixing opening is fixedly connected to a driving motor (407), the output shaft of the driving motor (407) is connected to a driving gear (406) via a coupling, the outer wall of one side of the driving gear (406) is fixedly connected to a worm member (404), and the worm member (404) is meshed with the worm wheel (405).

4. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 3 is characterized in that: The drone body (3) is provided with a cable fixing member (408), the outer wall of the cable fixing member (408) is movably connected to a gear lock member (411), one side outer wall of the gear lock member (411) is fixedly connected to four connecting rod members (410), one end of the four connecting rod members (410) is fixedly connected to the same limiting ring (409), the inner wall of the limiting ring (409) is in contact with the outer wall of the cable fixing member (408), and an elastic cable end (415) is provided inside the cable fixing member (408), the elastic cable end (415) is located between two cable clamps (420), one end of the elastic cable end (415) is fixedly connected to a hoisting cable (9), and one end of the hoisting cable (9) is fixedly connected to the inner wall of the winding roller (17).

5. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 1, characterized in that: The stagnation stabilization module (6) comprises a mounting support (601), wherein the two mounting supports (601) are respectively fixedly connected to the outer walls of one side of two mounting frames (16), the interiors of the two mounting supports (601) are fixedly connected to mounting rods (605), the outer walls of the two mounting rods (605) are movably connected to stabilization pressure plates (604), and the top of the unmanned boat body (7) is fixedly connected to a stagnation plate seat (607), and the stagnation plate seat (607) is located between the two mounting supports (601).

6. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 5, characterized in that: A stepper motor (602) is arranged on the top of the unmanned boat body (7); the output shaft of the stepper motor (602) is connected to a winding piece (608) via a coupling; two fixing ribs (603) are arranged on the winding piece (608); one end of the two fixing ribs (603) are respectively fixedly connected to the bottom of two stabilizing pressure plates (604); and the outer walls of the two mounting rods (605) are provided with torsion springs (606); one end of the two torsion springs (606) are respectively fixedly connected to the inner wall of one side of the two mounting supports (601); and the other end of the two torsion springs (606) are respectively fixedly connected to the outer wall of one side of the two stabilizing pressure plates (604).

7. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 1, characterized in that: One of the mounting frames (16) is fixedly connected to a motor 1 (15), and the output shaft of the motor 1 (15) is connected to an outer wall of one side of the winding roller (17) via a coupling.

8. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 1, characterized in that: The two movable blocks (11) are each provided with an electric telescopic rod (12), the output ends of the two electric telescopic rods (12) are fixedly connected to the same fixed clamping rod (13), and the outer walls on both sides of the recovery seat frame (1) are each provided with a plurality of stable openings (2), and the fixed clamping rod (13) is clamped with two of the stable openings (2).

9. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 8, characterized in that: The recovery frame (1) is fixedly connected to a fixed bracket (20), a second motor (21) is arranged on the fixed bracket (20), and an output shaft of the second motor (21) is connected to a reel (19) via a coupling.

10. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 9, characterized in that: The inner wall of the reel (19) is provided with a connecting line (22), one end of the connecting line (22) is fixedly connected to the outer wall of one side of the hanging seat (8), a circular hole is opened on the inner wall of one side of the recovery seat frame (1), the connecting line (22) is located inside the circular hole, and two pressure springs (18) are fixedly connected to the inner wall of one side of the recovery seat frame (1), one end of the two pressure springs (18) are fixedly connected to the outer wall of one side of the hanging seat (8), and the two pressure springs (18) are respectively located on both sides of the connecting line (22).

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