An Unmanned Aerial Vehicle Hoisting and Recovery Device for an Unmanned Surface Vehicle

Abstract

The present invention belongs to the technical field of unmanned surface vessels, in particular to a drone hoisting and recovery device for an unmanned surface vessel. Aiming at the problem that manual assistance is required for the disassembly and reinstallation of the hoisting cable during recovery, which is inconvenient to operate and thus affects the hoisting and recovery efficiency, the following solution is proposed. It includes a recovery seat frame and an unmanned surface vessel body. Activity openings are provided on the outer walls on both sides of the recovery seat frame. Activity block members are arranged on the inner walls of the two activity openings, and a hoisting seat is fixedly connected to the opposite outer walls of the two activity block members. Four limiting members are fixedly connected to the top of the hoisting seat. The disclosed drone hoisting and recovery device for an unmanned surface vessel of the present invention has the function of facilitating the hoisting and recovery of the unmanned surface vessel. When in use, the device can automatically disassemble the hoisting cable on the drone body and can refix the hoisting cable to the recovery device without manual assistance, with a high degree of automation and convenient operation.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned surface vessels, and particularly to a drone hoisting and recovery device for an unmanned surface vessel. Background Art

[0002] An unmanned surface vessel is an unmanned-operated surface ship, mainly used to perform tasks that are dangerous and unsuitable for manned vessels. Once equipped with advanced control systems, sensor systems, communication systems, and weapon systems, it can perform various war and non-war military tasks, such as reconnaissance, search, detection, and mine clearance; search and rescue, navigation, and hydrographic survey; anti-submarine warfare, anti-special operations, as well as patrol, anti-piracy, and anti-terrorism attacks.

[0003] Due to the shallow draft and strong maneuverability of the unmanned surface vessel, it can excellently perform tasks such as marine surveying and mapping, providing marine geographical information, data, and basic graphics, detecting marine meteorological elements, marine water quality elements, marine biological elements, etc., providing timely and comprehensive information for the country to take disaster relief measures in a timely manner, and facilitating the cruise protection of marine economic targets and the monitoring of illegal marine activities. Therefore, the development and utilization of unmanned surface vessels are of great significance.

[0004] The existing drone hoisting and recovery devices for unmanned surface vessels mostly use hoisting cables to assist in recovery during recovery. Therefore, during recovery, the hoisting cable on the drone needs to be connected to the recovery device. However, during operation, manual assistance is required for the disassembly and reinstallation of the hoisting cable, which is inconvenient to operate and thus affects the hoisting and recovery efficiency. Summary of the Invention

[0005] The present invention discloses a drone hoisting and recovery device for an unmanned surface vessel, aiming to solve the technical problem in the background art that the existing drone hoisting and recovery devices for unmanned surface vessels mostly use hoisting cables to assist in recovery during recovery. Therefore, during recovery, the hoisting cable on the drone needs to be connected to the recovery device. However, during operation, manual assistance is required for the disassembly and reinstallation of the hoisting cable, which is inconvenient to operate and thus affects the hoisting and recovery efficiency.

[0006] An unmanned aerial vehicle hoisting and recovery device for an unmanned surface vehicle proposed by the present invention includes a recovery seat frame and an unmanned surface vehicle body. Activity openings are provided on the outer walls on both sides of the recovery seat frame. Activity blocks are arranged on the inner walls of the two activity openings. A hoisting seat is fixedly connected to the outer walls on the opposite sides of the two activity blocks. Four limiting members are fixedly connected to the top of the hoisting seat. An unmanned aerial vehicle body is arranged on the top of the hoisting seat. The unmanned aerial vehicle body is located between the four limiting members. A guiding frame plate is fixedly connected to the outer wall on one side of the hoisting seat. The hoisting seat is located inside the recovery seat frame. A stagnation and stabilization module is arranged on the top of the unmanned surface vehicle body. Two mounting frames are fixedly connected to the top of the unmanned surface vehicle body. A winding roller is arranged between the two mounting frames.

[0007] By providing a recovery seat frame, an unmanned surface vehicle body, an unmanned aerial vehicle body, activity blocks, a hoisting seat, limiting members, a convenient recovery module, a guiding frame plate, a stagnation and stabilization module, a winding roller, and mounting frames, the activity blocks and the activity openings can limit the movement of the hoisting seat during use. The limiting members can limit the position of the unmanned aerial vehicle body during use to ensure the subsequent disassembly operation of the hoisting cable; the guiding frame plate can cooperate with the convenient recovery module to guide the winding and hoisting position of the hoisting cable to prevent the hoisting cable from being wound between the two hoisting rollers. The convenient recovery module can increase the automation effect during the operation of the device and improve the convenience of use of the device; the stagnation and stabilization module can stably fix the unmanned aerial vehicle body on the unmanned surface vehicle body to prevent damage to the unmanned aerial vehicle from causing subsequent inability to hoist and recover, so as to meet the use requirements of the device.

[0008] In a preferred embodiment, the convenient recycling module includes side brackets, two side brackets are respectively fixedly connected to the outer walls on both sides of the lifting seat, electric push rods are fixedly connected to both side brackets, the output ends of the two electric push rods are fixedly connected with movable guide frames, shaft rods are movably connected to both movable guide frames, hoisting rollers are fixedly connected to the outer walls of the two shaft rods, hydraulic rods are fixedly connected to the inner walls on one side of the two hoisting rollers, cable clamping members are fixedly connected to the output ends of the two hydraulic rods, and installation openings are formed in the outer walls on both sides of the lifting seat, and the two movable guide frames are respectively located inside the two installation openings; a transmission rod is movably connected to the opposite outer walls of the two movable guide frames, a worm gear is fixedly connected to the outer wall of the transmission rod, two transmission wheels are fixedly connected to the outer wall of the transmission rod, driven wheels are fixedly connected to the outer walls of the two shaft rods, the driven wheels and the transmission wheels on the same side are provided with the same transmission belt on the outer walls, and a fixing opening is formed in the inner wall on one side of the lifting seat, a driving motor is fixedly connected to the inner wall on one side of the fixing opening, the output shaft of the driving motor is connected to a driving gear through a coupling, a worm rod member is fixedly connected to the outer wall of the driving gear, and the worm rod member meshes with the worm gear; a cable fixing member is arranged on the UAV body, a gear locking member is movably connected to the outer wall of the cable fixing member, four connecting rod members are fixedly connected to the outer wall of one side of the gear locking member, one ends of the four connecting rod members are fixedly connected to the same limiting ring, the inner wall of the limiting ring is in contact with the outer wall of the cable fixing member, and an elastic cable end is arranged inside the cable fixing member, the elastic cable end is located between the two cable clamping members, one end of the elastic cable end is fixedly connected to a hoisting cable, and one end of the hoisting cable is fixedly connected to the inner wall of the winding roller.

[0009] By providing the convenient recycling module, the convenient recycling module can automatically disassemble the hoisting cable installed on the UAV body during use, and after the hoisting cable is disassembled, the device can automatically reinstall it on the recycling equipment, thereby increasing the convenience effect of the device during use. Moreover, during hoisting and recycling, the convenient recycling module can increase the automation effect of the device, reduce the working intensity of the staff during the recycling operation, so as to increase the use effect of the device, and further improve the hoisting and recycling efficiency when the device is running; after the gear locking member is loosened, the connecting rod member and the limiting ring can prevent it from falling off, which is convenient for the connection of the hoisting cable, the elastic cable end and the cable fixing member during the subsequent use of the unmanned boat.

[0010] In a preferred solution, the stagnation and stabilization module includes mounting brackets. The two mounting brackets are respectively fixedly connected to the outer walls of one sides of the two mounting frames. Mounting rods are fixedly connected inside both of the two mounting brackets. Stabilizing pressing plates are movably connected to the outer walls of both of the two mounting rods. A stagnation plate seat is fixedly connected to the top of the unmanned boat body, and the stagnation plate seat is located between the two mounting brackets. A stepping motor is arranged on the top of the unmanned boat body. The output shaft of the stepping motor is connected to a winding member through a coupling. Two fixing ribs are arranged on the winding member. One ends of the two fixing ribs are respectively fixedly connected to the bottoms of the two stabilizing pressing plates. Torsion springs are arranged on the outer walls of both of the two mounting rods. One ends of the two torsion springs are respectively fixedly connected to the inner walls of one sides of the two mounting brackets. The other ends of the two torsion springs are respectively fixedly connected to the outer walls of one sides of the two stabilizing pressing plates. A first motor is fixedly connected to one of the mounting frames, and the output shaft of the first motor is connected to the outer wall of one side of a winding roller through a coupling.

[0011] By providing the stagnation and stabilization module, the stagnation and stabilization module can assist in fixing the unmanned aerial vehicle body during use, enabling the unmanned aerial vehicle body to stably stagnate on the unmanned boat body, avoiding the situation that the unmanned aerial vehicle body shakes and falls into the sea during the use of the unmanned boat body, thereby avoiding unnecessary losses. At the same time, it avoids damage to the unmanned aerial vehicle, resulting in the inability to hoist and recover it later, so as to increase the practicability and use effect of the device. Moreover, during the use of the unmanned boat body, the device can wind up the hoisting cable, preventing the hoisting cable from being scattered and falling into the sea, further improving the use effect of the device.

[0012] In a preferred solution, electric telescopic rods are arranged on both of the two movable block members. The output ends of the two electric telescopic rods are fixedly connected to the same fixed clamping rod. A plurality of stable openings are formed in the outer walls of both sides of the recovery seat frame, and the fixed clamping rod is clamped with two of the stable openings. A fixed bracket is fixedly connected to the recovery seat frame. A second motor is arranged on the fixed bracket, and the output shaft of the second motor is connected to a winding wheel through a coupling. A connecting line is arranged on the inner wall of the winding wheel. One end of the connecting line is fixedly connected to the outer wall of one side of the hoisting seat. A circular hole is formed in the inner wall of one side of the recovery seat frame, and the connecting line is located inside the circular hole. Two pressure springs are fixedly connected to the inner wall of one side of the recovery seat frame. One ends of the two pressure springs are respectively fixedly connected to the outer wall of one side of the hoisting seat, and the two pressure springs are respectively located on both sides of the connecting line.

[0013] By setting a pressure spring, a connecting line, a fixed bracket, a second motor, a winding wheel, a stabilizing port, an electric telescopic rod and a fixed clamping rod, when the device is in use, the position of the lifting seat can be adjusted through the pressure spring and the connecting line, so as to adjust the distance between the unmanned boat and the mother ship according to the size of the unmanned boat body during the operation of lifting and recycling, so as to avoid the collision between the unmanned boat body and the hull of the mother ship during recycling, and increase the safety effect when the device is in use. Moreover, when making lifting adjustment, the position of the lifting seat can be fixed through the electric telescopic rod, the fixed clamping rod and the stabilizing port to ensure the stability of the device operation.

[0014] As can be seen from the above, an unmanned boat's UAV lifting and recycling device provided by the present invention has the function of facilitating the lifting and recycling of the unmanned boat. When in use, the device can automatically disassemble the lifting cable on the UAV body and can fix the lifting cable to the recycling device again, without manual assistance, with high automation and convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of an unmanned boat's UAV lifting and recycling device proposed by the present invention;

[0016] Figure 2 It is a schematic diagram of the overall bottom view structure of an unmanned boat's UAV lifting and recycling device proposed by the present invention;

[0017] Figure 3 It is a schematic diagram of the structure of the convenient recycling module of an unmanned boat's UAV lifting and recycling device proposed by the present invention;

[0018] Figure 4 It is a schematic diagram of the combined structure of the lifting roller and the worm member of an unmanned boat's UAV lifting and recycling device proposed by the present invention;

[0019] Figure 5 It is a schematic diagram of the combined structure of the gear lock and the driving gear of an unmanned boat's UAV lifting and recycling device proposed by the present invention;

[0020] Figure 6 It is a schematic diagram of the combined structure of the unmanned boat body and the mounting frame of an unmanned boat's UAV lifting and recycling device proposed by the present invention;

[0021] Figure 7 It is a schematic diagram of the structure of the stagnation and stability module of an unmanned boat's UAV lifting and recycling device proposed by the present invention;

[0022] Figure 8 It is a schematic diagram of the combined structure of the pressure spring and the fixed bracket of an unmanned boat's UAV lifting and recycling device proposed by the present invention.

[0023] In the figure: 1, recovery mount; 2, stable port; 3, UAV body; 4, convenient recovery module; 401, electric push rod; 402, side bracket; 403, hoisting roller; 404, worm rod member; 405, worm gear; 406, drive gear; 407, drive motor; 408, cable fixing member; 409, limit ring; 410, connecting rod member; 411, gear locking member; 412, transmission belt; 413, transmission wheel; 414, transmission rod; 415, elastic cable end; 416, movable guide frame; 417, driven wheel; 418, shaft rod member; 419, hydraulic rod; 420, cable clamping member; 5, movable port; 6, stagnation stability module; 601, mounting support; 602, stepper motor; 603, fixing rib; 604, stable pressing plate; 605, mounting rod; 606, torsion spring; 607, stagnation plate seat; 608, winding member; 7, unmanned boat body; 8, hoisting seat; 9, hoisting cable; 10, guiding frame plate; 11, movable block member; 12, electric telescopic rod; 13, fixed clamping rod; 14, limiting member; 15, motor one; 16, mounting frame; 17, winding roller; 18, pressure spring; 19, winding wheel; 20, fixed support; 21, motor two; 22, connecting line. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0025] An unmanned boat UAV hoisting and recovery device disclosed by the present invention is mainly applied to scenarios where manual assistance is required for the disassembly and reinstallation of hoisting cables during recovery, which is inconvenient to operate and thus affects the hoisting and recovery efficiency.

[0026] Referring to Figure 1-8 , an unmanned boat UAV hoisting and recovery device includes a recovery mount 1 and an unmanned boat body 7. Movable ports 5 are provided on the outer walls of both sides of the recovery mount 1. Movable block members 11 are provided on the inner walls of the two movable ports 5. A hoisting seat 8 is fixedly connected to the opposite outer walls of the two movable block members 11. Four limiting members 14 are fixedly connected to the top of the hoisting seat 8. A UAV body 3 is provided on the top of the hoisting seat 8. The UAV body 3 is located between the four limiting members 14. A guiding frame plate 10 is fixedly connected to one outer wall of the hoisting seat 8. The hoisting seat 8 is located inside the recovery mount 1. A stagnation stability module 6 is provided on the top of the unmanned boat body 7. Two mounting frames 16 are fixedly connected to the top of the unmanned boat body 7. A winding roller 17 is provided between the two mounting frames 16.

[0027] Specifically, the movable block 11 and the movable opening 5 can limit the movement of the lifting seat 8 during use, and the limiting member 14 can limit the position of the UAV body 3 during use to ensure the subsequent disassembly operation of the lifting cable 9; the guiding frame plate 10 can cooperate with the convenient recovery module 4 to guide the winding and lifting position of the lifting cable 9 to prevent the lifting cable 9 from being wound between the two winding rollers 403, and the convenient recovery module 4 can increase the automation effect during the operation of the device and improve the convenience of use of the device; the stagnation and stabilization module 6 can stably fix the UAV body 3 on the unmanned boat body 7 to prevent damage to the UAV from causing subsequent inability to lift and recover, so as to meet the use requirements of the device.

[0028] Refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5, in a preferred embodiment, the convenient recycling module 4 includes side brackets 402. The two side brackets 402 are respectively fixedly connected to the outer walls on both sides of the lifting seat 8. Electric push rods 401 are fixedly connected to both side brackets 402. The output ends of the two electric push rods 401 are fixedly connected with movable guide frames 416. Shaft rods 418 are connected to both movable guide frames 416 through bearings. Lifting rollers 403 are fixedly connected to the outer walls of the two shaft rods 418. Hydraulic rods 419 are fixedly connected to the inner walls on one side of the two lifting rollers 403. Cable clamp members 420 are fixedly connected to the output ends of the two hydraulic rods 419. Installation openings are formed in the outer walls on both sides of the lifting seat 8, and the two movable guide frames 416 are respectively located inside the two installation openings. A transmission rod 414 is connected to the opposite outer walls of the two movable guide frames 416 through bearings. A worm gear 405 is fixedly connected to the outer wall of the transmission rod 414. Two transmission wheels 413 are fixedly connected to the outer wall of the transmission rod 414. Driven wheels 417 are fixedly connected to the outer walls of the two shaft rods 418. A transmission belt 412 is provided on the outer walls of the driven wheel 417 and the transmission wheel 413 on the same side. A fixing opening is formed in the inner wall on one side of the lifting seat 8. A driving motor 407 is fixedly connected to the inner wall of the fixing opening. The output shaft of the driving motor 407 is connected to a driving gear 406 through a coupling. A worm rod member 404 is fixedly connected to the outer wall of the driving gear 406. The worm rod member 404 meshes with the worm gear 405. A cable fixing member 408 is provided on the UAV body 3. A gear locking member 411 is connected to the outer wall of the cable fixing member 408 through threads. Four link members 410 are fixedly connected to the outer wall of the gear locking member 411. The ends of the four link members 410 are 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. An elastic cable end 415 is provided inside the cable fixing member 408. The elastic cable end 415 is located between the two cable clamp members 420. One end of the elastic cable end 415 is fixedly connected to a lifting cable 9. One end of the lifting cable 9 is fixedly connected to the inner wall of the winding roller 17.

[0029] Specifically, during recovery, the UAV body 3 lands on the lifting seat 8. At this time, the gear locking part 411 meshes with the driving gear 406. The driving motor 407 is started, and the driving motor 407 drives the driving gear 406 and the worm rod 404 to rotate, and the driving gear 406 drives the gear locking part 411 to rotate, making the gear locking part 411 loose. At this time, the hydraulic rod 419 is started, and the hydraulic rod 419 drives the cable clamping part 420 to clamp and fix the elastic cable end 415. After fixation, the electric push rod 401 operates until the elastic cable end 415 separates from the cable fixing part 408. At the same time, the worm rod 404 meshes with the worm gear 405. At this time, the worm rod 404 drives the worm gear 405 to rotate, and then drives the transmission rod 414 to rotate. Through the cooperation of the transmission wheel 413, the transmission belt 412 and the driven wheel 417, the shaft rod 418 is driven to rotate, and then the lifting roller 403 is driven to wind up the lifting cable 9 until the recovery of the unmanned boat body 7 is completed. When the unmanned boat body 7 is lowered and operated, the elastic cable end 415 can be reconnected to the cable fixing part 408 by moving the electric push rod 401, and the UAV body 3 can be reconnected to the lifting cable 9 by reversing the driving gear 406, further increasing the automation effect of the device;

[0030] In a specific application scenario, the convenient recovery module 4 is applicable to the disassembly and reinstallation of the lifting cable 9 for the recovery of the unmanned boat. That is, when the convenient recovery module 4 is used, it can automatically disassemble the lifting cable 9 installed on the UAV body 3, and after the lifting cable 9 is disassembled, the device can automatically reinstall it on the recovery equipment, thereby increasing the convenience effect of the device during use. And during lifting and recovery, the convenient recovery module 4 can increase the automation effect of the device, reduce the working intensity 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 when the device is running;

[0031] It should be noted that after the gear locking part 411 is loosened, the connecting rod 410 and the limiting ring 409 can prevent it from falling off, so as to facilitate the connection of the lifting cable 9, the elastic cable end 415 and the cable fixing part 408 during the subsequent use of the unmanned boat.

[0032] Refer to Figure 1 、 Figure 2 、 Figure 6 and Figure 7, in a preferred embodiment, the stagnation and stabilization module 6 includes mounting brackets 601. The two mounting brackets 601 are respectively fixedly connected to the outer walls of one side of the two mounting frames 16. Inside each of the two mounting brackets 601, there is fixedly connected a mounting rod 605. The outer walls of the two mounting rods 605 are respectively connected with a stabilizing pressing plate 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 brackets 601. A stepping motor 602 is arranged on the top of the unmanned boat body 7. The output shaft of the stepping motor 602 is connected with a winding member 608 through a coupling. There are two fixing ribs 603 arranged on the winding member 608. One ends of the two fixing ribs 603 are respectively fixedly connected to the bottoms of the two stabilizing pressing plates 604. And torsion springs 606 are arranged on the outer walls of the two mounting rods 605. One ends of the two torsion springs 606 are respectively fixedly connected to the inner walls of one sides of the two mounting brackets 601. The other ends of the two torsion springs 606 are respectively fixedly connected to the outer walls of one sides of the two stabilizing pressing plates 604. A first motor 15 is fixedly connected to one of the mounting frames 16. And the output shaft of the first motor 15 is connected with the outer wall of one side of the winding roller 17 through a coupling.

[0033] Specifically, when the unmanned boat body 7 conducts ocean exploration, the unmanned aerial vehicle body 3 lands on the stagnation plate seat 607. At this time, starting the stepping motor 602 can drive the winding member 608 to wind, and then wind the fixing rib 603 through the winding member 608. At this time, the fixing rib 603 can drive the stabilizing pressing plate 604 to rotate on the mounting rod 605, so as to fix the bottom bracket of the unmanned aerial vehicle body 3 by the stabilizing pressing plate 604. At the same time, the first motor 15 is started, and the first motor 15 can drive the winding roller 17 to wind 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 fixing rib 603 loosens, and the torsion spring 606 can drive the stabilizing pressing plate 604 to unfold, so as to facilitate the start of the unmanned aerial vehicle body 3.

[0034] In a specific application scenario, the stagnation and stabilization module 6 is applicable to the stagnation link of the unmanned aerial vehicle when the unmanned boat is in use, that is, the stagnation and stabilization module 6 can assist in fixing the unmanned aerial vehicle body 3 when in use, so that the unmanned aerial vehicle body 3 can stably stagnate on the unmanned boat body 7, avoiding the situation that the unmanned aerial vehicle body 3 shakes and falls into the sea water when the unmanned boat body 7 is in use, thereby avoiding unnecessary losses. At the same time, it avoids the subsequent inability to hoist and recover due to the damage of the unmanned aerial vehicle, so as to increase the practicability and use effect of the device. And when the unmanned boat body 7 is in use, the device can wind the hoisting cable 9 to prevent the hoisting cable 9 from being scattered and falling into the sea water, further improving the use effect of the device.

[0035] Refer to Figure 1 、 Figure 3 and Figure 8, in a preferred embodiment, electric telescopic rods 12 are provided on both of the two movable block members 11. The output ends of the two electric telescopic rods 12 are fixedly connected to the same fixed clamping rod 13. A plurality of stable openings 2 are formed in the outer walls on both sides of the recovery seat frame 1, 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 seat frame 1. A second motor 21 is provided on the fixed bracket 20, and the output shaft of the second motor 21 is connected to a winding wheel 19 through a coupling. A connecting line 22 is provided on the inner wall of the winding wheel 19. One end of the connecting line 22 is fixedly connected to the outer wall of one side of the lifting seat 8. A circular hole is formed in the inner wall of one side of the recovery seat frame 1. The connecting line 22 is located inside the circular hole. Two pressure springs 18 are fixedly connected to the inner wall of one side of the recovery seat frame 1. One end of each of the two pressure springs 18 is fixedly connected to the outer wall of one side of the lifting seat 8. The two pressure springs 18 are respectively located on both sides of the connecting line 22.

[0036] Specifically, during use, the second motor 21 is started. The second motor 21 drives the winding wheel 19 to wind or loosen the connecting line 22, so as to cooperate with the pressure springs 18 to make the lifting seat 8 move inside the recovery seat frame 1. At this time, the movable block member 11 moves inside the movable opening 5. When it moves to a suitable position, the electric telescopic rod 12 extends or retracts, 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 to perform subsequent lifting.

[0037] In a specific application scenario, when the device is in use, the position of the lifting seat 8 can be adjusted through the pressure springs 18 and the connecting line 22, so as to adjust the distance between the unmanned boat and the mother ship according to the size of the unmanned boat body 7 during the operation of lifting and recovery, so as to avoid the unmanned boat body 7 colliding with the hull of the mother ship during recovery, so as to increase the safety effect when the device is in use. And when performing lifting adjustment, the position of the lifting seat 8 can be fixed through the electric telescopic rod 12, the fixed clamping rod 13 and the stable opening 2 to ensure the stability of the device operation.

[0038] Working principle: When in use, start the second motor 21. The second motor 21 drives the winding wheel 19 to wind or loosen the connecting wire 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 port 5. When it moves to a suitable position, the electric telescopic rod 12 extends and retracts, so that the electric telescopic rod 12 drives the fixed clamping rod 13 into the stable port 2, so that the fixed clamping rod 13 is clamped with the stable port 2, and then the position of the lifting seat 8 is fixed to carry out subsequent lifting; When recovering, the UAV body 3 falls on the lifting seat 8. At this time, the gear lock 411 meshes with the driving gear 406. Start the driving motor 407. The driving motor 407 drives the driving gear 406 and the worm rod 404 to rotate, and makes the driving gear 406 drive the gear lock 411 to rotate, so that the gear lock 411 is loosened. At this time, the hydraulic rod 419 is started. The hydraulic rod 419 drives the cable clamping member 420 to clamp and fix the elastic cable end 415. After fixation, the electric push rod 401 operates until the elastic cable end 415 is separated from the cable fixing member 408. At the same time, the worm rod 404 meshes with the worm gear 405. At this time, the worm rod 404 drives the worm gear 405 to rotate, and then drives the transmission rod 414 to rotate and cooperate 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 wind the lifting cable 9 until the unmanned boat body 7 is lifted and recovered; When the unmanned boat body conducts ocean exploration, the UAV body 3 falls on the stagnant plate seat 607. At this time, starting the stepping motor 602 can drive the winding member 608 to wind, and then wind the fixing rib 603 through the winding member 608. At this time, the fixing rib 603 can drive the stable pressing plate 604 to rotate on the installation rod 605, so that the stable pressing plate 604 fixes the bottom bracket of the UAV body 3. At the same time, the first motor 15 is started. The first motor 15 can drive the winding roller 17 to wind 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 loosened, and the torsion spring 606 can drive the stable pressing plate 604 to unfold to facilitate the start of the UAV body 3.

[0039] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and 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 seat 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 limit 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 limit 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 seat 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); The convenient recovery module (4) is capable of automatically disassembling the hanging cable (9) installed on the drone body (3), and after the hanging cable (9) is disassembled, it can be automatically reinstalled on the recovery equipment through the device; 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.

2. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 1, 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).

3. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 2 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).

4. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 1 is 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).

5. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 4, 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).

6. 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.

7. 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).

8. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 7, 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.

9. The drone hoisting and recovery equipment for an unmanned boat at sea according to claim 8, 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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