Special-shaped parachute bay device and parachute system partition installation and use method

Abstract

The invention discloses a special-shaped parachute bay device and a parachute system partition mounting and using method, and belongs to the field of unmanned aerial vehicle recycling. The device comprises a fuselage cabin, a special-shaped parachute cabin, a launching cabin, a parachute system and a parachute cabin cover. The upper opening of the fuselage cabin is arranged in the fuselage; the special-shaped parachute bay is a hollow bay body with an opening in the top; the special-shaped parachute bay is provided with an inner concave part used for containing the launching bay. The launching cabin is a hollow cabin body with an open top and is used for mounting a parachute launching rocket; the launching cabin and the special-shaped parachute cabin are opened upwards and are independently fixed in the fuselage cabin; other components of the parachute system except the parachute launching rocket are mounted in the special-shaped parachute bay in a partitioned and stacked manner according to the cabin exiting sequence; and the parachute cabin cover covers the opening of the fuselage cabin. The launching cabin and the special-shaped parachute cabin are independently installed in the launching cabin in a space fusion mode, the parachute system is installed in a partitioned mode according to the cabin exiting sequence, and the problems that an existing launching cabin is installed in the parachute cabin, the parachute cabin and the parachute system are prone to ablation or impact damage, and the parachute system is prone to hooking in the parachute exiting process are solved.

Description

Technical Field

[0001] The invention belongs to the field of unmanned aerial vehicle recovery, and in particular relates to a special-shaped parachute cabin device used by a unmanned aerial vehicle and a method for installing and using a parachute system in a partitioned manner in the parachute cabin. Background Art

[0002] Drones are widely used in both military and civilian fields due to their low cost and diverse missions. Drones have various take-off and landing methods, and common recovery methods include parachute recovery, taxi recovery, and arresting recovery. Parachute recovery is a conventional recovery method for drones. It has the characteristics of low ground support requirements and flexible recovery in the field. Small and medium-sized drones, especially military drones, generally use parachute recovery.

[0003] The parachute recovery method can be divided into passive parachute recovery method and active parachute recovery method according to the way the parachute system exits the cabin. The passive parachute recovery method refers to the opening of the parachute cabin cover when the drone is recovered, and the guide parachute is thrown out. After the guide parachute is fully inflated, the main parachute is towed out of the cabin. In this recovery method, the guide parachute and the main parachute in the parachute system need to be straightened and inflated backwards, and the parachute system is prone to hooking and entanglement with propellers, tail wings and other structural parts. The active parachute recovery method refers to the active pulling of the parachute system vertically upwards in a very short time through the parachute opening device when the drone is recovered. The canopy can be quickly inflated and fully inflated, and the parachute system can effectively avoid propellers, tail wings and other structural parts. The active parachute recovery method has been applied and technically developed in more and more drone models in recent years due to its high reliability in opening the parachute.

[0004] The core components of the active parachute recovery device include the parachute cabin, the launch cabin and the parachute system. The shape of the parachute cabin in the current active parachute recovery device is a regular rectangular parallelepiped with an opening on the upper surface. The remaining surfaces except the opening together constitute a hollow cabin that can accommodate the parachute system. When installing the parachute system, the launch cabin is first installed on the inner wall of the parachute cabin, and then the parachute bag and accessories are installed together in the remaining space of the parachute cabin according to space requirements. The recovery device has the following problems: First, the launch cabin is installed in the parachute cabin. The impact overload during the parachute shooting will act on the side wall of the parachute cabin. The tail flame of the parachute shooting rocket will burn the parachute cabin structure and the parachute system. Therefore, the parachute cabin and the parachute system are easily damaged and usually have only a few service lives. Second, the parachute system is arranged in the same cabin as the launch cabin. At the moment of parachute shooting, the parachute system is easy to hook with the base structure of the launch cabin. The hooking will cause damage to the parachute system, which will reduce the recovery performance of the parachute system at the least, and fail to open the parachute at the worst, causing a drone recovery accident. Summary of the invention

[0005] Technical problem to be solved: In order to avoid the deficiencies of the prior art, the present invention provides a special-shaped parachute cabin device and a method for installing and using a parachute system in different zones. The parachute cabin is designed as a special-shaped structure, so that the launch cabin is placed at the special-shaped part of the parachute cabin, and is kept independent of the parachute cabin and installed together in the fuselage cabin of the UAV. At the same time, the special-shaped parachute cabin is partitioned, and the parachute system is installed in different zones according to the order of leaving the cabin using a stacking method. This solves the problem that the existing launch cabin is easily burned or damaged by impact when installed in the parachute cabin, and the parachute system is easily hooked when the parachute is released.

[0006] The technical solution of the present invention is: a special-shaped parachute cabin device, comprising a fuselage cabin, a special-shaped parachute cabin, a launch cabin, a parachute system and a parachute cabin cover;

[0007] The fuselage cabin is arranged in the fuselage of the UAV, and its upper part is open, and the fuselage cabin is used to accommodate and install other components;

[0008] The special-shaped parachute cabin is a special-shaped hollow cabin structure with an open top, which is used to accommodate the parachute system; the side wall of the special-shaped parachute cabin is provided with an inner recess, the axis of the inner recess is parallel to the vertical geometric center line of the special-shaped parachute cabin, and the inner recess is used to accommodate the launch cabin;

[0009] The launch cabin is a hollow cabin structure with an open top, and is used to install the parachute rocket of the parachute system; the outer contour of the side wall of the launch cabin matches the inner concave part, and the launch cabin is coaxially embedded in the inner concave part; the launch cabin and the special-shaped parachute cabin are both opened upward and independently fixed in the fuselage cabin, and the installation height of the open end of the launch cabin is not higher than the open end of the special-shaped parachute cabin;

[0010] The remaining components of the parachute system, except for the parachute rocket, are stacked and installed in the special-shaped parachute cabin in a partitioned manner according to the order of leaving the cabin. The parachute system is used for parachute recovery of the UAV;

[0011] The parachute cabin cover is fitted over the opening of the fuselage cabin and is used for closing or opening the opening of the fuselage cabin.

[0012] The technical solution of the present invention is: the special-shaped parachute cabin device also includes a fireproof plate, which is used to prevent the jet of the parachute rocket from entering the fuselage cabin; the fireproof plate is located at the open end of the launch cabin and is fixedly connected to the fuselage cabin. A through hole consistent with the opening at the top of the launch cabin is provided in the middle of the fireproof plate, and the plate surface around the through hole covers the gap between the launch cabin and the special-shaped parachute cabin, and between the launch cabin and the fuselage cabin.

[0013] The technical solution of the present invention is: the upper opening of the fuselage cabin satisfies the vertical disassembly and assembly of the special-shaped parachute cabin and the launch cabin, the opening circumference of the fuselage cabin is provided with an inner flange of a sunken structure, the open end circumference of the special-shaped parachute cabin is provided with an outer flange structure except for the inner concave part, the outer flange is overlapped on the inner flange and fixedly connected by screws; the launch cabin is fixed to the structural inner wall of the fuselage cabin by a mounting mechanism;

[0014] The open end of the special-shaped parachute cabin is provided with a front opening of the parachute cabin near the head of the drone, and the front end of the upper opening of the fuselage cabin is provided with a parachute belt groove matching the front opening of the parachute cabin for passing the front strap of the parachute system; the open end of the special-shaped parachute cabin is provided with a rear opening of the parachute cabin near the tail of the drone for passing the rear strap of the parachute system.

[0015] The technical solution of the present invention is: the calculation formula of the sinking depth of the inner turning edge of the fuselage cabin is:

[0016] The sinking depth of the inner flange = the thickness of the outer flange of the special-shaped parachute cabin + the thickness of the parachute cabin cover + the thickness of the sealing coating;

[0017] Wherein, the sealing coating thickness refers to the thickness of the sealing coating located between the outer flange of the special-shaped parachute cabin and the parachute cabin cover, which is used to seal the special-shaped parachute cabin and the parachute cabin cover.

[0018] The technical solution of the present invention is: the mounting mechanism includes a mounting bracket and a mounting seat; the mounting seat is fixed to the structural inner wall at the front end of the fuselage cabin, and a dovetail slide groove is vertically provided on one side of the mounting seat; the mounting bracket is fixed to the outer side wall of the launch cabin, and a protrusion is provided on one side of the mounting bracket along the axial direction of the launch cabin, and the protrusion is inserted and slidably matched with the dovetail slide groove; the mounting bracket and the mounting seat are correspondingly provided with limit holes, and the limit is locked by a quick-release pin passed through the limit hole.

[0019] The technical solution of the present invention is as follows: the parachute system comprises a front sling, a rear sling, a detaching joint, an upper sling, a main parachute, a connecting strap and a parachute rocket; when the parachute system is in an extended state, one end of the two front slings is respectively fixed to the front sling points on both sides of the UAV fuselage, one end of the rear sling is fixed to the rear sling point arranged inside the rear end of the fuselage cabin, the other end of the two front slings intersects with the other end of the rear sling and is fixedly connected to one end of the detaching joint; the other end of the detaching joint is connected to the mouth end of the main parachute through the upper sling; the top end of the main parachute is connected to the tail of the parachute rocket through the connecting strap; when the parachute system is not in an extended state, the front sling, the rear sling, the detaching joint, the upper sling and the main parachute are all located in the special-shaped parachute cabin; the parachute rocket is placed in the launch cabin with its head facing upward;

[0020] The parachute rocket is electrically connected to the onboard flight control via a parachute control cable, and is used to control the ignition of the parachute rocket; the detachment joint is electrically connected to the onboard flight control via a transfer cable and a main parachute separation control cable, and is used to control the detachment joint to separate the main parachute when the UAV touches the ground.

[0021] The technical solution of the present invention is: the adapter cable is pre-buried in the rear sling, one end of which is electrically connected to the drop-off connector, and the other end is electrically connected to the onboard flight control machine through the main parachute separation control cable fixed at the rear suspension point.

[0022] The technical solution of the present invention is: one end of the parachute cover is hinged to the rear end of the fuselage cabin through a hinge, and the other end is locked to the front end of the fuselage cabin through a locking mechanism; the hinge adopts an eccentric rotating shaft form, and the hinge axis is located behind the parachute cover, which is used for the parachute cover to open 180° around the hinge rotating shaft; the locking mechanism is used to lock the parachute cover; the locking mechanism is electrically connected to the onboard flight control through a parachute opening control cable, and is used to control the opening of the parachute cover.

[0023] The technical solution of the present invention is that: the fuselage cabin is arranged in the longitudinal position of the UAV fuselage to ensure that the change of the center of gravity of the UAV before and after the parachute is within the permitted range of the UAV recovery device; the calculation formula of the center of gravity coordinates of the whole UAV after the parachute is opened by installing the special-shaped parachute cabin device is:

[0024]

[0025] A method for installing and using a parachute system of the special-shaped parachute cabin device in different zones, the method divides the inside of the special-shaped parachute cabin into three installation zones, A, B, and C, and the inside of the launch cabin is the installation zone D; wherein zone A is located in the special-shaped parachute cabin near one end of the front opening of the parachute cabin, and is used to install the front sling, the detachable joint, and the upper sling; zone B is located in the special-shaped parachute cabin close to one side of the inner concave part, and is used to install the rear sling; zone C is the area outside zones A and B in the special-shaped parachute cabin, and is used to install the main parachute; zone D is used to install the parachute rocket;

[0026] The method for installing and using the umbrella system partition includes the following steps:

[0027] Step 1: Fix the launch cabin in the fuselage cabin through the mounting mechanism, and connect the parachute control cable to the launch cabin;

[0028] Step 2: Install the special-shaped parachute compartment in the fuselage compartment, and fix the outer turning edge of the special-shaped parachute compartment with the inner turning edge of the fuselage compartment by fasteners;

[0029] Step 3, install the front sling, the detaching joint, and the upper sling in order from bottom to top in area A: after the two front slings are connected to the corresponding front sling points at one end away from the detaching joint, they are closely attached to the body shape, enter the special-shaped parachute cabin through the parachute belt groove and the front opening of the parachute cabin, and are folded in a Z shape and laid flat on the bottom of the cabin in area A; the detaching joint is horizontally placed on the stacked front slings; the upper sling is folded in a Z shape and laid flat on the detaching joint;

[0030] Step 4, install the rear sling in area B: connect the end of the rear sling away from the detachment joint to the rear sling point, and electrically connect the two ends of the adapter cable in the rear sling to the detachment joint and the main parachute separation control cable respectively; fold the rear sling in a Z shape and lay it flat on the bottom of the cabin in area B, and tie it with a rubber band;

[0031] Step 5. Install the main parachute in area C: Wrap the main parachute with the canopy cover, fold it in a Z shape and place it flat on the bottom of the cabin in area C, with the opening of the main parachute at the bottom of the cabin and the top of the main parachute at the top;

[0032] Step 6, install the parachute rocket in area D: after connecting the bottom of the parachute rocket and the top of the main parachute through the connecting belt, put the parachute rocket head upward into the launch cabin; then electrically connect the parachute rocket to the parachute control cable;

[0033] Step 7, install the fireproof board: install the fireproof board on the open end of the launch cabin top, align the through hole of the fireproof board with the open end of the launch cabin top, and fix the edges of the fireproof board on both sides to the inner flange of the fuselage cabin through fasteners;

[0034] Step 8: Close the canopy and lock it with the locking mechanism.

[0035] Beneficial Effects

[0036] The beneficial effects of the present invention are as follows: the special-shaped parachute cabin device described in the present invention arranges the launch cabin outside the special-shaped parachute cabin, the launch cabin and the special-shaped parachute cabin are independently installed and fixed in the fuselage cabin, and the parachute rocket is installed in the launch cabin. Compared with the existing arrangement of the launch cabin in the parachute cabin, the impact force generated by the launch rocket in the structure of the present invention directly acts on the main load-bearing structure in the fuselage cabin through its installation mechanism, so it will not cause impact damage to the special-shaped parachute cabin, thereby improving the service life of the special-shaped parachute cabin. At the same time, the special-shaped parachute cabin does not need to have the need to resist the impact force of the launch rocket, so the bearing strength requirements of the parachute cabin are reduced, so that the special-shaped parachute cabin of the present invention can adopt a lightweight design, which reduces costs on the one hand and reduces its own weight on the other hand, which is beneficial to the load-bearing of unmanned aerial vehicles. In addition, since the launch cabin and the special-shaped parachute cabin are arranged independently, the rocket's tail flame is prevented from burning the parachute cabin structure and the parachute system, and the parachute system is prevented from hooking with the bottom of the launch cabin.

[0037] The present invention installs a fireproof plate at the open top of the launch cabin, which blocks and protects the rocket jet area of ​​the launch parachute, eliminates the safety hazard of the rocket jet entering the interior of the fuselage cabin, and solves the technical problem of the parachute cabin structure and the parachute system protecting the rocket jet.

[0038] In the present invention, the parachute system is installed in different zones. The special-shaped parachute cabin device is designed according to the functional zones, and is divided into the front sling installation zone A, the rear sling installation zone B, the main parachute installation zone C and the launch cabin installation zone D. The functions of each zone are relatively independent, eliminating the adverse interference between different components. Different from the traditional method of mixed installation of the same area of ​​the parachute system, the present invention installs the components of the parachute system in relatively independent different functional zones, which physically reduces the adverse interference between the components of the parachute system and improves the reliability of parachute opening.

[0039] The parachute system components installed in the special-shaped parachute cabin of the present invention are installed in different zones by using a stacked parachute installation method according to the order of exiting the cabin. Compared with the existing parachute system installation method, it is convenient for parachute installation operation and installation inspection, and eliminates the risk of entanglement between multiple parachute belts. In addition, the inner surface of the special-shaped parachute cabin is flat and smooth, without structural parts or gaps. The parachute belts and parachute canopies exit the cabin in order, and will not be hooked and entangled with the parachute cabin, and will not damage the parachute system, thereby increasing the service life of the parachute system and ensuring the safety of the parachute landing of the drone.

[0040] The launch cabin of the present invention is fitted and matched with the inner concave part of the special-shaped parachute cabin, and the launch cabin fills the inner concave part of the special-shaped parachute cabin, so that the installation space of the launch cabin and the special-shaped parachute cabin are both independent of each other and can be arranged in the same fuselage cabin space, with high utilization rate of the fuselage cabin space and convenience for the overall layout design of the UAV; at the same time, the parachute launching rocket and the main parachute traction offset are small, and the parachute system has good stability in the direction of leaving the cabin. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 2 is a schematic diagram of the overall composition of the special-shaped umbrella cabin device in an embodiment of the present invention;

[0042] Figure 2 1. It is a schematic diagram of the pulled-out state of the umbrella system and the composition of the umbrella system in an embodiment of the present invention;

[0043] Figure 3 1 is a schematic diagram of the installation structure of the launch cabin in an embodiment of the present invention (the fuselage shape is not shown);

[0044] Figure 4 It is a top view of the installation state of the launch module in an embodiment of the present invention (the fuselage shape is not shown);

[0045] Figure 5 This is a structural diagram of the installation of a special-shaped parachute cabin in an embodiment of the present invention;

[0046] Figure 6 Schematic diagram of the closed state of the umbrella cover in an embodiment of the present invention;

[0047] Figure 7 Schematic diagram of the hinge structure of the umbrella cabin cover in the embodiment of the present invention;

[0048] Figure 8 Schematic diagram of the umbrella cover in the open state in the embodiment of the present invention;

[0049] Fig. 9 Schematic diagram of the sunken inner turning structure at the fuselage cabin opening in an embodiment of the present invention;

[0050] Fig.10 It is a schematic diagram (top view) of the partitions of the special-shaped parachute cabin and the launch cabin installed in the fuselage cabin in the embodiment of the present invention;

[0051] Fig.11Schematic diagram of the parachute installation method in the A and B zones of the special-shaped parachute compartment in the embodiment of the present invention (the fuselage shape is not shown);

[0052] Fig.12 Schematic diagram of the parachute installation method in the special-shaped parachute compartment C area and the launch compartment D area in the embodiment of the present invention (the fuselage shape is not shown);

[0053] Fig.13 It is a schematic diagram of the layout of the adapter cable of the detachable connector according to an embodiment of the present invention.

[0054] Explanation of the reference numerals: 1—fuselage cabin, 2—special-shaped parachute cabin, 3—launch cabin, 4—fireproof board, 5—parachute system, 6—parachute cabin cover, 7—power generation controller, 8—oil pump assembly; 11—parachute belt slot, 12—front hanging point, 13—rear hanging point, 14—fuselage frame, 15—mounting seat, 16—limiting hole, 17—inner flange, 18—cabin mounting hole; 21—outer flange; 22—parachute cabin mounting hole; 23—parachute cabin front opening, 24—parachute cabin rear opening; 31—cabin, 32—mounting bracket, 33—quick release pin; 51—front sling, 52—rear sling, 53—detachment joint, 54—upper sling, 55—main parachute, 56—connecting belt, 57—parachute rocket, 58—transfer cable; 61—hinge, 62—locking mechanism. DETAILED DESCRIPTION

[0055] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0057] Embodiment 1:

[0058] The present embodiment provides a special-shaped parachute cabin device, which can solve the following problems in the existing active parachute recovery devices: the problem of fragile parachute cabin structure caused by overload and ablation of the parachute shooting rocket, the problem of canopy damage caused by ablation of the parachute system due to shooting, and the hidden danger of hooking between the parachute system and the structural parts in the parachute cabin.

[0059] See also Figure 1The special-shaped umbrella cabin device described in this embodiment includes a fuselage cabin 1, a special-shaped umbrella cabin 2, a launch cabin 3, a fireproof board 4, an umbrella system 5 and an umbrella cabin cover 6. The special-shaped umbrella cabin 2 and the launch cabin 3 are installed in the fuselage cabin 1; the umbrella system 5 is installed in the special-shaped umbrella cabin 2 and the launch cabin 3; the fireproof board 4 is installed above the launch cabin 3; the umbrella cabin cover 6 covers the fuselage cabin 1 and is located directly above the special-shaped umbrella cabin 2 and the fireproof board 4. After the umbrella cabin cover 6 is covered, the aerodynamic shape of the drone can be guaranteed to be complete. The following is a detailed description:

[0060] See also Figure 1 , 5 9. The fuselage cabin 1 is provided in the fuselage of the UAV and is a cabin structure with an opening at the top, which is used to accommodate and install the remaining components. The cabin of the fuselage cabin 1 is composed of the internal structural frame of the UAV and the outer shell of the UAV. The opening of the fuselage cabin 1 adopts an open section structure design. The longitudinal edges on both sides of the fuselage cabin 1 are reinforced with girders, and the front and rear fuselage frames 14 are reinforced. The top opening size of the fuselage cabin 1 satisfies that the special-shaped parachute cabin 2 and the launch cabin 3 can be vertically installed in the fuselage cabin 1. A sunken inner flange 17 structure is provided around the opening of the fuselage cabin 1 to fix the special-shaped parachute cabin 2 and the fireproof board 4.

[0061] See also Figure 1 , 5 , 9, 11, the special-shaped parachute compartment 2 is a hollow compartment structure with an open top, and the special-shaped parachute compartment 2 is used to accommodate the parachute system 5. Fig.11 As shown, in this embodiment, the main structure of the special-shaped umbrella cabin 2 is a rectangular parallelepiped, with an open top, and the side walls and bottom walls constitute a accommodating cabin. The edge of the special-shaped umbrella cabin 2 perpendicular to the bottom wall is concave, forming a concave portion with a square cross section. The vertical axis of the concave portion is parallel to the geometric center line of the special-shaped umbrella cabin 2 perpendicular to its bottom wall. The concave portion is used to accommodate the launch cabin 3, and the shape of the concave portion is coordinated with the outer shape of the launch cabin 3. In addition to the concave portion, the open end of the special-shaped umbrella cabin 2 is provided with an outer flange 21 structure. When the special-shaped umbrella cabin 2 is opened upward and vertically installed on the fuselage cabin 1, the outer flange 21 at the open end of the special-shaped umbrella cabin 2 overlaps the inner flange 17 of the open end of the fuselage cabin 1 and fits in the surface, and the two are fixedly connected by screws. Specifically, a cabin mounting hole 18 is provided on the inner flange 17 of the fuselage cabin 1, and an umbrella cabin mounting hole 22 corresponding in position and size to the cabin mounting hole 18 is provided on the outer flange 21 of the special-shaped umbrella cabin 2. Among them, the parachute cabin mounting hole 22 is a countersunk screw hole, and a support plate nut is prefabricated at the bottom of the cabin body mounting hole 18. The screw passes through the parachute cabin mounting hole 22 and the cabin body mounting hole 18 in sequence and is connected with the prefabricated support plate nut to realize the fixed connection between the special-shaped parachute cabin 2 and the fuselage cabin 1.

[0062] See also Figure 1 , 34. The launch cabin 3 is a hollow cabin structure with an open top and a sealed interior. The launch cabin 3 is used to install the parachute rocket 57 of the parachute system 5, and its sealing structure can prevent the jet of the parachute rocket 57 from leaking from the bottom. The overall structure of the launch cabin 3 is columnar, and the outer contour of its side walls matches the inner recess of the special-shaped parachute cabin 2. The launch cabin 3 can be coaxially embedded in the inner recess. When the launch cabin 3 is placed in the inner recess of the special-shaped parachute cabin 2, it fills the inner recess and merges with the special-shaped parachute cabin 2 in the same space. The launch cabin 3 is open upward and is fixed in the fuselage cabin 1 by a mounting mechanism. Specifically, Figure 3 , 4 As shown, the mounting mechanism includes a mounting bracket 32 ​​and a mounting seat 15. The mounting seat 15 is fixed to the structural inner wall at the front end of the fuselage cabin 1, and is located on the right side of the front fuselage frame 14 when facing the heading of the UAV. The mounting seat 15 is provided with a dovetail slide groove in the vertical direction on the side facing away from the fuselage frame 14. The mounting bracket 32 ​​is fixed to the outer wall of the launch cabin body 31, and a protrusion is provided on the mounting bracket 32 ​​along the axial direction of the launch cabin 3. The protrusion is inserted and slidably matched with the dovetail slide groove to form a slide rail mounting structure. The mounting bracket 32 ​​and the mounting seat 15 are correspondingly provided with two groups of limiting holes 16, and the quick-release pins 33 are respectively installed in the corresponding limiting holes 16 of the mounting bracket 32 ​​and the mounting seat 15 to achieve locking and limiting between the mounting bracket 32 ​​and the mounting seat 15. This structure realizes the tool-free disassembly and assembly of the launch cabin 3.

[0063] When installing the launch cabin 3 and the special-shaped umbrella cabin 2, both are installed with their open ends facing upward and independently fixed in the fuselage cabin 1. First, install the launch cabin 3, insert the protruding part of the mounting bracket 32 ​​outside the cabin body 31 vertically into the dovetail slot of the mounting bracket 32, and after sliding into place, lock it with the quick release pin 33. Then install the special-shaped umbrella cabin 2 vertically, and fix the outer flange 21 of the open end of the special-shaped umbrella cabin 2 with the inner flange 17 of the fuselage cabin 1 with screws. During installation, ensure that the height of the open end of the launch cabin 3 is not higher than the open end of the special-shaped umbrella cabin 2, so as to facilitate the installation of the fireproof board 4 and ensure the closure of the umbrella cabin cover 6.

[0064] See also Figure 1 , 12 The fireproof board 4 is located just above the open end of the launch cabin 3, and its two sides adjacent to the fuselage cabin 1 are fixedly connected to the inner flange 17 of the fuselage cabin 1 by screws. A through hole is provided in the middle of the fireproof board 4, which is consistent with the shape and size of the top opening of the launch cabin 3. The peripheral plate surface of the through hole covers the gap between the launch cabin 3 and the special-shaped parachute cabin 2, and between the launch cabin 3 and the fuselage cabin 1, protecting the peripheral area on the top of the launch cabin 3, preventing the jet of the parachute rocket 57 from burning the parachute cabin and preventing the jet from entering the fuselage cabin 1 through the structural gap. In this embodiment, the fireproof board 4 is a flight consumable, made of plastic flame-retardant material, and has the characteristics of low cost and mass production.

[0065] like Figure 8As shown, in addition to the special-shaped parachute compartment 2 and the launch compartment 3 installed inside the fuselage compartment 1, the remaining space at the bottom can be used to install other airborne equipment of the UAV, such as a power generation controller 7 and an oil pump assembly 8, so that the overall layout of the UAV is compact and the space utilization rate is high. The tail flame of the parachute rocket 57 is isolated above the fireproof board 4, and the airborne equipment, oil circuits, etc. installed in the bottom space are not affected.

[0066] See also Figure 1 , 2 The parachute system 5 is deployed in a spatial order from bottom to top, including a front sling 51, a rear sling 52, a drop joint 53, an upper sling 54, a main parachute 55, a connecting belt 56 and a parachute rocket 57. When the parachute system 5 is not deployed, the parachute rocket 57 is located in the launch cabin 3 with its head facing upward, and the remaining components are installed in the special-shaped parachute cabin 2 in a partitioned manner.

[0067] See also Figure 2 , 5 The open end of the special-shaped parachute compartment 2 is provided with a parachute compartment front opening 23 in the middle position facing the heading side of the UAV, and the front end of the top opening of the fuselage compartment 1 is provided with a parachute belt groove 11 corresponding to the parachute compartment front opening 23, which is used to pass the front sling 51 of the parachute system 5. The open end of the special-shaped parachute compartment 2 is provided with a parachute compartment rear opening 24 in the middle of the side close to the tail of the UAV, which is used to pass the rear sling 52 of the parachute system 5, and the parachute compartment rear opening 24 is opposite to the parachute compartment front opening 23. Figure 2 As shown, two front suspension points 12 are symmetrically arranged on both sides of the drone fuselage at the front end of the fuselage cabin 1, which are used to fix the connection end of the front sling 51 and the drone. A rear suspension point 13 is arranged in the middle position inside the cabin at the rear end of the fuselage cabin 1, which is used to fix the connection end of the rear sling 52 and the drone.

[0068] See also Figure 1 , 11 When the parachute system 5 is not deployed, the two front slings 51 and the drone connection ends are fixedly connected to the front suspension points 12 on both sides of the drone fuselage, and then they are closely attached to the outer wall of the fuselage, and enter the special-shaped parachute cabin 2 through the parachute belt groove 11 of the fuselage cabin 1 and the front opening 23 of the special-shaped parachute cabin 2; the rear sling 52 and the drone connection end are fixedly connected to the rear suspension point 13 in the fuselage cabin 1, and enter the special-shaped parachute cabin 2 through the rear opening 24 of the parachute cabin.

[0069] See also Figure 2When the parachute system 5 is in the state of being pulled out, one end of the two front slings 51 is fixedly connected to the front sling points 12 on both sides of the UAV fuselage, one end of the rear sling 52 is fixedly connected to the rear sling point 13 in the fuselage cabin 1, and the other end of the two front slings 51 intersects with the other end of the rear sling 52 and is fixedly connected to one end of the detachment joint 53. The other end of the detachment joint 53 is connected to the mouth end of the main parachute 55 through the upper sling 54. The mouth of the main parachute 55 is downward, the top of the parachute is upward, and the top of the main parachute 55 is connected to the tail of the parachute rocket 57 through the connecting belt 56. The parachute rocket 57 is a flight consumable and can be replaced after being consumed in flight.

[0070] In this embodiment, the detachable joint 53 is covered with a protective cover to prevent the UAV from being damaged by collision or falling off. The detachable joint 53 is an electrically controlled separation device, which is separated into two parts at the moment of the UAV parachute landing, disconnecting the UAV from the main parachute 55. The detachable joint 53 is wrapped with a flexible protective cover to prevent the detachable joint 53 from being bumped or hooked when leaving the cabin. After the UAV lands, the protective cover of the detachable joint 53 can prevent the detachable joint 53 from falling down and damaging the UAV.

[0071] The parachute rocket 57 and the detaching connector 53 are controlled by the onboard flight control machine. Specifically, the parachute rocket 57 is electrically connected to the onboard flight control machine via the parachute control cable, which is used to control the ignition of the parachute rocket. The detaching connector 53 is electrically connected to the onboard flight control machine via the detaching connector adapter cable 58 and the main parachute separation control cable, which is used to control the detaching connector 53 to separate the main parachute 55 when the UAV touches the ground. In this embodiment, the detaching connector adapter cable 58 is pre-buried in the rear sling 52, one end of which is electrically connected to the detaching connector 53, and the other end is electrically connected to the onboard flight control machine via the main parachute separation control cable fixed at the rear sling point 13. Fig.13 As shown, the length of the adapter cable 58 of the detachable joint is greater than the length of the rear sling 52, and it is embedded in the rear sling 52 in an S-shaped arrangement, which can prevent the adapter cable 58 from being damaged and detached when the rear sling 52 is loaded and stretched. The parachute control cable and the main parachute separation control cable are both arranged in the fuselage cabin 1, and the control signals are all given by the onboard flight control machine through the control cable.

[0072] See also Figure 6-8The umbrella cover 6 covers the opening of the fuselage cabin 1 and is used to close or open the opening of the fuselage cabin 1. One end of the umbrella cover 6 is hinged to the rear end of the fuselage cabin 1 through a hinge 61, and the other end is locked to the front end of the fuselage cabin 1 through a locking mechanism 62. The hinge between the umbrella cover 6 and the fuselage cabin 1 adopts an eccentric shaft, and its hinge axis is located behind the umbrella cover 6, so that the umbrella cover 6 can be freely turned around the hinge 61 and fully opened 180° without blocking the parachute opening channel, thereby preventing the parachute from hooking. The locking mechanism 62 is an electrically controlled unlocking mechanism, and the umbrella cover 6 can be freely turned backward after unlocking. The locking mechanism 62 is electrically connected to the onboard flight control through the parachute opening cabin control cable to control its unlocking. The parachute opening cabin control cable is arranged in the fuselage cabin 1. After the umbrella cover 6 is closed, its peripheral edge is completely fitted and closed with the opening of the fuselage cabin 1, and its outer curvature matches the fuselage shell, which can ensure the integrity of the aerodynamic shape of the drone. In this embodiment, the umbrella cover 6 adopts a large opening angle design to reduce the drag plate effect after the umbrella cover is opened, and avoid the umbrella cover rebounding after collision when it is opened backward, thereby ensuring that the parachute opening channel is unobstructed.

[0073] It should be noted that the depth of the inner turning edge 17 of the fuselage cabin 1 is related to the thickness of the outer turning edge 21 of the special-shaped umbrella cabin 2 and the edge thickness of the umbrella cabin cover 6. The sinking of the inner turning edge 17 can ensure that the fuselage shape is flat after the umbrella cabin cover 6 is closed. Specifically, the calculation formula for the sinking depth of the inner turning edge of the fuselage cabin 1 is:

[0074] The sinking depth of the inner flange = the thickness of the outer flange of the special-shaped parachute cabin + the thickness of the parachute cabin cover + the thickness of the sealing coating;

[0075] Wherein, the sealing coating thickness refers to the thickness of the sealing coating located between the outer flange 21 of the special-shaped parachute compartment and the parachute compartment cover 6, which is used to seal the special-shaped parachute compartment 2 and the parachute compartment cover 6. In this embodiment, the inner flange 17 of the fuselage compartment 1 has a sinking depth of 4.5 mm, the outer flange 21 of the special-shaped parachute compartment 2 has a thickness of 2 mm, the parachute compartment cover 6 has a thickness of 2 mm, and the sealing coating has a thickness of 0.5 mm.

[0076] In addition, in this embodiment, the longitudinal arrangement position of the fuselage cabin 1 on the drone needs to take into account the change in the center of gravity of the drone before and after the parachute is opened. After the parachute is opened, the center of gravity of the drone should be within the allowable range of the recovery device so that the landing gear of the drone can be stably supported on the ground. The calculation formula for the center of gravity coordinates of the drone after the parachute is opened using the special-shaped parachute cabin device of the present invention is:

[0077]

[0078] According to the calculated coordinates of the center of gravity of the whole aircraft after the parachute is opened, the design position of the UAV recovery device such as the landing gear and its permissible range of the center of gravity are compared to ensure that the center of gravity position of the UAV after the parachute is opened is within the permissible range of the center of gravity of the UAV recovery device. During the design, if it exceeds the range, the position of the fuselage cabin 1 or the recovery device needs to be adjusted accordingly.

[0079] Embodiment 2:

[0080] This embodiment provides a method for partitioning and installing the parachute system 5 in the special-shaped parachute cabin device described in Embodiment 1. By functionally partitioning the interior of the fuselage cabin 1 according to the structural characteristics, the parachute system 5 is installed in the specific functional partitions of the special-shaped parachute cabin device according to the order of parachute opening, which is convenient for operation and inspection. When opening the parachute, the components of the parachute system 5 are reasonably thrown out in order to achieve safe parachute opening during drone recovery.

[0081] See also Figure 10-12 The method divides the fuselage cabin 1 into four areas, that is, the special-shaped parachute cabin 2 and the launch cabin 3 are divided into four areas. The special-shaped parachute cabin 2 is divided into three installation areas A, B, and C based on the inner concave part of the de-edged structure, and the entire launch cabin 3 is the installation area D. Among them, the area A is located in the special-shaped parachute cabin 2 near the end of the parachute cabin front opening 23, and is used to install the front sling 51, the detaching joint 53, and the upper sling 54; the area B is located in the special-shaped parachute cabin 2, close to the inner concave part, and is used to install the rear sling 52; the area C is the area outside the A and B areas in the special-shaped parachute cabin 2, and is used to install the main parachute 55; the area D is used to install the launch parachute 57 rocket.

[0082] The installation and use of the Umbrella system partition includes the following steps:

[0083] Step 1: Install the launch cabin 3 in the fuselage cabin 1: Figure 3 , 4 , install the launch cabin 3 vertically on the fuselage cabin 1 with its opening upward, fix its mounting bracket 32 ​​to the mounting seat 15 in the fuselage cabin 1, and connect the parachute control cable to the launch cabin 3.

[0084] Step 2: Install the special-shaped parachute compartment 2 in the fuselage compartment 1: Figure 5 , open the special-shaped parachute compartment 2 upward, align its inner concave part with the installation position of the launch compartment 3, and install it vertically in the fuselage compartment 1, and fix the outer flange 21 of the special-shaped parachute compartment 2 with the inner flange 17 of the fuselage compartment 1 by multiple screws.

[0085] Step 3: Install the front sling 51, the drop joint 53 and the upper sling 54 in the A area of ​​the special-shaped parachute cabin 2 from bottom to top: Fig.11, straighten the front sling 1, connect one end of the two front slings 51 to the corresponding front sling points 12 on both sides of the drone, arrange them close to the body shape, and then enter the special-shaped parachute cabin 2 through the parachute belt groove 11 and the front opening 23 of the parachute cabin. The other ends of the two front slings 51 are fixedly connected to one end of the detachment joint 53 after they intersect. The part of the front sling 51 that enters the special-shaped parachute cabin 2 is folded in a Z shape and laid flat on the bottom of the cabin in area A. The detachment joint 53 connected to the front sling 51 is placed horizontally on the stacked front slings 51. The detachment joint 53 is connected to one end of the upper sling 54 with its back facing the front sling 51, and then the upper sling 54 is straightened, folded in a Z shape, and placed horizontally on the detachment joint 53. The other end of the upper sling 54 extends to area C of the special-shaped parachute cabin 2, and is used to connect to the umbrella mouth end of the main parachute 55.

[0086] Step 4: Install the rear sling 52 in the B area of ​​the special-shaped parachute cabin 2: Fig.11 , 13 , straighten the rear sling 52, connect one end of the rear sling 52 to the rear suspension point 13, and electrically connect one end of the adapter cable in the rear sling 52 to the main parachute separation control cable fixed at the rear suspension point 13. Connect the other end of the rear sling 52 to the drop joint 53 after connecting to the intersection of the two front slings 51, and electrically connect the other end of the adapter cable in the rear sling 52 to the drop joint 53. Fold the rear sling 52 in a Z shape and lay it flat on the bottom of the cabin in area B. Tie the folded rear sling 52 with a rubber band to prevent the rear sling 52 from getting entangled with the propeller at the tail of the drone that has not stopped rotating when it is not loaded and straightened.

[0087] Step 5: Install the main parachute 55 in the C area of ​​the special-shaped parachute compartment 2: Fig.12 , the main parachute 55 is wrapped with a canopy cover, folded in a Z shape and laid flat on the bottom of the cabin in area C. The opening of the main parachute 55 is located at the bottom of the cabin and is connected to the end of the upper sling 54 away from the detachment joint 53, and the top of the main parachute 55 is located at the top.

[0088] Step 6: Install the parachute rocket 57 in area D: Fig.12 After connecting the bottom of the parachute rocket 57 and the top of the main parachute 55 through the connecting belt 56, the parachute rocket 57 is loaded into the launch cabin 3 with the head facing upward, and then the parachute rocket 57 is electrically connected to the parachute control cable in the launch cabin 3.

[0089] Step 7, install the fireproof board 4: refer to 1 and 12, install the fireproof board 4 on the top open end of the launch cabin 3, align the through hole of the fireproof board 4 with the top opening of the launch cabin 3, and fix the two side edges of the fireproof board 4 adjacent to the fuselage cabin 1 to the inner flange 17 of the fuselage cabin 1 by screws.

[0090] Step 8: Close the umbrella cover 6 and lock the umbrella cover 6 through the locking mechanism 62. Figure 6 .

[0091] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A special-shaped parachute cabin device, characterized in that: Including fuselage cabin, special-shaped parachute cabin, launch cabin, parachute system and parachute cabin cover; The fuselage cabin is arranged in the fuselage of the UAV, and its upper part is open, and the fuselage cabin is used to accommodate and install other components; The special-shaped parachute cabin is a special-shaped hollow cabin structure with an open top, which is used to accommodate the parachute system; the side wall of the special-shaped parachute cabin is provided with an inner recess, the axis of the inner recess is parallel to the vertical geometric center line of the special-shaped parachute cabin, and the inner recess is used to accommodate the launch cabin; The launch cabin is a hollow cabin structure with an open top, and is used to install the parachute rocket of the parachute system; the outer contour of the side wall of the launch cabin matches the inner concave part, and the launch cabin is coaxially embedded in the inner concave part; the launch cabin and the special-shaped parachute cabin are both opened upward and independently fixed in the fuselage cabin, and the installation height of the open end of the launch cabin is not higher than the open end of the special-shaped parachute cabin; The remaining components of the parachute system, except for the parachute rocket, are stacked and installed in the special-shaped parachute cabin in a partitioned manner according to the order of leaving the cabin. The parachute system is used for parachute recovery of the UAV; The parachute cabin cover is fitted over the opening of the fuselage cabin and is used for closing or opening the opening of the fuselage cabin.

2. The special-shaped parachute cabin device according to claim 1, characterized in that: The special-shaped parachute cabin device also includes a fireproof plate for preventing the jet of the parachute rocket from entering the fuselage cabin; the fireproof plate is located at the open end of the launch cabin and is fixedly connected to the fuselage cabin; a through hole is provided in the middle of the fireproof plate, which is consistent with the opening on the top of the launch cabin, and the plate surface around the through hole covers the gap between the launch cabin and the special-shaped parachute cabin, and between the launch cabin and the fuselage cabin.

3. The special-shaped parachute cabin device according to claim 2, characterized in that: The upper opening of the fuselage compartment satisfies the vertical disassembly and assembly of the special-shaped parachute compartment and the launch compartment, and the opening circumference of the fuselage compartment is provided with an inner flange of a sunken structure; the open end circumference of the special-shaped parachute compartment is provided with an outer flange structure except for the inner concave part, and the outer flange is overlapped on the inner flange and fixedly connected by screws; the launch compartment is fixed to the structural inner wall of the fuselage compartment by a mounting mechanism; The open end of the special-shaped parachute cabin is provided with a front opening of the parachute cabin near the head of the drone, and the front end of the upper opening of the fuselage cabin is provided with a parachute belt groove matching the front opening of the parachute cabin for passing the front strap of the parachute system; the open end of the special-shaped parachute cabin is provided with a rear opening of the parachute cabin near the tail of the drone for passing the rear strap of the parachute system.

4. The special-shaped parachute cabin device according to claim 3, characterized in that: The calculation formula for the sinking depth of the inner turning edge of the fuselage compartment is: The sinking depth of the inner flange = the thickness of the outer flange of the special-shaped parachute cabin + the thickness of the parachute cabin cover + the thickness of the sealing coating; Wherein, the sealing coating thickness refers to the thickness of the sealing coating located between the outer flange of the special-shaped parachute cabin and the parachute cabin cover, which is used to seal the special-shaped parachute cabin and the parachute cabin cover.

5. The special-shaped parachute cabin device according to claim 3, characterized in that: The mounting mechanism includes a mounting bracket and a mounting seat; the mounting seat is fixed to the structural inner wall at the front end of the fuselage cabin, and a dovetail slide groove is vertically provided on one side of the mounting seat; the mounting bracket is fixed to the outer wall of the launch cabin, and a protrusion is provided on one side of the mounting bracket along the axial direction of the launch cabin, and the protrusion is inserted and slidably matched with the dovetail slide groove; the mounting bracket and the mounting seat are correspondingly provided with limit holes, and the limit is locked by a quick-release pin passed through the limit hole.

6. The special-shaped parachute cabin device according to claim 3, characterized in that: The parachute system comprises a front sling, a rear sling, a detaching joint, an upper sling, a main parachute, a connecting strap and a parachute rocket; when the parachute system is in an extended state, one end of the two front slings is respectively fixed to the front sling points on both sides of the UAV fuselage, one end of the rear sling is fixed to the rear sling point arranged inside the rear end of the fuselage cabin, the other end of the two front slings intersects with the other end of the rear sling and is fixedly connected to one end of the detaching joint; the other end of the detaching joint is connected to the mouth end of the main parachute through the upper sling; the top end of the main parachute is connected to the tail of the parachute rocket through the connecting strap; when the parachute system is not in an extended state, the front sling, the rear sling, the detaching joint, the upper sling and the main parachute are all located in the special-shaped parachute cabin; the parachute rocket is placed with its head facing upward in the launch cabin; The parachute rocket is electrically connected to the onboard flight control via a parachute control cable, and is used to control the ignition of the parachute rocket; the detachment joint is electrically connected to the onboard flight control via a transfer cable and a main parachute separation control cable, and is used to control the detachment joint to separate the main parachute when the UAV touches the ground.

7. The special-shaped parachute cabin device according to claim 6, characterized in that: The adapter cable is pre-buried in the rear sling, one end of which is electrically connected to the drop-off connector; the other end is electrically connected to the onboard flight control machine through a main parachute separation control cable fixed at the rear suspension point.

8. The special-shaped parachute cabin device according to claim 7, characterized in that: One end of the parachute cover is hinged to the rear end of the fuselage cabin by a hinge, and the other end is locked to the front end of the fuselage cabin by a locking mechanism; the hinge adopts an eccentric shaft form, and the hinge axis is located behind the parachute cover, which is used for the parachute cover to open 180° around the hinge shaft; the locking mechanism is used to lock the parachute cover; the locking mechanism is electrically connected to the onboard flight control through a parachute opening control cable, and is used to control the opening of the parachute cover.

9. The special-shaped parachute cabin device according to claim 8, characterized in that: The longitudinal arrangement position of the fuselage cabin in the UAV fuselage satisfies that the change of the center of gravity of the UAV before and after the parachute is within the permitted range of the UAV recovery device; the calculation formula of the center of gravity coordinates of the whole UAV after the parachute is opened by installing the special-shaped parachute cabin device is:

10. A method for installing and using a partitioned umbrella system of the special-shaped umbrella cabin device according to claim 8, characterized in that: The method divides the interior of the special-shaped parachute cabin into three installation areas, namely, A, B and C, and the interior of the launch cabin is the D installation area; the A area is located in the special-shaped parachute cabin near one end of the front opening of the parachute cabin, and is used to install the front sling, the detaching joint and the upper sling; the B area is located in the special-shaped parachute cabin close to the inner concave part, and is used to install the rear sling; the C area is the area outside the A and B areas in the special-shaped parachute cabin, and is used to install the main parachute; the D area is used to install the parachute rocket; The method for installing and using the umbrella system partition includes the following steps: Step 1: Fix the launch cabin in the fuselage cabin through the mounting mechanism, and connect the parachute control cable to the launch cabin; Step 2: Install the special-shaped parachute compartment in the fuselage compartment, and fix the outer turning edge of the special-shaped parachute compartment with the inner turning edge of the fuselage compartment by fasteners; Step 3, install the front sling, the detaching joint, and the upper sling in order from bottom to top in area A: connect the two front slings away from the detaching joint to the corresponding front sling points, close to the body shape, enter the special-shaped parachute cabin through the parachute belt groove and the front opening of the parachute cabin, fold in a Z shape and lay flat on the bottom of the cabin in area A; place the detaching joint horizontally on the stacked front slings; fold the upper sling in a Z shape and lay it flat on the detaching joint; Step 4, install the rear sling in area B: connect the end of the rear sling away from the detachment joint to the rear sling point, and electrically connect the two ends of the adapter cable in the rear sling to the detachment joint and the main parachute separation control cable respectively; fold the rear sling in a Z shape and lay it flat on the bottom of the cabin in area B, and tie it with a rubber band; Step 5. Install the main parachute in area C: Wrap the main parachute with the canopy cover, fold it in a Z shape and place it flat on the bottom of the cabin in area C, with the opening of the main parachute at the bottom of the cabin and the top of the main parachute at the top; Step 6, install the parachute rocket in area D: connect the bottom of the parachute rocket and the top of the main parachute through the connecting belt, and then put the parachute rocket head upward into the launch cabin; then electrically connect the parachute rocket to the parachute control cable; Step 7, install the fireproof board: install the fireproof board on the open end of the launch cabin top, align the through hole of the fireproof board with the open end of the launch cabin top, and fix the edges of the fireproof board on both sides to the inner flange of the fuselage cabin through fasteners; Step 8: Close the canopy and lock it with the locking mechanism.

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