Unmanned aerial vehicle automatic recovery device and method based on scissor fork telescopic principle

Abstract

The invention relates to an aircraft recovery device and method, in particular to an unmanned aerial vehicle automatic recovery device and method based on a shear fork telescopic principle, and aims to solve the problems that an existing unmanned aerial vehicle automatic recovery device is low in stability, poor in bearing capacity, limited in application space and range and weak in environment adaptability. The device comprises a rod-shaped net winding shaft enclosure and a rod-shaped power assembly which are arranged in parallel, and a recovery net and two shear fork parts which are arranged between the net winding shaft enclosure and the power assembly; the recovery net can be curled in the axis direction of the net rolling shaft enclosure. The power assembly comprises a connecting shaft, a left-handed lead screw which is arranged at one end of the connecting shaft and is collinear with the connecting shaft, a right-handed lead screw which is arranged at the other end of the connecting shaft and is collinear with the connecting shaft, and a plurality of bearing seats of which inner rings are connected with the connecting shaft; speed reducer mounting brackets are respectively arranged at the outer ends of the left-handed lead screw and the right-handed lead screw; proximity switch sensors are arranged on the left-handed lead screw and the right-handed lead screw, and a lead screw nut is provided with an induction piece.

Description

Technical Field

[0001] The present invention relates to an aircraft recovery device and method, and in particular to an automatic recovery device and method for a UAV based on the scissor-type telescopic principle. Background Art

[0002] Unmanned aerial vehicles (UAVs) are usually referred to as "unmanned aerial vehicles (UAVs)". They are unmanned aerial vehicles that are controlled by radio remote control equipment and their own program control devices.

[0003] With the rapid development of unmanned system technology in recent years, drones are recognized as an important development direction for future battlefield operations. The recycling of drones is an important issue in drone applications. The fixation and recycling of drones can save energy and reduce the number of aircraft used, and can also extend the service life of drones. However, the real drone combat environment is changeable, and there are many types of drones, so the recovery net device must be high-quality, efficient and reliable.

[0004] Existing automatic recovery devices for unmanned aerial vehicles mostly use telescopic arms, telescopic rods or elastic connectors to realize the unfolding and folding of the recovery net. For example, a recovery net device for unmanned aerial vehicles disclosed in Chinese patent CN217969958U, see Figure 1 , including a fixed unit 01, an energy absorbing buffer unit 02 and a recovery net rope unit 03; the energy absorbing buffer unit includes a plurality of elastic connectors and a plurality of springs, the elastic connectors and the springs are respectively connected to the fixed unit; the recovery net rope unit includes a recovery net, the recovery net is respectively connected to the elastic connector and the spring of the energy absorbing buffer unit. The patent adopts the form of an elastic connector to realize the unfolding and folding of the recovery net.

[0005] However, the structures of telescopic arms, telescopic support rods or elastic connectors often have the disadvantages of low stability, poor bearing capacity, limited application space and scope, and weak environmental adaptability (unstable installation in windy environments). Summary of the invention

[0006] The purpose of the present invention is to solve the problems of low stability, poor bearing capacity, limited application space and scope, and weak environmental adaptability of existing automatic recovery devices of unmanned aerial vehicles, and to provide an automatic recovery device and method for unmanned aerial vehicles based on the scissor-type telescopic principle.

[0007] To achieve the above purpose, the technical solution provided by the present invention is:

[0008] An automatic recovery device for UAV based on the scissor telescopic principle, which is special in that:

[0009] The invention comprises a rod-shaped reeling net shaft and a power assembly which are arranged in parallel with each other, a recovery net and two scissor parts connected between the reeling net shaft and the power assembly, wherein the two scissor parts are located on both sides of the recovery net and are symmetrically arranged along the line connecting the midpoints of the reeling net shaft and the power assembly; the reeling net shaft can be rolled up by a coil spring and recovered into the reeling net shaft;

[0010] The power assembly includes a connecting shaft, a left-hand screw arranged at one end of the connecting shaft and colinear with the connecting shaft, a right-hand screw arranged at the other end of the connecting shaft and colinear with the connecting shaft, and a plurality of bearing seats whose inner rings are connected to the connecting shaft; the outer ends of the left-hand screw and the right-hand screw are respectively provided with reducer mounting brackets; one of the reducer mounting brackets is provided with a right-angle reducer, and the right-angle reducer is connected to the motor; the two scissor parts are respectively connected to the right-hand screw and the left-hand screw through the screw nuts, and the screw nuts can move axially along the right-hand screw or the left-hand screw; the left-hand screw and the right-hand screw are both provided with proximity switch sensors, and the screw nuts have induction sheets, and the proximity switch sensors cooperate with the induction sheets to detect the position of the screw nuts to control the operation and stop of the motor;

[0011] The bottom of each bearing seat and the bottom of the reducer mounting bracket are respectively connected to the transfer device.

[0012] Furthermore, the recovery net is in the shape of a rectangle, and the length of the side connected to the reel shaft or the power assembly is smaller than the length of the reel shaft or the power assembly.

[0013] Furthermore, each scissor-type component includes two groups of connecting rods, each group of connecting rods includes six connecting rod units hinged in sequence, the corresponding connecting rod units in the two groups of connecting rods are parallel to each other, and the two groups of connecting rods are connected by pins and sleeves hinged between two adjacent connecting rod units in each group of connecting rods.

[0014] Furthermore, there are two bearing seats, which are symmetrically arranged along the line connecting the circumference of the winding net shaft and the midpoint of the power component; the connecting shaft and the right-handed screw, as well as the connecting shaft and the left-handed screw are connected through a coupling.

[0015] Furthermore, spring boxes are provided at both ends of the winding net shaft, and a spring is provided in each spring box. One end of the spring is connected to the spring box, and the other end is connected to the end of the recovery net.

[0016] At the same time, the present invention also provides a method for automatic recovery of a UAV based on the scissor-type telescopic principle, which is special in that it includes the following steps:

[0017] Step 1, assemble the above-mentioned automatic recovery device for drones based on the scissor-type telescopic principle, and then install it on the transfer device; wherein the automatic recovery device for drones based on the scissor-type telescopic principle includes a retracted state and an extended state; the retracted state is specifically: the recovery net is completely retracted on the reel shaft, and the two scissor-type components are both contracted to the minimum state; the extended state is specifically: the recovery net is completely unfolded, and the two scissor-type components are both expanded to the maximum state;

[0018] Step 2: Install the automatic recovery device of the drone based on the scissor-type telescopic principle onto the transfer device, and the device is in the retracted state;

[0019] Step 3: transport the transfer device to the area where the drone is to land, so that the motor of the drone automatic recovery device controls the left-hand screw and the right-hand screw to rotate, and the left-hand screw and the right-hand screw respectively drive the two scissor parts to move, and the two scissor parts are expanded to the maximum state, and the drone automatic recovery device changes to the unfolded state. The drone automatic recovery device based on the scissor telescopic principle in the unfolded state is located directly below the drone;

[0020] Step 4: Send a landing command to the drone, so that the drone lands on the recovery net of the drone automatic recovery device based on the scissor-type telescopic principle;

[0021] Step 5: transport the drone together with the drone automatic recovery device based on the scissor-type telescopic principle to a preset location, and then remove the drone from the recovery net;

[0022] Step 6. Send a retraction command to the automatic recovery device of the UAV based on the scissors-type telescopic principle. The motor controls the left-hand screw and the right-hand screw to rotate, so that the two scissors-type components shrink to the minimum state at the same time, so that the automatic recovery device of the UAV based on the scissors-type telescopic principle changes to the retracted state, completing the automatic recovery of the UAV.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The automatic recovery device for unmanned aerial vehicles based on the scissor-type telescopic principle provided by the present invention is provided with two scissor-type structures, which can cooperate with the recovery net to work, and has reliable quality and reasonable layout;

[0025] 2. The automatic recovery device for unmanned aerial vehicles based on the scissor-type telescopic principle provided by the present invention has a flexible structure, is easy to repair and maintain, has good safety, and has clear layout areas and boundaries, and can be used to recover various types of unmanned system equipment;

[0026] 3. The automatic recovery method of a UAV based on the scissor-type telescopic principle provided by the present invention has simple steps and wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is a structural schematic diagram of an existing UAV recovery net device;

[0028] Figure 2 It is a structural schematic diagram of an embodiment of an automatic recovery device for a drone based on the scissor-type telescopic principle of the present invention (in the unfolded state);

[0029] Figure 3 It is a structural schematic diagram of an embodiment of an automatic recovery device for a drone based on the scissor-type telescopic principle of the present invention (in the retracted state, without showing the recovery net);

[0030] Description of reference numerals:

[0031] 01-fixed unit, 02-energy absorption buffer unit, 03-recovery net rope unit; 1-net winding shaft, 2-recovery net, 3-power assembly, 4-scissor fork component, 5-motor, 6-right angle reducer, 7-left-hand screw, 8-coupling, 9-connecting shaft, 10-bearing seat, 11-screw nut, 12-sensor, 13-right-hand screw, 14-coil spring, 15-pin shaft, 16-reducer mounting bracket. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0033] An automatic recovery device for drones based on the scissor-type telescopic principle, see Figure 2 and Figure 3 ;

[0034] It includes a reeling net shaft 1 and a power assembly 3 which are arranged parallel to each other and are both rod-shaped, and a rectangular recovery net 2 and two scissor parts 4 connected between the reeling net shaft 1 and the power assembly 3, the two scissor parts 4 are located on both sides of the recovery net 2 and are symmetrically arranged along the line connecting the midpoints of the reeling net shaft 1 and the power assembly 3; the reeling net shaft 1 can be rolled up by a coiling spring 14 and recovered into the reeling net shaft 1; wherein the side lengths of the recovery net 2 connecting the reeling net shaft 1 or the power assembly 3 are all smaller than the lengths of the reeling net shaft 1 or the power assembly 3.

[0035] The power assembly 3 includes a connecting shaft 9, a left-handed screw 7 arranged at one end of the connecting shaft 9 and colinear with the connecting shaft 9, a right-handed screw 13 arranged at the other end of the connecting shaft 9 and colinear with the connecting shaft 9, and two bearing seats 10 whose inner rings are connected to the connecting shaft 9 and are symmetrically arranged along the line connecting the midpoints of the winding net shaft 1 and the power assembly 3; the outer ends of the left-handed screw 7 and the right-handed screw 13 are respectively provided with reducer mounting brackets 16; one of the reducer mounting brackets 16 is provided with a right-angle reducer 6, and the right-angle reducer 6 is connected to the motor 5; the two scissor parts 4 are respectively connected to the right-handed screw 13 and the left-handed screw 7 through the screw nut 11, and the screw nut 11 can move axially along the right-handed screw 13 or the left-handed screw 7; the left-handed screw 7 and the right-handed screw 13 are both provided with proximity switch sensors 12, the screw nut 11 has a sensor sheet, and the proximity switch sensor 12 cooperates with the sensor sheet to detect the position of the screw nut 11 to control the operation and stop of the motor 5;

[0036] The bottom of each bearing seat 10 and the bottom of the reducer mounting bracket 16 are connected to the transfer device respectively. The connecting shaft 9 and the right-hand screw 13, and the connecting shaft 9 and the left-hand screw 7 are connected through a coupling 8, so that the connection strength can be increased.

[0037] In order to ensure the reliability of the connection, specifically, each scissors-type component 4 includes two groups of connecting rods, each group of connecting rods includes six connecting rod units hinged in sequence, the corresponding connecting rod units in the two groups of connecting rods are parallel to each other, and the two groups of connecting rods are connected by a pin shaft 15 and a sleeve hinged between two adjacent connecting rod units in each group of connecting rods.

[0038] Both ends of the winding net shaft 1 are provided with a coil spring box, and each coil spring box is provided with a coil spring 14. One end of the coil spring 14 is connected to the coil spring box, and the other end is connected to the end of the recovery net 2.

[0039] The above-mentioned automatic recovery method of the drone based on the scissor-type telescopic principle comprises the following steps:

[0040] Step 1, assemble the automatic recovery device for drones based on the scissor-type telescopic principle, and then install it on the transfer device; wherein the automatic recovery device for drones based on the scissor-type telescopic principle includes a retracted state and an extended state; the retracted state is specifically: the recovery net 2 is completely retracted on the reel shaft 1, and the two scissor-type components 4 are both contracted to the minimum state; the extended state is specifically: the recovery net 2 is completely unfolded, and the two scissor-type components 4 are both expanded to the maximum state;

[0041] Step 2: Install the automatic recovery device of the drone based on the scissor-type telescopic principle onto the transfer device, and the device is in the retracted state;

[0042] Step 3, transport the transfer device to the area where the drone is to land, so that the motor 5 of the drone automatic recovery device controls the left-hand screw 7 and the right-hand screw 13 to rotate, and the left-hand screw 7 and the right-hand screw 13 respectively drive the two scissor parts 4 to move, and the two scissor parts 4 are both expanded to the maximum state, and the drone automatic recovery device changes to the unfolded state. The drone automatic recovery device based on the scissor telescopic principle in the unfolded state is located directly below the drone;

[0043] Step 4: Send a landing command to the drone, so that the drone lands on the recovery net 2 of the drone automatic recovery device based on the scissor-type telescopic principle;

[0044] Step 5: transport the drone together with the drone automatic recovery device based on the scissor-type telescopic principle to a preset position, and then remove the drone from the recovery net 2;

[0045] Step 6: Send a retraction command to the automatic recovery device of the UAV based on the scissors-type telescopic principle, and the motor 5 controls the left-hand screw 7 and the right-hand screw 13 to rotate, so that the two scissors-type components 4 are simultaneously retracted to the minimum state, so that the automatic recovery device of the UAV based on the scissors-type telescopic principle changes to the retracted state, completing the automatic recovery of the UAV.

[0046] The induction sheet installed on the lead screw nut 11 cooperates with the proximity switch sensor 12 installed on the left-hand lead screw 7 and the right-hand lead screw 13. When the lead screw nut 11 approaches the proximity switch sensor 12, the motor 5 stops rotating and the recovery net 2 is unfolded to the maximum area.

Claims

1. An automatic recovery device for drones based on the scissor-type telescopic principle, characterized in that: The invention comprises a rod-shaped reel shaft (1) and a power assembly (3) which are arranged in parallel with each other, and a recovery net (2) and two scissor-type parts (4) connected between the reel shaft (1) and the power assembly (3), wherein the two scissor-type parts (4) are located on both sides of the recovery net (2) and are symmetrically arranged along a line connecting the midpoints of the reel shaft (1) and the power assembly (3); the reel shaft (1) can be used to reel the recovery net (2) into the reel shaft (1) by means of a reel spring (14); The power assembly (3) comprises a connecting shaft (9), a left-hand screw (7) arranged at one end of the connecting shaft (9) and colinear with the connecting shaft (9), a right-hand screw (13) arranged at the other end of the connecting shaft (9) and colinear with the connecting shaft (9), and a plurality of bearing seats (10) whose inner rings are connected to the connecting shaft (9); the outer ends of the left-hand screw (7) and the right-hand screw (13) are respectively provided with reducer mounting brackets (16); a right-angle reducer (6) is arranged on one of the reducer mounting brackets (16), and the right-angle reducer (6) is connected to the connecting shaft (9). The motor (5) is connected; the two scissor parts (4) are respectively connected to the right-hand screw (13) and the left-hand screw (7) through the screw nut (11), and the screw nut (11) can move axially along the right-hand screw (13) or the left-hand screw (7); the left-hand screw (7) and the right-hand screw (13) are both provided with a proximity switch sensor (12), and the screw nut (11) has a sensing sheet. The proximity switch sensor (12) and the sensing sheet cooperate to detect the position of the screw nut (11) to control the operation and stop of the motor (5); The bottom of each bearing seat (10) and the bottom of the reducer mounting bracket (16) are respectively connected to the transfer device.

2. The automatic recovery device for drones based on the scissor-type telescopic principle according to claim 1 is characterized by: The recovery net (2) is in the shape of a rectangle, and the length of the side connecting it to the reel shaft (1) or the power assembly (3) is smaller than the length of the reel shaft (1) or the power assembly (3).

3. The automatic recovery device for drones based on the scissor-type telescopic principle according to claim 2 is characterized by: Each scissor-type fork component (4) comprises two groups of connecting rods, each group of connecting rods comprises six connecting rod units hinged in sequence, the corresponding connecting rod units in the two groups of connecting rods are parallel to each other, and the two groups of connecting rods are connected by a pin shaft (15) and a shaft sleeve hinged between two adjacent connecting rod units in each group of connecting rods.

4. The automatic recovery device for drones based on the scissor-type telescopic principle according to claim 3 is characterized by: The number of the bearing seats (10) is two, and they are symmetrically arranged along the line connecting the midpoints of the net-rolling shaft (1) and the power assembly (3); the connecting shaft (9) and the right-hand screw (13), as well as the connecting shaft (9) and the left-hand screw (7) are connected via a coupling (8).

5. The automatic recovery device for drones based on the scissor-type telescopic principle according to claim 4 is characterized by: Both ends of the winding net shaft (1) are provided with a coil spring box, each coil spring box is provided with a coil spring (14), one end of the coil spring (14) is connected to the coil spring box, and the other end is connected to the end of the recovery net (2).

6. A method for automatic recovery of a drone based on the scissor-type telescopic principle, characterized in that: The following steps are involved: Step 1, assemble the automatic recovery device for unmanned aerial vehicles based on the scissor-type telescopic principle as described in any one of claims 1 to 5, and then install it on the transfer device; wherein the automatic recovery device for unmanned aerial vehicles based on the scissor-type telescopic principle includes a retracted state and an extended state; the retracted state is specifically: the recovery net (2) is completely retracted onto the reel shaft (1), and the two scissor-type components (4) are both contracted to the minimum state; the extended state is specifically: the recovery net (2) is completely unfolded, and the two scissor-type components (4) are both expanded to the maximum state; Step 2: Install the automatic recovery device of the drone based on the scissor-type telescopic principle onto the transfer device, and the state of the device is the retracted state; Step 3, transport the transfer device to the area where the drone is to land, so that the motor (5) of the drone automatic recovery device controls the left-hand screw (7) and the right-hand screw (13) to rotate, and the left-hand screw (7) and the right-hand screw (13) respectively drive the two scissor parts (4) to move, and the two scissor parts (4) are both expanded to the maximum state, and the drone automatic recovery device changes to the unfolded state. The drone automatic recovery device based on the scissor telescopic principle in the unfolded state is located directly below the drone; Step 4: Send a landing command to the drone, so that the drone lands on the recovery net (2) of the drone automatic recovery device based on the scissor-type telescopic principle; Step 5: transport the drone together with the drone automatic recovery device based on the scissor-type telescopic principle to a preset location, and then remove the drone from the recovery net (2); Step 6: Send a retraction command to the automatic recovery device for the UAV based on the scissor-type telescopic principle, and the motor (5) controls the left-hand screw (7) and the right-hand screw (13) to rotate, so that the two scissor-type components (4) are simultaneously retracted to the minimum state, so that the automatic recovery device for the UAV based on the scissor-type telescopic principle changes to the retracted state, completing the automatic recovery of the UAV.

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