Aerial automatic delivery system and method for cluster unmanned aerial vehicles

Abstract

The invention relates to an automatic launching system, in particular to an automatic aerial launching system and method for cluster unmanned aerial vehicles, and the system comprises a mother unmanned aerial vehicle, and a first sub unmanned aerial vehicle and a second sub unmanned aerial vehicle which are symmetrically mounted below the mother unmanned aerial vehicle. The throwing structure is arranged at the bottom of the mother unmanned aerial vehicle, when the child unmanned aerial vehicle needs to be thrown, throwing interference of the mother unmanned aerial vehicle to the child unmanned aerial vehicle can be reduced, a steering engine is arranged in the throwing structure, and the child unmanned aerial vehicle can be thrown through the left-right swinging action of the steering engine; according to the unmanned aerial vehicle launching structure, launching of the two auxiliary unmanned aerial vehicles which are arranged at the bottom of the main unmanned aerial vehicle and connected with the steering engines in a matched mode can be controlled, the overall weight of the launching structure is reduced, and the flight duration is prolonged; the undercarriages on the corresponding sides can be kept parallel to the bottom of the mother unmanned aerial vehicle after rotating, interference of the undercarriages on the launching route of the child unmanned aerial vehicle is avoided, and the launching effect of the child unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The invention relates to an automatic delivery system, in particular to an automatic aerial delivery system and method for clustered unmanned aerial vehicles. Background Art

[0002] With the rapid development of drone technology, drones have been widely used in military, logistics, agriculture, disaster relief and other fields, especially in scenarios where precise delivery tasks are required. However, when a single drone performs specific tasks, such as disaster relief, military reconnaissance, agricultural spraying, etc., it is often limited by its flight capability, load capacity and battery life. When faced with tasks in large-scale, multi-point delivery or complex environments, a single drone is also difficult to meet the mission requirements. Therefore, cluster drones have emerged. Cluster drones refer to a system in which multiple drones work together to complete specific tasks. These drones are connected and coordinated through wireless communications, and can share information and cooperate with each other, thereby improving mission efficiency and flexibility.

[0003] There are already some mother-child drone systems on the market, but their design and operation have certain limitations. Some systems often use robotic arms or other complex mechanical structures to launch child drones, which not only increases the weight and complexity of the system, but also reduces the reliability and ease of maintenance of the system. In addition, during the process of launching child drones, there are many interference factors caused by the mother drone on the launch of the child drone, which affects the smooth takeoff of the child drone after it is launched. Summary of the invention

[0004] The purpose of the present invention is to provide a system and method for automatic aerial delivery of swarm drones to solve the problems raised in the above background technology.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An automatic aerial delivery system for a cluster of drones, comprising a mother drone and a first sub-drone and a second sub-drone symmetrically installed below the mother drone, wherein a first connecting seat and a second connecting seat are installed on the first sub-drone and the second sub-drone respectively, and an automatic delivery structure is arranged at the bottom of the mother drone;

[0007] The automatic delivery structure includes a fixing frame detachably mounted on the bottom of the mother UAV, a driving mechanism arranged on the fixing frame, a transmission mechanism arranged on both sides of the driving mechanism and connected thereto and arranged on the fixing frame, and a landing gear symmetrically arranged and connected to the transmission mechanism, wherein the landing gear is rotatably connected to the bottom of the mother UAV, and the first connecting seat and the second connecting seat are both connected to the fixing frame and the transmission mechanism;

[0008] The driving mechanism is used to drive the transmission mechanism on either side to approach or move away from the driving mechanism. In the process of the transmission mechanism on either side approaching the driving mechanism, the transmission mechanism makes the landing gear on the corresponding side remain parallel to the bottom surface of the mother UAV after rotating at the bottom of the mother UAV, and the first connecting seat or the second connecting seat is disconnected from the transmission mechanism and the fixed frame.

[0009] The automatic aerial delivery system of cluster drones as described above: sliding holes are provided at both ends of the fixing frame, a plug-in slot is provided on the fixing frame below the sliding hole, and a guide cylinder is fixedly connected to the fixing frame on one side of the plug-in slot.

[0010] The automatic aerial delivery system of cluster drones as described above: the driving mechanism includes a servo and a rudder rod arranged on the output end of the servo, the servo is detachably mounted on the fixed frame, and the end of the rudder rod away from the servo is fixedly connected to a rotating shaft.

[0011] The automatic aerial delivery system of the swarm UAV as described above: the transmission mechanism includes two crank connecting rods, a prismatic rod rotatably connected to the crank connecting rod, a latch slidably plugged with the prismatic rod, and a linkage mechanism arranged on the latch;

[0012] The two crank connecting rods are staggered and rotatably fitted, the overlapping ends of the two crank connecting rods are both rotatably connected to the rotating shaft, the other end of the crank connecting rod is rotatably connected to the connecting head, the connecting head is fixedly connected to one end of the prismatic rod, and the other end of the prismatic rod is slidably inserted into the plug hole provided on the latch;

[0013] One end of the prismatic rod located in the latch is fixedly connected to a limit head, and the limit head is slidably connected to a limit slot provided on the inner wall of the latch, the limit head is abutted against one end of a straight spring, and the other end of the straight spring is abutted against the inner wall of the cavity of the latch, and a retaining ring is fixedly connected to the outer wall of the latch.

[0014] The automatic aerial delivery system of the swarm UAV as described above: the latch is slidably inserted into the guide cylinder, and the retaining ring is in contact with the end of the guide cylinder away from the insertion groove;

[0015] The plug-in slot is movably connected with the first connection seat and the second connection seat, and the latch is slidably plugged with the plug-in holes provided on the first connection seat and the second connection seat.

[0016] The automatic aerial delivery system of the swarm UAV as described above: the linkage mechanism includes an L-shaped rod and a tooth groove arranged at one end of the L-shaped rod, and the shorter end of the L-shaped rod is fixedly connected to the outer wall of the pin on one side of the retaining ring;

[0017] The L-shaped rod is slidably inserted in the sliding hole, and a connecting hook seat is fixedly connected to the bending part of the L-shaped rod. The connecting hook seat is sleeved and connected to one end of a hook spring, and the other end of the hook spring is sleeved and connected to another connecting hook seat, and the other connecting hook seat is fixedly connected to a fixing frame.

[0018] The automatic aerial delivery system of the cluster UAV as described above: the four corners of the bottom of the mother UAV are fixedly connected with fixed columns, the fixed columns are provided with rotation holes, the fixed columns above the rotation holes are fixedly connected with limit columns, and the fixed columns at the limit column positions are arranged in a plane;

[0019] A connecting rod is rotatably connected in the rotating holes opened on the two fixed columns on the same side, a gear is fixedly connected to the center of the connecting rod, both ends of the connecting rod are fixedly connected to the landing gear, a limiting ring is fixedly provided at one end of the top of the landing gear, and the limiting ring is slidably connected to the limiting column.

[0020] The automatic aerial delivery system of the swarm UAV as described above: the tooth groove arranged at one end of the L-shaped rod is meshed and connected with the gear.

[0021] The method for air delivery of a cluster of UAVs using the automatic delivery system as described above comprises the following steps:

[0022] Step 1: Select the corresponding side of the latch and L-shaped rod according to the sub-drone to be launched, and drive the rudder to rotate in the opposite direction of the selected launch side through the action of the servo;

[0023] Step 2: When the rudder stock rotates in the opposite direction, the crank connecting rod, the connecting head, the prism rod and the limit head cooperate to pull the latch pin, and the latch pin is disengaged from the insertion groove on the fixing frame;

[0024] Step 3: When the latch is pulled, the L-shaped rod moves synchronously, and the tooth-groove meshing gears make it rotate along the axis. The landing gear rotates around the connecting rod and remains parallel to the bottom of the mother drone.

[0025] Step 4: After the latch and the L-shaped rod on the corresponding side are actuated, the first connecting seat or the second connecting seat is disconnected from the fixing frame;

[0026] Step 5: After the first or second sub-drone is successfully launched, the latch and the L-shaped rod are reset under the drive of the servo.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] By setting up a launching structure at the bottom of the mother UAV, the interference of the mother UAV on the launching of the child UAV can be reduced when the child UAV needs to be launched. A servo is provided in the launching structure. Through the left and right swinging action of the servo, the launching of two child UAVs connected with the servo at the bottom of the mother UAV can be controlled, thereby reducing the overall weight of the launching structure and increasing the flight time. Through the linkage setting of the transmission mechanism and the landing gear, when launching the child UAV on one side, the landing gear on the corresponding side can be rotated and kept parallel to the bottom of the mother UAV, thereby avoiding the interference of the landing gear on the launching route of the child UAV and improving the launching effect of the child UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of the automatic aerial delivery system for swarm drones.

[0030] Figure 2 This is a schematic diagram of the structure of the automatic aerial delivery system of swarm drones, looking upward.

[0031] Figure 3 This is a schematic diagram of the structure of the automatic aerial delivery system of swarm drones after removing the sub-drones.

[0032] Figure 4 This is a schematic diagram of the structure of the automatic aerial delivery system of swarm drones after removing the delivery structure when viewed from above.

[0033] Figure 5 This is a schematic diagram of the structure of the delivery structure in the automatic aerial delivery system of swarm drones.

[0034] Figure 6 This is a schematic diagram of the structure of the neutron drone in the automatic aerial delivery system of swarm drones.

[0035] Figure 7 This is a schematic diagram of the structure of the driving mechanism and transmission mechanism in the automatic aerial delivery system of swarm UAVs.

[0036] Figure 8 This is a structural schematic diagram from another perspective of the driving mechanism and transmission mechanism in the automatic aerial delivery system of swarm drones.

[0037] Fig. 9 This is a schematic diagram of the structure of the driving mechanism in the automatic aerial delivery system of swarm drones.

[0038] Fig.10 This is a schematic diagram of the structure of the transmission mechanism in the automatic aerial delivery system of swarm drones.

[0039] Fig.11 This is a schematic diagram of the structure of the pins in the automatic aerial delivery system of swarm drones.

[0040] Fig.12 This is a schematic diagram of the structure of the L-shaped rod in the automatic aerial delivery system of clustered drones.

[0041] Fig.13 This is a schematic diagram of the structure of the landing gear in the automatic aerial delivery system of swarm drones.

[0042] Fig.14 This is a schematic diagram of the structure when the L-shaped rod and the landing gear are connected in the automatic aerial delivery system of cluster drones.

[0043] In the figure: 1. mother drone; 2. first sub-drone; 3. second sub-drone; 4. first connecting seat; 5. second connecting seat; 6. fixing frame; 7. servo; 8. rudder; 9. rotating shaft; 10. sliding hole; 11. plug-in slot; 12. guide cylinder; 13. crank connecting rod; 14. connecting head; 15. prismatic rod; 16. limiting head; 17. straight spring; 18. latch; 19. retaining ring; 20. plug-in hole; 21. L-shaped rod; 22. tooth groove; 23. hook spring; 24. fixing column; 25. rotating hole; 26. limiting column; 27. connecting rod; 28. gear; 29. ​​landing gear; 30. limiting ring. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0045] See also Figure 1 to Figure 14 In an embodiment of the present invention, an automatic aerial delivery system for a cluster of drones includes a mother drone 1 and a first sub-drone 2 and a second sub-drone 3 symmetrically installed below the mother drone 1, wherein a first connecting seat 4 and a second connecting seat 5 are installed on the first sub-drone 2 and the second sub-drone 3, respectively, and an automatic delivery structure is provided at the bottom of the mother drone 1;

[0046] The automatic delivery structure includes a fixing frame 6 detachably mounted on the bottom of the mother drone 1, a driving mechanism arranged on the fixing frame 6, a transmission mechanism arranged on both sides of the driving mechanism and connected thereto and arranged on the fixing frame 6, and a landing gear 29 symmetrically arranged and connected to the transmission mechanism, wherein the landing gear 29 is rotatably connected to the bottom of the mother drone 1, and the first connecting seat 4 and the second connecting seat 5 are both connected to the fixing frame 6 and the transmission mechanism;

[0047] The driving mechanism is used to drive the transmission mechanism on either side to approach or move away from the driving mechanism. In the process of the transmission mechanism on either side approaching the driving mechanism, the transmission mechanism makes the landing gear 29 on the corresponding side remain parallel to the bottom surface of the mother drone 1 after rotating at the bottom, and the first connecting seat 4 or the second connecting seat 5 is disconnected from the transmission mechanism and the fixing frame 6.

[0048] In this embodiment, by means of a launching structure provided below the mother drone 1, the first sub-drone 2 or the second sub-drone 3 on the corresponding side can be launched when the launching structure is in action. The first sub-drone 2 and the second sub-drone 3 are respectively provided with a first connecting seat 4 and a second connecting seat 5, and the first connecting seat 4 and the second connecting seat 5 are connected to a fixing frame 6 and a transmission mechanism in the launching structure. Here, the launching of the first sub-drone 2 is taken as an example for explanation. When the driving mechanism is in action, the transmission mechanism on one side of the first sub-drone 2 can be made close to the driving mechanism. When the transmission mechanism moves, the landing gear 29 can be made to rotate and extend at the bottom of the mother drone 1. After the transmission mechanism is in place, the landing gear 29 is extended and kept parallel to the bottom surface of the mother drone 1. At this time, the first sub-drone 2 The first connecting seat 4 on the drone 2 is disconnected from the fixing frame 6, and the transmission mechanism disconnects the limit of the first connecting seat 4, so that the first sub-drone 2 can be placed at the bottom of the mother drone 1. According to the set flight route, when the mother drone 1 arrives at the corresponding placement location, the corresponding first sub-drone 2 or second sub-drone 3 is placed. Through the linkage and cooperation of the transmission mechanism, the landing gear 29 is folded outward, which can reduce the interference of the landing gear 29 with the placement and falling route of the first sub-drone 2 when the first sub-drone 2 is placed. At the same time, it can avoid that the blades of the first sub-drone 2 rotate after the first sub-drone 2 is placed, and the landing gear 29 is prevented from interfering with the normal take-off of the first sub-drone 2, thereby improving the placement effect.

[0049] It should be noted here that since the launching structure needs to drive the landing gear 29 to fold when it moves, when the first sub-UAV 2 and the second sub-UAV 3 are installed at the bottom of the mother UAV 1, the landing gear 29 needs to be lifted off the ground so that the mother UAV 1 is in a suspended state, ensuring that the first sub-UAV 2 and the second sub-UAV 3 can be successfully mounted at the bottom of the mother UAV 1.

[0050] As a further solution of the present invention, sliding holes 10 are provided at both ends of the fixing frame 6, a plug-in slot 11 is provided on the fixing frame 6 below the sliding hole 10, and a guide cylinder 12 is fixedly connected to the fixing frame 6 on one side of the plug-in slot 11.

[0051] In this embodiment, the fixing frame 6 is detachably installed at the bottom of the mother drone 1, and the fixing frame 6 can be freely disassembled and assembled at the bottom of the mother drone 1 for use, which is suitable for later adaptation and installation of different mother drones 1. The plug-in grooves 11 set at both ends of the fixing frame 6 are used for the chimeric connection with the first connecting seat 4 and the second connecting seat 5 to ensure the connection effect during delivery.

[0052] As a further solution of the present invention, the driving mechanism includes a steering gear 7 and a rudder bar 8 arranged on the output end of the steering gear 7. The steering gear 7 is detachably mounted on the fixed frame 6, and the end of the rudder bar 8 away from the steering gear 7 is fixedly connected to a rotating shaft 9.

[0053] In this embodiment, a servo 7 is provided on the fixing frame 6, and the output end of the servo 7 is placed at the center of the fixing frame 6. The servo 7 is detachably mounted on the fixing frame 6. After the servo 7 is damaged, it can be conveniently disassembled and replaced. The first sub-UAV 2 and the second sub-UAV 3 on both sides of the fixing frame 6 can be controlled by one servo 7, thereby reducing the overall counterweight and increasing the flight time of the mother UAV 1.

[0054] As a further solution of the present invention, the transmission mechanism includes two crank connecting rods 13, a prismatic rod 15 rotatably connected to the crank connecting rod 13, a latch 18 slidably plugged with the prismatic rod 15, and a linkage mechanism arranged on the latch 18;

[0055] The two crank connecting rods 13 are staggered and rotated to fit together, and the overlapping ends of the two crank connecting rods 13 are both rotatably connected to the rotating shaft 9, and the other end of the crank connecting rod 13 is rotatably connected to the connecting head 14, and the connecting head 14 is fixedly connected to one end of the prismatic rod 15, and the other end of the prismatic rod 15 is slidably inserted into the plug hole 20 opened on the latch 18;

[0056] One end of the prismatic rod 15 located in the latch 18 is fixedly connected to a limit head 16, and the limit head 16 is slidably connected to a limit slot provided on the inner wall of the latch 18. The limit head 16 is abutted against one end of a straight spring 17, and the other end of the straight spring 17 is abutted against the inner wall of the cavity of the latch 18. A retaining ring 19 is fixedly connected to the outer wall of the latch 18.

[0057] In this embodiment, the two crank connecting rods 13 are rotatably connected to the rotating shaft 9, and the crank connecting rod 13 is rotatably connected to the connecting head 14. When the rotating shaft 9 rotates counterclockwise, the right crank connecting rod 13 can move to the left, so that the connecting head 14 moves to the left, and the right connecting head 14 also moves to the left. At this time, the right connecting head 14 drives the prismatic rod 15 to be plugged into the plug-in hole 20. After the limit head 16 abuts against one end of the limit slide groove on the inner wall of the latch 18, it can drive the latch 18 to move to the left. When the right connecting head 14 moves, the right prismatic rod 15 will be plugged into the plug-in hole 20, and the limit head 16 squeezes the straight spring 17 to keep the squeezing rebound force. The position of the right latch 18 on the fixing frame 6 remains unchanged. At this time, the sub-UAV at the left latch 18 can be released and detached, meeting the release and use requirements.

[0058] As a further solution of the present invention, the latch pin 18 is slidably inserted into the guide cylinder 12, and the retaining ring 19 is in contact with the end of the guide cylinder 12 away from the insertion groove 11;

[0059] The plug-in slot 11 is movably connected to the first connection seat 4 and the second connection seat 5 , and the latch pin 18 is slidably plugged with the limiting holes provided on the first connection seat 4 and the second connection seat 5 .

[0060] In this embodiment, the retaining ring 19 is in contact with one end of the guide cylinder 12, so when the pin 18 moves away from the driving mechanism, the retaining ring 19 can be made to contact with the guide cylinder 12, thereby limiting the sliding of the pin 18 on the fixing frame 6 to meet the driving requirements. The first connecting seat 4 and the second connecting seat 5 are connected to the plug-in slot 11, and the pin 18 is slidably plugged into the limiting holes on the first connecting seat 4 and the second connecting seat 5. Therefore, when the pin 18 is driven by the driving mechanism to disengage from the limiting holes on the first connecting seat 4 and the second connecting seat 5, the first connecting seat 4 and the second connecting seat 5 can be disengaged from the connection of the plug-in slot 11, thereby achieving the effect of the deployment of the sub-UAV.

[0061] As a further solution of the present invention, the linkage mechanism includes an L-shaped rod 21 and a tooth groove 22 arranged at one end of the L-shaped rod 21, and the shorter end of the L-shaped rod 21 is fixedly connected to the outer wall of the latch 18 on one side of the retaining ring 19;

[0062] The L-shaped rod 21 is slidably inserted in the sliding hole 10, and a connecting hook seat is fixedly connected to the bending part of the L-shaped rod 21. The connecting hook seat is sleeved and connected to one end of the hook spring 23, and the other end of the hook spring 23 is sleeved and connected to another connecting hook seat, and the other connecting hook seat is fixedly connected to the fixing frame 6.

[0063] In this embodiment, the L-shaped rod 21 is fixed on the latch 18. When the latch 18 moves, it can drive the L-shaped rod 21 to move synchronously and adjust. When the latch 18 moves toward the side of the servo 7, the hook spring 23 provided on the L-shaped rod 21 can be pulled and extended and maintain the rebound force. The hook spring 23 acts between the L-shaped rod 21 and the fixed frame 6. Through the rebound force, the L-shaped rod 21 can be kept away from the servo 7 when the latch 18 does not move, thereby ensuring the use effect. The L-shaped rod 21 is inserted into the sliding hole 10. Through the restriction of the sliding hole 10, the L-shaped rod 21 can maintain a horizontal plug-in movement state, thereby meeting the linkage requirements during delivery.

[0064] As a further solution of the present invention, the four corners of the bottom of the mother drone 1 are fixedly connected with fixed columns 24, and a rotation hole 25 is opened on the fixed column 24. A limiting column 26 is fixedly connected to the fixed column 24 above the rotation hole 25, and the fixed column 24 at the position of the limiting column 26 is arranged in a plane;

[0065] A connecting rod 27 is rotatably connected in the rotating hole 25 opened on the two fixed columns 24 on the same side, and a gear 28 is fixedly connected to the center of the connecting rod 27. Both ends of the connecting rod 27 are fixedly connected to the landing gear 29. A limit ring 30 is fixedly provided at one end of the top of the landing gear 29. The limit ring 30 is slidably connected to the limit column 26. The tooth groove 22 provided at one end of the L-shaped rod 21 is meshed and connected with the gear 28.

[0066] In this embodiment, when the child UAV on one side of the bottom of the mother UAV 1 is launched, the servo 7 is actuated to drive the latch 18 to slide and plug toward the side of the servo 7. At this time, the L-shaped rod 21 fixed with the latch 18 on the same side will move synchronously, and the tooth groove 22 set on the L-shaped rod 21 is meshed with the gear 28. Since the L-shaped rod 21 is slidably plugged in the sliding hole 10, the horizontal movement adjustment of the L-shaped rod 21 can be limited. When the L-shaped rod 21 moves toward the side of the servo 7, the gear 28 is rotated toward the side of the servo 7 through meshing, so that the connecting rod 27 rotates in the rotating hole 25 opened on the fixing column 24. By design, after the latch 18 moves into place, the landing gear 29 can be lifted up with the connecting rod 27 as the landing gear. After the center of the circle rotates, it remains parallel to the bottom surface of the mother UAV 1. At this time, the landing gear 29 does not hinder the launch of the sub-UAV, and the current latch 18 is out of the limit position of the connecting seat, the sub-UAV can be dropped to meet the launch requirements. The sliding connection between the limit ring 30 and the limit column 26 can limit the rotation angle of the landing gear 29 to ensure the connection effect. When the mother UAV 1 lands, the landing gear 29 can remain stationary with the cooperation of the L-shaped rod 21 and the hook spring 23. The landing surface of the landing gear 29 is a flat surface, and the landing surface is in contact with the ground. The landing gear 29 will not rotate and fold easily, ensuring the landing support effect of the mother UAV 1.

[0067] The method for air delivery of a cluster of UAVs using the automatic delivery system as described above comprises the following steps:

[0068] Step 1: According to the sub-drone to be launched, the latch 18 and the L-shaped rod 21 on the corresponding side are selected to move, and the steering gear 7 is driven to drive the rudder rod 8 to rotate in the opposite direction of the selected launch side;

[0069] Step 2: When the rudder stock 8 rotates in the opposite direction, the crank connecting rod 13, the connecting head 14, the prism rod 15 and the limit head 16 cooperate to pull the latch pin 18, and the latch pin 18 is disengaged from the insertion at the insertion groove 11 on the fixing frame 6;

[0070] Step 3: When the latch 18 is pulled, the L-shaped rod 21 is driven to move synchronously, and the tooth groove 22 engages the gear 28 to make it rotate along the axis, and the landing gear 29 rotates with the connecting rod 27 as the center and remains parallel to the bottom of the mother drone 1;

[0071] Step 4: After the latch 18 and the L-shaped rod 21 on the corresponding side are actuated, the first connecting seat 4 or the second connecting seat 5 is disconnected from the fixing frame 6;

[0072] Step 5: After the first sub-drone 2 or the second sub-drone 3 is successfully launched, driven by the steering gear 7, the latch 18 and the L-shaped rod 21 are reset.

[0073] The above embodiments are exemplary rather than restrictive, so the technical solutions of the present invention that can be implemented in other specific forms without departing from the spirit or basic features of the present invention are all included in the present invention.

Claims

1. An automatic aerial delivery system for a cluster of drones, comprising a mother drone (1) and a first child drone (2) and a second child drone (3) symmetrically mounted below the mother drone (1), wherein the first child drone (2) and the second child drone (3) are respectively mounted with a first connecting seat (4) and a second connecting seat (5), characterized in that: The bottom of the mother drone (1) is provided with an automatic delivery structure; The automatic delivery structure comprises a fixing frame (6) detachably mounted on the bottom of the mother drone (1), a driving mechanism arranged on the fixing frame (6), a transmission mechanism arranged on both sides of the driving mechanism and connected thereto and arranged on the fixing frame (6), and a landing gear (29) symmetrically arranged and connected to the transmission mechanism, wherein the landing gear (29) is rotatably connected to the bottom of the mother drone (1), and the first connecting seat (4) and the second connecting seat (5) are both connected to the fixing frame (6) and the transmission mechanism; The driving mechanism is used to drive the transmission mechanism on either side to approach or move away from the driving mechanism. In the process of the transmission mechanism on either side approaching the driving mechanism, the transmission mechanism enables the landing gear (29) on the corresponding side to remain parallel to the bottom surface of the mother drone (1) after rotating at the bottom, and the first connecting seat (4) or the second connecting seat (5) is disconnected from the transmission mechanism and the fixing frame (6).

2. The automatic aerial delivery system of a swarm of UAVs according to claim 1 is characterized in that: Both ends of the fixing frame (6) are provided with sliding holes (10), a plug-in slot (11) is provided on the fixing frame (6) below the sliding hole (10), and a guide cylinder (12) is fixedly connected to the fixing frame (6) on one side of the plug-in slot (11).

3. The automatic aerial delivery system of a swarm of UAVs according to claim 1 is characterized in that: The driving mechanism comprises a steering gear (7) and a rudder bar (8) arranged on the output end of the steering gear (7); the steering gear (7) is detachably mounted on the fixing frame (6); and one end of the rudder bar (8) away from the steering gear (7) is fixedly connected to a rotating shaft (9).

4. The automatic aerial delivery system of a swarm of UAVs according to claim 1 is characterized in that: The transmission mechanism comprises two crank connecting rods (13), a prismatic rod (15) rotatably connected to the crank connecting rod (13), a latch (18) slidably plugged into the prismatic rod (15), and a linkage mechanism arranged on the latch (18); The two crank connecting rods (13) are arranged in an offset rotational manner, the overlapping ends of the two crank connecting rods (13) are rotationally connected to the rotating shaft (9), the other end of the crank connecting rod (13) is rotationally connected to the connecting head (14), the connecting head (14) is fixedly connected to one end of the prismatic rod (15), and the other end of the prismatic rod (15) is slidably inserted into the insertion hole (20) provided on the latch (18); One end of the prismatic rod (15) located inside the latch (18) is fixedly connected to a limiting head (16), and the limiting head (16) is slidably connected to a limiting sliding groove provided on the inner wall of the latch (18). The limiting head (16) is arranged to abut against one end of a straight spring (17), and the other end of the straight spring (17) is arranged to abut against the inner wall of the cavity of the latch (18). A retaining ring (19) is fixedly connected to the outer wall of the latch (18).

5. The automatic aerial delivery system of swarm drones according to claim 4 is characterized in that: The latch pin (18) is slidably inserted into the guide cylinder (12), and the retaining ring (19) is in contact connection with an end of the guide cylinder (12) away from the insertion groove (11); The plug-in slot (11) is movably connected to the first connection seat (4) and the second connection seat (5), and the latch (18) is slidably plugged into the plug-in holes provided on the first connection seat (4) and the second connection seat (5).

6. The automatic aerial delivery system of swarm drones according to claim 4, characterized in that: The linkage mechanism comprises an L-shaped rod (21) and a tooth groove (22) arranged at one end of the L-shaped rod (21), and the shorter end of the L-shaped rod (21) is fixedly connected to the outer wall of the latch pin (18) on one side of the retaining ring (19); The L-shaped rod (21) is slidably inserted into the sliding hole (10), and a connecting hook seat is fixedly connected at the bent portion of the L-shaped rod (21), the connecting hook seat is sleeved and connected to one end of a hook spring (23), and the other end of the hook spring (23) is sleeved and connected to another connecting hook seat, and the other connecting hook seat is fixedly connected to the fixing frame (6).

7. The automatic aerial delivery system of swarm drones according to claim 1, characterized in that: The four corners of the bottom of the mother drone (1) are all fixedly connected with fixed columns (24), the fixed columns (24) are provided with rotation holes (25), the fixed columns (24) above the rotation holes (25) are fixedly connected with limit columns (26), and the fixed columns (24) at the position of the limit columns (26) are arranged in a plane; A connecting rod (27) is rotatably connected in the rotating holes (25) opened on the two fixing columns (24) on the same side, a gear (28) is fixedly connected at the center of the connecting rod (27), both ends of the connecting rod (27) are fixedly connected to the landing gear (29), a limiting ring (30) is fixedly provided at one end of the top of the landing gear (29), and the limiting ring (30) is slidably connected to the limiting column (26).

8. The automatic aerial delivery system of swarm drones according to claim 6, characterized in that: The tooth groove (22) provided at one end of the L-shaped rod (21) is meshedly connected with the gear (28).

9. A method for air delivery of a swarm of drones using the automatic delivery system as described in any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: The latch (18) and the L-shaped rod (21) on the corresponding side are selected according to the sub-drone to be launched, and the steering gear (7) is operated to drive the rudder (8) to rotate in the opposite direction of the selected launch side; Step 2: When the rudder stock (8) rotates in the opposite direction, the crank connecting rod (13), the connecting head (14), the prism rod (15) and the limit head (16) cooperate to pull the latch pin (18) so that the latch pin (18) is disengaged from the insertion in the insertion groove (11) on the fixing frame (6); Step 3: When the latch (18) is pulled, the L-shaped rod (21) is driven to move synchronously, and the tooth groove (22) engages the gear (28) to rotate along the axis, and the landing gear (29) rotates with the connecting rod (27) as the center and remains parallel to the bottom of the mother drone (1); Step 4: After the latch (18) and the L-shaped rod (21) on the corresponding side are actuated, the first connecting seat (4) or the second connecting seat (5) is disconnected from the fixing frame (6); Step 5: After the first sub-drone (2) or the second sub-drone (3) is successfully launched, the latch (18) and the L-shaped rod (21) are reset under the drive of the steering gear (7).

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