Unmanned aerial vehicle airdrop system parachute cord recovery device and use method

Abstract

The invention belongs to the technical field of aerial cargo aerial delivery, and discloses an unmanned aerial vehicle aerial delivery system parachute cord recovery device and a using method, and the device comprises a parachute cord suspension device, a parachute cord recoverer, a stop block, an unlocking rocker arm, an electric push rod and a fixed support. The parachute cord suspension device is arranged along the heading direction, and the stop block is slidably mounted on the parachute cord suspension device. In a natural state, the unlocking rocker arm locks the stop block under the action of the spring. During air-drop, the stop block limits the positions of the parachute pack and the parachute hook, so that the parachute cord and the parachute pack are disconnected under the effect of cargo gravity. After air-drop is finished, the electric push rod acts to drive the unlocking rocker arm to rotate so as to unlock the stop block, the stop block slides forwards along the hanging device under the pulling force effect of the parachute cord recoverer, and the residual parachute cord and the parachute hook are recovered to the front portion in the cabin. The device effectively solves the problems that parachute cord residues affect cabin door closing and threaten flight safety, and has the advantages of being simple in structure, low in cost and reliable in operation.

Description

Technical Field

[0001] This invention belongs to the field of air cargo delivery technology, specifically relating to a parachute rope recovery device and its usage method for a drone airdrop system. Background Technology

[0002] In recent years, the booming development of the low-altitude economy and the accelerated reform of airspace management have brought important development opportunities to heavy-load unmanned aerial vehicles (UAVs). With their excellent maneuverability, rapid response and ability to adapt to complex environments, they have broken through the time and space limitations of traditional logistics and rescue, becoming an indispensable emerging force in the modern emergency logistics system. They have shown significant application potential, especially in scenarios such as high-altitude and near-shore material delivery, emergency rescue and communication relay.

[0003] The cargo delivery capability of drones primarily relies on the aircraft's airdrop system. Typically, during cargo delivery, to minimize damage upon landing, containerized cargo is packaged and secured together with the airdrop parachute. During airdrop, after the cargo leaves the aircraft, the parachute fully deploys in the air. The drag from the parachute helps the cargo land relatively intact. For the airdrop parachute to deploy in the air, a reliable attachment point inside the aircraft is required to open the tow chute and allow the parachute to fully deploy; this attachment point must also ensure that the parachute detaches from the aircraft under the weight of the cargo.

[0004] For tail-drop aircraft, after cargo is unloaded, the parachute lines left on the aircraft are quite long, which can affect the normal closing of the cargo door. Furthermore, the parachute lines, drifting in the air, may cause damage to the aircraft. Therefore, it is essential to design a parachute line recovery system that can recover the parachute lines after cargo is dropped from the air. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a parachute rope recovery device and method for use in a drone airdrop system, which solves the problem that the parachute ropes cannot be recovered after the cargo is dropped by the drone, thus causing difficulties in closing the cabin door and threatening the flight safety of the aircraft.

[0006] The technical solution of this invention is implemented as follows: In a first aspect, the present invention provides a parachute line recovery device for a drone airdrop system, comprising: The parachute suspension device is arranged along the flight direction, and its front and rear ends are connected to the fuselage structure through hinged joints. The paracord retractor is fixedly installed on the machine body, and its end is connected to the upper stop block; The stop block, consisting of an upper stop block and a lower stop block, is mounted on the paracord suspension device by fastener assembly and can slide along its course; Fixed support, connected to the fuselage structure by fasteners; The unlocking rocker arm is hinged to the fixed support, with one end in contact with the surface of the stop block, and is used to limit the directional movement of the stop block. An electric actuator is fixedly connected to the fixed support, and its output end is connected to the unlocking rocker arm to drive the unlocking rocker arm to rotate and unlock the stop block.

[0007] As a further technical solution of the present invention: the parachute suspension device is connected to the parachute suspension device mounting structure at the front and rear parts respectively through double-ear connectors, and the mounting structure is fixed on the front frame edge and rear frame edge of the aircraft.

[0008] As a further technical solution of the present invention: the paracord retrieving device has a built-in spring mechanism, which is used to provide tension after the stop block is unlocked, so as to drive the stop block and the paracord to move forward.

[0009] As a further technical solution of the present invention: the unlocking rocker arm is provided with a pull ring for manual pulling down to realize the locking operation of the stop block.

[0010] As a further technical solution of the present invention: a spring is provided between the unlocking rocker arm and the fixed support, which is used to automatically reset the unlocking rocker arm to the locked position after manual operation or electric push rod reset.

[0011] As a further technical solution of the present invention: after receiving the control signal, the electric push rod retracts, driving the unlocking rocker arm to rotate counterclockwise, so that its stop surface disengages from the stop surface of the lower stop block, thereby unlocking the stop block.

[0012] As a further technical solution of the present invention: after unlocking, the stop block can slide along the parachute suspension device to the front edge of the flight frame under the pulling force of the parachute line retractor, thereby driving the parachute hook and parachute line to be retracted into the cabin.

[0013] Secondly, the present invention provides a method for recovering parachute lines in a drone airdrop system, employing the aforementioned parachute line recovery device, comprising the following steps: Before the airdrop mission, manually move the stop block to the locked position at the rear edge of the heading frame; Pull down the ring on the unlocking rocker arm to put the stop block into the locked position, then release the ring. The unlocking rocker arm will reset under the action of the spring and lock the stop block. The parachute hook of the airdropped parachute is suspended from the parachute rope suspension device; During airdrop, the cargo moves the parachute along the parachute rope suspension device to the stop block, where the parachute ropes disconnect from the parachute under the action of gravity. After the airdrop is completed, the electric push rod receives a signal and retracts, driving the unlocking rocker arm to rotate counterclockwise and release the limit on the stop block; The stop block moves forward along the flight path under the pulling force of the parachute line recovery device, driving the parachute hook and parachute lines to be recovered to the front of the cabin.

[0014] As a further technical solution of the present invention: the paracord retractor provides a retraction force through a built-in coil spring, thereby realizing the automatic retraction of the paracord.

[0015] As a further technical solution of the present invention: after the electric push rod is unlocked, it resets, and the unlocking rocker arm automatically resets to the locked position under the action of the spring, in preparation for the next airdrop mission.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. High reliability: By combining mechanical locking with electric unlocking, the stop block is reliably limited during airdrop and smoothly unlocked during recovery, ensuring accurate and reliable operation.

[0017] 2. High safety: It effectively avoids difficulties in closing the cabin door and potential airframe damage caused by parachute ropes remaining outside the cabin, significantly improving flight safety.

[0018] 3. Low cost and easy maintenance: The device has a simple structure, mainly adopts a mechanical structure, has low component cost, and is easy to operate and maintain.

[0019] 4. Wide applicability: The device of this invention can be widely used in various types of drones with tail-drop airdrop function, and has good prospects for promotion.

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall layout of the paracord recovery device of the present invention in the aircraft cargo hold.

[0022] Figure 2 This is a schematic diagram of the paracord suspension device.

[0023] Figure 3 A schematic diagram showing the connection relationship of components such as the stop block and the unlocking rocker arm at the rear edge of the yaw.

[0024] Figure 4 This is a schematic diagram of the locking function module.

[0025] Figure 5 A schematic diagram illustrating the operation of the unlocking function module.

[0026] Figure 6 This is a diagram showing the state of the parachute before the parachute lines are retrieved at the end of the airdrop mission.

[0027] Figure 7 This is a schematic diagram showing the state of the parachute lines before they were successfully retrieved into the cabin.

[0028] The following are the labels in the attached diagram: 1-Aircraft cargo hold, 2-Aircraft forward frame edge, 3-Aircraft rear frame edge, 4-Parachute suspension device mounting structure, 5-Parachute suspension device, 6-Parachute retractor, 7-Upper stop, 8-Lower stop, 9-Unlocking rocker arm, 10-Fixed support, 11-Electric push rod, 12-Pull ring, 13-Spring, 14-Parachute hook with parachute line. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some embodiments of this invention, but not all embodiments.

[0030] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0031] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0032] The following is in conjunction with the appendix Figure 1-7 The embodiments of the present invention will be described in detail below.

[0033] Example 1 See Figure 1 The parachute line recovery device of the UAV airdrop system described in this invention is mainly arranged on the inner wall of the aircraft cargo hold 1, extending along the flight direction. The device mainly consists of core components such as a parachute line suspension device 5, a parachute line recovery unit 6, an upper stop block 7, a lower stop block 8, an unlocking rocker arm 9, a fixed support 10, and an electric push rod 11. The entire device is securely connected to the aircraft's forward frame edge 2, the aircraft's rearward frame edge 3, and the intermediate parachute line suspension device mounting structure 4 via fasteners.

[0034] See Figure 2 The parachute suspension device 5 is the running track for the parachute lines and the parachute hook 14. Its front and rear ends are hinged to the mounting structure 4 via double-ear joints. This connection method can better adapt to minor deformations of the fuselage structure.

[0035] See Figure 3The key structure of the device at the rear wing edge 3 is shown. The end of the parachute retractor 6 is connected to the upper stop 7 via a rope. The upper stop 7 and the lower stop 8 are assembled into a single unit by fasteners, fitted onto the parachute suspension device 5, and can slide along it. The lower end face of the assembled stop block contacts the stop face of the unlocking rocker arm 9, thus being restricted to its current position (locked position). The unlocking rocker arm 9 and the electric actuator 11 are mounted on the fixed support 10 by fasteners, and the fixed support 10 is fixed to the rear wing edge 3 of the aircraft.

[0036] The working process of the device of the present invention is as follows: 1. Preparations and locking before the mission: Before each airdrop mission, the operator must manually drag the assembled stop blocks (7 and 8) along the parachute suspension device 5 to the locked position at the end of the cargo hold (i.e., at the rear edge of the heading frame 3). Then, see... Figure 4 Manually pull down the ring 12 hanging on the unlocking rocker arm 9 in the direction of the arrow. During the pull, the unlocking rocker arm 9 rotates counterclockwise around its hinge point, making room for the stop block to fully position. After the stop block moves to the designated position, release the ring 12. The unlocking rocker arm 9 automatically resets clockwise under the action of its internal spring 13, and its stop surface makes tight contact with the stop surface of the lower stop block 8, thus completing the locking. Next, suspend the parachute hook 14 of the airdrop parachute pack on the parachute rope suspension device 5.

[0037] 2. Airdrop process: During airdrop, the cargo moves along the cargo hold floor under gravity, causing the attached parachute and parachute hook 14 to slide along the parachute rope suspension device 5 towards the stern. When the parachute hook 14 slides to its end and contacts the stop block, the immense gravity of the cargo pulls on the connection mechanism between the parachute ropes and the parachute (such as a weak link or a specially designed disconnect device), causing the parachute to leave the aircraft with the cargo. The parachute ropes and parachute hook 14 remain inside the hold and are restrained at the stern by the stop block. Figure 6 As shown.

[0038] 3. Parachute rope retrieval after the mission: After the airdrop mission is completed, the parachute lines need to be retrieved. See also Figure 5 The control system sends a signal to the electric actuator 11, causing the actuator 11 to retract and rotate the unlocking rocker arm 9 counterclockwise around the hinge point. This disengages the stop surface of the unlocking rocker arm 9 from the stop surface of the lower stop block 8, thus unlocking the device. Once unlocked, the stop blocks (7 and 8), under the retrieval force of the coil spring inside the parachute line retractor 6, immediately slide rapidly forward along the parachute line suspension device 5 (i.e., towards the front of the cabin). During this movement, the stop blocks move the parachute hook 14 and the connected parachute lines forward together, ultimately neatly retrieving all the parachute lines to the front of the cabin, as shown in the image. Figure 7As shown. After the recovery is complete, the electric push rod 11 resets, and the unlocking rocker arm 9 automatically resets to the locked position under the action of the spring 13, preparing for the next task.

[0039] Example 2 The embodiments of the present invention, in conjunction with the accompanying drawings, provide a detailed description of the composition, connection relationships, working process, and synergistic effects of the parachute rope recovery device of the UAV airdrop system of the present invention.

[0040] I. Device Composition and Mechanical Connections See Figure 1 The parachute line recovery device of this invention is integrated as a functional module onto the inner wall (or top) structure of the aircraft cargo hold 1, with its arrangement parallel to the aircraft's heading. The core functional components of this device include: 1. Parachute suspension device (track system): like Figure 2 As shown, the parachute suspension device 5 is the skeleton and track of this device. It is typically composed of one or a group of rods or rails with a low coefficient of friction and high strength. Its yaw front end is connected to the parachute suspension device mounting structure 4 mounted on the forward frame edge 2 of the aircraft via a double-eared hinge joint; its yaw rear end is similarly connected to the mounting structure 4 mounted on the rear frame edge 3 of the aircraft via a double-eared hinge joint. This hinged mounting method at both ends is crucial, as it allows the parachute suspension device 5 to adaptively adjust when the aircraft fuselage undergoes minor deformation due to load or airflow, avoiding excessive structural stress and thus ensuring the long-term reliability of the entire device.

[0041] 2. Paracord Retriever (Power Source): The parachute recoverer 6 is fixedly mounted on the fuselage structure, typically located near the forward frame edge 2. At its core is a power mechanism with a built-in coil spring (torsion spring or clockwork spring). The coil spring is pre-tensioned at the factory, and its output end is reliably connected to the upper stop 7 via a high-strength flexible rope (such as Kevlar rope or steel wire rope). In its natural state, the coil spring accumulates elastic potential energy and has a strong tendency to coil back, thus providing a constant, forward-directing recovery force to the stop assembly. This recoverer is typically equipped with a damping mechanism or clutch mechanism to prevent excessively fast recovery speeds and resulting shocks.

[0042] 3. Stop block assembly (sliding and locking target): like Figure 3 and Figure 4As shown, the stop block is composed of an upper stop block 7 and a lower stop block 8 assembled using fasteners such as bolts and pins. The assembled stop block has a through hole or groove in its center, precisely fitting onto the paracord suspension device 5, allowing the entire stop block assembly to slide along the suspension device 5 with low resistance. The upper stop block 7 is fixedly connected to the end of the paracord retractor 6. The bottom or side of the lower stop block 8 is designed with one or more precisely machined stop surfaces. These stop surfaces are used to engage with the unlocking rocker arm 9 and are crucial for achieving position locking.

[0043] 4. Locking and unlocking mechanism: This mechanism is centrally located at three points on the rear edge of the aircraft's heading plane and acts as a "valve" to control the timing of recovery.

[0044] Fixed support 10: As a sturdy base, it is directly connected to the load-bearing structure of the rear frame edge 3 of the aircraft via multiple fasteners (such as high-strength bolts) to ensure that it can withstand the impact force transmitted from the stop block during airdrop.

[0045] Unlocking rocker arm 9: This is a lever component that can rotate about a hinge axis fixed to the support 10. One end of it is machined with a locking surface that matches the stop surface of the lower stop block 8. In its natural state (i.e., locked position), this locking surface, under the action of spring force, tightly presses against the stop surface of the lower stop block 8, forming a surface-to-surface contact, thereby reliably preventing the stop block from moving forward. The other end of the unlocking rocker arm 9 is hinged to the output end of the electric actuator 11 and also has a pull ring 12 for manual operation.

[0046] Electric actuator 11: Its cylinder is fixed on the fixed support 10, and the end of the actuator is hinged to the unlocking rocker arm 9. As a linear actuator, its actuator can precisely retract or extend after receiving an electrical signal from the flight control computer or operator.

[0047] Spring 13: Typically a torsion spring, it fits onto the hinge shaft of the unlocking rocker arm 9. It provides a continuous torque to the main rocker arm 9 toward the locked position. Whether released manually after pulling down the pull ring 12 or after the electric push rod 11 completes the unlocking action and resets, spring 13 ensures that the unlocking rocker arm 9 automatically and quickly returns to the locked position.

[0048] II. Detailed Work Process and Principles Phase 1: Pre-mission preparation and locking the machinery Reset and Connection: After the previous airdrop recovery operation, the stop block assembly is located at the front of the cabin. The operator must first overcome the tension of the parachute line recovery device 6 and manually drag the stop block assembly (7 and 8) backward along the parachute line suspension device 5 until it reaches the preset locked position at the rear of the cabin. This position is precisely designed to ensure that the airdrop parachute hook 14 is accurately positioned.

[0049] Manual trigger unlock: After the stop block reaches its position, the operator presses... Figure 4 As shown by the arrow, pull down the ring 12 on the unlocking rocker arm 9. The pulling force causes the unlocking rocker arm 9 to overcome the torque of the spring 13 and rotate counterclockwise around its hinge axis.

[0050] Positioning and Automatic Locking: During the rotation of the unlocking rocker arm 9, its locking surface gradually disengages from its original trajectory, making way for the stop surface of the lower stop block 8. The operator continues to push the stop block slightly backward until it is fully in place. At this point, the pull ring 12 is released, and the unlocking rocker arm 9, under the strong torque of the spring 13, quickly swings back clockwise to its original position. Its locking surface makes a "click" sound and re-establishes a tight surface-to-surface contact with the stop surface of the lower stop block 8, firmly locking the stop block in the stern position. At this point, the device is in standby mode.

[0051] Attaching the parachute: Attach the parachute hook 14 of the airdrop parachute to the parachute rope suspension device 5, and ensure that it is in front of the stop block.

[0052] Phase Two: The Airdrop Process and Force Separation Cargo sliding: After the airdrop command is issued, the cargo moves backward along the cargo hold under the action of gravity or the pushing device, and slides towards the stern of the hold together with the airdrop parachute and parachute hook 14 on the parachute rope suspension device 5 via the towing rope.

[0053] Impact and Separation: At the moment the parachute hook 14 slides to its end and collides with the locked stop, the cargo's enormous kinetic and gravitational potential energy is converted into a powerful impact force. This force is transmitted through the parachute hook and stop to the robust fixed support 10 and the aircraft's rear frame edge 3 structure. Under this preset peak load, the specially designed mechanical disconnection device between the airdropped parachute and the parachute lines (such as a shear pin, a weak connecting ring, or a stitching of specific strength) is triggered and breaks. The parachute and cargo detach from the aircraft, fall freely, and the parachute opens, while the parachute lines and parachute hook 14 remain inside the cabin and are restrained by the stop at the rear of the cabin (e.g.,...). Figure 6 (As shown).

[0054] Phase 3: Automatic parachute cord retraction after the mission Electrical signal unlocking: After the airdrop mission is completed and the aircraft enters a stable flight state, the pilot or flight control system sends an unlocking command to the electric push rod 11. The electric push rod 11 is energized, and its push rod quickly retracts.

[0055] Unlocking by rotating the rocker arm: The retraction of the electric push rod 11 pulls the unlocking rocker arm 9, causing it to rotate counterclockwise around the hinge axis. This rotation completely disengages the locking surface from the stop surface of the lower stop block 8, releasing the last mechanical constraint on the stop block assembly.

[0056] Regenerative braking: Once the lock is released, the coil spring of the previously suppressed parachute line retractor 6 immediately releases its stored elastic potential energy. It strongly pulls the upper stop 7 through the rope, causing the entire stop block assembly (7 and 8) to slide smoothly and at high speed along the parachute line suspension device 5 towards the forward direction (forward of the cabin).

[0057] Paracord Collection: As the stop block slides forward, it pushes or pulls the paracord hook 14 in front of it and all the paracords connected to it forward together. Within seconds, all scattered and dangling paracords are neatly pulled back into the hold and gathered in the front area of ​​the cargo hold (e.g., Figure 7 (As shown).

[0058] System Reset: After the recovery operation is completed, the electric push rod 11 receives a reset signal, extends, and returns to the standby state. The unlocking rocker arm 9, under the action of spring 13, automatically swings clockwise back to the locked position. Except for the change in the position of the stop block, all other components of the entire device have been reset, ready for the next airdrop and recovery cycle.

[0059] Example 3 This invention discloses a parachute rope recovery device and its usage method for a drone airdrop system, which solves the problem that the parachute ropes used in existing drone cargo delivery systems cannot be recovered, causing difficulties in closing the cabin door and potential hazards to the aircraft's structure.

[0060] A parachute line recovery device for a drone airdrop system is mainly used to retrieve the parachute lines that have broken off from the cargo airdrop parachute into the cabin after the cargo is dropped in the air, so as to avoid the cabin door being unable to close and affecting the flight safety of the aircraft.

[0061] The aforementioned UAV airdrop system parachute line recovery device includes a parachute line suspension device, a parachute line recoverer, a parachute line stop block, an unlocking rocker arm, an electric push rod, and a fixed support. Its key feature is that the parachute line suspension device is arranged along the flight path, extending from the forward frame edge of the aircraft to the rear cabin frame edge structure; a parachute line recoverer is also arranged at the forward frame edge; a stop block is arranged at the suspension point of the parachute line suspension device at the rear frame edge to limit the position of the parachute line inside the cabin during airdrop. The stop block consists of upper and lower parts, which are fixed to the parachute line suspension device by fasteners and can move along the flight path of the parachute line suspension device. The upper stop block is connected to the end of the parachute line recoverer by a rope; an unlocking rocker arm, an electric push rod, and a fixed support are also arranged at the suspension point of the parachute line suspension device at the rear frame edge of the aircraft. The unlocking rocker arm and the electric push rod are connected to the fixed support by fasteners, which are then connected to the fuselage structure.

[0062] The method of using the parachute line recovery device of the UAV airdrop system is as follows: Before each airdrop mission, the stop block is manually moved to the suspension point of the parachute line suspension device at the rear edge of the aircraft. The pull ring at the unlocking rocker arm is manually pulled down to move the stop block to the designated position. After the pull ring is released, the unlocking rocker arm returns to its original position under the action of the spring, thus locking the stop block. When loading cargo, the main body of the airdrop parachute is packaged and fixed with the cargo, and the other end of the parachute is suspended from the parachute line suspension device by a hook. During the airdrop, the airdrop parachute moves along the parachute line suspension device with the cargo to the stop block at the rear of the aircraft. Under the action of the cargo's gravity, the parachute lines of the airdrop parachute disconnect from the parachute, and the parachute lines and hooks remain in the cabin. After the airdrop mission is completed, under the action of the control signal, the electric push rod retracts, driving the unlocking rocker arm to rotate counterclockwise, thus unlocking the stop block. Under the action of the parachute line recovery device, the stop block moves along the flight path to the front of the aircraft, driving the parachute hook and parachute lines forward along the flight path into the cabin, thus realizing the parachute line recovery function.

[0063] In the described drone airdrop system parachute line recovery device, under normal conditions, the unlocking rocker arm is always in the locked position under the action of the spring. When locking, manually pull down the pull ring on the unlocking rocker arm to make the end face of the unlocking rocker arm block the end face of the stop block to achieve locking. When unlocking, the electric push rod returns, and the rotating rocker arm rotates counterclockwise to achieve unlocking. After the electric push rod returns to its original position, the rotating rocker arm returns to the locked position under the action of the spring.

[0064] The stop block effectively limits the position of the parachute lines at the end of the cannon; the parachute line recovery device's locking and unlocking mechanism is simple and reliable in principle; and its components are low-cost. With slight modifications, this product can be used on similar drones with airdrop capabilities.

[0065] See appendix Figure 1 The parachute line recovery device of the UAV airdrop system involved in this application mainly consists of a parachute line suspension device 5, a parachute line recovery unit 6, an upper stop block 7, a lower stop block 8, an unlocking rocker arm 9, a fixed support 10, and an electric push rod 11. The parachute line recovery device is arranged along the flight direction on the inner side wall of the aircraft cargo hold 1. The parachute line recovery device is fixed in the cargo hold to the forward frame edge 2, the rear frame edge 3, and the parachute line suspension device mounting structure 4 of the aircraft using fasteners.

[0066] See appendix Figure 2 The parachute suspension device 5 in the parachute recovery device of the UAV airdrop system involved in this application is arranged along the flight direction and is connected to the parachute suspension device mounting structure 4 at two points before and after the flight direction through double-ear connectors.

[0067] See appendix Figure 3The end of the parachute line retractor 6 is connected to the upper stop block 7. The upper stop block 7 and the lower stop block 8 are fixed to the parachute line suspension device 5 by fasteners, and the combined upper and lower stops can slide along the parachute line suspension device 5. The stop block assembly contacts the stop surface of the unlocking rocker arm 9 and is held in the locked position. The unlocking rocker arm 9 and the electric push rod 11 are connected to the fixed support 10 by fasteners; the fixed support 10 is connected to the rear edge of the aircraft heading frame 3 by fasteners.

[0068] See appendix Figure 3 Before each airdrop mission, operators need to manually drag the assembled stop assembly along the parachute suspension device 5 to the locking position at the end of the aircraft cargo hold. Then refer to the appendix. Figure 4 Following the direction of the arrow in the diagram, manually pull down the pull ring 12 suspended on the unlocking rocker arm 9. The unlocking rocker arm 9 will rotate... Figure 4 The rotating intersection point rotates counterclockwise until the stop block assembly enters the locked position. The pull ring 12 is released, and the unlocking rocker arm 9 is reset under the action of the spring 13. The stop surface of the unlocking rocker arm 9 contacts the stop surface of the lower stop block 8 to achieve locking.

[0069] See appendix Figure 5 After completing the airdrop mission, when it is time to retrieve the parachute lines, the electric actuator 11 retracts in the direction shown in the diagram upon receiving a signal. This causes the unlocking rocker arm 9 to rotate counterclockwise around the intersection of rotation points, disengaging the stop surface of the unlocking rocker arm 9 from the stop surface of the lower stop block 8, thus unlocking the parachute. Under the action of the coil spring force built into the parachute line retriever 6, the upper and lower stops slide along the parachute line suspension device 5 to the forward frame edge inside the cabin, achieving the function of parachute line retrieval.

[0070] See appendix Figure 6 After the airdrop mission is completed, if the parachute line recovery device is not unlocked, the parachute hook 14 with the parachute line is located at the front end of the stop block.

[0071] See appendix Figure 7 After the parachute line recovery device is unlocked, the stop block slides along the parachute line suspension device 5 to the forward frame edge 2 inside the cabin under the action of the spring force inside the parachute line recovery device 6, and then drives the parachute hook 14 with the parachute line to move into the cabin.

[0072] Thus, the objective of this invention has been achieved.

[0073] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle aerial delivery system parachute cord recovery apparatus, characterized by, The umbrella rope suspension device (5) is arranged along the heading direction, and the front end and the rear end thereof are connected with the fuselage structure through hinge joints respectively. The umbrella rope recovery device (6) is fixedly installed on the fuselage, and the tail end thereof is connected with the upper stop block (7). The stop block is composed of the upper stop block (7) and the lower stop block (8), is combined and installed on the umbrella rope suspension device (5) through fasteners, and can slide along the heading direction of the umbrella rope suspension device (5). The fixed support (10) is connected with the fuselage structure through fasteners. The unlocking rocker arm (9) is hinged on the fixed support (10), one end of the unlocking rocker arm (9) is in surface contact with the stop block, and the unlocking rocker arm (9) is used for limiting the heading direction of the stop block. The electric push rod (11) is fixedly connected with the fixed support (10), and the output end of the electric push rod (11) is connected with the unlocking rocker arm (9), so that the electric push rod (11) is used for driving the unlocking rocker arm (9) to rotate to realize unlocking of the stop block. The umbrella rope suspension device (5) is connected with the umbrella rope suspension device installation structure (4) through double-ear joints at the front and rear parts in the heading direction, and the installation structure (4) is fixed on the front frame edge (2) and the rear frame edge (3) of the aircraft in the heading direction.

2. The parachute cord recovery apparatus of claim 1, wherein, The umbrella rope recovery device (6) is internally provided with a spring winding mechanism, which is used for providing a pulling force to drive the stop block and the umbrella rope to move forward in the heading direction after the stop block is unlocked.

3. The parachute cord recovery apparatus of claim 1, wherein, A pull ring (12) is arranged on the unlocking rocker arm (9), which is used for manual pulling down to realize locking of the stop block.

4. The parachute cord recovery apparatus of claim 1, wherein, A spring (13) is arranged between the unlocking rocker arm (9) and the fixed support (10), which is used for automatically resetting the unlocking rocker arm to the locking position after manual operation or resetting of the electric push rod.

5. The parachute cord recovery apparatus of claim 1 or 4, wherein, The electric push rod (11) is retracted after receiving a control signal, drives the unlocking rocker arm (9) to rotate counterclockwise, makes the stop surface of the unlocking rocker arm (9) separate from the stop surface of the lower stop block (8), and realizes unlocking of the stop block.

6. The parachute cord recovery apparatus of claim 1, wherein, The stop block can slide to the front frame edge (2) along the umbrella rope suspension device (5) under the pulling force of the umbrella rope recovery device (6) after being unlocked, drives the umbrella hook (14) and the umbrella rope to be recovered into the cabin.

7. The parachute cord recovery apparatus of claim 1, wherein, The method comprises the following steps:

8. A parachute cord recovery method for a UAV aerial delivery system employing the parachute cord recovery apparatus of any one of claims 1 7. The parachute cord recovery apparatus of any one of claims 1-6, wherein Before the air drop task, the stop block is manually moved to the locking position at the rear frame edge (3) in the heading direction; The pull ring (12) on the unlocking rocker arm (9) is pulled down, the stop block is locked after being moved to the locking position, and then the pull ring (12) is released, the unlocking rocker arm is reset under the action of the spring, and the stop block is locked; The umbrella hook (14) of the air drop parachute bag is hung on the umbrella rope suspension device (5); During the air drop, the cargo drives the parachute bag to move to the stop block along the umbrella rope suspension device, and the umbrella rope is separated from the parachute bag under the action of gravity; After the air drop is completed, the electric push rod (11) receives a signal and is retracted, drives the unlocking rocker arm to rotate counterclockwise, and releases the limitation of the stop block; The stop block moves forward in the heading direction under the pulling force of the umbrella rope recovery device (6), drives the umbrella hook and the umbrella rope to be recovered into the front part of the cabin. The umbrella rope recovery device (6) provides a recovery pulling force through the built-in spring, and realizes automatic recovery of the umbrella rope.

9. The method of claim 8, wherein, The electric push rod (11) is reset after completing the unlocking, the unlocking rocker arm (9) is automatically reset to the locking position under the action of the spring (13), and preparation is made for the next air drop task.

10. The method of claim 8, wherein, ​

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