Unmanned aerial vehicle cargo parachute cord recovery structure and method

Abstract

This invention discloses a structure and method for recovering parachute lines for unmanned aerial vehicle (UAV) cargo transport. The structure includes an internal cabin structure, a power drive unit, a front support, a steel wire rope, parachute lines, and a rear support. The front support is mounted on the internal cabin structure, and the power drive unit is mounted on the front support. The rear support is mounted at the tail of the internal cabin structure, and a pulley is installed on the rear support. The power drive unit is connected to a chain and a control unit. One end of the steel wire rope is fixed to the chain, and the other end of the steel wire rope passes around the pulley and extends along the flight direction of the internal cabin structure. A buckle is fixed to the surface of the steel wire rope. The parachute lines are draped over the surface of the steel wire rope, and the end of the parachute lines is connected to the buckle. This design achieves stable transmission in the parachute line recovery system, improving its reliability and safety.

Description

Technical Field

[0001] This invention belongs to the field of air cargo and relates to a structure and method for recovering parachute lines used in drone cargo transport. Background Technology

[0002] In unmanned aerial vehicle (UAV) cargo delivery systems, the forced deployment of the cargo pallet parachute relies on the action of the deployment pull cord. The upper end of the pull cord is connected to the cargo hold cable, and the lower end is connected to the main parachute pack. After the UAV completes the airdrop mission, the pull cord and sling remain on the aircraft. If they are not retracted to the front of the cargo hold in a timely manner, they can obstruct the closing of the tail door, affecting flight safety and mission efficiency.

[0003] Existing recovery technologies have the following core defects: traditional winches, lanyards, and steel cable structures are prone to problems such as tangled ropes and jamming, and have poor transmission stability; multi-clamp design leads to messy parachute rope fixation, which can easily cause misalignment during airdrop; the parachute ropes and transmission components lack a sliding fit structure, making it difficult to control the parachute opening sequence; and status monitoring relies on a single switch, making it impossible to accurately determine the parachute opening and the recovery endpoint. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a structure and method for recovering parachute lines for drone cargo, which realizes stable transmission of the parachute line recovery system and improves the reliability and safety of the parachute line recovery system.

[0005] To achieve the above objectives, the present invention employs the following technical solution: A drone cargo parachute line recovery structure includes an internal structure, a power drive unit, a front support, steel wire rope, parachute lines, and a rear support. The front support is mounted on the internal structure, and the power drive unit is mounted on the front support; the rear support is mounted at the rear of the internal structure, and pulleys are installed on the rear support. The power drive unit is connected to a chain and a control unit; one end of the wire rope is fixed to the chain, and the other end of the wire rope passes around the pulley and extends along the heading direction of the cabin structure; a buckle is fixed to the surface of the wire rope; the parachute rope is laid on the surface of the wire rope, and the end of the parachute rope is connected to the buckle.

[0006] Optionally, the power drive unit includes bearings, brakes, a motor, an encoder, a reducer, and a sprocket; the motor, brake, and encoder are respectively connected to the control unit; the motor is connected to the reducer, and the reducer is connected to the sprocket; a chain is mounted on the sprocket; and the bearing is located at the connection between the motor, reducer, and sprocket drive.

[0007] Optionally, it also includes microswitches at the front and rear of the cabin; The micro switch at the front of the cabin is installed on the side of the cabin structure near the starting position of the wire rope; the micro switch at the rear of the cabin is installed on the side of the rear support; the micro switches at the front and rear of the cabin are respectively connected to the control unit.

[0008] Optionally, the front bracket mounting surface and the rear bracket mounting surface are coplanar and in the same horizontal plane.

[0009] Optionally, the buckle is installed on the wire rope near the rear of the parachute rope at the tail of the cabin structure; the hook at the end of the last parachute rope among multiple parachute ropes is engaged in the buckle slot.

[0010] Optionally, the front bracket is fixed to the front side wall of the cabin structure; the axis of the power drive unit is parallel to the heading direction of the cabin structure.

[0011] A method for recovering parachute lines used for drone cargo transport includes the following steps: The control unit unlocks the power drive unit; After the pallet detaches from the internal structure, it falls, and the weight of the pallet causes the parachute ropes to slide backward along the steel wire ropes; The hook at the end of the paracord engages with the buckle, which in turn causes the steel wire rope and chain to move along the heading direction. The latch moves to the limit stop at the rear support and the parachute cord is tightened to open the parachute; The control unit controls the power drive unit to drive the chain and wire rope to move in the opposite direction; The steel wire rope drives the buckle and parachute rope to move towards the front of the cabin structure.

[0012] Optionally, the process of the latch moving to the limit stop at the rear support and tightening the parachute lines to open the parachute is as follows: The latch moves until it touches the rear of the internal structure, where the bracket is stopped. The steel wire rope stops moving, and the buckle tightens the last parachute rope, triggering the parachute pack to open. When the buckle contacts the rear bracket limit position, it simultaneously triggers the micro switch at the rear of the cabin. The microswitch at the rear of the cabin sends a parachute deployment signal to the control unit, which then locks the brakes and simultaneously stops the motor, chain, and wire rope from moving.

[0013] Optionally, the process of the steel wire rope driving the buckle and parachute lines to move towards the front of the cabin structure is as follows: The buckle, via its end hook, drives the last paracord to move along with the steel wire rope toward the front of the cabin structure. The remaining parachute ropes, located on the surface of the steel wire rope, slide against the direction of travel due to friction and are pulled into the cabin structure.

[0014] Optionally, after the steel wire rope drives the buckle and parachute lines to move towards the front of the cabin structure: The buckle moves with the wire rope to the front end of the cabin structure, and the buckle touches the micro switch at the front end of the cabin. The micro switch at the front end of the cabin sends a signal to the control unit that the cabin has been retracted into position. After receiving the signal indicating that the retraction has been completed, the control unit sends a stop command to the motor and controls the brake to lock. The encoder in the power drive unit records the final position of the paracord.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention employs a composite transmission system using a power drive unit, chain, and wire rope, replacing the traditional winch and cable-hanging structure. The chain engagement effectively prevents slippage, while the wire rope, guided by pulleys, ensures a smooth, linear trajectory. The snap-lock mechanism provides a paracord limiting and dragging point. This integrated architecture not only adapts to the confined space within the unmanned aerial vehicle (UAV) cabin but also fundamentally avoids the tangled rope and jamming issues common in traditional structures, significantly improving the transmission stability and overall reliability of the paracord retrieval system.

[0016] Furthermore, the two microswitches act as limit sensors, accurately sensing when the latch has moved to the bow (recovery in place) or stern (parachute deployment in place). Upon receiving these precise positioning signals, the control unit can immediately issue a command, thereby preventing equipment overload or incomplete operation and improving the accuracy and safety of the entire system operation.

[0017] Furthermore, the mounting surfaces of the front and rear supports are coplanar and on the same horizontal plane, ensuring that the wire rope connecting them remains straight and parallel to the heading direction during tension and reciprocating motion. This design avoids unnecessary spatial bending or tilting of the wire rope during transmission, significantly reducing frictional losses between the wire rope and pulleys and surrounding structures, and extending the service life of the core transmission components.

[0018] Furthermore, by using a single buckle connected only to the hook at the end of the last parachute line, the parachute line can slide freely on the steel cable during airdrop until the last parachute line tightens the buckle to form a limit, triggering parachute opening. This single-point limiting combined with sliding adaptation structure completely solves the problems of chaotic parachute line fixation and force misalignment that are easily caused by multi-buckle designs, making the parachute opening sequence absolutely precise and controllable, and significantly improving the safety of airdrop missions.

[0019] Furthermore, by fixing the front bracket to the side wall and arranging the axis of the power drive unit parallel to the heading direction, the side wall mounting can save the maximum effective cargo space in the middle of the cabin; and the axis being parallel to the heading direction makes the power direction generated by the motor drive chain and the tension direction of the wire rope in the most reasonable vector coplanar state, which greatly reduces the lateral torque and energy loss caused by the transmission direction conversion, making the system structure more compact and the force more reasonable.

[0020] Furthermore, the parachute line retrieval method utilizes the cargo pallet's own weight as the traction force for parachute deployment, while the power drive unit provides the main force for reverse towing during the retrieval phase. This electromechanical collaboration not only ensures a smooth and unobstructed airdrop but also allows all stranded parachute lines and lanyards to be quickly pulled back into the cabin without manual intervention after the mission is completed. This completely eliminates the safety hazard of loose parachute lines obstructing the tail door closure, significantly improving flight safety and turnaround efficiency for UAVs performing continuous airdrop missions.

[0021] Furthermore, when the latch impacts the rear support as the parachute lines move, the rear support provides a robust mechanical limit, instantly withstanding the tension of the opening parachute. Simultaneously, this impact triggers a microswitch at the rear, sending an electrical signal to the system to immediately lock the brakes. This combined mechanical limiting and electronic locking ensures that the transmission components do not slip or shift when the system is subjected to the enormous opening impact force, guaranteeing the stability and timeliness of the opening action.

[0022] Furthermore, when the motor reverses and pulls, the latch actively pulls the last main paracord, while the other paracords draped over the steel wire rope are synchronously driven by their own weight and the friction between them and the steel wire rope. This one-main-multiple-slave friction-following sliding mechanism avoids tangling and knotting caused by different paracord retrieval speeds, achieving synchronous, smooth, and neat retrieval of multiple paracords, greatly improving retrieval efficiency.

[0023] Furthermore, when the latch returns to its starting point and touches the front microswitch, the electrical signal instantly cuts off the motor power and triggers the brake lock. The locking force of the brake perfectly counteracts the elastic rebound potential energy accumulated after the long steel wire rope and multiple paracords are tightened. At the same time, the encoder records accurate final position data, providing a precise reset reference zero point for the next cycle of the system, ensuring a high degree of automation and controllability of the entire recovery process. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the drone cargo parachute rope recovery structure of the present invention; Figure 2 This is a schematic diagram of the pallet delivery method of the present invention; Figure 3 This is a schematic diagram of the paracord recycling of the present invention; Figure 4 This is a diagram showing the composition of the power drive unit of the present invention.

[0025] Among them: 1-Power drive unit, 2-Front bracket, 3-Chain, 4-Internal structure, 5-Front-end micro switch of the cabin, 6-Wire rope, 7-Parachute rope, 8-Snap fastener, 9-Rear-end micro switch of the cabin, 10-Rear bracket, 11-Pulley, 101-Bearing, 102-Brake, 103-Motor, 104-Encoder, 105-Reducer, 106-Sprocket. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0027] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terms “installation,” “connection,” and “linkage” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; a mechanical connection, an electrical connection, or a connection that allows communication; a direct connection or an indirect connection via an intermediate medium; or a connection within two elements or an interaction between two elements. The term “and / or” as used herein includes any and all combinations of one or more of the associated listed items. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0029] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0030] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0031] like Figure 1 As shown, the drone cargo parachute line recovery structure of the present invention includes a power drive unit 1, a front support 2, a chain 3, an internal structure 4, a front micro switch 5, a steel wire rope 6, parachute lines 7, a buckle 8, a rear micro switch 9, a rear support 10, and a pulley 11, which realizes the parachute line recovery function when the motor 103 rotates forward and the parachute opening function when it rotates backward.

[0032] The front bracket 2 is bolted to the side wall at the front of the internal structure 4. The power drive unit 1 is bolted to this front bracket 2.

[0033] like Figure 4 As shown, the internal structure of the power drive unit 1 includes a bearing 101, a brake 102, a motor 103, an encoder 104, a reducer 105, and a sprocket 106. The cables of the motor 103, brake 102, and encoder 104 are all connected to the control unit.

[0034] Motor 103 is the power source, driving reducer 105 to rotate during operation. Reducer 105 then transmits power to sprocket 106, causing sprocket 106 to rotate. In this transmission process, bearing 101 reduces rotational friction. The control unit interacts with motor 103, brake 102, and encoder 104 via these cables. During operation, the control unit can lock or unlock brake 102 and control the rotation or stop of motor 103. Simultaneously, encoder 104 records data during system operation. Chain 3 is fitted onto sprocket 106 of power drive unit 1, and the tension of chain 3 can be adjusted via front bracket 2.

[0035] The rear support 10 is fixed to the stern of the cabin structure 4. The height is adjusted so that the mounting surface of the rear support 10 is on the same horizontal plane as the mounting surface of the front support 2. A pulley 11 is mounted on the rear support 10. One end of the steel wire rope 6 is fixed to the middle link of the chain 3, and the other end passes over the pulley 11 on the rear support 10 and is stretched along the heading direction of the cabin structure 4. A buckle 8 is bolted and installed on the steel wire rope 6 at the position closest to the rear of the parachute rope 7. All the parachute ropes 7 are laid sequentially on the surface of the steel wire rope 6, with the hook at the end of the last parachute rope 7 pre-engaged into the slot of the buckle 8.

[0036] A front-end microswitch 5 is installed next to the starting position of the steel wire rope 6 at the front end of the cabin structure 4. A rear-end microswitch 9 is installed on the side of the rear support 10. The signal lines of both microswitches are connected to the control unit. During system operation, the motor 103 drives the chain 3 through the reducer 105 and the sprocket 106, which in turn drives the steel wire rope 6 to move in a set direction. When the steel wire rope 6 moves, it drives the buckle 8, which in turn drives the related paracord 7 through the hook. The other paracord 7 on the surface of the steel wire rope 6 are also dragged along. When the buckle 8 moves to a specific position, it will touch and trigger the front-end microswitch 5 or the rear-end microswitch 9, respectively, and the microswitch will send the corresponding positioning signal to the control unit.

[0037] Specifically, the front bracket 2 is bolted to the front side wall of the cabin structure 4. The bracket angle is adjusted to ensure that the axis of the subsequently installed power drive unit 1 is parallel to the heading direction. The rear bracket 10 is fixed to the rear of the cabin structure 4. The height is adjusted so that the mounting surface of the rear bracket 10 is at the same level as the mounting surface of the front bracket 2. The entire assembly of the power drive unit 1 (bearing 101, brake 102, motor 103, encoder 104, reducer 105, and sprocket 106) is bolted to the front bracket 2 to ensure that the motor 103, reducer 105, and sprocket 106 rotate without jamming. The cables connecting the motor 103, brake 102, and encoder 104 are connected to the control unit. Chain 3 is fitted into sprocket 106 of power drive unit 1. The tension of chain 3 is adjusted by the fine-tuning structure of front bracket 2 to ensure tight engagement and no slack. Pulley 11 is installed on rear bracket 10. The position of pulley 11 is adjusted so that the wire rope 6 can extend along the heading direction after subsequent winding. One end of wire rope 6 is fixed to the middle link of chain 3, and the other end passes around pulley 11 and is stretched along the heading direction of cabin structure 4 to ensure that wire rope 6 is not bent. At the position of wire rope 6 closest to the rear of the tail parachute rope 7, buckle 8 is installed and clamped with bolts to ensure that buckle 8 and wire rope 6 do not slide relative to each other. All parachute ropes 7 are laid on the surface of wire rope 6 in sequence, and the hook at the end of the last parachute rope 7 is pre-engaged into the groove of buckle 8. Install a front-end micro switch 5 next to the starting position of the steel wire rope 6 at the front end of the cabin structure 4, and adjust the distance between the trigger end and the buckle 8 to ensure that the front-end micro switch 5 is reliably triggered when the buckle 8 is retracted into place; install a rear-end micro switch 9 on the side of the rear bracket 10, and adjust the trigger distance in the same way; connect the signal lines of the two micro switches to the control unit, and test that the switch trigger signal is transmitted normally.

[0038] like Figure 2 As shown, when the pallet is deployed, the host computer sends an airdrop command, the control unit unlocks brake 102, and motor 103 switches to free rotation mode. After the pallet detaches from the cabin, its gravity causes the last parachute line 7 to slide along the heading direction of steel cable 6. The hook at the end of parachute line 7 engages with buckle 8, which in turn causes steel cable 6 and chain 3 to move along the heading direction. When buckle 8 moves to the rear of the cabin and touches the limit position of the rear support 10, steel cable 6 stops, buckle 8 tightens the last parachute line 7, triggering the corresponding parachute pack to open. The remaining parachute lines 7 slide open sequentially under the gravity of the pallet. When buckle 8 touches the limit position of the rear support 10, it triggers the micro switch 9 at the rear of the cabin. The micro switch 9 sends a parachute opening signal to the control unit, which locks brake 102. Motor 103, chain 3, and steel cable 6 are all fixed, and an airdrop opening completion signal is sent to the host computer, indicating that the airdrop opening is complete.

[0039] like Figure 3As shown, during parachute rope retrieval, the host computer sends a parachute rope 7 retrieval command, confirming the tailgate is open. The control unit unlocks brake 102 and drives motor 103 to rotate forward. Motor 103 drives chain 3 and steel wire rope 6 in the reverse direction via reducer 105, sprocket 106, and hook. The latch 8, through the hook, moves the last parachute rope 7 along with steel wire rope 6 towards the front of the cabin. Simultaneously, other parachute ropes 7 on the surface of steel wire rope 6 are pulled into the cabin due to friction and sliding in the reverse direction. When latch 8 moves with steel wire rope 6 to the front of the cabin structure, latch 8 triggers the microswitch 5 at the front of the cabin to send a retrieval completion signal to the control unit. The control unit sends a stop command to motor 103, brake 102 locks to prevent the transmission components from rebounding, and encoder 104 records the final position of parachute rope 7. The control unit sends a parachute rope 7 retrieval completion feedback signal to the host computer and simultaneously sends a tailgate-closing signal to the tailgate control system, completing the entire retrieval process.

[0040] This invention employs a composite transmission system consisting of a power drive unit 1, a chain 3, and a steel wire rope 6, improving the transmission stability of the cargo handling system. Through a combination of in-cabin mechanical limit switches, microswitches 5 at the front and rear of the cabin, and an encoder 104, the accuracy and reliability of status monitoring are enhanced. Furthermore, this invention offers precise and controllable parachute deployment timing, high parachute rope recovery efficiency, and strong adaptability, thereby improving the safety, stability, and reliability of the UAV cargo parachute rope recovery system.

[0041] The present invention significantly improves transmission stability: it adopts a composite transmission of power drive unit 1, chain 3 and wire rope 6 to replace the traditional winch and padlock structure. The chain 3 meshing transmission prevents slippage and is suitable for the transmission requirements of narrow space in the cabin. The bearing 101 reduces rotational friction and further ensures smooth transmission.

[0042] The present invention provides precise and controllable parachute opening sequence: only a single buckle 8 is set, the parachute rope 7 slides freely along the steel wire rope 6, and the parachute opens after the last parachute rope 7 drives the buckle 8 to limit the opening, and the remaining parachute ropes 7 are triggered in sequence, thus avoiding misaligned opening and improving the safety of airdrop.

[0043] This invention offers high recovery efficiency: the motor 103 actively drives the transmission components to move in the reverse direction, simultaneously dragging all parachute ropes 7 back to the cabin without manual assistance; the encoder 104 monitors the transmission status in real time to ensure stable recovery speed, resulting in a significantly improved return efficiency compared to traditional methods.

[0044] The present invention provides reliable status monitoring: the rear support 10 of the stern is arranged as a limiting structure, and the micro switch 9 at the rear end of the cabin and the micro switch 5 at the front end of the cabin form a dual guarantee of mechanical limiting and electronic monitoring. With the status feedback of the encoder 104, the status of key positions can be accurately judged to avoid misoperation.

[0045] This invention is highly adaptable: the power drive unit 1, the front bracket 2, and the rear bracket 10 are all modular designs, and the installation position and transmission path can be adjusted according to the size of different UAV cabin structures, without the need for major modifications to the existing cargo system.

[0046] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0047] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0048] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0049] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0050] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

[0051] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this patent should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed inventive subject matter.

Claims

1. A drone cargo parachute line recovery structure, characterized in that, It includes the cabin structure (4), the power drive unit (1), the front support (2), the wire rope (6), the parachute rope (7) and the rear support (10). The front support (2) is mounted on the cabin structure (4), and the power drive unit (1) is mounted on the front support (2); the rear support (10) is mounted on the tail of the cabin structure (4), and a pulley (11) is mounted on the rear support (10). The power drive unit (1) is connected to the chain (3) and the control unit; one end of the wire rope (6) is fixed to the chain (3), and the other end of the wire rope (6) passes around the pulley (11) and extends along the heading direction of the cabin structure (4); a buckle (8) is fixed on the surface of the wire rope (6); the parachute rope (7) is placed on the surface of the wire rope (6), and the end of the parachute rope (7) is connected to the buckle (8).

2. The drone cargo parachute line recovery structure according to claim 1, characterized in that, The power drive unit (1) includes a bearing (101), a brake (102), a motor (103), an encoder (104), a reducer (105), and a sprocket (106); the motor (103), the brake (102), and the encoder (104) are respectively connected to the control unit; the motor (103) is connected to the reducer (105), and the reducer (105) is connected to the sprocket (106); the chain (3) is sleeved on the sprocket (106); the bearing (101) is located at the transmission connection between the motor (103), the reducer (105), and the sprocket (106).

3. The drone cargo parachute line recovery structure according to claim 1, characterized in that, It also includes a micro switch (5) at the front of the cabin and a micro switch (9) at the rear of the cabin. The front micro switch (5) is installed on the side of the cabin structure (4) near the starting position of the wire rope (6); the rear micro switch (9) is installed on the side of the rear support (10); the front micro switch (5) and the rear micro switch (9) are respectively connected to the control unit.

4. The drone cargo parachute line recovery structure according to claim 1, characterized in that, The mounting surface of the front bracket (2) is coplanar with the mounting surface of the rear bracket (10) and is in the same horizontal plane.

5. The drone cargo parachute line recovery structure according to claim 1, characterized in that, The buckle (8) is clamped and installed on the wire rope (6) near the rear of the parachute rope (7) at the tail of the cabin structure (4); the hook at the end of the last parachute rope (7) among the multiple parachute ropes (7) is inserted into the buckle (8) slot.

6. The drone cargo parachute line recovery structure according to claim 1, characterized in that, The front support (2) is fixed to the front side wall of the cabin structure (4); the axis of the power drive unit (1) is parallel to the heading direction of the cabin structure (4).

7. A method for recovering unmanned aerial vehicle (UAV) cargo parachute lines based on the structure described in any one of claims 1-6, characterized in that, The process includes the following: The control unit unlocks the power drive unit (1); After the pallet detaches from the internal structure (4), it falls and the weight of the pallet causes the parachute rope (7) to slide backward along the steel wire rope (6); The end hook of the paracord (7) is engaged with the buckle (8), and the buckle (8) drives the wire rope (6) and the chain (3) to move along the heading direction; The buckle (8) moves to the rear support (10) and stops, and the parachute rope (7) is tightened to open the umbrella; The control unit controls the power drive unit (1) to drive the chain (3) and the wire rope (6) to move in the opposite direction; The steel wire rope (6) drives the buckle (8) and the parachute rope (7) to move towards the front end of the cabin structure (4).

8. The method for recovering the parachute ropes for drone cargo according to claim 7, characterized in that, The process of the buckle (8) moving to the rear support (10) and stopping and tightening the parachute line (7) to open the parachute is as follows: The buckle (8) moves to the internal structure (4) and touches the rear support (10) at the tail, thus creating a limit; The steel wire rope (6) stops, and the buckle (8) tightens the last parachute rope (7) to trigger the parachute pack to open; When the buckle (8) touches the rear bracket (10) to limit the movement, it simultaneously triggers the micro switch (9) at the rear of the cabin. The micro switch (9) at the rear of the cabin sends a parachute deployment signal to the control unit. The control unit controls the brake (102) to lock, and at the same time controls the motor (103), chain (3) and wire rope (6) to stop moving.

9. The method for recovering the parachute ropes for drone cargo according to claim 7, characterized in that, The process by which the steel wire rope (6) drives the buckle (8) and the parachute rope (7) to move towards the front end of the cabin structure (4) is as follows: The buckle (8) drives the last paracord (7) to move towards the front end of the cabin structure (4) along with the steel wire rope (6) via the end hook; The remaining parachute ropes (7) located on the surface of the wire rope (6) are subjected to frictional force and slide against the direction of travel, pulling into the cabin structure (4).

10. The method for recovering the parachute ropes for drone cargo according to claim 9, characterized in that, After the steel wire rope (6) drives the buckle (8) and the parachute rope (7) to move towards the front end of the cabin structure (4): The buckle (8) moves with the wire rope (6) to the front end of the cabin structure (4), and the buckle (8) touches the micro switch (5) at the front end of the cabin. The micro switch (5) at the front end of the cabin sends a signal to the control unit that the cabin has been retracted into position. After receiving the signal indicating that the vehicle has been recovered, the control unit sends a stop command to the motor (103) and controls the brake (102) to lock. The encoder (104) in the power drive unit (1) records the final position of the paracord (7).

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