Transformable parent-child drone

Abstract

The application belongs to the technical field of unmanned aerial vehicle, and discloses a deformable parent-child unmanned aerial vehicle. The deformable parent-child unmanned aerial vehicle comprises a parent machine part, a plurality of child machine parts and a mounting and releasing part, two child machine arms are respectively arranged at two ends of a child machine body; a plurality of parent machine arms are arranged at intervals along the circumference of the parent machine body, the child machine parts are in a V-shaped folding state and arranged between two adjacent parent machine arms, a first releasing unit is arranged on the parent machine body, the first releasing unit can be connected with or separated from the child machine body; one end of the parent machine arm away from the parent machine body is connected with a connecting protective cover, and at least two second releasing units are arranged on the connecting protective cover and can be connected with or separated from the corresponding two child machine arms. The application can accommodate the child machine in the limited space between the two parent machine arms in the mounting state, and realizes safe and reliable aerial release in the secondary releasing mode.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a deformable mother-daughter UAV. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment and their own program control devices.

[0003] Currently, small drones have a wide range of applications, such as aerial photography, power line inspection, disaster relief, pesticide spraying, and environmental monitoring. Most drones are battery-powered. However, due to limitations in energy system development, current drones still suffer from drawbacks such as short flight time and poor payload capacity. Therefore, to expand the operating radius and extend the operating time of small drones, mother-daughter drones have been developed.

[0004] In existing mother-daughter drone technologies, the daughter drone's form is the same when it is mounted as when it is flying independently, which cannot simultaneously meet the conflicting requirements of "compact storage when mounted" and "aerodynamic efficiency when flying". In addition, existing daughter drone release methods mostly use one-time unlocking, and the attitude of the daughter drone is difficult to control precisely at the moment it leaves the mother drone, which poses a risk of collision and interference with the mother drone's structure. Summary of the Invention

[0005] The purpose of this invention is to provide a deformable mother-daughter unmanned aerial vehicle (UAV) that, while ensuring the independent flight performance of the daughter unit, allows the daughter unit to be compactly stored in the limited space between two adjacent mother unit arms when mounted, reducing the impact on the aerodynamic performance and flight stability of the mother unit. Furthermore, it employs a two-stage release method to achieve stable, safe, and reliable in-flight release.

[0006] To achieve this objective, the present invention adopts the following technical solution: Deformable mother-daughter unmanned aerial vehicles, including: Several sub-machine parts, each sub-machine part including a sub-machine body and a sub-machine arm, two sub-machine arms respectively disposed at both ends of the sub-machine body, the two sub-machine arms of the sub-machine part having a V-shaped folded state and a straight unfolded state; The mother machine section includes a mother machine body, mother machine arms, and a first release unit. Several mother machine arms are arranged at circumferential intervals along the mother machine body. The daughter machine section is in a V-shaped folded state and is arranged between two adjacent mother machine arms. The first release unit is arranged on the mother machine body and can be connected to or separated from the daughter machine body. The mounting and releasing section includes a connecting protective cover and at least two second release units. The end of the mother machine arm away from the mother machine body is connected to the connecting protective cover. At least two second release units are disposed on the connecting protective cover and can be connected to or separated from the corresponding two daughter machine arms.

[0007] As an optional solution for the deformable mother-daughter UAV, the mother unit fuselage includes an upper fuselage plate, a middle fuselage plate, and a lower fuselage plate. The upper fuselage plate, the middle fuselage plate, and the lower fuselage plate are spaced apart from top to bottom and connected to the mother unit arms. The mother unit also includes: The main control computing module of the mother machine is installed on the upper surface of the middle plate of the machine body; A mother battery, several of which are arranged circumferentially and mounted on the upper surface of the lower plate of the fuselage.

[0008] As an alternative to the deformable mother-daughter unmanned aerial vehicle, the first release unit includes: A rotary drive motor is located in the middle of several of the mother batteries and is installed on the upper surface of the lower plate of the body. The rotating end of the rotary drive motor passes through the lower plate of the body and extends out. A rotary transmission arm is placed outside the lower plate of the machine body and connected to the rotating end of the rotary drive motor. The rotary drive motor can drive the rotary transmission arm to abut against the machine body of the submachine.

[0009] As an optional solution for the deformable mother-daughter UAV, the mother unit has four mother unit arms spaced circumferentially around its fuselage. The rotating transmission arm is X-shaped, and rotating the rotating transmission arm can simultaneously engage or disengage with the fuselage of the four daughter units.

[0010] As an optional solution for the deformable mother-daughter UAV, the daughter unit's fuselage includes a fuselage shell and a fuselage side cover. The fuselage shell has a receiving cavity, and the fuselage side cover is connected to the fuselage shell and seals the receiving cavity. The daughter unit also includes a daughter unit flight control module and a daughter unit battery, both of which are installed inside the receiving cavity.

[0011] As an optional solution for the deformable mother-daughter UAV, the daughter unit further includes a first articulated arm connecting seat, a first articulated fuselage connecting seat, and an energy storage torsion spring. The first articulated arm connecting seat is disposed on the daughter unit's arm, and the first articulated fuselage connecting seat is disposed on the fuselage shell. The first articulated arm connecting seat and the first articulated arm connecting seat are connected by a pin. The energy storage torsion spring is sleeved on the pin, and the first end of the energy storage torsion spring is connected to the first articulated arm connecting seat, and the second end of the energy storage torsion spring is connected to the first articulated fuselage connecting seat. The energy storage torsion spring always has a tendency to extend the daughter unit's arm.

[0012] As an optional solution for the deformable mother-daughter UAV, the daughter unit also includes a daughter unit folding drive motor and a daughter unit folding limit rod. The daughter unit folding drive motor is installed inside the fuselage housing, and the rotating end of the daughter unit folding drive motor passes through the fuselage housing and extends out. The daughter unit folding limit rod is placed outside the fuselage housing and connected to the rotating end of the daughter unit folding drive motor. The daughter unit folding drive motor can drive the daughter unit folding limit rod to abut against the daughter unit arm, so as to keep the two daughter unit arms in a V-shaped folded state.

[0013] As an optional solution for the deformable mother-daughter UAV, the daughter unit also includes a daughter unit tilt servo, a rotor tilt bracket, and a daughter unit rotor. The daughter unit rotor is mounted on the rotor tilt bracket, which is rotatably mounted on the daughter unit arm. The extension direction of the rotor tilt bracket is the same as the extension direction of the daughter unit arm. The daughter unit tilt servo is mounted on the daughter unit arm and is connected to the rotor tilt bracket for transmission. The daughter unit tilt servo is used to adjust the tilt angle of the rotor tilt bracket.

[0014] As an optional solution for the deformable mother-daughter UAV, the end of the daughter unit arm away from the daughter unit body is provided with a locking hole. The mounting and releasing part also includes a locking pin mounting seat, which is located on the inner side wall of the connecting protective cover. The second release unit includes an electromagnetic locking pin. Each locking pin mounting seat has two electromagnetic locking pins at both ends. The electromagnetic locking pins can be inserted into or pulled out of the locking hole of the corresponding daughter unit arm.

[0015] As an optional solution for deformable mother-daughter UAVs, the electromagnetic locking pin is inserted into the locking hole when de-energized, and is pulled out of the locking hole when energized.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The deformable mother-daughter UAV provided by this invention has several mother arms spaced circumferentially along the mother fuselage, and two daughter arms respectively located at both ends of the daughter fuselage, so that the daughter parts are folded in a V-shape and positioned between two adjacent mother arms. While ensuring the independent flight performance of the daughter parts, this allows them to be compactly stored within the limited space between two adjacent mother arms when mounted, reducing the impact on the aerodynamic performance and flight stability of the mother fuselage. The end of each mother arm furthest from the mother fuselage is connected to a protective cover for the mounting and release mechanism. A first release unit is located on the mother fuselage, and at least two second release units are located on the protective cover. When separation of the mother and daughter UAV is required, the first release unit first activates and separates from the daughter fuselage, allowing the daughter part to rotate from a horizontal to a vertical position under its own gravity. Then, the second release units activate and separate from the daughter arms. After release, the daughter part deforms into a straight-line unfolded state for normal flight, improving the flight stability and endurance of the mother fuselage. Compared to traditional one-time unlocking and release methods, this invention avoids the risk of collision and interference between the sub-unit and the main unit structure due to attitude uncertainty at the moment of release. The release trajectory is stable and controllable, improving the safety and reliability of the sub-unit's mid-air release. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0018] Figure 1 This is an assembly diagram of the deformable mother-daughter UAV in an embodiment of the present invention; Figure 2 This is an assembly diagram of the mother machine part in an embodiment of the present invention; Figure 3 This is an assembly diagram of the submachine part in a V-shaped folded state in an embodiment of the present invention; Figure 4 This is an assembly diagram of the mounting and releasing parts in an embodiment of the present invention; Figure 5 This is an exploded view of the mother machine section in an embodiment of the present invention; Figure 6 This is an exploded view of the submachine unit in an embodiment of the present invention; Figure 7 This is an explosion diagram of the mounting and releasing parts in an embodiment of the present invention; Figure 8 This is a schematic diagram of the first release unit of the deformable mother-daughter UAV in an embodiment of the present invention in an unreleased state; Figure 9 This is a bottom view of the first release unit of the deformable mother-daughter UAV in an embodiment of the present invention in an unreleased state; Figure 10 This is a schematic diagram of the first release unit of the deformable mother-daughter UAV in the release state in an embodiment of the present invention; Figure 11 This is a bottom view of the first release unit of the deformable mother-daughter UAV in the released state in an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the submachine part in a straight-line unfolded state after it has been fully released in an embodiment of the present invention; Figure 13 This is a partially enlarged view of the sub-machine part in a straight-line unfolded state in an embodiment of the present invention; Figure 14 This is a partial enlarged view of the deformable mother-daughter UAV in an embodiment of the present invention.

[0019] Figure label: 100. Mother unit section; 200. Daughter unit section; 300. Mounting and unmounting section; 101. Upper fuselage plate; 102. Main control computing module of the mother machine; 103. Middle fuselage plate; 104. Mother machine battery; 105. Mother machine motor; 106. Mother machine arm; 107. Rotary transmission arm; 108. Mother machine rotor; 109. Rotor fixing cap; 110. Lower fuselage plate; 111. Rotary drive motor; 201. Servo mount; 202. Sub-unit tilt servo; 203. First joint arm connector; 204. First joint fuselage connector; 205. Fuselage shell; 206. Sub-unit folding limit rod; 207. Sub-unit battery; 208. Fuselage side cover; 209. Sub-unit flight control module; 210. Sub-unit folding drive motor; 211. Sub-unit arm; 212. Rotor tilt bracket; 213. Sub-unit motor; 214. Sub-unit rotor; 301. Connecting protective cover; 302. Electromagnetic locking pin; 302a. Telescopic shaft; 302b. Locking pin housing; 303. Locking pin mounting base; 303a. Vertical tightening groove; 303b. Horizontal tightening groove. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In the description of this invention, unless otherwise expressly 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 being 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 being 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.

[0023] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] To balance compact storage in the mounted state and aerodynamic efficiency in flight, and to avoid collisions and interference between the slave unit and the mother unit during release, this embodiment provides a deformable mother-daughter UAV. The following description, in conjunction with... Figures 1 to 14 The specific content of this embodiment will be described in detail.

[0025] The deformable mother-daughter UAV provided in this embodiment includes several daughter units 200, a mother unit 100, and a mounting and release unit 300. Each daughter unit 200 includes a daughter unit fuselage and two daughter unit arms 211. Two daughter unit arms 211 are respectively disposed at both ends of the daughter unit fuselage. The two daughter unit arms 211 of the daughter unit 200 have a V-shaped folded state and a straight-line unfolded state. The mother unit 100 includes a mother unit fuselage, mother unit arms 106, and a first release unit. Several mother unit arms 106 are spaced circumferentially along the mother unit fuselage. The daughter units 200 are in a V-shaped folded state and disposed between two adjacent mother unit arms 106. The first release unit is disposed on the mother unit fuselage and can be connected to or separated from the daughter unit fuselage. The mounting and releasing section 300 includes a connecting protective cover 301 and at least two second release units. One end of the mother machine arm 106 away from the mother machine body is connected to the connecting protective cover 301. At least two second release units are disposed on the connecting protective cover 301 and can be connected to or separated from the corresponding two daughter machine arms 211.

[0026] In short, several mother aircraft arms 106 are spaced circumferentially along the mother aircraft fuselage, and two daughter aircraft arms 211 are respectively located at both ends of the daughter aircraft fuselage, so that the daughter aircraft part 200 is in a V-shaped folded state and positioned between two adjacent mother aircraft arms 106. While ensuring the independent flight performance of the daughter aircraft, it allows the daughter aircraft to be compactly stored in the limited space between two adjacent mother aircraft arms 106 when loaded, reducing the impact on the aerodynamic performance and flight stability of the mother aircraft. The end of the mother aircraft arm 106 away from the mother aircraft fuselage is connected to the connection protective cover 301 of the loading and release part 300. The first release unit is located on the mother aircraft fuselage, and at least two second release units are located on the connection protective cover 301. When separation of the mother and daughter aircraft is required, the first release unit first activates and separates from the daughter aircraft fuselage, causing the daughter aircraft section 200 to rotate from a horizontal to a vertical position under its own gravity. Then, the second release unit activates and separates from the daughter aircraft arm 211. After release, the daughter aircraft section 200 deforms into a straight-line unfolded state for normal flight, improving the flight stability and endurance of the mother aircraft section 100. Compared with the traditional one-time unlocking and release method, this invention avoids the risk of collision and interference between the daughter aircraft section 200 and the structure of the mother aircraft section 100 due to attitude uncertainty at the moment of separation. The release trajectory is stable and controllable, improving the safety and reliability of the in-flight release of the daughter aircraft section 200.

[0027] Furthermore, such as Figure 2 Combination Figure 5As shown, the mother machine fuselage includes an upper fuselage plate 101, a middle fuselage plate 103, and a lower fuselage plate 110. The upper fuselage plate 101, middle fuselage plate 103, and lower fuselage plate 110 are spaced apart from top to bottom and connected to the mother machine arm 106. The mother machine part 100 also includes a mother machine main control computing module 102 and a mother machine battery 104. The mother machine main control computing module 102 is mounted on the upper surface of the middle fuselage plate 103. Several mother machine batteries 104 are arranged circumferentially and mounted on the upper surface of the lower fuselage plate 110. Since the upper fuselage plate 101, middle fuselage plate 103, and lower fuselage plate 110 are spaced apart from top to bottom, they constitute the main body of the mother machine fuselage. The three are fixedly connected by the mother machine arm 106 to form a stable layered fuselage structure. The main control computing module 102 is fixedly mounted on the upper surface of the fuselage midplate 103. The main control computing module 102 is used to perform flight control of the mother unit 100, release control of the daughter unit 200, and communication and coordination tasks between the mother and daughter units. The mother battery 104 is mounted on the upper surface of the lower fuselage plate 110. The mother battery 104 provides working power to the various electrical components of the mother unit 100.

[0028] Furthermore, such as Figure 5 , Figures 8 to 11 As shown, the first release unit includes a rotary drive motor 111 and a rotary transmission arm 107. The rotary drive motor 111 is located in the middle of several mother batteries 104 and is mounted on the upper surface of the lower body plate 110. The rotating end of the rotary drive motor 111 passes through the lower body plate 110 and extends outward. The rotary transmission arm 107 is placed outside the lower body plate 110 and connected to the rotating end of the rotary drive motor 111. The rotary drive motor 111 can drive the rotary transmission arm 107 to abut against the sub-machine body. When the sub-machine part 200 is in an unreleased V-shaped folded state, the end of the rotary transmission arm 107 is in contact with the sub-machine body. In this embodiment, the rotary drive motor 111 enables the rotary transmission arm 107 to rotate relative to the lower body plate 110 around a vertical axis. By separating the rotary transmission arm 107 from the sub-machine body, the sub-machine part 200 is released in one step.

[0029] Furthermore, the main machine body is circumferentially spaced with four main machine arms 106, and the rotary transmission arms 107 are X-shaped. Rotating the rotary transmission arms 107 allows them to simultaneously engage or disengage from the main bodies of the four sub-machine sections 200. By controlling the rotation of the rotary transmission arms 107, the four sub-machine sections 200 can be released at once. Even further, each main machine arm 106 has a main machine motor 105 at its distal end. The output shaft of the main machine motor 105 is vertically upward, and the main machine rotor 108 is fixedly mounted to the output shaft of the main machine motor 105 via rotor fixing caps 109. The main machine rotor 108 is pressed and fixed to the output shaft of the main machine motor 105 by the main machine rotor 108 fixing caps to prevent the rotor from falling off during high-speed rotation.

[0030] Furthermore, such as Figure 3 Combination Figure 6 As shown, the sub-aircraft fuselage includes a fuselage shell 205 and a fuselage side cover 208. The fuselage shell 205 has a receiving cavity, and the fuselage side cover 208 is connected to the fuselage shell 205 and seals the receiving cavity. The sub-aircraft part 200 also includes a sub-aircraft flight control module 209 and a sub-aircraft battery 207, both of which are installed within the receiving cavity. The fuselage shell 205 and the fuselage side cover 208 together form the main body of the sub-aircraft fuselage. The fuselage shell 205 is a hollow shell structure with a receiving cavity inside, which is used to house the sub-aircraft flight control module 209 and the sub-aircraft battery 207. The sub-aircraft flight control module 209 is used to control the flight attitude, rotor tilt, and folding / unfolding actions of the sub-aircraft part 200. The sub-aircraft battery 207 provides operating power to the various electrical components of the sub-aircraft part 200. For example, the fuselage side cover 208 is detachably fitted onto the side opening of the fuselage housing 205 to facilitate the installation and maintenance of internal components. The fuselage housing 205 is fixed to one end of a hexagonal double-ended stud. After the internal sub-aircraft flight control module 209 and sub-aircraft battery 207 are fixed, they are then fixed to the other end of the fuselage side cover 208 and hexagonal double-ended stud to realize the installation of the internal equipment of the sub-aircraft.

[0031] Furthermore, such as Figure 12 Combination Figure 13 As shown, the sub-machine section 200 also includes a first articulated arm connecting seat 203, a first articulated body connecting seat 204, and an energy storage torsion spring. The first articulated arm connecting seat 203 is located at the root of the sub-machine arm 211, and the first articulated body connecting seat 204 is fixedly installed to the side of the body housing 205 by bolts. The first articulated arm connecting seat 203 and the first articulated arm connecting seat 204 are rotatably connected by a pin, allowing the sub-machine arm 211 to rotate relative to the body housing 205 between a folded position and an unfolded position. Each sub-machine section 200 includes two sub-machine arms 211. Similarly, a first articulated body connecting seat 204 and a first articulated arm connecting seat 203 are also provided on the other side of the body housing 205 for connecting another sub-machine arm 211. The structures are identical and symmetrically arranged. An energy-storing torsion spring is sleeved on a pin, with its first end connected to the first joint arm connecting seat 203 and its second end connected to the first joint body connecting seat 204. The energy-storing torsion spring always tends to unfold the sub-arm 211. When the sub-arm 211 is in the folded position, the energy-storing torsion spring is in a torsional energy-storing state; when the folding lock of the sub-arm 211 is released, the energy-storing torsion spring releases energy, driving the sub-arm 211 to rotate from the folded position to the unfolded position.

[0032] Furthermore, the submachine part 200 also includes a submachine folding drive motor 210 and a submachine folding limit rod 206. The submachine folding drive motor 210 is installed inside the body housing 205, with its rotating end passing through the body housing 205 and extending outwards. The submachine folding limit rod 206 is located outside the body housing 205 and connected to the rotating end of the submachine folding drive motor 210. The submachine folding drive motor 210 can drive the submachine folding limit rod 206 to abut against the submachine arm 211, thereby keeping the two submachine arms 211 in a V-shaped folded state. In this embodiment, the submachine folding limit rod 206 is a long strip rod that can rotate around its axis under the drive of the submachine folding drive motor 210. In the folded state, the slave folding drive motor 210 drives the slave folding limit rod 206 to rotate to the limit position, so that the end of the slave folding limit rod 206 abuts against the end face of the slave arm 211, preventing the slave arm 211 from unfolding outward under the action of the energy storage torsion spring, thereby keeping the two slave arms 211 at a preset angle of about 90°, forming a V shape, so as to fit the two adjacent master arms 106 of the master part 100 for mounting.

[0033] Furthermore, the sub-unit 200 also includes a sub-unit tilt servo 202, a rotor tilt bracket 212, and a sub-unit rotor 214. The sub-unit rotor 214 is mounted on the rotor tilt bracket 212, which is rotatably mounted on the sub-unit arm 211. The extension direction of the rotor tilt bracket 212 is the same as the extension direction of the sub-unit arm 211. The sub-unit tilt servo 202 is mounted on the sub-unit arm 211 and is drivenly connected to the rotor tilt bracket 212. The sub-unit tilt servo 202 is used to adjust the tilt angle of the rotor tilt bracket 212. Specifically, the rotor tilt bracket 212 is provided at the end of the sub-unit arm 211. The two ends of the rotor tilting bracket 212 are hinged to the sub-machine tilting servo 202 and the small boss of the sub-machine arm 211, respectively. The sub-machine motor 213 is fixedly installed on the rotor tilting bracket 212, and the sub-machine rotor 214 is installed on the output shaft of the sub-machine motor 213. In this embodiment, the sub-machine rotor 214 is preferably a two-bladed rotor, with the two blades facing each other at 180°. In the mounted state, the extension direction of the blades is parallel to the extension direction of the sub-machine arm 211 to facilitate folding and storage.

[0034] Furthermore, the servo mount 201 is fixedly mounted on the inner side of the sub-aircraft arm 211. The sub-aircraft tilt servo 202 is fixedly mounted on the servo mount 201. The output end of the sub-aircraft tilt servo 202 is connected to the rotating connection part of the rotor tilt bracket 212. The output end of the sub-aircraft tilt servo 202 is used to drive the rotor tilt bracket 212 to rotate around its hole axis, thereby adjusting the tilt angle of the sub-aircraft rotor 214. By changing the tilt angle of the sub-aircraft rotor 214, the pitch and yaw attitude of the sub-aircraft can be controlled. In this embodiment, the tilt angle range of the sub-aircraft tilt servo 202 is preferably ±20°, which can minimize the loss of vertical lift while providing sufficient attitude control torque.

[0035] Furthermore, such as Figure 4 , Figure 7 Combination Figure 14 As shown, the end of the slave arm 211 away from the slave body is provided with a locking hole. The mounting and releasing part 300 also includes a locking pin mounting seat 303, which is located on the inner side wall of the connecting protective cover 301. The second release unit includes an electromagnetic locking pin 302. Two electromagnetic locking pins 302 are respectively provided at both ends of each locking pin mounting seat 303. The electromagnetic locking pins 302 can be inserted into or pulled out of the corresponding locking hole of the slave arm 211. The mounting and releasing part 300 is used to releasably fix the slave part 200 to the mother part 100, and cooperates with the rotary drive motor 111 and the rotary transmission arm 107 to realize the secondary release function. The electromagnetic locking pin 302 includes a telescopic shaft 302a and a locking pin housing 302b. The locking pin housing 302b is a hollow cylindrical component, which contains an electromagnetic coil and a return spring (not shown in the figure). The telescopic shaft 302a is a cylindrical rod that can slide through the locking pin housing 302b. One end of the telescopic shaft 302a is a locking end, which is used to insert into the locking hole on the submachine arm 211. The other end of the telescopic shaft 302a is connected to the internal return spring and armature.

[0036] Furthermore, when the electromagnetic locking pin 302 is de-energized, it is inserted into the locking hole; when the electromagnetic locking pin 302 is energized, it is pulled out from the locking hole. In this embodiment, the electromagnetic locking pin 302 adopts a power-off self-locking type electromagnetic pin puller. In the power-off state, the telescopic shaft 302a extends out of the locking pin housing 302b under the elastic force of the return spring and remains in the extended locked position; in the energized state, the electromagnetic coil generates electromagnetic force, overcoming the elastic force of the return spring, and pulls the telescopic shaft 302a back into the locking pin housing 302b, thereby unlocking. Thus, during the long-term loading phase of the mother unit 100 carrying the daughter unit 200 in cruise flight, the electromagnetic locking pin 302 is in the power-off state, the telescopic shaft 302a extends and inserts into the locking hole on the daughter unit arm 211, and the daughter unit is firmly locked. In this state, no electrical energy is consumed, which helps to extend the endurance of the mother unit 100; energizing only at the moment of releasing the daughter unit, causing the telescopic shaft 302a to retract, helps to reduce power consumption.

[0037] Furthermore, the locking pin mounting base 303 has a vertical tightening groove 303a and a horizontal tightening groove 303b. The vertical tightening groove 303a and the horizontal tightening groove 303b have a rectangular cross-sectional shape, and their groove width is slightly larger than the width of the cable tie to allow the cable tie to pass through smoothly. During installation, the locking pin housing 302b of the electromagnetic locking pin 302 is placed in the predetermined position of the locking pin mounting base 303, and three cable ties are passed through the vertical tightening groove 303a and two through the horizontal tightening groove 303b. The cable ties in the vertical tightening groove 303a and the horizontal tightening groove 303b are arranged perpendicular to each other, forming a reliable fixation of the electromagnetic locking pin 302 in three-dimensional space.

[0038] In summary, the secondary release and deployment process of the deformable mother-daughter UAV provided in this embodiment is as follows: The mother aircraft section 100 carries four daughter aircraft sections 200 to the target airspace and enters a hovering state. At this time, all four daughter aircraft sections 200 are in a V-shaped folded state, with the two daughter aircraft arms 211 of each daughter aircraft section 200 maintaining a preset angle of approximately 90°, respectively fitting against the inner sides of two adjacent mother aircraft arms 106 of the mother aircraft section 100. In this state, the electromagnetic locking pin 302 is de-energized, and its internal telescopic shaft 302a extends out of the locking pin housing 302b under the elastic force of the return spring and inserts into the locking hole opened on the daughter aircraft arm 211, indirectly and firmly locking the daughter aircraft arm 211 to the mother aircraft arm 106. The daughter aircraft folding drive motor 210 drives the daughter aircraft folding limit rod 206 to rotate to the limit position, so that the end of the daughter aircraft folding limit rod 206 abuts against the end face of the daughter aircraft arm 211, preventing the daughter aircraft arm 211 from unfolding outward under the action of the energy storage torsion spring. At this time, the energy storage torsion spring is in a torsional energy storage state. The end of the rotating transmission arm 107 is in contact with the fuselage housing 205 in the folded state, providing a propulsion basis for the subsequent first step release.

[0039] Step 1 Release: The main control computing module 102 of the main machine initiates the release procedure according to the task instruction or the operator's remote control signal. First, the main control computing module 102 of the main machine sends an instruction to the rotary drive motor 111. The rotary drive motor 111 is fixedly installed on the lower plate 110 of the machine body and is located inside the main machine battery 104. The output end of the rotary drive motor 111 is fixedly connected to the center hole of the rotary transmission arm 107. The rotary drive motor 111 drives the rotary transmission arm 107 to rotate relative to the lower plate 110 of the machine body around the vertical axis by a preset angle. Since the end of the rotary transmission arm 107 is in contact with the machine body housing 205 when the slave part 200 is in a folded state, when the rotary transmission arm 107 rotates, the machine body housing 205 is suspended in the air and tilts. After swinging to the correct position, the slave part 200 is in a vertical position.

[0040] During this process, the electromagnetic locking pin 302 remains in a de-energized and locked state, the telescopic shaft 302a remains inserted into the locking hole on the submachine arm 211, and the submachine arm 211 remains indirectly and firmly fixed to the mother machine arm 106. The deflection of the fuselage 205 creates a certain separation gap between the submachine body and the mother machine body, providing space for the subsequent detachment of the submachine part 200 from the mother machine part 100 and preventing collision or interference between the submachine part 200 and the structure of the mother machine part 100 when the submachine part 200 detaches.

[0041] The second release step: After the fuselage shell 205 has deflected into position and stabilized, the main control computing module 102 of the mother machine synchronously sends unlocking commands to each electromagnetic locking pin 302. The electromagnetic locking pin 302 is energized, and its internal electromagnetic coil generates electromagnetic force, overcoming the elastic force of the return spring, pulling the telescopic shaft 302a back into the locking pin housing 302b. The telescopic shaft 302a disengages from the locking hole on the slave arm 211, and the slave arm 211 is unlocked. At this time, the entire slave unit 200 falls freely from the mother machine 100 under the action of gravity.

[0042] Sub-unit 200 Deployment and Autonomous Flight: After the sub-unit 200 detaches from the mother unit 100, the sub-unit flight control module 209 detects that it is in free fall via its built-in accelerometer or barometer, and then sends a deployment command to the sub-unit folding drive motor 210. The sub-unit folding drive motor 210 drives the sub-unit folding limit rod 206 to rotate 180° around its axis, causing the end of the sub-unit folding limit rod 206 to disengage from the end face of the sub-unit arm 211, thus releasing the restriction on the sub-unit arm 211. At this time, the energy-storing torsion spring sleeved on the pin releases energy, driving the first joint arm connecting seat 203 to rotate relative to the first joint fuselage connecting seat 204, thereby driving the sub-unit arm 211 to rotate from the folded position to the deployed position. The two sub-unit arms 211 deploy outward synchronously under the action of their respective energy-storing torsion springs until the included angle between the two sub-unit arms 211 reaches 180°, and the sub-unit switches from the V-shaped folded state to the straight-line deployed state. Once deployed, the sub-machine motor 213 starts, driving the sub-machine rotor 214 to begin rotating, and the sub-machine section 200 enters independent flight mode. The sub-machine flight control module 209 controls the tilt angle of the two sub-machine tilt servos 202 and the speed difference of the two sub-machine motors 213, adjusts the tilt angle of the rotor tilt bracket 212 and the lift distribution of the sub-machine rotor 214, and realizes the pitch, yaw and roll attitude control of the sub-machine section 200.

[0043] Multi-aircraft collaborative operation: The main control computing module 102 of the mother machine and the flight control modules 209 of each daughter machine section 200 are connected via wireless communication links, enabling real-time exchange of status information and mission commands. The four daughter machine sections 200 can be released simultaneously or in batches according to mission requirements, enabling single-aircraft long-term operation or multi-aircraft collaborative operation.

[0044] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A deformable mother-daughter unmanned aerial vehicle, characterized in that, include: Several sub-machine parts (200), each sub-machine part (200) includes a sub-machine body and a sub-machine arm (211), two sub-machine arms (211) are respectively disposed at both ends of the sub-machine body, and the two sub-machine arms (211) of the sub-machine part (200) have a V-shaped folded state and a straight unfolded state; The mother machine section (100) includes a mother machine body, mother machine arms (106) and a first release unit. A plurality of mother machine arms (106) are arranged at circumferential intervals along the mother machine body. The daughter machine section (200) is in a V-shaped folded state and is arranged between two adjacent mother machine arms (106). The first release unit is arranged on the mother machine body and can be connected to or separated from the daughter machine body. The mounting and releasing section (300) includes a connecting protective cover (301) and at least two second release units. One end of the mother machine arm (106) away from the mother machine body is connected to the connecting protective cover (301). At least two second release units are disposed on the connecting protective cover (301) and can be connected or separated from the corresponding two daughter machine arms (211).

2. The deformable mother-daughter UAV according to claim 1, characterized in that, The mother machine body includes an upper body plate (101), a middle body plate (103), and a lower body plate (110). The upper body plate (101), the middle body plate (103), and the lower body plate (110) are spaced apart from top to bottom and connected to the mother machine arm (106). The mother machine part (100) also includes: The main control computing module (102) of the mother machine is installed on the upper surface of the middle plate (103) of the machine body; Mother battery (104), a plurality of mother batteries (104) are arranged circumferentially and mounted on the upper surface of the lower plate (110) of the fuselage.

3. The deformable mother-daughter UAV according to claim 2, characterized in that, The first release unit includes: A rotary drive motor (111) is located in the middle of several mother batteries (104) and is installed on the upper surface of the lower body plate (110). The rotating end of the rotary drive motor (111) passes through the lower body plate (110) and extends out. A rotary transmission arm (107) is placed outside the lower plate (110) of the machine body and connected to the rotating end of the rotary drive motor (111). The rotary drive motor (111) can drive the rotary transmission arm (107) to abut against the machine body of the submachine.

4. The deformable mother-daughter UAV according to claim 3, characterized in that, The main machine body is provided with four main machine arms (106) spaced apart around its circumference. The rotary transmission arm (107) is X-shaped. Rotating the rotary transmission arm (107) can simultaneously abut or separate from the main machine body of the four sub-machine parts (200).

5. The deformable mother-daughter UAV according to claim 1, characterized in that, The sub-aircraft fuselage includes a fuselage shell (205) and a fuselage side cover (208). The fuselage shell (205) has a receiving cavity. The fuselage side cover (208) is connected to the fuselage shell (205) and seals the receiving cavity. The sub-aircraft part (200) also includes a sub-aircraft flight control module (209) and a sub-aircraft battery (207). The sub-aircraft flight control module (209) and the sub-aircraft battery (207) are both installed in the receiving cavity.

6. The deformable mother-daughter UAV according to claim 5, characterized in that, The submachine part (200) further includes a first articulated arm connecting seat (203), a first articulated body connecting seat (204), and an energy storage torsion spring. The first articulated arm connecting seat (203) is disposed on the submachine arm (211), and the first articulated body connecting seat (204) is disposed on the body housing (205). The first articulated arm connecting seat (203) and the first articulated arm connecting seat (204) are connected by a pin. The energy storage torsion spring is sleeved on the pin, and the first end of the energy storage torsion spring is connected to the first articulated arm connecting seat (203), and the second end of the energy storage torsion spring is connected to the first articulated body connecting seat (204). The energy storage torsion spring always has a tendency to unfold the submachine arm (211).

7. The deformable mother-daughter UAV according to claim 6, characterized in that, The submachine part (200) also includes a submachine folding drive motor (210) and a submachine folding limit rod (206). The submachine folding drive motor (210) is installed inside the body housing (205). The rotating end of the submachine folding drive motor (210) passes through the body housing (205) and extends out. The submachine folding limit rod (206) is placed outside the body housing (205) and connected to the rotating end of the submachine folding drive motor (210). The submachine folding drive motor (210) can drive the submachine folding limit rod (206) to abut against the submachine arm (211) to keep the two submachine arms (211) in a V-shaped folding state.

8. The deformable mother-daughter UAV according to claim 1, characterized in that, The submachine unit (200) further includes a submachine tilt servo (202), a rotor tilt bracket (212), and a submachine rotor (214). The submachine rotor (214) is mounted on the rotor tilt bracket (212), which is rotatably mounted on the submachine arm (211). The extension direction of the rotor tilt bracket (212) is the same as that of the submachine arm (211). The submachine tilt servo (202) is mounted on the submachine arm (211) and is connected to the rotor tilt bracket (212) in a transmission manner. The submachine tilt servo (202) is used to adjust the tilt angle of the rotor tilt bracket (212).

9. The deformable mother-daughter UAV according to any one of claims 1-8, characterized in that, The submachine arm (211) has a locking hole at one end away from the submachine body. The mounting and releasing part (300) also includes a locking pin mounting seat (303), which is located on the inner side wall of the connecting protective cover (301). The second release unit includes an electromagnetic locking pin (302). Each locking pin mounting seat (303) has two electromagnetic locking pins (302) at both ends. The electromagnetic locking pins (302) can be inserted into or pulled out of the locking hole of the corresponding submachine arm (211).

10. The deformable mother-daughter UAV according to claim 9, characterized in that, When the electromagnetic locking pin (302) is de-energized, it is inserted into the locking hole; when the electromagnetic locking pin (302) is energized, it is pulled out from the locking hole.

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