Air rapid recovery device for folding wing unmanned aerial vehicle

Abstract

The utility model discloses an aerial rapid recovery device for a folding wing unmanned aerial vehicle, relates to the technical field of aerial recovery of unmanned aerial vehicles, and aims to solve the problem of low efficiency of aerial recovery of unmanned aerial vehicles. The device comprises an inner cabin bracket which extends along the length direction of an inner cabin of a conveyor and divides the inner cabin of the conveyor into an upper-layer space and a lower-layer space; the lower-layer space is used for storing an unmanned aerial vehicle, the upper-layer space is provided with a rail fixed to the inner cabin support, the cable winch power device is arranged at the end, close to a conveyor head, of the inner cabin support and located in the upper-layer space, and the recovery device is movably arranged in the upper-layer space along the rail. The recovery device comprises two docking devices which are arranged in parallel and used for docking the unmanned aerial vehicle, the cable winch power device is connected with the docking devices and provides power for the docking devices, and the docking devices are arranged in the lower-layer space through a telescopic unfolding device; the cable winch power device, the recovery device and the unfolding device are all connected with the control device.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle (UAV) air recovery, and more specifically, to a rapid air recovery device for a folding-wing UAV. Background Technique

[0002] The recovery method of a UAV is one of the important performances of the UAV. Whether the recovery method is flexible, whether the accuracy and reliability are high, and whether the equipment and operation are simple have become important indicators for evaluating the performance of the UAV. There are various recovery methods for UAVs, which can be roughly classified into parachute recovery, airbag landing recovery, net impact recovery, air-based recovery, rotor vertical landing recovery, rope hook recovery, wire impact recovery, etc. The "soft cable - drogue" type capture and recovery process based on an air-based recovery platform is similar to the in-air refueling operation. The process can be described as follows: A cable is extended from the air recovery platform, and a set of capture equipment is at the top of the cable, which docks with the recovery device on the UAV. After docking, the UAV is dragged back to the recovery platform to complete the recovery.

[0003] The whole process of air-recovering a UAV is divided into 4 stages: The first stage is called the "approach" stage: First, the recovery mother aircraft opens the tail hatch, unfolds the recovery mechanism and releases the soft cable - recovery drogue, so that the docking drogue (or called the docking device) forms a stable drag; then the UAV flies to the area below and behind the recovery mother aircraft and maintains a stable flight in the wake flow field of the mother aircraft; finally, the UAV autonomously detects and identifies the docking drogue, unfolds the UAV docking joint, and under the action of the flight control system, makes it fly to a pre-docking position very close to the drogue, and stably controls the relative position and attitude of the two during the slow approach process. The second stage is called the "docking" stage: The docking rod on the UAV is inserted and locked with the docking drogue (similar to the soft in-air refueling process); then the foldable wings of the UAV perform a variant rotation to facilitate storage, and at the same time reduce the aerodynamic surface of the UAV during the subsequent lifting process, so as to reduce the asymmetric aerodynamic moment. The third stage is called the "lifting" stage: The UAV-drogue combination in the folded-wing state is retracted upward with the soft cable, and the whole is lifted upward until the UAV fuselage contacts the locking mechanism in the recovery robotic arm to complete the fixation of the UAV. The fourth stage is called the "retracting" stage: The UAV fixed by the locking mechanism is retracted into the transport aircraft cabin.

[0004] During the docking process between the unmanned aerial vehicle (UAV) and the docking cone, both the docking cone and the UAV are subject to aerodynamic interference forces from each other. This phenomenon may affect the success rate of their docking. When the UAV collides with the docking cone during docking, if there is an offset docking collision, it may cause the docking of the cone to become unstable. At the same time, the relatively large collision force may also lead to instability of the aircraft's flight control. Therefore, the docking process between the UAV and the docking cone takes a relatively long time. Moreover, limited by the size of the transport aircraft's tail compartment and the relatively large structure of the recovery device, the current UAV recovery process only supports the recovery of a single UAV each time. The process is as follows: the transport aircraft's cabin door is opened → the docking cone is lowered → 1 UAV approaches → the UAV docks → the UAV's wings are retracted → the UAV is lifted → the UAV is locked and fixed → the UAV is recovered into the cabin by the recovery robotic arm → the robotic arm is lowered again → the docking cone is released again. Each time a UAV is recovered, the above entire process needs to be followed, and the time consumed generally reaches more than 7 - 8 minutes, making it difficult to complete the recovery of multiple UAVs within a limited time.

[0005] Therefore, how to solve the problem of low efficiency in the aerial recovery of UAVs is an urgent problem for those skilled in the art in the current field. Utility Model Content

[0006] In view of this, the purpose of the present utility model is to provide a rapid aerial recovery device for folding-wing UAVs, which can rapidly recover two or more folding-wing UAVs.

[0007] In order to achieve the above purpose, the present utility model provides the following technical solutions:

[0008] A rapid aerial recovery device for folding-wing UAVs, comprising:

[0009] An inner cabin support, extending along the length direction of the transport aircraft's inner cabin, and dividing the transport aircraft's inner cabin into an upper space and a lower space. The lower space is used for storing UAVs, and the upper space is provided with a track fixed to the inner cabin support;

[0010] A cable winch power device, arranged at one end of the inner cabin support close to the transport aircraft's nose, and the cable winch power device is located in the upper space;

[0011] A recovery device, movably arranged along the track in the upper space. The recovery device includes two docking devices arranged in parallel for docking UAVs. The cable winch power device is connected to the docking devices, and the cable winch power device provides power for the docking devices. The docking devices are arranged in the lower space through a telescopic deployment device. The cable winch power device, the recovery device, and the deployment device are all connected to a control device.

[0012] Preferably, the recovery device further includes:

[0013] A mobile trolley, movably arranged along the track;

[0014] Connecting arm structure, at the bottom of the connecting arm structure, there is a supporting hydraulic structure connected to the control device. One end of the connecting arm structure is rotatably connected to the mobile trolley, and the other end of the connecting arm is connected to the unfolding device, and the unfolding device is always in the plumb state.

[0015] Preferably, the connecting arm structure includes:

[0016] The first boom, one end of the first boom is rotatably connected to the mobile trolley, the first boom extends along the length direction of the inner cabin of the conveyor, and there are two fixing structures at the bottom of the first boom;

[0017] The second boom, one end of the second boom is rotatably connected to the other end of the first boom, the second boom is in the plumb state, and there is an unfolding device on the second boom.

[0018] Preferably, the supporting hydraulic structure includes:

[0019] The first supporting hydraulic rod, one end of the first supporting hydraulic rod is rotatably connected to the mobile trolley, and the other end of the first supporting hydraulic rod is connected to the fixing structure close to the mobile trolley;

[0020] The second supporting hydraulic rod, one end of the second supporting hydraulic rod is connected to the fixing structure close to the second boom, and the other end of the second supporting hydraulic rod is rotatably connected to the second boom.

[0021] Preferably, the unfolding device includes:

[0022] The main hydraulic rod, which is arranged at the bottom end of the second boom, the main hydraulic rod moves axially along it, and there are plugs at both ends of the main hydraulic rod;

[0023] The auxiliary hydraulic rods, there are two of them, one end of the auxiliary hydraulic rod is rotatably connected to the top end of the second boom, the other end of the auxiliary hydraulic rod is rotatably connected to the corresponding plug, the auxiliary hydraulic rod moves axially along it, the main hydraulic rod and the auxiliary hydraulic rods form a triangular structure, and the bottom of the plug is connected to the docking device.

[0024] Preferably, the docking device includes:

[0025] The caliper, which is fixed to the lower end of the plug, the caliper includes a connecting rod arranged parallel to the first boom, and clamping claws arranged at both ends of the connecting rod;

[0026] The docking cone sleeve, which is movably arranged below the connecting rod, and the docking cone sleeve is connected to the cable winch power device through a cable.

[0027] Preferably, the mobile trolley includes:

[0028] The trolley body, inside the trolley body, there is an electric drive device connected to the control device, and the trolley body moves along the track;

[0029] Wheels are provided on both sides of the trolley body. Each wheel includes an inner wheel and an outer wheel arranged in pairs. The inner wheel and the outer wheel are rotationally connected by a connecting shaft. The corresponding two sets of wheels are rotationally connected by a rotating shaft. The connecting shaft penetrates through the track and the trolley body.

[0030] Preferably, the inner cabin bracket includes a first bracket, a second bracket, and a third bracket fixed to the inner cabin of the transport aircraft;

[0031] The first bracket extends along the length direction of the inner cabin of the transport aircraft. The first bracket is a U-shaped frame body with a notch, and the notch is close to the tail of the transport aircraft. The first bracket divides the inner cabin of the transport aircraft into an upper space and a lower space. A plurality of clamping grooves are provided on the inner side of the first bracket;

[0032] There are a plurality of second brackets. The plurality of second brackets are arranged in the clamping grooves. The second brackets extend along the height direction of the inner cabin of the transport aircraft. The second brackets are of a stepped structure;

[0033] There are two third brackets. The two third brackets extend along the length direction of the inner cabin of the transport aircraft and are located below the first bracket. The third brackets are of a rectangular strip structure. Clamping grooves for cooperating with the second brackets are provided on the third brackets.

[0034] Preferably, the track is provided on the second bracket. The track is of an inverted T-shaped structure. A hollow slideway for cooperating with the connecting shaft is provided on the track.

[0035] Preferably, through holes are provided on the second boom for installing pipelines.

[0036] The folding-wing UAV air rapid recovery device provided by the present utility model includes an inner cabin bracket, a track, a cable winch power device, a recovery device, a docking device, a deployment device, and a control device. Specifically, the cable winch power device, the recovery device, and the deployment device are all connected to the control device. The operation states of the cable winch power device, the recovery device, and the deployment device are controlled by the control device. The inner cabin bracket extends along the length direction of the inner cabin of the transport aircraft and divides the inner cabin of the transport aircraft into an upper space and a lower space. The lower space is used for storing UAVs. The track fixed to the inner cabin bracket is provided in the upper space. The recovery device is movably arranged along the track in the upper space. The recovery device and the UAV are separated by the inner cabin bracket in the upper and lower spaces of the aircraft inner cabin. The recovery device does not occupy the lower space, so as to recover a larger number of UAVs and improve space utilization.

[0037] The recovery device includes two docking devices arranged in parallel for docking drones. The cable winch power device is connected to the docking devices and provides power for them. The cable winch power device is arranged at one end of the inner cabin bracket close to the nose of the transport plane and is located in the upper space of the inner cabin bracket. By controlling the operation of the cable winch power device through the control device, the docking devices are controlled to be released to achieve docking with the drones. The docking devices are arranged in the lower space through a telescopic deployment device. By controlling the deployment of the deployment device through the control device, two drones can be docked simultaneously, avoiding the situation of unstable docking due to the airflow between the two drones during docking. When both drones are docked, the deployment device is controlled to retract, enabling the docked drones to be smoothly transferred to the lower space.

[0038] When it is necessary to recover the folding-wing drones in the air, first open the hatch of the transport plane. Through the control device, the recovery device is controlled to move along the track to the position of the tail of the transport plane. The deployment device is controlled to extend to increase the distance between the two docking devices, and the cable winch power device is controlled to drive so that the docking devices are released into the air and dock with two drones in the air successively. Then, the cable winch power device is controlled to drive so that the docking devices are retracted, driving the two drones to rise simultaneously. Further, the deployment device is controlled to retract to shorten the distance between the two docking devices, enabling the docked drones to be smoothly transferred to the lower space of the inner cabin of the transport plane under the drive of the recovery device. The recovery device and the drones do not interfere with each other, which can improve the recovery safety and can quickly recover more than two formation flight drones. Brief Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0040] Figure 1 It is a schematic structural diagram of the folding-wing drone air rapid recovery device provided by the present invention;

[0041] Figure 2 It is a partial schematic diagram of the folding-wing drone air rapid recovery device provided by the present invention;

[0042] Figure 3 It is Figure 2 A schematic structural diagram from another perspective;

[0043] Figure 4 It is a schematic structural diagram of the inner cabin bracket provided by the present invention;

[0044] Figure 5 Schematic structural diagram of the release docking cone sleeve of the folding-wing UAV air rapid recovery device provided by the present utility model;

[0045] Figure 6 is Figure 5 Schematic structural diagram after the docking cone sleeve is released;

[0046] Figure 7 Schematic structural diagram of the docking of the folding-wing UAV air rapid recovery device provided by the present utility model with the UAV;

[0047] Figure 8 Schematic structural diagram of the folding-wing UAV air rapid recovery device provided by the present utility model for retrieving the UAV;

[0048] Figure 9 Schematic structural diagram of the UAV retrieved to the transport aircraft;

[0049] Figure 10 is Figure 9 Schematic structural diagram from another perspective.

[0050] Reference numerals:

[0051] 01 - UAV;

[0052] 1 - inner cabin bracket, 11 - first bracket, 12 - second bracket, 13 - third bracket;

[0053] 2 - transport aircraft inner cabin;

[0054] 3 - track;

[0055] 4 - cable winch power device;

[0056] 5 - recovery device, 51 - mobile trolley, 511 - trolley body, 512 - wheels, 52 - connecting arm structure, 521 - first boom, 522 - fixed structure, 523 - second boom, 53 - support hydraulic structure, 531 - first support hydraulic rod, 532 - second support hydraulic rod;

[0057] 6 - docking device, 61 - caliper, 62 - docking cone sleeve, 63 - cable;

[0058] 7 - deployment device, 71 - main hydraulic rod, 72 - plug, 73 - auxiliary hydraulic rod. Detailed implementation manners

[0059] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation" and the like shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0061] It should be noted that the following orientation words such as "up, down, left, right, front, back" are defined based on the accompanying drawings of the specification.

[0062] The core of the present invention is to provide a folding-wing UAV air rapid recovery device, which can rapidly recover more than two folding-wing UAVs 01.

[0063] Please refer to Figure 1 and Figure 2 , a folding-wing UAV air rapid recovery device includes an inner cabin bracket 1, a track 3, a cable winch power device 4, a recovery device 5, a docking device 6, a deployment device 7 and a control device.

[0064] Specifically, the cable winch power device 4, the recovery device 5 and the deployment device 7 are all connected to the control device, and the operating states of the cable winch power device 4, the recovery device 5 and the deployment device 7 are controlled by the control device. The inner cabin bracket 1 extends along the length direction of the transport aircraft inner cabin 2 and divides the transport aircraft inner cabin 2 into an upper space and a lower space. The lower space is used to store the UAV 01, and the upper space is provided with a track 3 fixed to the inner cabin bracket 1. The recovery device 5 is movably arranged in the upper space along the track 3. The recovery device 5 and the UAV 01 are separated by the inner cabin bracket 1 in the upper and lower layers of the aircraft inner cabin. The recovery device 5 does not occupy the lower space, so as to recover more UAVs 01, improve space utilization, and the recovery device 5 and the UAV 01 do not interfere with each other, improving the safety among the UAV 01, the transport aircraft and the recovery device 5.

[0065] The recovery device 5 includes two docking devices 6 arranged side by side for docking with the unmanned aerial vehicle 01. The cable winch power device 4 is connected to the docking device 6, and the cable winch power device 4 provides power for the docking device 6. The cable winch power device 4 is arranged at one end of the inner cabin bracket 1 close to the nose of the transport aircraft and is located in the upper space of the inner cabin bracket 1. By controlling the cable winch power device 4 to operate, the docking device 6 can be controlled to release and achieve docking with the unmanned aerial vehicle 01. The docking device 6 is arranged in the lower space through the telescopic deployment device 7. By controlling the deployment device 7 to deploy, two unmanned aerial vehicles 01 can be docked simultaneously, avoiding the situation of unstable docking due to the airflow between the two unmanned aerial vehicles 01 during docking. When both unmanned aerial vehicles 01 have completed docking, the deployment device 7 is controlled to retract, enabling the already docked unmanned aerial vehicle 01 to be smoothly transferred to the lower space.

[0066] When it is necessary to recover the folding-wing unmanned aerial vehicle 01 in the air, first open the hatch of the transport aircraft. Through the control device, the recovery device 5 is controlled to move along the track 3 to the position of the tail of the transport aircraft. The deployment device 7 is controlled to extend to increase the distance between the two docking devices 6, and the cable winch power device 4 is controlled to drive so that the docking device 6 is released into the air as Figure 5 and Figure 6 shown, and it docks with two unmanned aerial vehicles 01 in the air successively as Figure 7 shown. Then, the cable winch power device 4 is controlled to drive so that the docking device 6 is retracted, driving the two unmanned aerial vehicles 01 to rise simultaneously as Figure 8 shown. Further, the deployment device 7 is controlled to retract to shorten the distance between the two docking devices 6, enabling the already docked unmanned aerial vehicle 01 to be smoothly transferred to the lower space of the inner cabin 2 of the transport aircraft under the drive of the recovery device 5 as Figure 9 and Figure 10 shown. The recovery device 5 and the unmanned aerial vehicle 01 do not interfere with each other, which can improve the recovery safety and can quickly recover more than two formation-flight unmanned aerial vehicles 01.

[0067] The folding-wing unmanned aerial vehicle air rapid recovery device arranged in the above manner can be applied when there is no reliable land-based or sea-based landing point. Air-based recovery will be the simplest logistics support solution for cluster unmanned aerial vehicle 01 operations. It can be reused, saving combat time and reducing combat costs at the same time. During the process of recovering the unmanned aerial vehicle 01 into the inner cabin 2 of the transport aircraft, two unmanned aerial vehicles 01 can be recovered simultaneously. Compared with the process of successively recovering two unmanned aerial vehicles 01 twice using the existing traditional method, it can significantly reduce the recovery time of each unmanned aerial vehicle 01 per unit time and improve the efficiency of recovering the unmanned aerial vehicle 01.

[0068] In the above embodiment, the recovery device 5 also includes a moving trolley 51 and a connecting arm structure 52. The moving trolley 51 is arranged to move along the track 3. The bottom of the connecting arm structure 52 is provided with a supporting hydraulic structure 53 connected to the control device. One end of the connecting arm structure 52 is rotatably connected to the moving trolley 51, and the other end of the connecting arm is connected to the unfolding device 7. The unfolding device 7 is always in a plumb state.

[0069] It should be noted that when it is necessary to retract the UAV 01, the mobile trolley 51 is first controlled to slide along the track 3 from the initial position to the tail of the transport aircraft, driving the connecting arm structure 52 and the deployment device 7 to move synchronously. The deployment device 7 is always in a plumb state during the movement. Then the control device controls the deployment device 7 to unfold, so as to drive the two docking devices 6 on the deployment device 7 to move in opposite directions to prepare for docking with the UAV 01. When docking with the UAV 01, the cable winch power device 4 is operated to release the docking device 6 in the air, so that the docking device 6 is connected to the UAV 01 in the air. The UAV 01 is docked. After the docking is completed, the control device controls the deployment device 7 to be retracted to the state before the deployment to ensure that the UAV 01 can be smoothly recovered into the inner cabin 2 of the transport aircraft. The docking device 6 that has been docked with the UAV 01 is brought back to the position before the docking device 6 is released through the cable winch power device 4. Then, the mobile car 51 is controlled to slide from the tail of the transport aircraft to the initial position along the track 3, driving the connecting arm structure 52, the deployment device 7, the docking device 6 and the UAV 01 to move synchronously to the initial position of the lower space, thereby realizing the rapid recovery of the two UAVs 01 at the same time.

[0070] In the above situation, the connecting arm structure 52 includes a first arm 521 and a second arm 523. One end of the first arm 521 is rotatably connected to the moving trolley 51. The first arm 521 extends along the length direction of the interior cabin 2 of the transport aircraft. Two fixed structures 522 are provided at the bottom of the first arm 521. One end of the second arm 523 is rotatably connected to the other end of the first arm 521. The second arm 523 is in a plumb state, and a deployment device 7 is provided on the second arm 523.

[0071] It can be understood that the first arm 521 is the main arm, the second arm 523 is the auxiliary arm, and the first arm 521 can extend the second arm 523, the deployment device 7 and the docking device 6 out of the tail cabin of the transporter, and drive the second arm 523, the deployment device 7 and the docking device 6 to rotate downward to escape from the vortex zone of the tail cabin of the transporter, thereby ensuring the safety of recovering the drone 01. The upper end of the second arm 523 is rotatably connected to the first arm 521, and the second arm 523 always maintains a plumb state when rotating with the first arm 521.

[0072] Please refer to Figure 2 and Figure 3, the supporting hydraulic structure 53 includes a first supporting hydraulic rod 531 and a second supporting hydraulic rod 532. One end of the first supporting hydraulic rod 531 is rotatably connected to the moving trolley 51, and the other end is connected to the fixing structure 522 near the moving trolley 51. One end of the second supporting hydraulic rod 532 is connected to the fixing structure 522 near the second boom 523, and the other end is rotatably connected to the second boom 523.

[0073] It should be noted that the first supporting hydraulic rod 531 is the main boom supporting hydraulic rod, which moves together with the first boom 521 and provides support for the first boom 521. The second supporting hydraulic rod 532 is the auxiliary boom supporting rod, which moves together with the second boom 523 and provides support for the second boom 523.

[0074] In the above embodiment, the deployment device 7 includes a main hydraulic rod 71 and auxiliary hydraulic rods 73. The main hydraulic rod 71 is arranged at the bottom end of the second boom 523. The main hydraulic rod 71 moves axially in its telescopic manner. Plug heads 72 are provided at both ends of the main hydraulic rod 71. There are two auxiliary hydraulic rods 73. One end of each auxiliary hydraulic rod 73 is rotatably connected to the top end of the second boom 523, and the other end is rotatably connected to the corresponding plug head 72. The auxiliary hydraulic rods 73 move axially in their telescopic manner. The main hydraulic rod 71 and the auxiliary hydraulic rods 73 form a triangular structure, and the bottom of the plug head 72 is connected to the docking device 6.

[0075] It can be understood that when the recovery device 5 moves under the tail hatch, the control device controls the main hydraulic rod 71 to deploy, so that the distance between the two plug heads 72 reaches 4 meters, which can meet the requirement of recovering the UAVs 01 on both sides simultaneously and ensure the safety of the recovery distance. The auxiliary hydraulic rods of the deployment device 7 move along with the main hydraulic rod 71 of the deployment device 7, mainly providing a supporting role for the main hydraulic rod 71. The main hydraulic rod 71 and the auxiliary hydraulic rods 73 form a stable triangular structure to ensure the smooth deployment and retraction of the main hydraulic rod 71. When the docking device 6 docks the UAV 01, the main hydraulic rod 71 is controlled to deploy, so that the distance between the two plug heads 72 reaches 2 meters, so that the UAV 01 can be smoothly recovered into the lower space of the transport aircraft.

[0076] On the basis of the above embodiment, the docking device 6 includes a caliper 61 and a docking cone sleeve 62. The caliper 61 is fixed to the lower end of the plug head 72. The caliper 61 includes a connecting rod arranged parallel to the first boom 521 and claw jaws provided at both ends of the connecting rod. The docking cone sleeve 62 is movably arranged below the connecting rod, and the docking cone sleeve 62 is connected to the cable winch power device 4 through a cable 63.

[0077] It should be noted that when it is necessary to dock with the drone 01, the cable winch power device 4 controls the cable 63 to release the docking cone sleeve 62 with the cable 63 into the air for docking with the drone 01. The caliper 61 is fixed to the plug 72. When the drone 01 is recovered with the docking cone sleeve 62, the caliper 61 will clamp the drone 01 to prevent the recovery device 5 from swinging when contracting and passing through the wake area, affecting safety.

[0078] In the above embodiment, the mobile trolley 51 includes a trolley body 511 and wheels 512. An electric drive device connected to the control device is provided inside the trolley body 511. The trolley body 511 moves along the track 3. The wheels 512 are arranged on both sides of the trolley body 511. Each of the wheels 512 includes a pair of inner wheels and outer wheels. The inner wheels and outer wheels are rotatably connected by a connecting shaft. The corresponding two sets of wheels 512 are rotatably connected by a rotating shaft. The connecting shaft penetrates through the track 3 and the trolley body 511.

[0079] It can be understood that each set of wheels 512 of the moving trolley is composed of an inner wheel and an outer wheel. The inner and outer wheels are connected by a connecting shaft passing through the track 3. The trolley body 511 is connected to the first boom 521 to provide power for the rotation of the first boom 521. The control device controls the operation of the electric drive device to drive the movement of the trolley body 511.

[0080] Please refer to Figure 4 , the inner cabin bracket 1 includes a first bracket 11, a second bracket 12, and a third bracket 13 fixed to the inner cabin 2 of the transport aircraft. The first bracket 11 extends along the length direction of the inner cabin 2 of the transport aircraft. The first bracket 11 is a U-shaped frame body with a notch. The notch is close to the tail of the transport aircraft. The first bracket 11 divides the inner cabin 2 of the transport aircraft into an upper space and a lower space. A plurality of clamping grooves are provided inside the first bracket 11. A plurality of second brackets 12 are provided. The plurality of second brackets 12 are arranged in the clamping grooves. The second bracket 12 extends along the height direction of the inner cabin 2 of the transport aircraft. The second bracket 12 is a stepped structure. Two third brackets 13 are provided. The two third brackets 13 extend along the length direction of the inner cabin 2 of the transport aircraft and are located below the first bracket 11. The third bracket 13 is a rectangular strip structure. The third bracket 13 is provided with a clamping groove cooperating with the second bracket 12.

[0081] It should be noted that the second bracket 12 is the main support for the track 3 and the recovery device 5. The material is high-strength hollow steel. The second bracket 12 is fixed to the track 3. The first bracket 11 and the third bracket 13 are respectively upper and lower fixed support plates, mainly for fixedly connecting the second bracket 12 with the inner cabin 2 of the transport aircraft.

[0082] In the above situation, the track 3 is arranged on the second bracket 12. The track 3 is an inverted T-shaped structure. The track 3 is provided with a hollow slideway cooperating with the connecting shaft.

[0083] It can be understood that in this embodiment, the track 3 has an inverted T-shaped structure, and the hollow slideway is set to adapt to the wheel 512 structure of the moving trolley 51. However, in practical applications, there is no such limitation, as long as the above technical effects can be achieved.

[0084] In the above embodiment, through holes are provided on the second boom 523, and the through holes are used for installing pipelines.

[0085] It should be noted that there is a through hole in the middle of the second boom 523, which can provide hydraulic and control pipelines for the deployment device 7, the support hydraulic structure 53, etc., and reduce the weight of the second boom 523.

[0086] In summary, for the folding-wing UAV air rapid recovery device provided by the present utility model, when receiving and recovering the UAV 01, first open the transport aircraft cabin door, move the recovery device 5 along the track 3 to the tail of the transport aircraft, then control the deployment device 7 to deploy, and lower the docking cone sleeve 62 as Figure 5 , two UAVs 01 approach simultaneously. There is a certain relative distance between the front and rear of the left and right UAVs 01 (for example, the right UAV 01 is in front and the left UAV 01 is behind). Keeping one in front and one behind can enable the UAVs 01 to approach simultaneously but without interfering with each other, and can prevent mutual collisions caused by the interference between the UAVs 01. The right UAV 01 conducts docking, and the wings of the UAV 01 are retracted. While the right UAV 01 is docking, the left UAV 01 starts the preparation work before docking (pre-docking), that is, measures the relative position with the left docking cone sleeve 62 and keeps the relative position stable with the left cone sleeve. When the right UAV 01 completes the wing folding, the left UAV 01 moves forward to dock with the corresponding cone sleeve. Because the left UAV 01 has been aligned with the docking cone sleeve 62 in advance and kept relatively stable (for docking), the docking time of the left UAV 01 will be reduced. When both the left and right UAVs 01 complete docking, the two UAVs 01 are lifted upward simultaneously and are locked by the corresponding calipers 61 respectively as Figure 8 , then control the deployment device 7 to shorten the lateral distance between the two sets of calipers 61, and then the entire recovery device 5 and the two UAVs 01 are retracted into the cabin as Figure 9 and Figure 10 .

[0087] This application can recover two UAVs 01 simultaneously. Compared with the process of successively recovering two UAVs 01 twice using the existing traditional method, it can significantly reduce the recovery time of each UAV 01 per unit time. The time consumed by the UAV 01 during lifting, recovery, and lowering of the docking cone sleeve 62 is saved by 50%; the time consumed during the approach of the UAV 01 is saved by at least 50%; during the docking process of the UAV 01 with the docking cone sleeve 62, due to the pre-docking preparation of the second UAV 01, the time consumed will be greatly reduced. Therefore, it can be considered that the time for the docking process of the UAV 01 is saved by 50%.

[0088] Traditionally, it takes 450 seconds to recover one drone 01. The recovery device 5 of the present application takes 540 seconds to recover two drones 01. The recovery time for a single drone 01 is saved by 180 seconds, and the recovery efficiency is increased by 40%.

[0089] The present application can quickly recover two or more formation flight drones 01 safely and reliably, which is of great significance for completing rapid battlefield transfer and support. The recovery device 5 and the drone 01 are separated in the upper and lower two-layer spaces of the inner cabin 2 of the transport aircraft. The recovery device 5 does not occupy the lower cabin space of the drone 01, and more drones 01 can be recovered, improving space utilization. The structure of the recovery device 5 is relatively simple and easy to maintain. The recovery device 5 and the drone 01 do not interfere with each other, which can improve the recovery safety. It can also recover a single drone 01, with the advantages of flexibility and greater adaptability to the battlefield.

[0090] It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0091] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0092] The above has introduced in detail a folding-wing unmanned aerial vehicle air rapid recovery device provided by the present utility model. Specific examples are used herein to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be pointed out that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and modifications can be made to the present utility model, and these improvements and modifications also fall within the protection scope of the claims of the present utility model.

Claims

1. A folding-wing UAV rapid air recovery device, characterized in that: include: An inner cabin support (1) extends along the length direction of the inner cabin (2) of the transport aircraft and divides the inner cabin (2) of the transport aircraft into an upper space and a lower space, wherein the lower space is used to store the drone, and the upper space is provided with a track (3) fixed to the inner cabin support (1); A cable winch power device (4) is arranged at one end of the inner cabin bracket (1) close to the nose of the transport aircraft, and the cable winch power device (4) is located in the upper space; A recovery device (5) is movably arranged in the upper space along the track (3), the recovery device (5) includes two docking devices (6) arranged in parallel for docking with the drone, the cable winch power device (4) is connected to the docking device (6), the cable winch power device (4) provides power for the docking device (6), the docking device (6) is arranged in the lower space through a retractable unfolding device (7), and the cable winch power device (4), the recovery device (5) and the unfolding device (7) are all connected to a control device.

2. The folding-wing UAV aerial rapid recovery device according to claim 1 is characterized in that: The recovery device (5) further comprises: A movable trolley (51) is arranged to move along the track (3); A connecting arm structure (52), wherein a supporting hydraulic structure (53) connected to the control device is provided at the bottom of the connecting arm structure (52), one end of the connecting arm structure (52) is rotatably connected to the moving trolley (51), and the other end of the connecting arm is connected to the unfolding device (7), and the unfolding device (7) is always in a plumb state.

3. The folding-wing UAV aerial rapid recovery device according to claim 2 is characterized in that: The connecting arm structure (52) comprises: a first large arm (521), one end of the first large arm (521) being rotatably connected to the moving trolley (51), the first large arm (521) extending along the length direction of the inner cabin (2) of the transport aircraft, and two fixing structures (522) being provided at the bottom of the first large arm (521); A second large arm (523), one end of the second large arm (523) is rotatably connected to the other end of the first large arm (521), the second large arm (523) is in a plumb state, and the second large arm (523) is provided with the unfolding device (7).

4. The folding-wing UAV aerial rapid recovery device according to claim 3 is characterized in that: The supporting hydraulic structure (53) comprises: A first supporting hydraulic rod (531), one end of which is rotatably connected to the moving trolley (51), and the other end of which is connected to the fixed structure (522) close to the moving trolley (51); A second supporting hydraulic rod (532), one end of the second supporting hydraulic rod (532) is connected to the fixed structure (522) close to the second large arm (523), and the other end of the second supporting hydraulic rod (532) is rotatably connected to the second large arm (523).

5. The folding-wing UAV aerial rapid recovery device according to claim 4 is characterized in that: The unfolding device (7) comprises: A main hydraulic rod (71) is arranged at the bottom end of the second large arm (523), the main hydraulic rod (71) is telescopically movable along its axial direction, and plugs (72) are arranged at both ends of the main hydraulic rod (71); Two auxiliary hydraulic rods (73) are provided, one end of the auxiliary hydraulic rod (73) is rotatably connected to the top end of the second large arm (523), and the other end of the auxiliary hydraulic rod (73) is rotatably connected to the corresponding plug (72). The auxiliary hydraulic rod (73) is telescopically movable along its axial direction. The main hydraulic rod (71) and the auxiliary hydraulic rod (73) form a triangular structure, and the bottom of the plug (72) is connected to the docking device (6).

6. The folding-wing UAV aerial rapid recovery device according to claim 5 is characterized in that: The docking device (6) comprises: A caliper (61) is fixed to the lower end of the plug (72), and the caliper (61) comprises a connecting rod arranged parallel to the first large arm (521), and claws arranged at both ends of the connecting rod; A docking cone sleeve (62) is movably arranged below the connecting rod, and the docking cone sleeve (62) is connected to the cable winch power device (4) via a cable (63).

7. The folding-wing UAV aerial rapid recovery device according to claim 6 is characterized in that: The mobile vehicle (51) comprises: A trolley body (511), wherein an electric drive device connected to the control device is provided in the trolley body (511), and the trolley body (511) moves along the track (3); Wheels (512) are arranged on both sides of the trolley body (511), and the wheels (512) include an inner wheel and an outer wheel arranged in pairs, and the inner wheel and the outer wheel are rotatably connected via a connecting shaft, and the corresponding two groups of wheels (512) are rotatably connected via a rotating shaft, and the connecting shaft passes through the track (3) and the trolley body (511).

8. The folding-wing UAV aerial rapid recovery device according to claim 7 is characterized in that: The inner cabin bracket (1) comprises a first bracket (11), a second bracket (12) and a third bracket (13) fixed to the inner cabin (2) of the transport aircraft; The first bracket (11) is extended along the length direction of the inner cabin (2) of the transport aircraft. The first bracket (11) is a U-shaped frame body with a notch. The notch is arranged near the tail of the transport aircraft. The first bracket (11) divides the inner cabin (2) of the transport aircraft into an upper space and a lower space. A plurality of snap-in grooves are arranged on the inner side of the first bracket (11). A plurality of the second brackets (12) are provided, and the plurality of the second brackets (12) are arranged in the clamping grooves. The second brackets (12) extend along the height direction of the inner cabin (2) of the transport aircraft, and the second brackets (12) are of a stepped structure. Two third brackets (13) are provided, and the two third brackets (13) extend along the length direction of the inner cabin (2) of the transport aircraft and are located below the first bracket (11). The third bracket (13) is a rectangular strip structure, and the third bracket (13) is provided with a clamping groove that cooperates with the second bracket (12).

9. The folding-wing UAV aerial rapid recovery device according to claim 8, characterized in that: The track (3) is arranged on the second bracket (12); the track (3) is an inverted T-shaped structure; and a hollow slideway cooperating with the connecting shaft is arranged on the track (3).

10. The folding-wing UAV aerial rapid recovery device according to any one of claims 3 to 9, characterized in that: The second large arm (523) is provided with a through hole, and the through hole is used for installing a pipeline.

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