Sub-aircraft recycling and putting device suitable for sub-mother type unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a son-aircraft recycling and putting device suitable for a son-mother type unmanned aerial vehicle, which comprises a cabin, a recycling assembly, a circulating putting assembly, a charging assembly, a control module and a multi-rotor-wing son aircraft. Wherein the cabin is provided with a sub-machine recovery port and a sub-machine putting port; the recycling assembly is composed of a fixing plate, a main push rod and an auxiliary push rod. The circulating putting assembly is composed of two conveying mechanisms and a mounting frame. The charging assembly is composed of a battery and an electrode plate. And the multi-rotor sub-aircraft is provided with a T-shaped bracket and a conductive terminal. The recycling assembly is matched with the sub-aircraft recycling opening to achieve recycling of the multi-rotor sub-aircraft, the charging assembly is matched with the conductive terminal to achieve the charging function, and the cyclic putting assembly can achieve migration and putting of the multi-rotor sub-aircraft. The recycling, charging and releasing functions of the multi-rotor sub-aircraft are integrally integrated, and the cyclic operation capacity of the multi-rotor sub-aircraft is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field, concretely relates to the sub -machine recovery and launching device suitable for sub -and -parent unmanned plane. BACKGROUND

[0002] The current unmanned plane reconnaissance technology has been widely used in military, commercial and civil fields. Especially, the sub -and -parent unmanned plane carrying small multi -rotor unmanned plane on large unmanned plane has the overall reconnaissance characteristics of wide view and long range of large unmanned plane and the local reconnaissance ability of high flexibility and fine reconnaissance of multi -rotor low -altitude unmanned plane.

[0003] For example, a sub -and -parent unmanned plane is proposed in Chinese patent CN116513510A, at least two sub -machines are hung on the parent machine to integrate the advantages of the parent machine and the sub -machine, but in the technology, the sub -machine needs to land in the working area after releasing and completing the work, and cannot return to the parent machine for recycling. There is a weak recycling ability caused by the short endurance of the sub -machine.

[0004] Therefore, Chinese patent CN112158333B proposes a reverse harpoon type sub -and -parent unmanned plane release and recovery device, which realizes the recovery function by the expandable and closed harpoon narrow wing and the steel wire mesh hung below the parent machine. But this structure needs the harpoon narrow wing to keep vertical as much as possible to effectively pass through the steel wire mesh to realize recovery, and the patent has not solved the problem of energy supplement after the sub -machine recovery.

[0005] Therefore, there is still a lack of a device that can release, recover and charge the sub -machine in one, to meet the demand of the recycling ability of the sub -machine. UTILITY MODEL CONTENT

[0006] The utility model aims at providing the sub -machine recovery and launching device suitable for sub -and -parent unmanned plane to solve the weak recycling ability of the sub -machine caused by the short endurance and recovery difficulty in the prior art.

[0007] To achieve the above, the utility model provides the following technical scheme:

[0008] A sub -machine recovery and launching device suitable for sub -and -parent unmanned plane, comprising a cabin, a recovery assembly, a recycling launching assembly, a charging assembly, a multi -rotor sub -machine and a control module. The cabin bottom is respectively provided with a sub -machine recovery port and a sub -machine launching port.

[0009] The recovery assembly consists of a fixed plate, a main push rod, and an auxiliary push rod. The fixed plate is installed on the top of the nacelle. The fixed ends of both the main push rod and the auxiliary push rod are hinged to the fixed plate. The telescopic end of the auxiliary push rod is hinged to the outer shell of the main push rod. The extension and retraction of the auxiliary push rod allows the main push rod to swing in the vertical plane. A capture hook is fixed to the telescopic end of the main push rod. The recovery assembly is located directly above the sub-rotor recovery port. When the main push rod is extended, the capture hook can extend from the sub-rotor recovery port outside the nacelle, facilitating the capture and recovery of the multi-rotor sub-rotor. The auxiliary push rod and the main push rod work together to place the captured multi-rotor sub-rotor onto a conveyor belt for charging, improving the endurance for cyclical operations.

[0010] The circulating delivery assembly is installed between the sub-rotor recovery port and the sub-rotor delivery port, and consists of two parallel conveyor mechanisms and a mounting frame (8); the two mounting frames are fixed to the bottom of the cabin. The two conveyor mechanisms consist of a motor and a conveyor belt. The motor is fixed to one end of the mounting frame, and the motor output end has a drive wheel. The end of the mounting frame without the motor has a driven wheel, and the conveyor belt is fitted onto the drive wheel and the driven wheel. The vertical projections of the drive wheel and the driven wheel are kept at the middle of the sub-rotor recovery port and the sub-rotor delivery port, respectively, so that when the multi-rotor sub-rotor is transported to the sub-rotor delivery port by the conveyor belt, it can directly leave the cabin from the sub-rotor delivery port. The conveyor belt is formed of a conductive flexible metal strip.

[0011] The charging assembly consists of a battery and two electrode plates. The battery is fixed to the bottom of the cabin, and the positive and negative terminals of the battery are connected to the two electrode plates respectively through wires. The electrode plates are in contact with the two conveyor belts respectively.

[0012] The multi-rotor sub-plane is equipped with a T-shaped bracket on its upper part. The lower surface of the crossbeam of the T-shaped bracket is provided with conductive terminals at both ends. The two conductive terminals are respectively connected to the positive and negative terminals of the power charging interface of the multi-rotor sub-plane through wires. The control module is located inside the cabin and is electrically connected to the battery, main push rod, auxiliary push rod, and motor through wires.

[0013] Preferably, multiple I-shaped stabilizers are arrayed on both mounting frames, with the top platform of each stabilizer supporting the conveyor belt. Two electrode plates are respectively attached to the top platforms of the stabilizers on both mounting frames near the sub-rotor recovery port, maintaining contact and conductivity between the electrode plates and the conveyor belt. When the recovered multi-rotor sub-rotor is placed on the two conveyor belts, the conductive terminals on the multi-rotor sub-rotor contact and conduct electricity with the conveyor belt, forming a power circuit between the battery, electrode plates, conveyor belt, and multi-rotor sub-rotor to charge the multi-rotor sub-rotor.

[0014] Preferably, the driven wheel, the driving wheel and the centralizer are made of non-conductive material, avoiding the formation of a closed circuit of the charging assembly affecting the normal operation of the motor and other elements in the cabin.

[0015] Preferably, the upper surface of the conveying track is also provided with anti-skid limiting protrusions at equal intervals, avoiding displacement and falling of the multicopter staying on the conveying track during the flight of the mother machine.

[0016] Preferably, the catching hook is composed of two hook claws arranged in an outward eight-shaped manner, and the multicopter approaches from the opening direction of the catching hook, so that the hook claws arranged in an outward eight-shaped manner are more likely to hook the ends of the cross beam of the T-shaped support of the multicopter, reducing the difficulty of catching.

[0017] Preferably, the two conveying mechanisms are synchronously and unidirectionally operated, and one multicopter is conveyed a distance to the multicopter launching port for the subsequent multicopter to leave a recovery space.

[0018] The utility model has the advantages that:

[0019] (1) The design of the recovery assembly and the T-shaped support on the multicopter can realize the catching and recovery of the multicopter only by the internal structure of the cabin, avoiding the influence of the redundant external mechanism on the flight stability of the mother machine; and the hook claws arranged in an outward eight-shaped manner reduce the difficulty of positioning and recovering the multicopter.

[0020] (2) The electrically conductive conveying track, in cooperation with the electrode sheet and the conductive terminal, can form a closed circuit after the multicopter is recovered, charge the multicopter and improve the endurance of the cyclic operation.

[0021] (3) The motor in cooperation with the conveying track can automatically transport the recovered multicopter away from the multicopter recovery port, leaving a space for the recovery of other multicopters, and the multicopter staying on the conveying track can be transported to the multicopter launching port for launching; thereby realizing the cyclic operation of the recovery, charging and launching of multiple multicopters. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is the overall structure schematic view of the utility model.

[0023] Figure 2 is the structure schematic view of the recovery assembly and the cyclic launching assembly.

[0024] Figure 3 is the schematic view of the multicopter approaching the catching hook.

[0025] Figure 4 is the partial schematic view of the cyclic launching assembly.

[0026] Figure 5is a schematic view of the multi-rotor sub-machine placed on the circulating delivery assembly.

[0027] In the figure, 1, multi-rotor sub-machine, 101, T-shaped support, 102, conductive terminal, 2, fixed plate, 3, main push rod, 4, auxiliary push rod, 5, capture hook, 6, sub-machine recovery port, 7, sub-machine delivery port, 8, mounting frame, 9, motor, 10, conveying track, 1001, limiting protrusion, 11, battery, 12, electrode sheet, 13, centralizer, 14, control module. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0029] As Figure 1 shown, a sub-machine recovery and delivery device suitable for sub-mother unmanned aerial vehicle, including cabin, recovery assembly, circulating delivery assembly, charging assembly, multi-rotor sub-machine 1 and control module 14. The bottom of the cabin is respectively provided with sub-machine recovery port 6 and sub-machine delivery port 7.

[0030] As Figure 2 shown, the recovery assembly is composed of a fixed plate 2, a main push rod 3 and an auxiliary push rod 4, the fixed plate 2 is installed at the top of the cabin, and the fixed ends of the main push rod 3 and the auxiliary push rod 4 are hinged to the fixed plate 2. The telescopic end of the auxiliary push rod 4 is hinged to the shell of the main push rod 3, and the extension and shortening of the auxiliary push rod 4 can realize the swing of the main push rod 3 in the vertical plane; the telescopic end of the main push rod 3 is fixed with a capture hook 5; the recovery assembly is located directly above the sub-machine recovery port 6; as Figure 3 shown, after the main push rod 3 is extended, the capture hook 5 can be stretched out of the cabin outside the sub-machine recovery port 6, which is convenient for capturing and recovering the multi-rotor sub-machine 1. After capturing the multi-rotor sub-machine 1, the auxiliary push rod 4 and the main push rod 3 can cooperate to lift the multi-rotor sub-machine 1 from the outside of the cabin to the inside and place it on the circulating delivery assembly.

[0031] The recycling assembly is installed between the sub-machine recycling port 6 and the sub-machine launching port 7, and is composed of two parallel transmission mechanisms and mounting racks (8); the two mounting racks 8 are fixed at the bottom of the cabin. The two transmission mechanisms are composed of a motor 9 and a transmission track 10, the motor 9 is fixed at one end of the mounting rack 8, the output end of the motor 9 is provided with a driving wheel, and the end of the mounting rack 8 not provided with the motor 9 is provided with a driven wheel, and the transmission track 10 is sleeved on the driving wheel and the driven wheel. The vertical projections of the driving wheel and the driven wheel are located at the middle parts of the sub-machine recycling port 6 and the sub-machine launching port 7 respectively, so that when the multi-rotor sub-machine 1 is transported to the sub-machine launching port 7 by the transmission track 10, it can directly leave the cabin from the sub-machine launching port 7. The transmission track 10 is formed of a flexible metal belt.

[0032] The charging assembly is composed of a battery 11 and two electrode sheets 12, the battery 11 is fixed at the bottom of the cabin, and the positive and negative electrodes of the battery 11 are connected to the two electrode sheets 12 through wires respectively; the electrode sheets 12 are in contact with the two transmission tracks 10 respectively, and when there is no multi-rotor sub-machine 1 staying on the transmission track 10, the charging circuit composed of the battery 11, the electrode sheets 12 and the transmission track 10 is open.

[0033] As shown in Figure 3 , Figure 4 , Figure 5 The upper part of the multi-rotor sub-machine 1 is provided with a T-shaped support 101, the lower surface of the crossbeam of the T-shaped support 101 is provided with conductive terminals 102 at both ends, and the two conductive terminals 102 are connected to the positive and negative electrodes of the power charging interface of the multi-rotor sub-machine through wires respectively; after the multi-rotor sub-machine 1 is captured by the recycling assembly and placed on the transmission track 10, the conductive terminals 102 at both ends of the T-shaped support 101 are in contact with the two transmission tracks 10 respectively, so that the multi-rotor sub-machine 1 and the charging circuit composed of the battery 11, the electrode sheets 12 and the transmission track 10 are closed, and the multi-rotor sub-machine 1 is charged, thereby improving the recycling capacity. The control module 14 is arranged in the cabin and is electrically connected to the battery 11, the main push rod 3, the auxiliary push rod 4 and the motor 9 through wires, so as to control the operation of the main push rod 3, the auxiliary push rod 4 and the motor 9.

[0034] Multiple I-shaped stabilizers 13 are arrayed on both mounting frames 8. The top platform of each stabilizer 13 supports the conveyor belt 10, preventing excessive sagging when multiple multi-rotor drones 1 are placed on the conveyor belt 10. Two electrode plates 12 are respectively attached to the top platforms of the stabilizers 13 on both mounting frames 8 near the drone recovery port 6, maintaining contact and conductivity between the electrode plates 12 and the conveyor belt 10. When the recovered multi-rotor drone 1 is placed on the two conveyor belts 10, the conductive terminals 102 on the multi-rotor drone 1 contact and conduct electricity with the conveyor belt 10, forming a power circuit between the battery 11, electrode plates 12, conveyor belt 10, and multi-rotor drone 1, thus charging the multi-rotor drone 1.

[0035] The driven wheel, the driving wheel, and the centering device 13 are all made of non-conductive materials to prevent the charging components from forming a power circuit and affecting the normal operation of the motor 9 and other components in the cabin.

[0036] The upper surface of the conveyor track 10 is also provided with anti-slip limiting protrusions 1001 at equal intervals to prevent the multi-rotor aircraft 1, which is stationary on the conveyor track 10, from shifting and slipping off during the flight of the mother aircraft.

[0037] The capture hook 5 consists of two claws arranged in an outward V-shape. When the multi-rotor aircraft 1 approaches from the opening of the capture hook, the outward V-shaped claws can more easily hook onto both ends of the crossbeam of the T-shaped support of the multi-rotor aircraft, reducing the difficulty of capture.

[0038] The two conveying mechanisms operate synchronously and in the same direction. Each time a multi-rotor sub-aircraft 1 is recovered, it is transported a certain distance to the sub-aircraft launch port 7 to leave space for the recovery of subsequent multi-rotor sub-aircraft 1.

[0039] In use, the cabin of this invention can be externally mounted under a medium-to-large-sized UAV or integrated into the fuselage or wing of a fixed-wing UAV. When the medium-to-large-sized UAV, acting as the mother aircraft, flies to the target airspace, the motor drives the conveyor belt to rotate, sequentially releasing the multi-rotor drones it carries from the drone release port. After the multi-rotor drones have finished their work, the main push rod of the recovery assembly extends, extending the capture hook from the drone recovery port. The multi-rotor drone then flies to the vicinity of the drone recovery port and approaches from the opening of the capture hook's claw until the T-shaped bracket is successfully captured by the capture hook. The auxiliary push rod, in conjunction with the retraction of the main push rod, lifts the multi-rotor drone from the drone recovery port into the cabin and places the T-shaped bracket on the conveyor belt. At this time, the conductive terminals on the T-shaped bracket contact the conveyor belt to conduct electricity, starting to charge the multi-rotor drone. For the next round of work, the multi-rotor drones are released from the drone release port again, and the cycle continues.

[0040] It needs to be explained that the multi-rotor sub-machine generally has a mature battery management module, for example, CD42 lithium battery charging and discharging integrated module, when there is no external voltage, it is in the discharging mode, when there is external voltage input, it is automatically converted into the charging mode; when the battery is fully charged, the charging is automatically terminated; the utility model can support the charging function of the multi-rotor sub-machine after recycling and the automatic conversion of discharging after being put into the water.

Claims

1. A device for recovering and deploying sub-drones of a mother-daughter unmanned aerial vehicle (UAV), characterized in that: It includes a cabin, recovery assembly, recycle delivery assembly, charging assembly, multi-rotor sub-engine (1) and control module (14); The bottom of the cabin is provided with a sub-machine recovery port (6) and a sub-machine deployment port (7); The recovery assembly consists of a fixed plate (2), a main push rod (3), and an auxiliary push rod (4). The fixed plate (2) is installed on the top of the cabin. The fixed ends of the main push rod (3) and the auxiliary push rod (4) are both hinged to the fixed plate (2). The telescopic end of the auxiliary push rod (4) is hinged to the outer shell of the main push rod (3). A capture hook (5) is fixed to the telescopic end of the main push rod (3). The recovery assembly is located directly above the recovery port (6) of the submachine. The circulating delivery assembly is installed between the submachine recovery port (6) and the submachine delivery port (7), and consists of two parallel conveying mechanisms and a mounting frame (8); the two mounting frames are fixed to the bottom of the cabin; the two conveying mechanisms consist of a motor (9) and a conveyor belt (10), the motor (9) is fixed to one end of the mounting frame (8), the output end of the motor (9) is provided with a drive wheel, the end of the mounting frame (8) without the motor is provided with a driven wheel, and the conveyor belt (10) is fitted on the drive wheel and the driven wheel; the vertical projection of the drive wheel and the driven wheel is kept at the middle of the submachine recovery port (6) and the submachine delivery port (7) respectively; the conveyor belt (10) is formed of a conductive flexible metal belt; The charging assembly consists of a battery (11) and two electrode plates (12). The battery (11) is fixed to the bottom of the cabin. The positive and negative terminals of the battery (11) are connected to the two electrode plates (12) respectively through wires. The electrode plates (12) are in contact with the two conveyor belts (10) respectively. The multi-rotor submachine (1) is provided with a T-shaped bracket (101) above it. The lower surface of the crossbeam of the T-shaped bracket (101) is provided with conductive terminals (102) at both ends. The two conductive terminals (102) are respectively connected to the positive and negative terminals of the power charging interface of the multi-rotor submachine through wires. The control module (14) is located inside the cabin and is electrically connected to the battery (11), main push rod (3), auxiliary push rod (4), and motor (9) via wires.

2. The device for recovering and deploying sub-drones of a mother-daughter unmanned aerial vehicle (UAV) according to claim 1, characterized in that: Multiple I-shaped straighteners (13) are arrayed on both mounting frames (8), and the top platform of the straighteners (13) supports the conveyor belt (10); two electrode plates (12) are respectively attached to the top platform of the straighteners (13) on the two mounting frames (8) near the submachine recovery port (6), and the electrode plates (12) are kept in contact with the conveyor belt (10) for electrical conduction.

3. The device for recovering and deploying sub-drones of a mother-daughter unmanned aerial vehicle (UAV) according to claim 2, characterized in that: The driven wheel, the driving wheel, and the centering device (13) are all made of non-conductive materials.

4. The device for recovering and deploying sub-drones of a mother-daughter unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The upper surface of the conveyor belt (10) is also provided with anti-slip limiting protrusions (1001) at equal intervals.

5. The device for recovering and deploying sub-drones of a mother-daughter unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The catching hook (5) consists of two hook claws arranged in an outward V-shape.

6. The device for recovering and deploying sub-drones of a mother-daughter unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The two transmission mechanisms operate synchronously and in the same direction.

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