CN205525014U - Pulling equipment, recovery unit and parachuting recovery system - Google Patents

Abstract

The embodiment of the utility model provides a pulling equipment, recovery unit and parachuting recovery system, pull the equipment of being retrieved by parachuting through the pulling equipment, simultaneously to different parachuting systems, be provided with corresponding couple device, ensured and trailingly gone on smoothly, thereby make the power that can utilize the pulling equipment well will be guided predetermined recovery landing regional by the equipment that parachuting was retrieved, and parachuting recovery system's normal work has been ensured, ensured by the normal landing of parachuting recovery plant, the equipment damage of avoiding unable accurate landing among the current parachuting recovery process and leading to, the emergence of the condition such as lose.

Description

A kind of pulling equipment, retracting device and parachuting recovery system

Technical field

This utility model relates to technical field of aerospace, particularly to a kind of pulling equipment, retracting device with And parachuting recovery system.

Background technology

In reality, having a lot of equipment needing and reclaiming, such as unmanned plane, the equipment such as rocket is needs Reclaiming, need for this recovery, the mode currently mainly used is that parachuting is reclaimed, namely utilizes Parachute reclaims, and equipment to be recycled carries parachute, when reclaiming, releases a parachute, Aloft buffering will pass through parachute, the equipment that effectively avoids directly lands the impact caused, The most this mode is more convenient, and cost is relatively low.

But parachuting is reclaimed this mode and be there is also some defects, concrete, owing to being the resistance relying on air Power carries out buffering to ensure that the safety of reclaimer, its stress rely primarily on gravity and air drag, Thus cause once Parachute Opening, will be the most controlled, its landing precision depend critically upon parachute-opening time Machine, particularly, if running into the situations such as horizontal strong convective weather such as there being fitful wind, will cause reclaimer Cannot the most normally preset location land, and then likely result in equipment to be recycled loss and Damage, and currently for this situation, the most not relevant solution.

Utility model content

This utility model provides a kind of pulling equipment, retracting device and parachuting recovery system；In order to lead

Draw parachuting recovery system must land accurate for the equipment reclaimed by parachuting in default landing site.

Concrete the utility model proposes a kind of pulling equipment, it is characterised in that including: toter

1 and guide 2, wherein:

Described toter 1 connects described guide 2；

Described guide 2 is for connecting the equipment reclaimed by parachuting.

Preferably, described guide 2 includes: guiding rope 21 and support 22, wherein:

Described support 22 is fixing connects described toter 1；

The two ends of described guiding rope 21 connect the two ends of described support 22 respectively.

Preferably, described guiding equipment 2 includes: guide bracket 23, one or more guiding buttons 24, its In:

Described guide bracket 23 is fixing connects described toter 1；

Each described marginal portion guiding the button 24 described guide bracket 23 of fixing connection.

This utility model also proposed a kind of retracting device, it is characterised in that includes hooking device 3 and fall Fall umbrella 4, wherein:

Described hooking device 3 is connected with described the fixing of parachute 4；

Described hooking device 3 is for being connected with pulling equipment 1.

Preferably, described parachute 4 includes: main chute umbrella body 41 and main chute umbrella rope 42；

Described hooking device 3 achieves a fixed connection with the middle part of described main chute umbrella rope 42.

Preferably, described parachute 4 includes: main chute umbrella body 41 and main chute umbrella rope 42；

Described hooking device 3 achieves a fixed connection with the top of described main chute umbrella body 41.

Preferably, described parachute 4 includes: main chute umbrella body 41, main chute umbrella rope 42, extraction parachute umbrella rope 43 and extraction parachute umbrella body 44；

Described hooking device 3 achieves a fixed connection with the middle part of described extraction parachute umbrella rope 43.

Preferably, described parachute 4 includes: main chute umbrella body 41, main chute umbrella rope 42, extraction parachute umbrella rope 43 and extraction parachute umbrella body 44；

Described hooking device 3 achieves a fixed connection with the top of described extraction parachute umbrella body 44.

Preferably, described hooking device includes: fixture 31 and link part 32, wherein；

Part 32 and described parachute 4 is linked described in the described fixing connection of fixture 31

The described part 32 that links is for being connected with pulling equipment.

This utility model also proposed a kind of parachuting recovery system, including pulling equipment and retracting device, with

And the equipment reclaimed by parachuting, wherein:

Described retracting device is connected with the described equipment reclaimed by parachuting；

Described pulling equipment is connected with described retracting device.

Compared with prior art, this utility model embodiment provides a kind of pulling equipment, retracting device and Parachuting recovery system；By pulling equipment, the equipment reclaimed by parachuting is drawn, be simultaneous for not Same parachute landing system, is provided with the hooking device of correspondence, has ensured being smoothed out of traction, so that Obtaining can utilize the power of pulling equipment that the equipment reclaimed by parachuting is directed to the recovery preset well Touchdown area, and ensured the normal work of parachuting recovery system, ensure by parachuting reclaimer Normal landing, it is to avoid cannot precisely land in existing parachuting removal process and the device damage that causes, lose The generation of the situations such as mistake.

Accompanying drawing explanation

Fig. 1 is the structural representation of a kind of pulling equipment in this utility model；

Fig. 2 is the schematic diagram of a kind of pulling equipment in this utility model；

Fig. 3 is the schematic diagram of a kind of pulling equipment in this utility model；

Fig. 4 is the schematic diagram of a kind of parachute in this utility model；

Fig. 5 is the schematic diagram of a kind of parachute in this utility model；

Fig. 6 is the schematic diagram of a kind of hooking device in this utility model；

Fig. 7 is the schematic diagram of a kind of retracting device in this utility model；

Fig. 8 is the schematic diagram of a kind of retracting device in this utility model；

Fig. 9 is the schematic diagram of the hook member under a kind of concrete application scenarios in this utility model；

Figure 10 A is the schematic diagram of a kind of distraction procedure in this utility model；

Figure 10 B is the schematic diagram of a kind of distraction procedure in this utility model；

Figure 10 C is the schematic diagram of a kind of distraction procedure in this utility model；

Figure 11 A is the schematic diagram of a kind of distraction procedure in this utility model；

Figure 11 B is the schematic diagram of a kind of distraction procedure in this utility model；

Figure 11 C is a kind of schematic diagram linking up with locking process in this utility model；

Figure 11 D is the schematic diagram of a kind of distraction procedure in this utility model；

Figure 12 is the schematic diagram of a kind of distraction procedure in this utility model；

Figure 13 is the schematic diagram of a kind of distraction procedure in this utility model.

Marginal data:

1: toter 2: guide

21: guiding rope 22 support

23: guide bracket 24: guide button

3: hooking device 31: fixture

32: link part

41: main chute umbrella body 42: main chute umbrella rope

43: extraction parachute umbrella rope 44: extraction parachute umbrella body

501: grab 502: ' locked ' zone

503: locking ring 504: support column

Detailed description of the invention

Embodiment 1, the purpose of this utility model are to provide a kind of pulling equipment, drop back to receive in order to extraction parachute System, accurately lands the equipment reclaimed by parachuting in default landing site.Concrete, for reaching Above technical purpose, this utility model embodiment 1 proposes a kind of pulling equipment, is applied to parachuting and returns Receipts system, as it is shown in figure 1, pulling equipment includes: toter 1 and guide 2, wherein:

Described toter 1 connects described guide 2；

Described guide 2 is for connecting the equipment reclaimed by parachuting.

Concrete, described toter 1 specially course line is controlled and there is the flight specifying carrying capacity Device；Such as toter 1 can be helicopter, quadrotor, unmanned plane etc., due to fortune Carry and put the power section as pulling equipment, need to provide power for traction behavior, and need to ensure Can arrive predeterminable area, therefore the course line of this toter needs to be controlled, and there is certain fortune Loading capability, concrete, carrying capacity needs to be determined according to the equipment reclaimed by parachuting, by umbrella Drop back to receive equipment quality the biggest, in requisition for carrying capacity be also required to the biggest, the most in addition, Also affected by other factors, such as, when there is strong convective weather, the carrying capacity of needs the most accordingly can The carrying capacity needed time the most calm wants big.Toter 1 is connected with guide 2, specifically Can be fixing connection, such as, be bolted and be fixed, naturally it is also possible to be otherwise, Such as by welding, it is fixing that the mode such as riveting is carried out.

And concrete, illustrate as a example by toter 1 is as quadrotor, this four rotor Aircraft is symmetrical, and wherein the left figure of Fig. 2 is front view, and the right figure of Fig. 2 is side view.

Guide 2 can have a specific embodiment that following two is different:

As in figure 2 it is shown, for the first specific embodiment of guide 2: described guide 2 includes: Guiding rope 21 and support 22, wherein: described support 22 is fixing connects described toter 1；Described The two ends of guiding rope 21 connect the two ends of described support 22 respectively.

Support 22 is fixing connects vehicle equipment 1；The two ends of guiding rope 21 connect the two ends of support 22 respectively Realize and the connection of vehicle equipment 1；So pars intermedia branch of guiding rope 21 hangs down naturally, follow-up Guiding rope 21 can be utilized to be attached with the equipment reclaimed by parachuting.Concrete, in addition, Guiding rope 21 can also is that other form, such as, can be a cable wire, and one end of this cable wire connects fortune Load equipment, the other end is fixing connects a collision locking device, follow-up cable wire can be utilized to return with parachuting Umbrella rope in receipts system carries out collision rift and locks, and concrete can be there to be a lot of other form, only Want to achieve a fixed connection with the equipment reclaimed by parachuting.

To this end, described guiding rope 21 is specifically as follows cable wire；The material of described support 22 can be anti- Tensile strength exceedes the metal of preset strength threshold value.

Owing to guiding rope 21 needs stress, need the equipment that traction is reclaimed by parachuting, it is therefore desirable to Certain holding capacity, to this end, guiding rope 21 is specifically as follows cable wire, that is to say and be twisted by multilamellar steel wire Stock, then centered by wire rope core, some stocks twist with the fingers helically wound rope；Certainly, however it is not limited to The material of iron and steel, it is also possible to select other material, as long as stress condition and traction needs can be met , such as, can select carbon fibre material etc..Correspondingly, guiding rope 21 is connected to support On 22, support 22 is also required to certain ability to bear, concrete, and the ability to bear of support 22 needs Different wanting is had for different weather conditions and the difference of the quality of equipment that reclaimed by parachuting Asking, concrete, the material of support 22 can be the metal (tool that tensile strength exceedes preset strength threshold value The preset strength threshold value of body flexibly sets according to practical situation), the most in addition, it is also possible to Select other to meet the material of tensile strength, such as carbon fibre material etc., no longer carry out superfluous chatting at this.

Second specific embodiment of guide 2 as it is shown on figure 3, in, described guide 2 includes: Guide bracket 23, one or more guiding buttons 24, wherein:

Described guide bracket 23 is fixing connects described toter 1；

Each described marginal portion guiding the button 24 described guide bracket 23 of fixing connection.

The concrete structure of this guide 2 is: guide bracket 23 is fixing connects vehicle equipment 1；Each guiding The fixing marginal portion connecting guide bracket 23 of button 24, such as guide bracket 23 is strip, then two ends can To connect a guiding button 24 respectively；Each guiding detains 24 corresponding to hooking device 3；Guide 2 is led to Cross the connection connecting realization and the equipment reclaimed by parachuting guiding button 24 and hooking device 3.

In addition, it is contemplated that guide bracket 23 and guiding button 24 need to bear certain stretching dynamics, because of This needs guide bracket 24 to need certain tensile strength, the most thus, and guide bracket 23 and respectively guiding The material of button 24 is the metal that tensile strength exceedes preset strength threshold value, certainly might not material need Being metal, as long as meeting tensile strength, such as carbon fibre material, aluminum alloy materials etc. is also Permissible, wherein guide bracket 23 and the tensile strength threshold value guiding button 24 need based on its concrete answering Arrange flexibly by environment and the structure of self.

The present embodiment 1 provides a kind of pulling equipment, by the pulling equipment equipment to being reclaimed by parachuting Draw, be simultaneous for different parachute landing systems, be provided with the hooking device of correspondence, ensured and led That draws is smoothed out, so that utilize the power of pulling equipment will to be reclaimed by parachuting well Equipment is directed to the recovery touchdown area preset, and has ensured that the normal of parachuting recovery system works, and protects Hinder by the normal landing of parachuting reclaimer, it is to avoid cannot precisely in existing parachuting removal process Land and the device damage that causes, the generation of the situations such as loss.

Embodiment 2, above embodiment 1, is that the embodiment for pulling equipment describes, in order to enter one Step optimizes the process of traction, and this utility model also proposed an embodiment about retracting device, uses To coordinate with the pulling equipment in embodiment 1, thus preferably complete to draw work, in this embodiment In, retracting device includes hooking device 3 and parachute 4, wherein:

Described hooking device 3 is fixing with described parachute 4 to be connected；

Described hooking device 3 is for being connected with pulling equipment 1.

In order to enable preferably the equipment reclaimed by parachuting to be fixed, in order to setting of being reclaimed by parachuting For drawing, the utility model proposes on the umbrella rope of parachute, fix a hooking device 3, thus Easily facilitate and the connection of pulling equipment 1.And concrete, parachute 4 has two kinds of different concrete realities Execute example:

1, parachute 4 includes: main chute umbrella body 41 and main chute umbrella rope 42, and concrete can be such as Fig. 4 institute Show；

2, parachute 4 includes: main chute umbrella body 41, main chute umbrella rope 42, extraction parachute umbrella rope 43 and lead Drawing umbrella umbrella body 44, concrete can be as shown in Figure 5；

In the first specific embodiment, i.e. parachute 4 includes main chute umbrella body 41 and main chute umbrella rope 42 In the case of, also there are two kinds of specific embodiments:

1, described hooking device 3 is fixedly connected on the middle part of main chute umbrella rope 42；

2, described hooking device 3 achieves a fixed connection with the top of described main chute umbrella body 41.

In the second specific embodiment, namely described parachute 4 includes: main chute umbrella body 41, main chute Umbrella rope 42, extraction parachute umbrella rope 43 and extraction parachute umbrella body 44, in the case, also there are two kinds specifically Embodiment:

1, described hooking device 3 is fixedly connected on the middle part of described extraction parachute umbrella rope 43；

2, described hooking device 3 achieves a fixed connection with the top of described extraction parachute umbrella body 44.

Under both the above form, retracting device can be made more successfully to realize even with pulling equipment 1 Connect.And in order to preferably realize the effect connected, the hooking device 3 in retracting device can be such as Fig. 6 Shown in, including: fixture 31 with link part 32, wherein；

Part 32 and described parachute 4 is linked described in the described fixing connection of fixture 31；

The described part 32 that links is for being connected with pulling equipment.

Concrete, fixture 31 connects parachute 4 also two kinds, and one is attached on umbrella rope (tool Body includes main chute umbrella rope 42 or extraction parachute umbrella rope 43), also one is attached in umbrella body (specifically include Main chute umbrella body 41 or extraction parachute umbrella body 44)

For the situation of the different parachute of above two, concrete parachute 4 includes main chute umbrella body 41 In the case of main chute umbrella rope 42, the connected mode of retracting device and umbrella rope is as it is shown in fig. 7, and land Umbrella 4 includes main chute umbrella body 41, main chute umbrella rope 42, extraction parachute umbrella rope 43 and extraction parachute umbrella body 44 In the case of, the connected mode of a kind of retracting device and umbrella rope is as shown in Figure 8.

In a kind of preferred embodiment, a kind of specific embodiment of hooking device 3 can be such as Fig. 9 institute Show, including grab 501, ' locked ' zone 502, locking ring 503, support column 504, wherein, support Post 504 is used for fixing with umbrella rope (main chute umbrella rope or extraction parachute umbrella rope), namely as fixture 31, Remaining part is as linking part 32；Concrete, locking ring 503 and the region included by grab 501 For ' locked ' zone 502, wherein, it is closure state under grab 501 default conditions, under stressing conditions, Can be backed down；In addition, hooking device 3 can also have a lot of other form of implementation, if energy Realize being connected with the fixing of equipment reclaimed by parachuting, however it is not limited to this kind of enforcement in Fig. 9 Example.Concrete, can such as there is the bonding jumper of groove there to be a lot of form in hooking device 3, or Exist other locking and limit device bonding jumper, metal frame etc., concrete, if can realize and The fixing of guide 2 connects.

As a example by hooking device 3 in Fig. 9, include main chute umbrella body 41, main chute umbrella for parachute 4 In the case of rope 42, concrete distraction procedure can specifically include as shown in Figure 10 A, 10B, 10C Three phases:

Stage I: as shown in Figure 10 A, toter 1 carrys guide 2 and moves to parachute；

Stage II: as shown in Figure 10 B, treat toter 1 carry guide 2 reach can with by umbrella The equipment dropping back to receive realizes the predeterminable area connected, such as with the equipment distance gathering 50 reclaimed by parachuting Centimetre (specifically can length based on the guide bracket 23 in actual weather condition and guide 2 come It is configured), guide 2 guide button 24 collide with umbrella rope, and then by the hook on umbrella rope Even device 3 locks, thus realizes guide 2 and be connected with the fixing of umbrella rope；

Stage III: as illustrated in figure 10 c, after guide 2 and umbrella rope are fixed and be connected, according in advance If landing position or region, toter 1 draw parachute toward preset touchdown area move, The equipment precision approach finally realizing being reclaimed by parachuting is at default touchdown area.

As a example by hook 3 in Fig. 9, include for parachute 4: main chute umbrella body 41, main chute umbrella rope 42, in the case of extraction parachute umbrella rope 43 and extraction parachute umbrella body 44, concrete distraction procedure can be as Shown in Figure 11 A, 11B, 11C, 11D, specifically include three phases:

Stage I: as shown in Figure 11 A, toter 1 carries guide 2 and (specifically includes guiding rope 21 and support 22) move to the extraction parachute umbrella body 44 of the equipment reclaimed by parachuting；

Stage II: as shown in Figure 11 B, guiding rope 21 and the umbrella rope collision of extraction parachute umbrella body 44, guide Rope 21 realizes locking with the hooking device 3 on the umbrella rope of extraction parachute umbrella body 44 and is connected；

Wherein, concrete locking process as shown in Figure 11 C, is divided into three steps: step 1, guiding rope 21 collide with the hooking device 3 in extraction parachute umbrella body 44；In step 2, guiding rope 21 backs down hook Grab 501 on device 3, is prepared to enter into lock room 502；Step 3, guiding rope 21 enters lock room 502, grab 501 recovers closure state, is closed lock room, it is achieved guiding rope 21 and hook 3 Locking connects.

Stage III: as shown in Figure 11 D, after locking with hooking device 3, toter 1 is by leading Draw umbrella umbrella body 44 and draw parachute, the motion track of the equipment reclaimed by parachuting is adjusted, and Realize the precision approach of the equipment reclaimed by parachuting eventually.

This embodiment 2 provides a kind of retracting device, by the pulling equipment equipment to being reclaimed by parachuting Draw, be simultaneous for different parachute landing systems, be provided with the hooking device of correspondence, ensured and led That draws is smoothed out, so that utilize the power of pulling equipment will to be reclaimed by parachuting well Equipment is directed to the recovery touchdown area preset, and has ensured that the normal of parachuting recovery system works, and protects Hinder by the normal landing of parachuting reclaimer, it is to avoid cannot precisely in existing parachuting removal process Land and the device damage that causes, the generation of the situations such as loss.

Embodiment 3, this utility model also proposed a kind of parachuting recovery system, including pulling equipment with return Receiving apparatus, and the equipment reclaimed by parachuting, wherein:

Described retracting device is connected with the described equipment reclaimed by parachuting；

Described pulling equipment is connected with described retracting device.

The present embodiment 3 provides a kind of parachuting recovery system；By pulling equipment to being reclaimed by parachuting Equipment draws, and is simultaneous for different parachute landing systems, is provided with the hooking device of correspondence, ensures Being smoothed out, so that utilize the power of pulling equipment will be returned by parachuting well of traction The equipment received is directed to the recovery touchdown area preset, and has ensured that the normal of parachuting recovery system works, Ensure by the normal landing of parachuting reclaimer, it is to avoid cannot be accurate in existing parachuting removal process The device damage landed and cause, the generation of the situations such as loss.

Embodiment 4, in order to further this utility model be illustrated, this utility model also proposed one Plant the embodiment under concrete application scenarios.

Concrete, toter is helicopter, and the equipment reclaimed by parachuting is to be drawn by main parachute Unmanned plane, hangs guide under helicopter, wherein guide includes the hook that there is buckle, and Coupling hook and the guide bracket of helicopter, wherein guide bracket main body is elongated metal bar, a length of 2 Rice, at the two ends of bonding jumper, (in addition, this guide bracket can also have one hook of each fixing connection Other form, such as this bonding jumper can be criss-cross, so have four ends, such that it is able to connect Four hooks), the mid portion of bonding jumper in vertical direction can by the mode of bolt or welding even Connect helicopter；Additionally, fix a spacing guarantor in advance on the main chute umbrella rope of the equipment reclaimed by parachuting Protection unit (namely hooking device), this limiting and protecting device can be one and carry reeded bonding jumper, The position of fixing limiting and protecting device can be the mid portion at umbrella rope so that once umbrella rope with Hook collides, can be through sliding between hook and umbrella rope so that hook slides into position limitation protection The position at device place, and finally make hook be interlocked with groove, it is achieved fixing connection.

In concrete application scenarios, such as, unmanned plane is when carrying out flight, and electric power will exhaust, no Obtain and do not recycle, at this point it is possible to discharge self-contained parachute, carry out parachuting recovery； Or can also be in high-altitude, by large transport airplane downward parachuting material etc..

Illustrate as a example by unmanned plane at this, it is considered herein that to after carrying out parachuting recovery, unmanned Machine can move always, particularly, aloft, it is likely that runs into the air-flow of strong convection, causes nothing Man-machine motion track is difficult to prediction, it is possible to collides, causes unmanned plane to damage, the most permissible Framing signal transmitter module is installed on the unmanned plane being recovered in advance, in order to signal receiving module receives Can promptly and accurately position the position of the unmanned plane reclaimed by parachuting after having arrived framing signal, such as should Signal emission module can be GPS (Global Positioning System, global positioning system) signal Transmitter module, and there is independent power supply in this gps signal transmitter module, can periodically the most outwards Launch gps signal, the gps signal receiving terminal on helicopter constantly receive this gps signal such that it is able to In real time unmanned plane is positioned, and then the position of unmanned plane can be recognized in time, and in this, as The spatial domain guiding the unmanned plane place of flying to controlling helicopter in direction.

Gradually fly to according to the gps signal constantly received the spatial domain at unmanned plane place, the not nearly nothing of disconnecting Man-machine, such as when reaching the spatial domain of distance unmanned plane 2 meters, (concrete distance needs according to actual environment Choose flexibly), it is ready for traction, concrete, first adjust the flying height of helicopter, Make to link up with and be in same vertical space with the umbrella rope of main parachute (wherein the upper end of this vertical space is Umbrella rope converges at the convergence for one, and lower end is the junction that umbrella rope is connected with the equipment reclaimed by parachuting) In, and constantly near the umbrella rope of main parachute, finally realize the collision of hook and umbrella rope, through collision, Hook in the enterprising line slip of umbrella rope, and can slide into limiting and protecting device always, and finally slips into spacing The groove of protection device, is locked and no longer slides, achieve a fixed connection with this.

After achieving fixing connection, helicopter just can draw nothing according to default landing site Man-machine default landing site of flying to, finally realizes precision landing.

In this embodiment 4, by the fixing limiting and protecting device that connects on main chute umbrella rope in advance, namely band Reeded bonding jumper, and by helicopter as power source, to move closer to the sky at unmanned plane place Territory, utilizes the guide bracket being fixed on helicopter and the hook of the band buckle being fixed in guide bracket, Collide with umbrella rope, and finally realize buckle and be connected with the fixing of groove so that reclaimed by parachuting Unmanned plane accurately can land in default landing site under the traction of helicopter, it is to avoid by umbrella Drop back to the equipment received it may happen that landing inaccurate, and the device losses that may cause and quilt The risk damaged.

Embodiment 5, in order to further this utility model be illustrated, this utility model also proposed one Plant the embodiment under concrete application scenarios.Concrete process as shown in figure 12,

Concrete, toter is helicopter, and the equipment reclaimed by parachuting is to be drawn by main parachute Unmanned plane, hangs guide under helicopter, wherein guide includes the hook that there is buckle, and Coupling hook and the guide bracket of helicopter, wherein guide bracket main body is elongated metal bar, at bonding jumper One hook of each fixing connection in two ends (in addition, this guide bracket can be to have other form, example If this bonding jumper can be criss-cross, so have four ends, such that it is able to connect four hooks), gold The mid portion belonging to bar can connect helicopter by the mode of bolt or welding in vertical direction；This Outward, fix in the main chute umbrella body of the equipment reclaimed by parachuting in advance a limiting and protecting device (namely Hooking device).

In concrete application scenarios, such as, unmanned plane is when carrying out flight, and electric power will exhaust, no Obtain and do not recycle, at this point it is possible to discharge self-contained parachute, carry out parachuting recovery； Or can also be in high-altitude, by large transport airplane downward parachuting material etc..

Illustrate as a example by unmanned plane at this, it is considered herein that to after carrying out parachuting recovery, unmanned Machine can move always, particularly, aloft, is likely encountered the air-flow of strong convection, causes unmanned The motion track of machine is difficult to prediction, it is possible to collides, causes unmanned plane to damage, therefore can be pre- Framing signal transmitter module is first installed on the unmanned plane being recovered, in order to signal receiving module receives The position of the unmanned plane reclaimed by parachuting, such as this letter can be promptly and accurately positioned after framing signal Number transmitter module can be that GPS (Global Positioning System, global positioning system) signal is sent out Penetrate module, and this gps signal transmitter module exists independent power supply, can be periodically constantly to outgoing Penetrating gps signal, the gps signal receiving terminal on helicopter constantly receives this gps signal such that it is able to reality Time unmanned plane is positioned, and then the position of unmanned plane can be recognized in time, and in this, as side To guide and control the spatial domain at unmanned plane place of flying to of helicopter.

Gradually fly to according to the gps signal constantly received the spatial domain at unmanned plane place, the not nearly nothing of disconnecting Man-machine, such as when reaching the spatial domain of distance unmanned plane 2 meters, (concrete distance needs according to actual environment Choose flexibly), it is ready for traction, concrete, first adjust the flying height of helicopter, Make hook close to main chute umbrella body and continuous near main chute umbrella body, finally realize pulling equipment and main chute Limiting and protecting device in umbrella body collides and realizes connecting.

Embodiment 6, in order to further this utility model be illustrated, this utility model also proposed one Plant the embodiment under concrete application scenarios.Concrete process is as shown in figure 13.

Concrete, toter is helicopter, and the equipment reclaimed by parachuting is to be drawn by main parachute Unmanned plane, hangs guide under helicopter, wherein guide includes the hook that there is buckle, and Coupling hook and the guide bracket of helicopter.

In concrete application scenarios, such as, unmanned plane is when carrying out flight, and electric power will exhaust, no Obtain and do not recycle, at this point it is possible to discharge self-contained parachute, carry out parachuting recovery.

Illustrate as a example by unmanned plane at this, the spatial domain at the unmanned plane place of flying to of helicopter.No The nearly unmanned plane of disconnecting, such as when reaching the spatial domain of distance unmanned plane 2 meters, (concrete distance needs basis Actual environment is chosen flexibly), it is ready for traction, concrete, first adjust flying of helicopter Line height so that hook is close to main chute umbrella body, and constantly near main chute umbrella body, fills eventually through guiding Put and include existing the hook of buckle and directly catch on main chute umbrella body, it is achieved realize pulling equipment and main chute umbrella body Connection.

Compared with existing parachuting recovery technology, this utility model embodiment is used for even by toter 1 Connect guiding button guide 2, and delivery guides button guide 2 to predeterminable area；Guide 2 The equipment reclaimed by parachuting for connection, in order to guide button toter 1 by guiding button guide The equipment that standby 2 tractions guide button to be reclaimed by parachuting is to the recovery touchdown area preset；By traction parachuting The equipment reclaimed by parachuting is accurately landed in default landing site by recovery system, has ensured umbrella with this The normal work of fall recovery system, has ensured by the normal landing of parachuting reclaimer, it is to avoid existing skill The device damage cannot precisely landed in art and cause, the generation of the situations such as loss.

It will be appreciated by those skilled in the art that accompanying drawing is a schematic diagram being preferable to carry out scene, accompanying drawing In module or flow process not necessarily implement necessary to this utility model.

It will be appreciated by those skilled in the art that the module in the device implemented in scene can be according to implementing field Scene describing carries out being distributed in the device implementing scene, it is also possible to carries out respective change and is disposed other than this Implement in one or more devices of scene.The module of above-mentioned enforcement scene can merge into a module, Multiple submodule can also be further split into.

Above-mentioned this utility model sequence number, just to describing, does not represent the quality implementing scene.

Only several scenes that are embodied as of the present utility model disclosed above, but, this utility model is not Being confined to this, the changes that any person skilled in the art can think of all should fall into guarantor of the present utility model Protect scope.

Claims (10)

1. a pulling equipment, it is characterised in that including: toter (1) and guide (2), Wherein:

Described toter (1) connects described guide (2)；

Described guide (2) is for connecting the equipment reclaimed by parachuting.

2. pulling equipment as claimed in claim 1, it is characterised in that described guide (2) Including: guiding rope (21) and support (22), wherein:

Described support (22) is fixing connects described toter (1)；

The two ends of described guiding rope (21) connect the two ends of described support (22) respectively.

3. pulling equipment as claimed in claim 1, it is characterised in that described guide (2) Including: guide bracket (23), one or more buttons (24) that guide, wherein:

Described guide bracket (23) is fixing connects described toter (1)；

Each described marginal portion guiding button (24) the described guide bracket of fixing connection (23).

4. a retracting device, it is characterised in that include hooking device (3) and parachute (4), Wherein:

Described hooking device (3) is fixing with described parachute (4) to be connected；

Described hooking device (3) is for being connected with pulling equipment (1).

5. retracting device as claimed in claim 4, it is characterised in that described parachute (4) wraps Include: main chute umbrella body (41) and main chute umbrella rope (42)；

Described hooking device (3) achieves a fixed connection with the middle part of described main chute umbrella rope (42).

6. retracting device as claimed in claim 4, it is characterised in that described parachute (4) wraps Include: main chute umbrella body (41) and main chute umbrella rope (42)；

Described hooking device (3) achieves a fixed connection with the top of described main chute umbrella body (41).

7. retracting device as claimed in claim 4, it is characterised in that described parachute (4) wraps Include: main chute umbrella body (41), main chute umbrella rope (42), extraction parachute umbrella rope (43) and extraction parachute umbrella Body (44)；

Described hooking device (3) achieves a fixed connection with the middle part of described extraction parachute umbrella rope (43).

8. retracting device as claimed in claim 4, it is characterised in that described parachute (4) wraps Include: main chute umbrella body (41), main chute umbrella rope (42), extraction parachute umbrella rope (43) and extraction parachute umbrella Body (44)；

Described hooking device (3) achieves a fixed connection with the top of described extraction parachute umbrella body (44).

9. retracting device as claimed in claim 4, it is characterised in that described hooking device includes: Fixture (31) and link part (32), wherein；

Part (32) and described parachute (4) is linked described in the fixing connection of described fixture (31)；

The described part (32) that links is for being connected with pulling equipment.

10. a parachuting recovery system, including the pulling equipment as described in claim 1-3 any one With the retracting device as described in claim 4-9 any one, and the equipment reclaimed by parachuting, it is special Levy and be, including:

Described retracting device is connected with the described equipment reclaimed by parachuting；

Described pulling equipment is connected with described retracting device.