CN210027961U - Unmanned aerial vehicle recovery unit - Google Patents

Abstract

The utility model provides an unmanned aerial vehicle recovery device, which comprises a recovery pulley, a pulley track and a damper, wherein the recovery pulley is used for butting the recovery unmanned aerial vehicle, the pulley track is used for bearing the recovery pulley, the recovery pulley is connected with the pulley track through a roller, the damper is connected with the recovery pulley, used for generating damping acting force to the linear running of the recovery tackle, the unmanned aerial vehicle recovery device of the utility model can adapt to the recovery of almost all types of unmanned aerial vehicles, has simple structure, convenient manufacture and low cost, by matching the pulley track, the recovery pulley and the damper, the unmanned aerial vehicle recovery device can be used for recovering unmanned aerial vehicles of various weight grades, and by using the foldable pulley track, the recovery device has extremely high maneuverability and wide application range, and can be applied to all-dimensional recovery operation of ships, vehicles, air, island reefs, forest lands, building groups and the like.

Description

Unmanned aerial vehicle recovery unit

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle recovery device.

Background

Aiming at the actual combat application of small and medium-sized fixed wing unmanned aerial vehicles, the recovery system is an important guarantee that the unmanned aerial vehicles can be put into use again, continuously and efficiently. The existing unmanned aerial vehicle recovery technology has various modes of conventional sliding running landing recovery, air mother machine recovery, parachuting recovery, air rope hanging recovery, net collision recovery and the like, but has certain limitation: the sliding landing is a conventional recovery mode, and requires a runway with certain length and width, so that the sliding landing cannot be performed at any time and any place; the mother aircraft recovery requires the allocation of a special recovery aircraft, so that the efficiency is low, the cost is high, the risk is high, the operation is complex, and the practicability is lacked; the adaptability of parachute recovery is better, but the drop point is not guaranteed precisely, the aircraft is easy to be damaged, and certain risks exist in wartime and offshore recovery; aerial rope recovery mode is relatively more nimble, easily operation, and land, naval vessel all can use, and CN202642096U for example discloses a small unmanned aerial vehicle and onboard arresting device, ground arresting device and arresting system thereof, goes up arresting device and includes: arresting hooks and release devices; one end of the arresting hook is used for being rotatably connected to the small unmanned aerial vehicle body, and the other end of the arresting hook is used for being connected with the releasing device; the release device is fixed on the body of the small unmanned aerial vehicle and used for fixing or releasing the arresting hook according to the received external control signal, and landing recovery can be realized under the landing condition without a runway. However, the wing tip suspension rope is adopted, so that the weight and the structural strength of the airplane body are limited, and at present, the aerial suspension rope is only limited to a light and small airplane with the total weight not more than 50 kg.

The landing vehicle comprises a frame, a plurality of groups of wheels, a barrier plate A, a cushion pad A, a platform, a plurality of rows of stopping devices and a control room, wherein the plurality of cushion pads A which are sequentially stacked and connected together are installed on the barrier plate A, an airport control center controls the landing speed, the landing angle and the landing direction of the landing vehicle and the plane which is forced to land due to faults, the landing speed is gradually reduced, simultaneously a mandril is lifted, the platform rotates around a rotating shaft, the angle α of the platform is gradually changed from zero to a certain angle, so that the plane is simultaneously decelerated, a nose or a body or other parts of the plane and the cushion pad A deform, the cushion pad A covers the surface of the plane, the resistance is improved, the speed of the plane is reduced to zero, the safety is realized, the damage to the plane and personnel on the landing plane is eliminated or reduced, the damage to the plane and the landing plane is often prevented from being damaged due to the limited space of the ship, the stopping distance is poor, the cushion pad A is coated on the surface of the plane, the plane is reduced to zero, the safety is safe landing device, the collision risk is often caused, and the collision is high.

Along with the rapid development of the practical application of the unmanned aerial vehicle, the application field of the fixed-wing unmanned aerial vehicle urgently needs a recovery system which can be universally suitable for various types, various fields, environments and conditions and is convenient for maneuvering.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a novel unmanned aerial vehicle recovery device.

The technical scheme of the utility model is as follows:

the recovery device of the unmanned aerial vehicle is characterized by comprising a recovery pulley, a pulley rail and a damper, wherein the recovery pulley is used for butt-joint recovery of the unmanned aerial vehicle and comprises a frame, rollers, a cable support frame, a net bed, a blocking cable and a blocking cable rocker arm; the pulley track is used for bearing the recovery pulley, and the recovery pulley is connected with the pulley track through a roller; the damper is connected with the recovery pulley and used for generating damping acting force on the linear operation of the recovery pulley.

The net bed is arranged at the front part of the recovery trolley frame and comprises side cables arranged along two sides of the frame, longitudinal cables distributed in the forward direction and transverse cables distributed in a rib shape to form a criss-cross net shape; the net bed is connected with the cable support frame on the frame through the front end and the rear end of the side cables on the two sides, and the net bed is isolated from the frame through the cable support frame.

Wherein, the net bed is made of soft, wear-resistant and impact-resistant materials with certain toughness, and high-strength fiber ropes are preferably selected.

The arresting cable rocker arm is composed of a left rocker arm and a right rocker arm which are symmetrical, and the lower parts of the left rocker arm and the right rocker arm are coaxially hinged and are respectively installed on the left side and the right side of the rear part of the frame.

The two ends of the arresting cable are respectively connected with the left and right arresting cable rocker arms or the vehicle frame through the upper parts of the left and right arresting cable rocker arms, and the two ends of the arresting cable have elastic damping telescopic functions.

The damper has damping force matched with the weight and the speed of the airplane and the length of the pulley track, the recovery pulley is connected with the damper through the traction cable and the reverse pulley, and the reverse pulley is arranged at the end part of the pulley track and used for bearing the traction cable.

The unmanned aerial vehicle fuselage lower part sets up the self-locking hook to set up the tail hook at unmanned aerial vehicle fuselage rear portion, the tail hook is used for taking and hangs the arresting cable, and the self-locking hook is used for the fuselage to descend and catches and lock the net bed after touching the net.

The tail of the unmanned aerial vehicle is provided with a hanging rope, the net bed is provided with a blocking rocker arm, a hook is arranged on the blocking rocker arm, and the hook on the upper part of the blocking rocker arm is hung through the hanging rope which is hung down by the aircraft.

The hanging rope is arranged at the root part, the rear part or the tail stay bar of the wing, is transversely connected left and right or connected left and right through the extension bar, and droops through the left and right extension bar or hangs down through a double-tail hook mode, namely, two tail hooks are arranged on the left and right sides, rope tying ropes are arranged at the end parts of the left and right tail hooks, and the hanging rope is put down through the tail hooks.

The end part of the arresting cable rocker arm is provided with a hook, and the hook is used for hanging a hanging rope. Under the condition that the hanging rope is recovered, the arresting cable rocker arm can be simplified into a single arm and is arranged in the middle.

The hook is connected with the arresting cable rocker arm through an elastic damping device.

The airplane wing height increasing device further comprises a heightening side cable, and the height of the heightening side cable is matched with the height difference of the wing and the lower portion of the airplane body.

Wherein, the net bed is provided with a reserved space.

The recovery device of the unmanned aerial vehicle is characterized by comprising a recovery pulley, a pulley track and a damper, wherein the recovery pulley is used for butt-joint recovery of the unmanned aerial vehicle and comprises a frame, rollers, a cable support frame, a net bed and a vertical net; the pulley track is used for bearing the recovery pulley, and the recovery pulley is connected with the pulley track through a roller; the damper is connected with the recovery pulley and used for generating damping acting force on the linear running of the recovery pulley; the vertical net is arranged at the front part of the recovery tackle and is formed by supporting side cables by a cable support frame, the vertical net is isolated and overhead from the frame by the cable support frame, and the side cables, the transverse cables and the longitudinal cables are connected to form a structure matched with the airplane body to be recovered.

Compared with the prior art, the invention has the beneficial effects that: the unmanned aerial vehicle recovery device can adapt to recovery of almost all types of unmanned aerial vehicles, is simple in structure, convenient to manufacture and low in cost, can be used for recovery of various heavy unmanned aerial vehicles through matching of the pulley track, the recovery pulley and the damper, can have extremely high maneuverability through the use of the foldable and retractable pulley track, is wide in application range, and can be applied to all-dimensional recovery operation of ships, vehicles, air, island reefs, forest lands, building groups and the like.

Drawings

FIG. 1 is a schematic view of the recovery block of the present invention.

FIG. 2 is a schematic view of a net bed of a recovery device of a wing-lower type

FIG. 3 is a schematic view of a net bed of the upper single-wing type recovery device of the present invention

FIG. 4 is a schematic view of the airborne equipment type recovery device net bed of the present invention

FIG. 5 is a schematic view of the vertical net type recovery trolley of the net bed

FIG. 6 is a schematic diagram of the unmanned aerial vehicle before hanging a cable according to the present invention

FIG. 7 is a schematic diagram of the unmanned aerial vehicle after being hung on a cable

FIG. 8 is a schematic view of the touch screen locking of the aircraft of the present invention

FIG. 9 is a schematic view of an aircraft sled stop of the present invention

FIG. 10 is a schematic view of the damper of the present invention

FIG. 11 is a schematic view of a sled track of the present invention

FIG. 12 is a schematic view of the self-locking hook of the present invention

FIG. 13 is a schematic view of the tail hook of the present invention

FIG. 14 is a schematic view of a tail hook bracket of the present invention

Detailed Description

The present invention will be described in further detail with reference to the following drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 and 7, the recovery device of the unmanned aerial vehicle comprises a recovery trolley 1, a trolley track 2 and a damper 3, wherein the recovery trolley is used for butt-joint recovery of the unmanned aerial vehicle and comprises a frame 4, rollers 5, a cable support frame 6, a net bed 7, a blocking cable 8 and a blocking cable rocker 9. The pulley track 2 is used for bearing the recovery pulley 1, and is a linear track with certain length and rigidity, the recovery pulley is connected with the pulley track 2 through a roller 5 and linearly moves along the long axis direction of the track under the constraint of the pulley track, and the end part of the pulley track is provided with a reverse pulley 10 for bearing a traction cable 11, as shown in fig. 11; the damper 3 is connected with the recovery pulley and used for generating damping acting force to the linear running of the recovery pulley so as to enable the recovery pulley to decelerate and finally stop under the action of the damping force.

The front part of the frame of the recovery pulley is provided with a net bed, and the net bed comprises side cables arranged along the two sides of the frame, longitudinal cables distributed in the same direction and transverse cables distributed in a rib shape to form a criss-cross net shape. The net bed is connected with the cable support frame on the frame through the front and rear ends of the side cables at the two sides, and is isolated and overhead from the frame through the cable support frame. The net bed is made of soft, wear-resistant and impact-resistant materials with certain toughness, and high-strength fiber ropes are preferred. The invention adopts soft high-strength fiber ropes to form an overhead net bed and a vertical net through the cable support frame, which not only can effectively support and lock the airplane, but also can ensure that the airplane is prevented from rigid impact in the deceleration and net contact processes.

The arresting cable rocker arm is composed of a left rocker arm and a right rocker arm which are symmetrical, the lower parts of the left rocker arm and the right rocker arm are coaxially hinged, and the left rocker arm and the right rocker arm are connected and installed on the left side and the right side of the rear part of the frame. The left rocker arm and the right rocker arm are in forward lodging and upward erecting modes, the left rocker arm and the right rocker arm are stressed to perform forward lodging actions, the left rocker arm and the right rocker arm are automatically erected and reset upwards after the stress disappears, and the upper parts of the rocker arms are higher than the net bed after the left rocker arm and the right rocker arm are erected and reset. The two ends of the arresting cable are respectively connected with the left and right arresting cable rocker arms or the vehicle frame through the upper parts of the left and right arresting cable rocker arms, the two ends of the arresting cable have elastic damping telescopic functions, when external force is not applied, the arresting cable is in a stretched state, when tensile force is applied, the two ends can be pulled out and extended, and after the tensile force disappears, the arresting cable returns to the two ends under the elastic action to recover the stretched state.

The invention can ensure that the tail hook of the airplane can not pass through the arresting cable to be directly lapped with the net bed under the condition of failure of the arresting recovery operation by the elevated arresting cable. The arresting cable rocker arm is inclined forwards under the action of pulling force, so that the arresting cable and the arresting cable rocker arm can be effectively prevented from interfering with rear propellers of airplane empennages, horizontal tails, waist pushing machines, tail pushing machines and the like.

Optionally, a tail hook may be arranged at the tail of the aircraft, the net bed may be provided with a blocking rope rocker arm and a blocking rope, or a hanging rope may be arranged at the tail of the aircraft, the net bed may be provided with a blocking rocker arm, the blocking rocker arm may be provided with a hook, and the hook on the upper portion of the blocking rocker arm may be hung by the hanging rope hanging from the aircraft. The hanging ropes can be arranged at the root part, the rear part or the tail stay bar of the wing and are transversely connected left and right or connected left and right through the extension bar, and the extension bar sags down through the left and right extension bars; the rope can also be hung in a double-tail hook mode, two tail hooks are arranged on the left side and the right side, rope tying bodies are arranged at the end parts of the left tail hook and the right tail hook, and the hanging rope is put down through the tail hooks. The end part of the arresting cable rocker arm is provided with a hook, the hook is used for hanging a hanging rope, preferably, the hook can be connected with the arresting cable rocker arm through an elastic damping device, and after the aircraft hanging rope is hung, the axial overload can be reduced by the damping action pulled out by the hook, so that the buffering action is realized. Under the condition that the hanging rope is recovered, the rocker arm of the arresting cable can be simplified into a single arm which is arranged in the middle

The recycling pulley is connected with the pulley track through a roller arranged on the frame, and the pulley track limits that the pulley can only do linear motion along the axial direction of the track. The damper has damping force matched with the weight and speed of the airplane and the length of the pulley track, is used for retarding the linear motion of the recovery pulley along the pulley track, enables the recovery pulley to continuously decelerate and stop moving within the effective length of the track, and can adopt various types such as hydraulic pressure, air pressure, water turbine, electromagnetic damping and the like. Retrieve the coaster and be connected with damped, it is preferred, retrieve the coaster and be connected with the attenuator through drawing cable, reverse pulley, the attenuator drags the recovery coaster through drawing the cable and slows down, stops, and the drawing cable still is used for retrieving the coaster and resets. The invention can carry out unmanned aerial vehicle recovery operation with low overload through the adaptation of the track and the damper: by taking a trolley track with an effective deceleration length of ten meters and a damper matched with the trolley track as an example, the recovery of an airplane falling at a relative speed of 140 kilometers per hour can be ensured at an overload of less than 10 g.

The embodiments of the invention are slightly different for different models as follows:

for the airplane with the lower wing, the net bed with the single-layer edge cables can effectively limit the transverse rolling or the forward and backward rolling which can occur after the airplane touches the net through the restraint of the transverse cables, the longitudinal cables and the arresting cables, as shown in fig. 2.

For the airplane type with the upper wings, the height of the heightened side cable 16 can be matched with the height difference of the wings and the lower part of the airplane body of the airplane by additionally arranging the heightened side cable for supporting the wings on two sides, and the transverse cable can lock the self-locking hook and jointly restrain the heightened side cable and the arresting cable on two sides, so that the rolling and the forward and backward rolling which are possibly generated after the airplane touches the net can be avoided, as shown in fig. 3.

For the machine type with the airborne equipment on the lower part, as the lower part of the machine body is provided with the photoelectric load, the auxiliary oil tank, the warhead and other machine body external loads or bulges, in order to prevent the machine body from influencing the self-locking hook to hang the net or damaging the equipment and the machine body caused by scraping when the machine body touches the net, a space 14 can be reserved on the corresponding part of the net bed, as shown in fig. 4.

To unable unmanned aerial vehicle who sets up tail hook or other special type, can cancel arresting cable and arresting cable rocking arm, set up perpendicular net 15 in retrieving the coaster front portion, control, guide the aircraft from the rear portion along coaster track axial alignment perpendicular net to the anterior direct net that hits of aircraft fuselage, and lock with the self-locking hook that the fuselage set up with perpendicular net, through retrieving the coaster and at the orbital damping speed reduction parking of coaster and the support of net bed to the aircraft carry, realize the safety and stability to unmanned aerial vehicle and retrieve. The vertical net is also formed by supporting side cables by cable support frames, the vertical net is isolated and overhead from the frame by the cable support frames, and the connection of the side cables, the transverse cables and the longitudinal cables is formed to be matched with the airframe to be recovered, as shown in figure 5.

The implementation method for recovering the unmanned aerial vehicle by using the recovery device disclosed by the invention comprises the following steps:

the unmanned aerial vehicle for recycling needs to be provided with a self-locking hook 12 at the lower part of the machine body, and a tail hook frame 16 and a tail hook 13 are arranged at the rear part of the machine body, as shown in fig. 12-14, wherein the tail hook is used for hanging a blocking rope, the tail hook frame is used for installing and supporting the tail hook, so that the interference between the tail hook and a rear propeller during the action of the tail hook is avoided, and the self-locking hook 12 is used for hanging and locking a net bed after the machine body descends to touch a net; the recovery coaster props up both sides limit rope through the cable support on the frame, and horizontal cable is connected, is fixed, is tightened with the limit rope, and the vertical cable both ends between the limit rope are connected with horizontal cable, and horizontal cable and vertical cable constitute netted form, and horizontal cable is used for butt joint unmanned aerial vehicle fuselage lower part from the latch hook, and vertical cable is used for limiting unmanned aerial vehicle to touch the net and then removes to both sides. Before the arresting recovery operation is implemented, the recovery pulley is positioned at the initial position of a pulley track, and the arresting cable rocker arm is erected to ensure that the arresting cable is straight and positioned at the highest position;

when the arresting recovery operation is carried out, the unmanned aerial vehicle axially approaches from the rear part of the pulley track along the track, the unmanned aerial vehicle flies in alignment with the middle position of the arresting cable through control and guidance, and the height of the flying line is controlled in the range of the tail hook matched with the arresting cable, as shown in fig. 6.

When the unmanned aerial vehicle enters the arresting position, the tail hook catches the arresting cable, the arresting cable starts to be pulled out, the rocker arm of the arresting cable tilts forwards, the arresting cable pulls the unmanned aerial vehicle to enter the initial deceleration through the elastic damping effect of the two ends, the recovery pulley is pulled to start to move forwards along the track, and the damper generates resistance to the movement of the recovery pulley, as shown in fig. 7.

Unmanned aerial vehicle pulls the arresting cable through the tail hook and then pulls the recovery coaster and continue to move forward, under the effect of system inertia and attenuator, unmanned aerial vehicle slows down, descends, and the fuselage lower part contacts with the net bed to articulate the fuselage with the horizontal cable of net bed, lock through the self-locking hook. Through the connection of the self-locking hook and the net bed, the tail hook and the arresting cable or the self-locking hook and the net bed (7) and the arresting cable rocker hook, the unmanned aerial vehicle on the net bed and the recovery pulley start to move synchronously, and the recovery pulley continuously decelerates under the action of the damper through the traction cable, as shown in fig. 8.

The recovery trolley decelerates a certain distance on the trolley track, finally the inertia disappears and the forward motion stops, and the recovery operation of the unmanned aerial vehicle is finished, as shown in fig. 9.

If the air line of the unmanned aerial vehicle is too high or the unmanned aerial vehicle deviates from left and right excessively in the process of the arresting recovery operation, the tail hook cannot be used for building an arresting cable, the unmanned aerial vehicle turns to fly again, and then the next arresting recovery action is carried out; unmanned aerial vehicle tail hook design has certain flagging length to the net bed is less than the arresting cable, and there is certain difference in height in net bed and arresting cable, consequently, except leading to the airline low excessively and coming too late to correct because of the aircraft out of control, meets the condition that unmanned aerial vehicle tail hook missed the arresting cable, only need through fly again retrieve can, can not produce any harm to unmanned aerial vehicle or arresting recovery system.

In particular, net bed + perpendicular net type recovery coaster still is adapted to the space base and retrieves, retrieves unmanned aerial vehicle through the mother in the air promptly, and in this kind of embodiment, the coaster track sets up at the mother aircraft afterbody along the aircraft axial, and is fixed through mother cabin inner bottom plate or roof installation. Retrieve the operation in-process, open female aircraft cabin tail door, control unmanned aerial vehicle and advance nearly to female aircraft afterbody, control, guide unmanned aerial vehicle and aim at recovery coaster vertical net and directly hit the net, the unmanned aerial vehicle after touching the net locking is followed the coaster track and is got into female aircraft cabin by the tail together with retrieving the coaster, through continuously slowing down, finally stops on the coaster track, unloads unmanned aerial vehicle back, will retrieve the coaster and reset, carries out next round and retrieves.

The unmanned aerial vehicle recovery device can adapt to recovery of almost all types of unmanned aerial vehicles, is simple in structure, convenient to manufacture and low in cost, can be used for recovery of various heavy unmanned aerial vehicles through matching of the pulley track, the recovery pulley and the damper, can have extremely high maneuverability through the use of the foldable and retractable pulley track, is wide in application range, and can be applied to all-dimensional recovery operation of ships, vehicles, air, island reefs, forest lands, building groups and the like. The technical scheme of this device has overcome the defect of current similar technique, promotes the trade field simultaneously and improves to a new technical stage, is the technological innovation in unmanned aerial vehicle retrieves the field, has important meaning.

While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (16)

1. An unmanned aerial vehicle recovery device is characterized by comprising a recovery trolley (1), a trolley track (2) and a damper (3), wherein the recovery trolley (1) is used for butt-joint recovery of an unmanned aerial vehicle and comprises a frame (4), rollers (5), a cable support frame (6), a net bed (7), a blocking cable (8) and a blocking cable rocker arm (9); the pulley track (2) is used for bearing the recovery pulley (1), and the recovery pulley (1) is connected with the pulley track (2) through a roller (5); the damper (3) is connected with the recovery pulley (1) and used for generating damping acting force on the linear operation of the recovery pulley (1).

2. The unmanned aerial vehicle recovery device of claim 1, wherein the net bed (7) is arranged in front of the frame (4) of the recovery trolley (1), and the net bed (7) comprises side cables arranged along two sides of the frame (4), longitudinal cables distributed in the forward direction and transverse cables distributed in a rib shape, so that a criss-cross net shape is formed; the net bed (7) is connected with the cable support frame (6) on the frame (4) through the front end and the rear end of the side cables at the two sides, and the net bed (7) is isolated from the frame (4) through the cable support frame (6).

3. Unmanned aerial vehicle recovery device according to claim 1 or 2, wherein the mesh bed (7) is made of a material that is soft, wear-resistant, impact-resistant and has a certain toughness.

4. Unmanned aerial vehicle recovery device according to claim 3, wherein the net bed (7) employs high strength fiber rope.

5. The unmanned aerial vehicle recovery device of claim 1 or 2, wherein the arresting cable rocker arm (9) is composed of symmetrical left and right rocker arms, the lower parts of the left and right rocker arms are coaxially hinged and respectively mounted on the left and right sides of the rear part of the frame (4).

6. The unmanned aerial vehicle recovery device of claim 5, wherein: two ends of the arresting cable (8) are respectively connected with the left and right arresting cable rocker arms (9) or the vehicle frame (4) through the upper parts of the left and right arresting cable rocker arms (9), and two ends of the arresting cable (8) have elastic damping telescopic functions.

7. The unmanned aerial vehicle recovery device of claim 1 or 2, wherein: the damper (3) has the damping force matched with the weight and the speed of the airplane and the length of the pulley track (2), the recovery pulley (1) is connected with the damper (3) through a traction cable and a reverse pulley, and the end part of the pulley track (2) is provided with the reverse pulley for bearing the traction cable.

8. The unmanned aerial vehicle recovery device of claim 1 or 2, wherein the lower part of the unmanned aerial vehicle body is provided with a self-locking hook, and the rear part of the unmanned aerial vehicle body is provided with a tail hook, the tail hook is used for hooking the arresting cable (8), and the self-locking hook is used for hooking and locking the net bed (7) after the unmanned aerial vehicle body descends to touch the net.

9. The unmanned aerial vehicle recovery device of claim 1 or 2, wherein the unmanned aerial vehicle tail is provided with a hanging rope, the net bed is provided with a blocking rocker arm, a hook is arranged on the blocking rocker arm, and the hook on the upper part of the blocking rocker arm is hung through the hanging rope hung downwards by the aircraft.

10. The unmanned aerial vehicle recovery device of claim 9, wherein the tether is disposed at the root, rear or tail stay of the wing, connected laterally left and right or left and right by an extension bar, and drooping by left and right extension bars, or hung in a double tail hook manner, i.e., two tail hooks are disposed at left and right sides, end tethers of the left and right tail hooks, and the tether is dropped by the tail hooks.

11. The unmanned aerial vehicle recovery device of claim 9, wherein the end of the arresting cable is provided with a hook for hooking a hanging rope.

12. The unmanned aerial vehicle recovery device of claim 11, wherein the hook is connected to the arresting cable swing arm by an elastic damping device.

13. The unmanned aerial vehicle recovery device of claim 2, wherein: the height of the heightened border cable is matched with the height difference of the wings and the lower part of the fuselage of the airplane.

14. The unmanned aerial vehicle recovery device of claim 1 or 2, wherein: the net bed (7) is provided with a reserved space.

15. The unmanned aerial vehicle recovery device of claim 1 or 2, wherein: the damper adopts hydraulic pressure, air pressure, water turbine or electromagnetic damping.

16. The recovery device of the unmanned aerial vehicle is characterized by comprising a recovery trolley (1), a trolley track (2) and a damper (3), wherein the recovery trolley (1) is used for butt-joint recovery of the unmanned aerial vehicle and comprises a frame (4), rollers (5), a cable support frame (6), a net bed (7) and a vertical net; the pulley track (2) is used for bearing the recovery pulley (1), and the recovery pulley (1) is connected with the pulley track (2) through a roller (5); the damper (3) is connected with the recovery pulley (1) and is used for generating damping acting force on the linear running of the recovery pulley (1); the vertical net is arranged at the front part of the recovery tackle (1), the vertical net is formed by supporting side cables by a cable support frame (6), the vertical net is isolated and overhead from the frame (4) by the cable support frame (6), and the side cables, the transverse cables and the longitudinal cables are connected to form a structure matched with the airplane body to be recovered.

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