CN217100507U - Unmanned aerial vehicle carrier-borne auxiliary recovery device - Google Patents

Abstract

The application discloses supplementary recovery unit of unmanned aerial vehicle carrier-borne, this supplementary recovery unit of unmanned aerial vehicle carrier-borne includes: the lifting assembly comprises a lifting winch mechanism, a lifting rope and a first lifting hook, the lifting winch mechanism is arranged on the unmanned aerial vehicle, one end of the lifting rope is wound on the lifting winch mechanism, and the other end of the lifting rope is connected with the first lifting hook; retrieve the capstan winch subassembly and collude including retrieving capstan winch mechanism, retrieving haulage rope, rope guide mechanism and second hoist and mount, retrieve the one end of haulage rope and twine on retrieving capstan winch mechanism, retrieve the other end and the second hoist and mount of haulage rope and collude and be connected, when unmanned aerial vehicle used to retrieve the capstan winch subassembly and carry out unmanned aerial vehicle recovery operation, the second hoist and mount colluded and pass rope guide mechanism and collude with first hoist and mount and be connected. This application device can prevent that unmanned aerial vehicle from arousing the circumstances such as spring and empting because of descending the collision, effectively improves the security that unmanned aerial vehicle descends to retrieve under the high sea condition circumstances.

Description

Unmanned aerial vehicle carrier-borne auxiliary recovery device

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle carrier-based auxiliary recovery device.

Background

With the rapid development of unmanned aerial vehicle technology, especially industrial unmanned aerial vehicle technology, unmanned aerial vehicles are increasingly widely used in the fields of fishery resource inspection, marine scientific investigation, marine surveying and mapping, ship material supply, marine reconnaissance, river/lake inspection, marine smuggling and the like. The vertical take-off and landing capability of the vertical take-off and landing unmanned aerial vehicle enables the vertical take-off and landing unmanned aerial vehicle to be suitable for narrow application scenes such as ships and warships, but the recovery operation difficulty of the vertical take-off and landing unmanned aerial vehicle is increased due to the action of waves, sea wind and airflow on a take-off and landing deck.

Under the condition of lower sea conditions, the six-degree-of-freedom motion of the ship is small, so that the unmanned aerial vehicle recovery operation is relatively easy to carry out; under the condition of high sea, the vertical take-off and landing unmanned aerial vehicle can directly hit a deck due to six-degree-of-freedom movement of a ship at the moment of landing, and accidents such as bounce, toppling and the like of the unmanned aerial vehicle can occur, so that the unmanned aerial vehicle and a ship body are finally damaged, and personnel can be seriously injured.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides an unmanned aerial vehicle carrier-borne assists recovery unit, retrieve the operation in-process at unmanned aerial vehicle, pull unmanned aerial vehicle through hoist and mount rope and recovery haulage rope and descend, can prevent that unmanned aerial vehicle from arousing the circumstances such as spring and topple over because of the descending collision, effectively improve the security that unmanned aerial vehicle descended and retrieved under the high sea condition circumstances, unmanned aerial vehicle still can carry out the goods and materials task of delivering through hoist and mount subassembly in addition, and the device commonality is good.

On the one hand, this application provides an auxiliary recovery unit of unmanned aerial vehicle carrier-borne, auxiliary recovery unit of unmanned aerial vehicle carrier-borne includes:

the hoisting assembly comprises a hoisting winch mechanism, a hoisting rope and a first hoisting hook, the hoisting winch mechanism is arranged on the unmanned aerial vehicle, one end of the hoisting rope is wound on the hoisting winch mechanism, and the other end of the hoisting rope is connected with the first hoisting hook;

retrieve the capstan winch subassembly, collude including retrieving capstan winch mechanism, retrieving haulage rope, rope guide mechanism and second hoist and mount, retrieve the one end of haulage rope twine in retrieve on the capstan winch mechanism, retrieve the other end of haulage rope with the second hoist and mount are colluded and are connected, work as unmanned aerial vehicle uses when retrieving the capstan winch subassembly and carrying out unmanned aerial vehicle and retrieve the operation, the second hoist and mount are colluded and are passed rope guide mechanism with first hoist and mount are colluded and are connected.

In some embodiments of the present application, the unmanned aerial vehicle carrier-based auxiliary recovery device further comprises;

unmanned aerial vehicle retrieves net for work as unmanned aerial vehicle can't use when retrieving the capstan winch subassembly and carrying out unmanned aerial vehicle and retrieve the operation, supplementary unmanned aerial vehicle carries out unmanned aerial vehicle and retrieves the operation.

In some embodiments of the present application, the hoist winch mechanism comprises: the device comprises a first winch bracket, a first rotating shaft, a first winch roller and a driving motor;

the first winch bracket is fixed on the unmanned aerial vehicle;

the first rotating shaft is horizontally arranged on the first winch bracket and is rotatably connected with the first winch bracket;

the first rotating shaft penetrates through the first winch drum along the axis of the first winch drum and is fixed with the first winch drum;

the driving motor is arranged on the first winch support, and an output shaft of the driving motor is fixed with the first rotating shaft.

In some embodiments of the present application, the hoist winch mechanism further comprises:

the ratchet wheel set comprises a first ratchet wheel and a second ratchet wheel which are arranged on the first rotating shaft;

the stop group comprises a first stop pawl matched with the first ratchet wheel and a second stop pawl matched with the second ratchet wheel;

and the reversing frame is arranged on the first winch bracket and used for adjusting the positions of the first stop pawl and the second stop pawl so that the first stop pawl is in matched butt joint with the first ratchet wheel or the second stop pawl is in matched butt joint with the second ratchet wheel to realize bidirectional stop of the first winch roller.

In some embodiments of the present application, the first ratchet wheel and the second ratchet wheel are symmetrically disposed at an end of the first rotating shaft away from the driving motor, and an axis of the first ratchet wheel and an axis of the second ratchet wheel both coincide with an axis of the first rotating shaft.

In some embodiments of the present application, the hoist winch mechanism further comprises: the two force sensors are symmetrically arranged at two ends of the first winch support and are used for measuring the tension force applied to the hoisting rope.

In some embodiments of the present application, the first lifting hook comprises: the first rope fastening piece, the first hook body and the first coupler knuckle;

one end of the first rope fastener is connected with the hoisting rope, and the other end of the first rope fastener is connected with the first hook body;

the first hook body is connected with the first knuckle through a first knuckle pin, a first elastic piece is arranged between the first knuckle and the first hook body, and the first elastic piece is used for providing torque force rotating in the clockwise direction for the first knuckle.

In some embodiments of the present application, the retrieval winch mechanism comprises: the second winch support, the second rotating shaft, the second winch roller and the winch rotating rocking handle;

the second rotating shaft is horizontally arranged on the second winch support and is in rotating connection with the second winch support;

the second rotating shaft penetrates through the second winch roller along the axis of the second winch roller and is fixed with the second winch roller;

the winch rotates the rocking handle set up in on the second winch support, the output shaft that the winch rotated the rocking handle with the second axis of rotation is fixed.

In some embodiments of the present application, the second lifting hook comprises: the second rope fastener, the second hook body and the second knuckle;

one end of the second rope fastener is connected with the recovery traction rope, and the other end of the second rope fastener is connected with the second hook body;

the second hook body is connected with the second knuckle through a second knuckle pin, a second elastic part is arranged between the second knuckle and the second hook body, and the second elastic part is used for providing torque force rotating in the clockwise direction for the second knuckle.

In some embodiments of this application, unmanned aerial vehicle retrieves net including retrieving the support and set up in retrieve the dictyosome on the support, the dictyosome is woven by having elastic rope and is formed.

This application retrieves the operation in-process at unmanned aerial vehicle, through hoist and mount rope and retrieve the haulage rope and pull unmanned aerial vehicle and descend, can prevent that unmanned aerial vehicle from arousing the spring and topple over the circumstances such as because of the descending collision, effectively improve the security that unmanned aerial vehicle descended under the high sea condition circumstances and retrieved, unmanned aerial vehicle still can carry out the goods and materials through hoist and mount subassembly and deliver the task in addition, and the device commonality is good.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of a carrier-based auxiliary recovery device of an unmanned aerial vehicle provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of another embodiment of a carrier-based auxiliary recovery device of an unmanned aerial vehicle provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of an embodiment of a hoisting assembly in a carrier-based auxiliary recovery device of an unmanned aerial vehicle provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of an embodiment of a first hoisting hook in a carrier-based auxiliary recovery device of an unmanned aerial vehicle provided in the embodiment of the present application;

fig. 5 is a schematic structural diagram of an embodiment of a recovery winch assembly in an auxiliary recovery device on a carrier of an unmanned aerial vehicle provided by an embodiment of the present application;

fig. 6 is a schematic structural diagram of an embodiment of a recovery net for an unmanned aerial vehicle in a ship-based auxiliary recovery device for an unmanned aerial vehicle provided in an embodiment of the present application.

In the drawings, the reference numbers: 100. hoisting the assembly; 200. a recovery winch assembly; 300. an unmanned aerial vehicle; 400. unmanned aerial vehicle retrieves the net; 110. hoisting a winch mechanism; 120. hoisting a rope; 130. a first hoisting hook; 210. a recovery winch mechanism; 220. recovering the traction rope; 230. a rope guide mechanism; 240. a second hoisting hook; 410. recovering the bracket; 420. a net body; 111. a first capstan support; 112. a first rotating shaft; 113. a first capstan roller; 114. a drive motor; 115. a first ratchet wheel; 116. a second ratchet wheel; 117. a first locking pawl; 118. a second locking pawl; 119. a reversing frame; 131. a first rope fastener; 132. a first hook body; 133. a first knuckle; 134. a first knuckle pin; 135. a first elastic member; 211. a second winch support; 212. a second capstan roller; 213. the winch rotates the rocking handle.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "above," "over" and "on" the second feature may include the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature, and the first feature being "below," "beneath" and "under" the second feature may include the first feature being below and obliquely below the second feature, or merely indicating that the first feature is at a lower level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

The embodiment of the application provides an unmanned aerial vehicle carrier-based auxiliary recovery device, which is described in detail below.

Fig. 1 is a schematic structural diagram of an embodiment of an auxiliary recovery device for a carrier-based unmanned aerial vehicle provided in an embodiment of the present application. As shown in fig. 1, the carrier-based auxiliary recovery device of the unmanned aerial vehicle comprises a hoisting assembly 100 and a recovery winch assembly 200, and the unmanned aerial vehicle 300 can not only perform the unmanned aerial vehicle material throwing task through the hoisting assembly 100, but also perform the unmanned aerial vehicle recovery operation through the hoisting assembly 100 and the recovery winch assembly 200. As shown in fig. 3 and 5, the hoisting assembly 100 includes a hoisting winch mechanism 110, a hoisting rope 120 and a first hoisting hook 130, and the recycling winch assembly 200 includes a recycling winch mechanism 210, a recycling hauling rope 220, a rope guiding mechanism 230 and a second hoisting hook 240. The hoisting winch mechanism 110 is arranged on the unmanned aerial vehicle 300, one end of the hoisting rope 120 is wound on the hoisting winch mechanism 110, and the other end of the hoisting rope 120 is connected with the first hoisting hook 130; one end of the recovery pulling rope 220 is wound on the recovery winch mechanism 210, and the other end of the recovery pulling rope 220 is connected with the second hoisting hook 240. When unmanned aerial vehicle 300 is in the state of cruising, hoist and mount subassembly 100 and recovery winch subassembly 200 are in the detached state, and when unmanned aerial vehicle 300 used recovery winch subassembly to carry out unmanned aerial vehicle and retrieve the operation, the second hoist and mount colluded 240 and pass rope guide mechanism 230 and collude 130 with first hoist and be connected to realize hoist and mount subassembly 100 and the being connected of retrieving winch subassembly 200.

The specific process of using the hoisting assembly 100 and the recovery winch assembly 200 to carry out unmanned aerial vehicle recovery operation is as follows: the unmanned aerial vehicle 300 hovers at a preset first height from a parking surface, the hoisting rope 120 and the first hoisting hook 130 are released through the hoisting winch mechanism 110, an operator on the parking surface enables the second hoisting hook 240 to penetrate through the rope guide mechanism 230 to be connected with the first hoisting hook 130, then the recovery traction rope 220 is recovered through the recovery winch mechanism 210 to drag the unmanned aerial vehicle 300 to descend, in the descending process of the unmanned aerial vehicle 300, the tightness state of the hoisting rope 120 is adjusted through the hoisting winch mechanism 110, the hoisting rope 120 is enabled to be always in the loose state, after the unmanned aerial vehicle 300 descends to the preset second height from the parking surface, the tightness state of the hoisting rope 120 is adjusted through the hoisting winch mechanism 110, the hoisting rope 120 is enabled to be in the tight state, the situations that the unmanned aerial vehicle 300 is bounced and inclined due to collision and landing are prevented, and the unmanned aerial vehicle 300 can descend and can be stably stopped. The parking surface includes but is not limited to a deck, a ground, and the like, and the preset first height and the preset second height can be set as required, and in a specific embodiment, the preset first height is 6-10 m, and the preset second height is 0.2-0.5 m. In this embodiment, carrying out unmanned aerial vehicle and retrieving the operation in-process, pull unmanned aerial vehicle through retrieving the haulage rope and descend to adjust the elasticity state of unmanned aerial vehicle decline in-process hoist and mount rope through hoist and mount capstan winch mechanism, can prevent that unmanned aerial vehicle from arousing the circumstances such as spring or slope because of the descending collision, effectively improve the security that unmanned aerial vehicle descended and retrieved under the high sea condition circumstances.

Hoist and mount subassembly 100 except can be used for retrieving the operation with retrieving capstan winch subassembly 200 supplementary unmanned aerial vehicle 300 in coordination, can also be used for carrying out unmanned aerial vehicle goods and materials task of delivering, and the concrete process that uses hoist and mount subassembly 100 to carry out unmanned aerial vehicle goods and materials task of delivering is: the delivered material is hung on the first hoisting hook 130, and when the delivered material is hung on the first hoisting hook 130, the unmanned aerial vehicle 300 may be in a parking state or a hovering state. When unmanned aerial vehicle was in the state of berthing, with deliver goods and materials to hang from colluding 130 the back in first hoist and mount, unmanned aerial vehicle 300 takes off, treat that unmanned aerial vehicle 300 arrives the destination after, predetermine third height department above the destination and hover, operating personnel can collude 130 from first hoist and take off and deliver goods and materials to accomplish unmanned aerial vehicle goods and materials and deliver the task. When unmanned aerial vehicle was in the state of hovering, unmanned aerial vehicle takes off earlier when carrying out unmanned aerial vehicle goods and materials delivery task, wait to fly to predetermine fourth height department and hover apart from material location top, will deliver the goods and materials and hang and collude 130 the back in first hoist and mount, unmanned aerial vehicle gets into the state of cruising, wait that unmanned aerial vehicle 300 arrives the destination after, predetermine third height department and hover above the destination, operating personnel can collude 130 from first hoist and take off the delivery goods and materials, thereby accomplish unmanned aerial vehicle goods and materials delivery task. The preset third height and the preset fourth height can be set as required, and in a specific embodiment, the preset third height is 6-10 m, and the preset fourth height is 6-10 m. Hoist and mount subassembly 100 not only can assist unmanned aerial vehicle to carry out unmanned aerial vehicle recovery operation in this embodiment, can assist unmanned aerial vehicle to carry out unmanned aerial vehicle goods and materials and put in the task moreover, has improved unmanned aerial vehicle carrier-borne auxiliary recovery device's commonality.

Considering that in the case of a high sea condition, an emergency situation may occur in which the unmanned aerial vehicle 300 cannot use the recovery winch assembly 200 to perform unmanned aerial vehicle recovery operation, as shown in fig. 2, the shipboard auxiliary recovery device of the unmanned aerial vehicle of this embodiment further includes: net 400 is retrieved to unmanned aerial vehicle, and unmanned aerial vehicle retrieve net 400 is used for retrieving when unmanned aerial vehicle 300 can't use and retrieves capstan winch subassembly 200 and carry out unmanned aerial vehicle and retrieve the operation, and supplementary unmanned aerial vehicle 300 carries out unmanned aerial vehicle and retrieves the operation. In this embodiment, when retrieving capstan winch subassembly 200 and can not assist unmanned aerial vehicle 300 to carry out unmanned aerial vehicle and retrieve the operation, retrieve net 400 through unmanned aerial vehicle and assist unmanned aerial vehicle 300 to retrieve the operation, improved the safety redundancy when unmanned aerial vehicle 300 carries out unmanned aerial vehicle and retrieves the operation. The specific process of using unmanned aerial vehicle to retrieve net 400 to assist unmanned aerial vehicle 300 in carrying out unmanned aerial vehicle recovery operation is: make unmanned aerial vehicle 300 hover apart from the predetermined fifth height department of plane of berthing, close unmanned aerial vehicle 300's power to make unmanned aerial vehicle 300 freely fall and fall into unmanned aerial vehicle and retrieve in net 400, accomplish unmanned aerial vehicle and retrieve the operation. The preset fifth height can be set as required, and in a specific embodiment, the preset fifth height is 1-1.5 m.

In one embodiment, as shown in fig. 3, the hoist winch mechanism 110 includes: a first capstan support 111, a first rotating shaft 112, a first capstan roller 113, and a driving motor 114. First capstan winch support 111 is fixed in on unmanned aerial vehicle 300, and first rotation axis 112 level sets up on first capstan winch support 111 to rotate with first capstan winch support 111 and be connected, first rotation axis 112 passes first capstan winch cylinder 113 and is fixed with first capstan winch cylinder 113 along the axis of first capstan winch cylinder 113, and driving motor 114 sets up on first capstan winch support 111, and driving motor 114's output shaft is fixed with first rotation axis 112. One end of the hoisting rope 120 is wound on the first capstan roller 113, and the first rotating shaft 112 and the first capstan roller 113 fixed on the first rotating shaft 112 can be driven to rotate by the driving motor 114, so that the automatic winding and unwinding of the hoisting rope 120 are realized.

In order to prevent the motor from being out of order and causing the material on the first lifting hook 130 to fall, as shown in fig. 3, the lifting winch mechanism 110 further includes: ratchet group, stop group and reversing frame 119. The ratchet set comprises a first ratchet wheel 115 and a second ratchet wheel 116 which are arranged on the first rotating shaft 112, the stopping set comprises a first stopping claw 117 matched with the first ratchet wheel 115 and a second stopping claw 118 matched with the second ratchet wheel 116, the reversing frame 119 is arranged on the first winch bracket 111, and the reversing frame 119 is used for adjusting the first stopping claw 117 to be in matched abutting joint with the first ratchet wheel 115 or enabling the second stopping claw 118 to be in matched abutting joint with the second ratchet wheel 116 so as to achieve bidirectional stopping of the first winch roller 113. For example, when the first ratchet wheel 115 is a clockwise ratchet wheel, the first stopping pawl 117 is a clockwise stopping pawl, and when the second ratchet wheel 116 is a counterclockwise ratchet wheel, the second stopping pawl 118 is a counterclockwise stopping pawl. When the driving motor 114 drives the first winch drum 113 to move clockwise, the reversing frame 119 adjusts the position of the first stop pawl 117, so that the first stop pawl 117 is in matched abutment with the first ratchet wheel 115, and the movement of the first winch drum 113 in the clockwise direction is stopped; when the driving motor 114 drives the first winch drum 113 to move in the counterclockwise direction, the reversing frame 119 adjusts the position of the second stopping claw 118, so that the second stopping claw 118 is in fit abutment with the second ratchet wheel 116, and the movement of the first winch drum 113 in the counterclockwise direction is stopped.

In one embodiment, as shown with continued reference to fig. 3, the first ratchet wheel 115 and the second ratchet wheel 116 are symmetrically disposed at an end of the first rotating shaft 112 away from the driving motor 114, thereby facilitating the bidirectional stopping of the first capstan roller 113. The axis of the first ratchet wheel 115 and the axis of the second ratchet wheel 116 both coincide with the axis of the first rotating shaft 112, since the first rotating shaft 112 passes through the first capstan roller 113 along the axis of the first capstan roller 113, that is, the axis of the first ratchet wheel 115 and the axis of the second ratchet wheel 116 both coincide with the axis of the first capstan roller 113.

In one embodiment, and with continued reference to fig. 3, the hoist winch mechanism 110 further includes: the two force sensors are symmetrically arranged at two ends of the first winch bracket 111, the hoisting rope 120 is wound at one end of the hoisting winch mechanism 110 and connected with the force sensors, and the force sensors are used for measuring the tension force applied to the hoisting rope 120. When hoist and mount subassembly 100 is used for carrying out the operation of unmanned aerial vehicle goods and materials input, can confirm through force cell sensor that whether the input goods and materials carry and collude 130 to first hoist and mount, the release of the input goods and materials drops in the unmanned aerial vehicle 300 flight process to and whether the input goods and materials collude 130 from first hoist and take off etc.. When the hoisting assembly 100 is used for unmanned aerial vehicle recovery operation, the tension of the recovery hauling rope 220 on the hoisting rope 120 can be determined through the load cell so as to keep the tightness state of the hoisting rope.

In one embodiment, as shown in fig. 4, the first lifting hook 130 includes: the first rope fastening piece 131, the first hook 132 and the first coupler knuckle 133, one end of the first rope fastening piece 131 is connected with the hoisting rope 120, the other end of the first rope fastening piece 131 is connected with the first hook 132, the first coupler 132 is connected with the first coupler knuckle 133 through the first coupler knuckle pin 134, the first coupler knuckle 133 rotates around the first coupler knuckle pin 134 to be connected, the first elastic piece 135 is arranged between the first coupler knuckle 133 and the first hook 132, and the first elastic piece 135 is used for providing a torsion force rotating in the clockwise direction for the first coupler knuckle 133. First elastic component 135 includes but not limited to the torsional spring, collude 130 when needing to carry goods and materials or need to collude 240 with the second hoist and mount when being connected when first hoist and mount, with first knuckle 133 around first knuckle pin 134 along anticlockwise rotation, make the opening of first coupler body 132 open, treat that goods and materials carry the completion or first hoist and mount collude 130 and second hoist and hang 240 and be connected the back, first knuckle 133 can receive first elastic component 135's effect and rotate along clockwise to make the opening of first coupler body 132 close, avoid goods and materials or second hoist and mount to collude 240 landing from first hoist and mount colluding 130.

In one embodiment, as shown in fig. 5, the recovery winch mechanism 210 includes: a second winch support 211, a second rotation shaft, a second winch drum 212, and a winch rotation handle 213. The second axis of rotation level sets up on second capstan winch support 211 to rotate with second capstan winch support 211 and be connected, second capstan winch cylinder 212 parallel arrangement, and the axis along second capstan winch cylinder 212 of second axis of rotation passes second capstan winch cylinder 212 and is fixed with second capstan winch cylinder 212, and capstan winch rotates rocking handle 213 sets up on second capstan winch support 211, and the output shaft and the second axis of rotation of capstan winch rotation rocking handle 213 are fixed. One end of the recovery pulling rope 220 is wound on the second winch roller 212, and when the winch is shaken clockwise or counterclockwise to rotate the rocking handle 213, the winch rotates the rocking handle 213 to drive the second rotating shaft and the second winch roller 212 to rotate together clockwise or counterclockwise, so that the recovery pulling rope 220 is collected.

The structure of the second hoisting hook 240 may be the same as the first hoisting hook 130, or may be different from the first hoisting hook 130, in one embodiment, the structure of the second hoisting hook 240 is the same as the structure of the first hoisting hook 130, and the second hoisting hook 240 includes: the one end of second rope fastener is connected with retrieving haulage rope 220 cable, and the other end and the second coupler body of second rope fastener are connected, and the second coupler body passes through second coupler knuckle pin junction with the second coupler knuckle, and the second coupler knuckle rotates around second coupler knuckle pin junction, is provided with the second elastic component between second coupler knuckle and the second coupler body, and the second elastic component is used for providing along clockwise pivoted torsion for the second coupler knuckle. The second elastic member includes but is not limited to the torsional spring, colludes 240 when needing to collude 130 with first hoist and mount when being connected as the second hoist and mount, with the second knuckle around second knuckle round pin along anticlockwise rotation, make the opening of the second coupler body open, treat that first hoist and mount collude 130 and second hoist and hook 240 and be connected the back, the second knuckle can receive the effect of second elastic member and follow clockwise rotation to make the opening of the second coupler body close, avoid first hoist and mount to collude 130 and collude 240 from the second hoist and hook and go up the landing.

In one embodiment, with continued reference to fig. 6, the unmanned aerial vehicle recycling net 400 includes a recycling bracket 410 and a net body 420 disposed on the recycling bracket 410, the recycling bracket 410 includes a plurality of pillars, the net body 420 is connected to tops of the plurality of pillars, and the net body 420 is disposed perpendicular to the plurality of pillars. The net body 420 is a net structure woven by elastic ropes, and the net body 420 comprises a plurality of net openings, the shapes and the sizes of the net openings and the heights of the stand columns can be set according to requirements. In one embodiment, the mesh openings of the mesh body 420 are square mesh openings, the side length of each square mesh opening is 100mm, and the height of each upright post is 1.5-2 m. When unmanned aerial vehicle 300 freely falls into dictyosome 420, have elastic rope and weave dictyosome 420 that forms and have the cushioning effect to unmanned aerial vehicle 300 to prevent that unmanned aerial vehicle 300 from damaging.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.

The shipboard auxiliary recovery device of the unmanned aerial vehicle provided by the embodiment of the application is described in detail, a specific example is applied in the detailed description to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the device and the core idea of the application; those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the embodiments or equivalent substitutions can be made on some technical features; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims (10)

1. The utility model provides an unmanned aerial vehicle carrier-borne assists recovery unit which characterized in that, unmanned aerial vehicle carrier-borne assists recovery unit includes:

the hoisting assembly comprises a hoisting winch mechanism, a hoisting rope and a first hoisting hook, the hoisting winch mechanism is arranged on the unmanned aerial vehicle, one end of the hoisting rope is wound on the hoisting winch mechanism, and the other end of the hoisting rope is connected with the first hoisting hook;

retrieve capstan winch subassembly, collude including retrieving capstan winch mechanism, retrieving haulage rope, rope guide mechanism and second hoist and mount, the one end of retrieving the haulage rope twine in retrieve on the capstan winch mechanism, the other end of retrieving the haulage rope with the second hoist and mount are colluded and are connected, work as unmanned aerial vehicle uses when retrieving the capstan winch subassembly and carrying out unmanned aerial vehicle and retrieve the operation, the second hoist and mount are colluded and are passed rope guide mechanism with first hoist and mount are colluded and are connected.

2. The unmanned aerial vehicle carrier-based auxiliary recovery device of claim 1, further comprising;

unmanned aerial vehicle retrieves net for work as unmanned aerial vehicle can't use when retrieving the capstan winch subassembly and carrying out unmanned aerial vehicle and retrieve the operation, supplementary unmanned aerial vehicle carries out unmanned aerial vehicle and retrieves the operation.

3. The unmanned aerial vehicle carrier-based auxiliary recovery device of claim 1, wherein the hoisting winch mechanism comprises: the device comprises a first winch bracket, a first rotating shaft, a first winch roller and a driving motor;

the first winch bracket is fixed on the unmanned aerial vehicle;

the first rotating shaft is horizontally arranged on the first winch bracket and is rotatably connected with the first winch bracket;

the first rotating shaft penetrates through the first winch drum along the axis of the first winch drum and is fixed with the first winch drum;

the driving motor is arranged on the first winch support, and an output shaft of the driving motor is fixed with the first rotating shaft.

4. The unmanned aerial vehicle carrier-based auxiliary recovery device of claim 3, wherein the hoisting winch mechanism further comprises:

the ratchet wheel set comprises a first ratchet wheel and a second ratchet wheel which are arranged on the first rotating shaft;

the stopping group comprises a first stopping claw matched with the first ratchet wheel and a second stopping claw matched with the second ratchet wheel;

and the reversing frame is arranged on the first winch bracket and used for adjusting the positions of the first stop pawl and the second stop pawl so that the first stop pawl is in matched butt joint with the first ratchet wheel or the second stop pawl is in matched butt joint with the second ratchet wheel to realize bidirectional stop of the first winch roller.

5. The unmanned aerial vehicle carrier-based auxiliary recovery device of claim 4, wherein the first ratchet wheel and the second ratchet wheel are symmetrically arranged at one end of the first rotating shaft, which is far away from the driving motor, and the axis of the first ratchet wheel and the axis of the second ratchet wheel are coincident with the axis of the first rotating shaft.

6. The unmanned aerial vehicle carrier-based auxiliary recovery device of claim 3, wherein the hoisting winch mechanism further comprises: the two force sensors are symmetrically arranged at two ends of the first winch support and are used for measuring the tension force applied to the hoisting rope.

7. The unmanned aerial vehicle carrier-based auxiliary recovery device of claim 1, wherein the first lifting hook comprises: the first rope fastening piece, the first hook body and the first coupler knuckle;

one end of the first rope fastener is connected with the hoisting rope, and the other end of the first rope fastener is connected with the first hook body;

the first hook body is connected with the first knuckle through a first knuckle pin, a first elastic piece is arranged between the first knuckle and the first hook body, and the first elastic piece is used for providing torque force rotating in the clockwise direction for the first knuckle.

8. The unmanned aerial vehicle carrier-based auxiliary recovery device of claim 1, wherein the recovery winch mechanism comprises: the second winch support, the second rotating shaft, the second winch roller and the winch rotating rocking handle;

the second rotating shaft is horizontally arranged on the second winch support and is in rotating connection with the second winch support;

the second rotating shaft passes through the second winch drum along the axis of the second winch drum and is fixed with the second winch drum;

the winch rotates the rocking handle set up in on the second winch support, the output shaft that the winch rotated the rocking handle with the second axis of rotation is fixed.

9. The unmanned aerial vehicle carrier-based auxiliary recovery device of claim 1, wherein the second lifting hook comprises: the second rope fastener, the second hook body and the second knuckle;

one end of the second rope fastener is connected with the recovery traction rope, and the other end of the second rope fastener is connected with the second hook body;

the second hook body is connected with the second knuckle through a second knuckle pin, a second elastic part is arranged between the second knuckle and the second hook body, and the second elastic part is used for providing torque force rotating in the clockwise direction for the second knuckle.

10. The shipboard auxiliary recovery device of claim 2, wherein the unmanned aerial vehicle recovery net comprises a recovery support and a net body arranged on the recovery support, and the net body is woven by elastic ropes.

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