Autonomous catapult-assisted take-off, recycling, and reuse device and method of flapping-wing unmanned aerial vehicle (UAV)

An autonomous catapult-assisted take-off, recycling, and reuse device for a flapping-wing unmanned aerial vehicle (UAV), comprising a base, an attitude adjusting mechanism, a catapult mechanism, a recycling mechanism, a control processing unit, a sensor unit, and a power supply module, wherein

• the attitude adjusting mechanism is installed on a top of the base;
• the catapult mechanism and the recycling mechanism are installed on an upper part of the attitude adjusting mechanism;
• the attitude adjusting mechanism, the catapult mechanism, and the recycling mechanism are all connected to the control processing unit;
• and the attitude adjusting mechanism, the catapult mechanism, the recycling mechanism, the control processing unit and the sensor unit are all connected to the power supply module;
• the catapult mechanism comprises a catapult motor frame, a catapult motor, a catapult input gear, a toothless gear, a toothless gear shaft, a winch gear, a winch gear shaft, a winch, a left slide bar, a right slide bar, a left compression spring, a right compression spring, a pull rope fixing slide block, a flapping-wing aircraft fixing part, a pulley shaft, a pulley, and a pull rope;
• the catapult motor frame is fixed to a top of an installation platform, and the catapult motor is fixedly connected to the catapult motor frame;
• the catapult input gear is installed on an output shaft of the catapult motor, and meshes with a toothed half of the toothless gear;
• the toothless gear is fixedly connected to the toothless gear shaft;
• the winch gear is fixedly connected to the winch gear shaft and meshes with a toothless half of the toothless gear;
• the toothless gear shaft and the winch gear shaft are both connected to the catapult motor frame through bearings, and are configured to rotate relative to the catapult motor frame;
• the winch is fixed to the winch gear and is coaxial with the winch gear;
• the left slide bar and the right slide bar are parallel, and rear ends of the left slide bar and the right slide bar are both fixed to the installation platform;
• the left compression spring is coaxially sleeved over an outer surface of the left slide bar, and a rear end of the left compression spring is fixed to the installation platform;
• the right compression spring is coaxially sleeved over an outer surface of the right slide bar, and a rear end of the right compression spring is fixed to the installation platform;
• a front end of the left compression spring and a front end of the right compression spring are both fixedly connected to the pull rope fixing slide block;
• the flapping-wing aircraft fixing part is provided with two bilaterally symmetrical through-holes, which are respectively sleeved over the left slide bar and the right slide bar;
• the flapping-wing aircraft fixing part abuts against the pull rope fixing slide block;
• the pulley shaft is fixed to the installation platform, and the pulley is sleeved over the pulley shaft;
• a first end of the pull rope is fixedly connected to the pull rope fixing slide block, and a second end of the pull rope passes through a round hole in the installation platform, goes around the pulley and is fixed to the winch;
• the recycling mechanism comprises a recycling motor, a recycling gear transmission mechanism, elastic cloth, a recycling platform frame, a first sprocket, a second sprocket, and a recycling mechanical arm;
• the installation platform is provided with a plurality of through-holes for installing the recycling motor, the recycling gear transmission mechanism and the recycling mechanical arm;
• the recycling platform frame is a elastic steel sheet;
• the recycling platform frame is provided with square through-holes for meshing with the first sprocket and the second sprocket;
• a bottom side of the installation platform is provided with two bilaterally symmetrical d-shaped slots, and outer surfaces of front ends of the slots are both provided with boss stoppers;
• an edge of the elastic cloth wraps the recycling platform frame, and both ends of the elastic cloth are provided with round through-holes for being sleeved over the boss stoppers on the outer surfaces of the front ends of the d-shaped slots of the installation platform;
• two ends of the recycling platform frame are fixed with two left and right columns respectively through the two d-shaped slots of the installation platform;
• a cuboid notch is formed in the middle of each of the two d-shaped slots, and is used for the first sprocket and the second sprocket to mesh with the recycling platform frame;
• and
• the power supply module provides energy for the attitude adjusting mechanism, the catapult mechanism, the recycling mechanism, the sensor unit, and the control processor.