WO2026008003A1 - Towing unmanned aerial vehicle and towing system - Google Patents

Abstract

The present application relates to a towing unmanned aerial vehicle and a towing system. The towing unmanned aerial vehicle comprises a plurality of vertical rotors, two tension rotors, and a towing assembly. The axial direction of rotation of each vertical rotor is a first direction. The axial direction of rotation of each tension rotor is a second direction. An included angle between the second direction and the first direction is in the range of 90° to 70°, or in the range of 85° to 70°, or in the range of 80° to 70°, or in the range of 80° to 75°. The towing assembly is configured to be connected to a towing rope. By means of providing the towing assembly and the tension rotors of which the axial direction of rotation is different from the axial direction of rotation of the vertical rotors, the present disclosure provides a towing unmanned aerial vehicle dedicated to towing operations, thereby mitigating the problem of unmanned aerial vehicles being prone to going out of control or crashing during towing operations.

Description

Towing drones and towing systems

Cross-references to related applications

This application claims priority to Chinese patent applications CN202421538890.7 (filed July 2, 2024), CN202411198266.1 (filed August 29, 2024), CN202510329363.8 (filed March 19, 2025), CN202510329316.3 (filed March 19, 2025), CN202520485801.5 (filed March 19, 2025), and CN202520483061.1 (filed March 19, 2025), the disclosures of which are incorporated herein by reference in their entirety.

Technical Field

This disclosure relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a towed UAV and a towing system.

Background Technology

In related technologies, drones generally include quadcopters or hexcopters with their rotation axis in the vertical direction. When performing towing operations, the front of such drones needs to tilt forward or to the side to generate horizontal pulling force. Because the forward tilting or side tilting attitude causes the direction of the rotor's lift to be inconsistent with the drone's center of gravity, it reduces the drone's flight stability and energy efficiency, and can easily lead to drone loss of control or crashes during prolonged towing operations.

There is an urgent need in this field for a drone specifically designed for towing operations such as paragliding.

Summary of the Invention

The purpose of this disclosure is to provide a towing drone to solve the problem that general-purpose drones are prone to loss of control or crash during towing operations.

According to a first aspect of this disclosure, this application relates to a towing drone. The towing drone includes multiple vertical rotors, two pull rotors, and a towing assembly. The rotation axis of each vertical rotor is a first direction. The rotation axis of each pull rotor is a second direction. The angle between the second direction and the first direction is in the range of 90° to 70°, or in the range of 85° to 70°, or in the range of 80° to 70°, or in the range of 80° to 75°. The towing assembly is configured to connect a towing rope.

According to a second aspect of this disclosure, this application relates to a traction system. The traction system includes the aforementioned traction drone and a powerless aircraft. The powerless aircraft is configured to be connected to the traction drone via a traction rope.

This disclosure provides a novel towing drone. The towing drone includes multiple vertical rotors, two pull rotors, and a towing assembly. The rotation axis of each vertical rotor is in a first direction. The rotation axis of each pull rotor is in a second direction. The angle between the second direction and the first direction is in the range of 90° to 70°, or in the range of 85° to 70°, or in the range of 80° to 70°, or in the range of 80° to 75°. The towing assembly is configured to connect a towing rope. By providing a towing assembly and pull rotors with rotation axes different from the rotation axes of the vertical rotors, this disclosure provides a towing drone specifically designed for towing operations, reducing the risk of drone loss of control or crashes during towing operations.

Attached Figure Description

Figure 1 shows a schematic diagram of a traction system according to some embodiments of this application;

Figure 2 shows a perspective view of a towing drone according to a first embodiment of this application;

Figure 3 shows another perspective view of the towing drone in Figure 2;

Figure 4 shows a partial perspective view of the towing drone shown in Figure 2;

Figure 5 shows a schematic diagram of the explosion of the portion shown in Figure 4;

Figure 6 shows a schematic diagram of the battery pack installation;

Figure 7 shows a schematic diagram of the power assembly of the towing UAV in Figure 2;

Figure 8 is a schematic diagram of the explosion of the lifting unit in Figure 7;

Figure 9 is a schematic diagram of the explosion of the tension unit in Figure 7;

Figure 10 shows a perspective view of the tension motor bracket in Figure 9;

Figure 11 shows a schematic diagram of the internal structure of the main load-bearing structure in Figure 5;

Figure 12 shows a perspective view of the main load-bearing structure in Figure 5;

Figure 13 shows a perspective view of the towing component of the towing drone shown in Figure 3;

Figure 14 shows an exploded schematic diagram of the traction assembly shown in Figure 13;

Figure 15 shows a perspective view of the support rod assembly in Figure 14;

Figure 16 shows an exploded view of the base and support rod in Figure 15;

Figure 17 shows a schematic cross-sectional view along the A-A direction in Figure 14;

Figure 18 shows an exploded schematic diagram of the guide head in Figure 15;

Figure 19 shows a cross-sectional view of the guide head in Figure 15 along line B-B in Figure 18;

Figure 20 shows a perspective view of the winch assembly shown in Figure 13;

Figure 21 shows an exploded view of the winch assembly shown in Figure 20;

Figure 22 shows a perspective view of the first rotating component;

Figure 23 shows a perspective view of the second rotating component;

Figure 24 shows a perspective view of the outer frame;

Figure 25 shows a schematic cross-sectional view along C-C in Figure 20;

Figure 26 shows a perspective view of the tension arm shown in Figure 2;

Figure 27 shows a schematic diagram of the explosion of the tension arm shown in Figure 26;

Figure 28 shows a perspective view of the body connection joint in Figure 27;

Figure 29 shows an explosion diagram of the outer arm shown in Figure 27;

Figure 30 shows a perspective view of the internal joint shown in Figure 29;

Figure 31 shows a perspective view of the external connector shown in Figure 29;

Figure 32 shows a longitudinal cross-sectional view of the connection between the outer arm and the inner arm;

Figure 33 shows a perspective view of the support frame in Figure 2;

Figure 34 shows a perspective view of the support frame connection joint in Figure 33;

Figure 35 shows a perspective view of the tee connector in Figure 33;

Figure 36 shows a perspective view of a towing drone according to a second embodiment of the present disclosure;

Figure 37 is another perspective view of the towing drone in Figure 36;

Figure 38 is an enlarged schematic diagram of part E in Figure 37;

Figure 39 is another perspective view of the towing drone in Figure 36;

Figure 40 shows a perspective view of a towing drone according to a third embodiment of the present disclosure;

Figure 41 shows another perspective view of the towing drone in Figure 40;

Figure 42 shows an enlarged schematic diagram of part F in Figure 41.

Reference numerals: 1. Traction system; 10. Traction drone; 91. Traction rope; 92. Unpowered aircraft; 20. Power unit; 21. Lifting unit; 211. Vertical rotor; 212. Lift motor bracket; 213. Lower lift motor bracket; 214. Upper lift motor bracket; 215. Lift motor; 22. Pulling unit; 221. Pulling motor bracket; 2211. Pulling arm sleeve; 2212. Motor mounting platform; 222. Pulling motor; 223. Pulling rotor; 232. Power supply; 30. Lifting arm; 40. Pulling arm; 41. Inner arm; 42. Outer arm; 43. Airframe connection joint; 431. Airframe connection sleeve; 4312. Airframe connection edge; 432. Pulling arm connection sleeve; 4321. Pulling force 44. Arm connecting edge; 44. Connector assembly; 441. External connector; 4411. Single ear; 4412. Positioning groove; 442. Internal connector; 4421. Double ears; 4422. Positioning block; 443. Snap ring assembly; 4431. External snap ring; 4432. Internal snap ring; 50. UAV body; 51. Main load-bearing structure; 52. Shell; 53. Boss; 60. Support frame; 61. Longitudinal beam; 62. Crossbeam; 63. Base frame; 64. Support frame connecting joint; 641. Beveled structure; 642. Longitudinal beam mating sleeve; 65. T-joint; 66. Pull arm placement plate; 67. Rubber sleeve; 70. Traction assembly; 71. Winch assembly; 711. First rotating component; 7111. First end plate; 7112. First support column; 711 3. Traction rope shaft; 712. Second rotating component; 7121. Second end plate; 7122. Second support column; 713. Outer frame; 7131. Third end plate; 7132. Third support column; 7133. Connecting seat; 714. Outer bearing; 715. Inner bearing; 72. Support rod assembly; 721. Support rod base; 7211. Base joint; 72111. Base; 72112. Vertical plate; 7212. Adapter; 72121. Longitudinal rod; 72122. Horizontal rod; 7213. Support rod shaft; 7214. Rotating shaft seat; 722. Support rod; 723. Guide head; 7231. Clamping plate; 72311. Support rod mounting hole; 7232. Ball head; 72321. Guide hole; 73. Winch motor; 731 80. Motor bracket; 81. Power supply; 82. Battery pack; 83. ESC; 84. Battery pack mounting rack; 85. Base plate; 86. Fixing plate; 87. Side plate; 88. Top plate; 89. Clamping assembly; 80. Guide block; 81. Clamping rod; 82. Spring; 83. Reinforcing rib; 840. Flight controller; 85. Navigation equipment; 86. Data transmission equipment; 87. Altitude sensor; 88. Image transmission equipment; 88. Radar; 89. Antenna; 80. Buffer device; 81. Telescopic rod; 82. Telescopic spring; 83. Support base; 84. Buffer motor; 85. Buffer motor connecting base; 86. Grounding plate; 87. Mounting base; X: First direction; Y: Second direction.

Detailed Implementation

The embodiments of this application will now be described in detail with reference to the accompanying drawings.

In the following description, specific details such as particular system architectures, interfaces, and technologies are presented for illustrative purposes rather than for limiting purposes, in order to provide a thorough understanding of this application.

In this article, the term "and/or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and/or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character "/" generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "more" in this article means two or more objects.

The terms "first," "second," and "third" in this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified in some embodiments. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the figures). If the specific orientation changes, the directional indications also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

Referring to FIG1, FIG1 shows a schematic diagram of a traction system 1 according to some embodiments of the present application. As shown in FIG1, the traction system 1 includes a traction drone 10 and a powerless aircraft 92. The traction drone 10 is configured to be connected to the powerless aircraft 92 via a traction rope 91. The traction drone 10 may include any of the traction drones 10 described below. The traction drone 10 and the powerless aircraft 92 are communicatively connected. The powerless aircraft 92 refers to a device that does not rely on its own power unit for propulsion, but achieves flight by utilizing natural forces such as wind, gravity, and airflow. The powerless aircraft 92 may be, for example, a paraglider, a fixed-wing glider, a parachute, etc. In some embodiments, the traction system 1 may also include a control station (not shown). The control station may include communication equipment, data processing equipment, visualization terminals, etc. The control station may be, for example, a fixed control station or a mobile control station. For example, the control station may be a ground control station, a vehicle-mounted control station, a ship-mounted control station, etc. In some embodiments, the control station may also be implemented as a portable terminal such as a laptop computer, tablet computer, mobile phone, etc.

Referring to Figures 2 and 3, Figure 2 shows a perspective view of a towing drone 10 according to a first embodiment of this application, and Figure 3 shows another perspective view of the towing drone 10 of Figure 2. As shown in Figures 2 and 3, the towing drone 10 includes a plurality of vertical rotors 211, two pull rotors 223, and a towing assembly 70. The rotation axis of each vertical rotor 211 is a first direction X. The first direction X is generally a vertical direction or a vertical direction. The rotation axis of each pull rotor 223 is a second direction Y. The angle between the second direction Y and the first direction X is a right angle or an acute angle. In some embodiments, the angle is greater than or equal to 45° and less than or equal to 90°. For example, the angle may be in the range of 90° to 70°, or in the range of 85° to 70°, or in the range of 80° to 70°, or in the range of 80° to 75°. The towing assembly 70 is configured to connect to a towing rope 91 to pull the unpowered aircraft 92 via the towing rope 91. In some embodiments, the traction assembly 70 is further configured to store and/or retract the traction rope 91, as will be described in detail below. The towing drone 10 of this disclosure, by providing the traction assembly 70 and a tension rotor 223 whose rotation axis is different from that of the vertical rotor 211, allows the vertical rotor 211 to focus more on ascent, descent, or attitude adjustment of the towing drone 10, thus reducing the risks associated with prolonged towing operations by the vertical rotor 211 in related technologies. This application therefore provides a towing drone 10 specifically designed for towing operations, reducing the risk of drones easily losing control or crashing during towing operations.

Referring to Figures 2 through 5, Figure 4 is a partial perspective view of the towing drone 10 shown in Figure 2, and Figure 5 is an exploded view of the portion shown in Figure 4. As shown, the towing drone 10 may include a drone body 50. Each of a plurality of vertical rotors 211 may be mounted on the drone body 50. At least one of a flight controller, radar, navigation equipment, data transmission equipment, altitude sensor, image transmission equipment, and antenna may be disposed inside or outside the drone body 50. The flight controller may be configured to drive the drone. The towing drone 10 also includes one or more support frames 60 connected to the drone body 50. The support frames 60 are generally disposed at the bottom of the drone body 50, that is, on the side of the towing drone 10 facing the ground. In the description of this application, bottom or lower side generally refers to the side of the towing drone 10 closest to the ground when placed on the ground, and top or upper side generally refers to the side of the towing drone 10 away from the ground when placed on the ground.

As shown in Figures 4 and 5, the UAV body 50 may include a main load-bearing structure 51 and a shell 52. The shell 52 may be mounted on the upper end of the main load-bearing structure 51. The main load-bearing structure 51 can bear the main forces of the towing UAV 10 and participate in the force transmission of the towing UAV 10. The shell 52 provides a configuration to protect and/or mount components such as the flight controller, preventing the external environment from affecting the flight controller and improving the lifespan of the flight controller. When the towing UAV 10 is flying forward, especially during high-speed flight, maneuvering, or when affected by airflow, the shell 52 can evenly distribute the various forces experienced by the towing UAV 10 to the entire UAV body 50, avoiding local stress concentration that could lead to structural damage and enhancing the overall strength and stability of the towing UAV 10. In some embodiments, the towing assembly 70 may be mounted below the UAV body 50, for example, on the lower side of the main load-bearing structure 51. The traction component 70 fixes the traction rope 91 within a certain length range at the rear of the traction drone 10, which can effectively prevent the traction rope 91 from being blown by the propeller of the traction drone 10 and subsequently entangled with the propeller blades, causing an accident, and ensuring the safety and reliability of the traction rope 91.

In some embodiments, a plurality of lifting arms 30 may be mounted on the outer side wall of the main load-bearing structure 51. A tension arm 40 may be provided at the lower center of the main load-bearing structure 51. The lifting arms 30 and/or tension arms 40 are foldable at the joints, facilitating the folding and unfolding of the towing drone 10. When the towing drone 10 is folded, the volume it occupies can be reduced, thereby improving the convenience of transporting the towing drone 10.

In some embodiments, the traction component 70 may be located in the middle of the pull arm 40, such as in the middle of the inner arm 41 of the pull arm 40 as described below, in order to reduce the torque generated on the pull arm 40 by the pull force transmitted from the paraglider by the traction component 70, thereby simplifying the control difficulty of the pull rotor 223.

In some embodiments, one or more support frames 60 are symmetrically mounted on the lower end face of the main load-bearing structure 51. Each support frame 60 may include longitudinal beams 61 and transverse beams 62. The longitudinal beams 61 can be connected together via the transverse beams 62. The support frame 60 can be used to support the main body of the towing drone 10. The lower part of the support frame 60 contacts the ground, bearing the weight of the towing drone 10 on the ground and the overload of the towing drone 10 during landing. The transverse beams 62 can be connected to the longitudinal beams 61 on both sides, improving the overall stability and load-bearing capacity of the support frame 60, and bearing the overload of the towing drone 10. In some embodiments, at least one of the lifting arm 30, the tension arm 40, and the support frame 60 may have a circular tube structure and be connected together via joints to form a continuous force transmission structure.

Referring to Figures 2 and 6, Figure 6 shows a schematic diagram of the battery pack 81 installation. A power supply 80 may be installed below the main body of the towing drone 10. The power supply 80 is configured to provide power to the towing drone 10. As shown in Figure 6, the power supply 80 may include the battery pack 81 mounted on a crossbeam 62 of a support frame 60. The crossbeam 62 may be configured to bear the weight of the battery pack 81, thereby improving the stability of the battery pack 81.

Referring to Figure 7, Figure 7 shows a schematic diagram of the power assembly 20 of the towing drone 10. As shown in Figure 7, the power assembly 20 includes a lift unit 21, a pull unit 22, and a power source 80. The lift unit 21 is configured to generate lift for the towing drone 10, providing power for takeoff, landing, and flight. The lift unit 21 is fixed to a lifting arm 30. The lifting arm 30 receives the lift generated by the lift unit 21 and transmits it to the body of the towing drone 10. The pull unit 22 is configured to generate pull to provide traction for an unpowered aircraft 92, such as a paraglider. The pull unit 22 is fixed to a pull arm 40. The pull arm 40 receives the pull generated by the pull unit 22 and transmits it to the body of the towing drone 10 and the towing assembly 70. The power source 80 includes an electrically connected battery pack 81 and an electronic speed controller 82. The electronic speed controller 82 is configured to control the lift motor 215 in the lift unit 21 and the pull motor 222 in the pull unit 22. The electronic speed controller 82 can control the rotational speed of the lift motor 215 and the pull motor 222, thereby controlling the magnitude of the force generated by the lift unit 21 and the pull unit 22 to meet the requirements of towing the UAV 10.

Referring to Figures 3, 7, and 8, Figure 8 is an exploded view of the lift unit 21 in Figure 7. The lift unit 21 includes a lift motor bracket 212, a lift motor 215, and a vertical rotor 211. The lift motor bracket 212 may include a lower lift motor bracket 213 and an upper lift motor bracket 214. The lower lift motor bracket 213 may be configured to be fitted onto one side of the lift arm 30. The upper lift motor bracket 214 is configured to be mounted on the upper end of the lower lift motor bracket 213. The lift motor 215 may be mounted on the upper end face of the upper lift motor bracket 214. The output shaft of the lift motor 215 may be driveably connected to the vertical rotor 211. The vertical rotor 211 may also be referred to as a lift rotor. The rotor may also be a propeller. Each vertical rotor 211 may include one or more blades. By driving the vertical rotor 211 to rotate through the lift motor 215, lift along a first direction X can be generated. The magnitude of the lift generated by the vertical rotor 211 can be changed by altering the rotational speed of the lift motor 215. By increasing or decreasing the lift, the ascent or descent speed of the drone can be controlled. The ascent or descent of the towed drone 10 can also be controlled by changing the rotation direction of the vertical rotor 211. By making the lift generated by different vertical rotors 211 vary, the towed drone 10 can be driven to tilt and/or move in different directions; this application does not impose specific limitations in this regard. The accompanying drawings of this application illustrate four lift units 21 as an example; those skilled in the art should understand that the towed drone 10 may also include two, six, eight, or any other number of vertical rotors 211.

Referring to Figures 3, 7, and 9, Figure 9 is an exploded view of the pull unit 22 in Figure 7. The pull unit 22 includes a pull motor bracket 221, a pull motor 222, and a pull rotor 223. The pull motor bracket 221 can be sleeved on both sides of the pull arm 40. The pull motor 222 can be mounted on the pull motor bracket 221. The output shaft of the pull motor 222 can be driven to the pull rotor 223. Each pull rotor 223 may include one or more blades. Driving the pull rotor 223 to rotate by the pull motor 222 generates a pull force along the second direction Y. The magnitude of the pull force can be changed by changing the rotational speed of the pull motor 222. The pull force can be mainly used to pull unpowered aircraft 92 such as paragliders.

Referring to Figures 9 and 10, Figure 10 is a perspective view of the tension motor bracket 221 in Figure 9. The tension motor bracket 221 can define a tension arm sleeve 2211. One end of the tension arm sleeve 2211 has a groove, and the structures on both sides of the groove are tightened by fasteners. When the fasteners are tightened, the groove becomes smaller, and thus the inner diameter of the tension arm sleeve 2211 becomes smaller, so that the tension arm sleeve 2211 is tightly pressed against the tension arm 40, completing the fixation of the tension motor bracket 221 and the tension arm 40. A motor mounting platform 2212 can be installed at the end of the tension arm sleeve 2211 away from the groove. The motor mounting platform 2212 is used to fix the tension motor 222. For example, the motor mounting platform 2212 can define fastener holes, and the tension motor 222 is fixed to the tension motor bracket 221 by fasteners passing through the fastener holes, thereby ensuring the reliability of the connection between the tension motor 222 and the tension arm 40.

In some embodiments, the lifting arm 30 and/or the pulling arm 40 may have a hollow structure. The wires connecting the lifting motor 215 and the battery pack 81 can be housed within the hollow structure of the lifting arm 30, and the wires connecting the pulling motor 222 and the battery pack 81 can be housed within the hollow structure of the pulling arm 40. This results in a more rational arrangement and shorter distance between the wires, reducing their weight and consequently reducing the overall weight of the towing drone 10.

Referring to Figure 11, which shows a schematic diagram of the internal structure of the main load-bearing structure 51 in Figure 5, the main load-bearing structure 51 at least partially defines the box structure. The box structure can be assembled from several flat plates. The end of the lifting arm 30 away from the vertical rotor 211 can be installed inside the box structure. The longitudinal beam 61 of the support frame 60 can be installed at the bottom of the box structure. In this way, the main load-bearing structure 51 connects the lifting arm 30 and the support frame 60 into a single structure. As shown in Figure 11, the electronic speed controller (ESC) 82 can be installed in the box structure. The ESC 82 can also be installed below the main load-bearing structure 51 together with the battery pack 81. Installing the battery pack 81 below the main load-bearing structure 51 helps to lower the center of gravity of the towing drone 10 and enhance its stability.

Referring to Figures 2, 3, 5, and 12, Figure 12 shows a perspective view of the main load-bearing structure 51 in Figure 5. The flight controller can be installed inside the housing 52, for example, on the upper surface of the main load-bearing structure 51. Inside the housing 52, around the flight controller, navigation equipment, data transmission equipment, altitude sensors, and image transmission equipment can be installed respectively. This arrangement improves the environmental adaptability of the flight controller and related equipment, while separating the flight controller from equipment such as the power supply 80, avoiding electromagnetic interference between devices with different voltages, thereby improving electromagnetic compatibility performance. The radar can be installed on the upper side of the traction assembly 70 to facilitate monitoring of the unpowered aircraft 92. As shown in Figures 2 and 3, antennas for the data transmission equipment and antennas for the image transmission equipment can be installed on the upper side of the housing 52. Specifically, a boss 53 can be installed on the housing 52. The boss 53 has holes for the antenna to pass through and protrude. The flight controller controls the flight attitude of the towed drone 10, meeting its requirements. It also controls the control equipment within the towing assembly 70, managing the extension, tension, and traction force of the towing rope 91 to ensure a safe distance between the towed drone 10 and the rear paraglider. Radar monitors the position of the rear paraglider and feeds this information back to the flight controller, which then controls the flight attitude of the towed drone 10, ensuring the paraglider is directly behind and below it, guaranteeing flight safety. Navigation equipment provides a navigation system for the towed drone 10, enabling it to fly along a planned route or airspace and avoid disorientation. Data transmission equipment transmits control commands, sensor data, and other non-video data for remote control operation, flight status monitoring, and sensor data acquisition and transmission. By establishing a two-way link, the data transmission equipment allows ground control personnel to remotely monitor the flight status of the towed drone 10 and send commands for remote control operation. The image transmission equipment can transmit real-time video data, providing a real-time video stream captured by the camera of the towed drone 10 for real-time monitoring and operation by the ground station or operator, ensuring safety during flight. The altitude sensor can monitor the altitude of the towed drone 10 in real time, especially its distance from the ground during landing, allowing it to land at a lower descent speed, reducing overload and impact on the support frame 60, thereby extending its lifespan. The antenna provides signal transmission between the towed drone 10 and the ground station, as well as between the towed drone 10 and positioning satellites, ensuring accurate positioning and timely information transmission.

The towed drone 10 of this application can be connected to a powerless aircraft 92, such as a paraglider, via a tow rope 91. The lift unit 21 of the towed drone 10 can be mainly used to drive the towed drone 10 up and down or to adjust the attitude of the towed drone 10 itself. The pull unit 22 can be mainly used to generate traction force to help the paraglider take off. In this way, the applicability of paragliding can be expanded.

Traction component 70

Referring to Figures 3, 13, and 14, Figure 13 shows a perspective view of the towing assembly 70 of the towing drone 10 shown in Figure 3, and Figure 14 shows an exploded view of the towing assembly 70 shown in Figure 13. The towing assembly 70 can be mounted below the drone body 50 of the towing drone 10, for example, on the lower end face of the main load-bearing structure 51. In some embodiments, the towing assembly 70 can also be mounted on the tension arm 40 or the support frame 60.

The traction assembly 70 may include a winch assembly 71, a support rod assembly 72, and a winch motor 73. The winch assembly 71 is configured to deploy and retract the traction rope 91. The support rod assembly 72 may be mounted on the lower end face of the winch assembly 71, away from the main body of the drone 10. The winch motor 73 is configured to drive at least a portion of the winch assembly 71 to rotate. The winch assembly 71 may be connected to the drone body 50, such as the main load-bearing structure 51. Radar and/or a camera may be mounted on the upper side of the winch assembly 71. The winch motor 73 may be mounted on a side wall of the winch assembly to facilitate driving at least a portion of the winch assembly 71 to rotate.

The support rod assembly 72 can be configured to support the traction rope 91 in an area away from the rotor and to support the traction rope 91 near the towing drone 10, preventing the wind caused by the rotor rotation from pulling the traction rope 91, causing it to become entangled with the rotor, resulting in damage to the traction rope 91 and the rotor, and consequently, damage to the towing drone 10. The traction rope 91 can be fixed inside the winch assembly 71. The winch assembly 71 rotates to raise and lower the traction rope 91, ensuring that the traction rope 91 is not knotted and is neat, allowing for multiple uses. The winch motor 73 is used to control the fixing and rotation of the winch assembly 71, maintaining control over the length and tension of the traction rope 91, ensuring that the traction rope 91 is taut and does not interfere with other structures of the towing drone 10, thus ensuring the safety of the towing drone 10.

In some embodiments, the winch assembly 71 is fixed to the rear of the towing drone 10, i.e., the side closest to the paraglider when the towing drone 10 pulls the paraglider. The proximal end of the support rod assembly 72 is fixed to the lower part of the winch assembly 71, and the distal end limits the towing rope 91. The axis of the winch motor 73 can be aligned with the axis of the winch assembly 71. The radar and/or camera can be fixed in the upper area of the winch assembly 71 and/or the support rod 722 to facilitate the alignment of the radar and/or camera's monitoring field of view with the preset position of the paraglider, enabling efficient monitoring of the paraglider.

Referring to Figures 14, 15, 16, and 17, Figure 15 shows a perspective view of the support rod assembly 72 in Figure 14, Figure 16 shows an exploded view of the base and support rod 722 in Figure 15, and Figure 17 shows a cross-sectional view along the A-A direction in Figure 14. As shown, the support rod assembly 72 may include a support rod base 721, a support rod 722, and a guide head 723. One end of the support rod 722 is rotatably connected to the support rod base 721, and the other end of the support rod 722 is connected to the guide head 723. The support rod 722 may be, for example, a hollow long tube. The support rod base 721 may include a base connector 7211, an adapter 7212, and a support rod shaft 7213. The adapter 7212 may be configured to connect the support rod 722 and the support rod shaft 7213. The support rod shaft 7213 is rotatably connected to the base connector 7211.

In some embodiments, the base connector 7211 includes a base 72111 and two vertical plates 72112 disposed opposite each other on both sides of the base 72111. The base 72111 may be, for example, a flat plate. The base 72111 may be disposed on top of the two vertical plates 72112. The base 72111 may be configured to mount a support rod assembly 72 to a winch assembly 71. The vertical plates 72112 may have through holes through which a support rod shaft 7213 passes. The support rod shaft 7213 may at least partially extend into the through holes in the vertical plates 72112 to drive the adapter 7212 and the support rod 722 to rotate relative to the base connector 7211.

In some embodiments, the adapter 7212 may include, for example, a cross-shaped adapter 7212. The cross-shaped adapter 7212 includes a longitudinal bar 72121 and a cross bar 72122 intersecting in a cross shape. The longitudinal bar 72121 can be connected to the support rod 722. For example, the longitudinal bar 72121 can be a hollow tube, and one end of the support rod 722 can be inserted into the hollow tube of the longitudinal bar 72121. The two ends of the cross bar 72122 can be respectively connected to support rod pivots 7213 passing through through holes in corresponding side vertical plates 72112, thereby connecting the support rod 722 to two support rod pivots 7213. The two ends of the cross bar 72122 can be, for example, threadedly connected to the corresponding support rod pivots 7213. With this arrangement, the support rod 722 connected to the support rod pivots 7213 can rotate relative to the base connector 7211 and relative to the drone body 50 of the towing drone 10. Referring to Figure 17, the support rod base 721 also includes two rotating bearings 7214 respectively disposed on the outer sides of the two vertical plates 72112. Each rotating bearing 7214 defines a rotation hole for allowing the support rod shaft 7213 to rotate therein. In this disclosure, by allowing the support rod 722 to rotate, the support rod 722 can rotate about the axis of the support rod shaft 7213, so that the support rod 722 only bears axial tensile force and not bending moment, thus preventing the support rod 722 from being bent.

Referring to Figures 15, 18, and 19, Figure 18 shows an exploded view of the guide head 723 in Figure 15, and Figure 19 shows a cross-sectional view of the guide head 723 along line B-B in Figure 18. As shown, the guide head 723 may include two opposing clamping plates 7231, and a ball head 7232 rotatably disposed between the two clamping plates 7231. Specifically, the ball head 7232 is mounted at the midpoint between the two clamping plates 7231. A gap is left between the ball head 7232 and the inner wall of the clamping plate 7231, and/or grease can be applied to allow the ball head 7232 to rotate easily. The ball head 7232 may define a guide hole 72321. The guide hole 72321 may be configured to allow a traction rope 91 from the winch assembly 71 to pass through it. The two clamping plates 7231 together define a support rod mounting hole 72311, in which the support rod 722 is engaged. When the traction rope 91 deflects, the ball head 7232 rotates accordingly to reduce the lateral force on the traction rope 91. A groove for engaging the support rod 722 can be provided on the inner wall of the clamping plate 7231 to increase the contact area between the clamping plate 7231 and the support rod 722, thereby increasing the clamping force on the support rod 722. The upper and lower ends of the clamping plate 7231 can be fixedly connected together by fasteners. As shown in Figures 18 and 19, the fasteners can be bolt assemblies.

Referring to Figures 20-25, Figure 20 is a perspective view of the winch assembly 71 shown in Figure 13, Figure 21 is an exploded view of the winch assembly 71 shown in Figure 20, Figure 22 is a perspective view of the first rotating member 711, Figure 23 is a perspective view of the second rotating member 712, Figure 24 is a perspective view of the outer frame 713, and Figure 25 is a cross-sectional view along C-C in Figure 20. As shown, the winch assembly 71 may include a first rotating member 711, a second rotating member 712, and an outer frame 713 installed sequentially from the inside out.

As shown in Figure 22, the first rotating member 711 may include: two first end plates 7111, a plurality of first supports 7112, and a traction rope shaft 7113. The two first end plates 7111 may be arranged opposite each other and interconnected by the plurality of first supports 7112. The first supports 7112 are arranged along the axial direction of the first rotating member 711 to maintain the tautness and prevent tangling of the traction rope 91. The first supports 7112 may optionally be equidistantly distributed. The traction rope shaft 7113 is disposed inside the plurality of first supports 7112 and connected to the two first end plates 7111. The traction rope shaft 7113 is used to connect the traction rope 91. For example, the traction rope 91 may be wound around the traction rope shaft 7113. A winch motor 73 is configured to drive the traction rope shaft 7113 to rotate. The traction rope shaft 7113 can rotate in both directions under the action of the winch motor 73 to achieve the winding and unwinding operation of the traction rope 91. The first support 7112 has a larger stroke or diameter than the traction rope shaft 7113, and when the traction rope 91 is rotated and wound, a longer traction rope 91 can be stored inside the first support 7112.

As shown in Figure 23, the second rotating member 712 may include two second end plates 7121 and a plurality of second supports 7122. The two second end plates 7121 may be arranged opposite to each other and interconnected by the plurality of second supports 7122. The plurality of second supports 7122 may be circumferentially equidistantly distributed. The second supports 7122 may be arranged along the axial direction of the second rotating member 712.

As shown in Figure 24, the outer frame 713 may include two third end plates 7131 and a plurality of third struts 7132. The two third end plates 7131 may be arranged opposite each other and interconnected by the plurality of third struts 7132. The lower end of the third end plate 7131 may include a downwardly extending support plate for mounting a support rod base 721. The plurality of third struts 7132 may be circumferentially equidistant. The third struts 7132 may be arranged along the axial direction of the outer frame 713. The outer frame 713 may be configured to securely connect the winch assembly 71 to other parts of the towing drone 10. The upper end of the outer frame 713 may be fitted with a connecting seat 7133 connected to the drone body 50 for keeping the outer frame 713 fixed. Specifically, a mounting surface may be formed on the upper side of the connecting seat 7133 for mounting or supporting radar and/or cameras. By way of example and not limitation, the flight controller described above may also be mounted on the mounting surface of the connecting seat 7133. The connector 7133 is also configured to connect to the main body 50 of the drone, thereby providing support for the winch assembly 71 and providing tension for the traction rope 91.

In the traction assembly 70 of this disclosure, the traction rope 91 can pass between the third support 7132 of the outer frame 713 and the second support 7122 of the second rotating member 712. Thus, when the traction rope 91 is extended or retracted, the second support 7122 and the third support 7132 act as guides, reducing the friction of the traction rope 91. Furthermore, the first support 7112, the second support 7122, and the third support 7132 allow the traction rope 91 to maintain a relatively fixed direction during its extension, preventing it from randomly winding or crossing on the surface of the traction rope shaft 7113, thereby reducing the possibility of knotting.

As shown in Figure 25, an outer bearing 714 is symmetrically installed between the outer frame 713 and the second rotating member 712, and an inner bearing 715 is symmetrically installed between the second rotating member 712 and the first rotating member 711. This allows for smooth relative rotation between the outer frame 713 and the second rotating member 712, and between the first rotating member 711 and the second rotating member 712, ensuring that the traction rope 91 is wound around the traction rope shaft 7113 of the first rotating member 711. A first slot and a second slot for engaging the inner bearing 715 are respectively provided on the outer side wall of the first end plate 7111 and the inner side wall of the second end plate 7121. A third slot and a fourth slot for engaging the outer bearing 714 are respectively provided on the outer side wall of the second end plate 7121 and the inner side wall of the third end plate 7131. These slots help install and constrain the inner bearing 715 and the outer bearing 714.

Referring to Figures 13 and 14, the traction assembly 70 also includes a motor bracket 731 connected to the outer frame 713, on which a winch motor 73 can be mounted. The winch motor 73 can be configured to: maintain a constant torque to keep the tow rope 91 taut, thereby providing stable traction for the rear paraglider; or increase the torque rotation to cause the winch assembly 71 to retract the tow rope 91, reducing the distance between the paraglider and the towing drone 10; or decrease the torque rotation to cause the winch assembly 71 to release the tow rope 91, increasing the distance between the paraglider and the towing drone 10.

In some embodiments, the traction assembly 70 further includes an angle sensor (not shown). The angle sensor is configured to detect the angle of the support rod 722 in order to determine the relative position between the traction drone 10 and the paraglider.

Pull arm 40 for towing drone 10

Referring to Figures 2, 26, and 27, Figure 26 is a perspective view of the tension arm 40 shown in Figure 2, and Figure 27 is an exploded view of the tension arm 40 shown in Figure 26. The tension arm 40 may include: an inner arm 41 located in the middle; and two outer arms 42. The two outer arms 42 are foldably connected to both sides of the inner arm 41. One of the two tension rotors 223 can be connected to one of the two outer arms 42, and the other of the two tension rotors 223 can be connected to the other of the two outer arms 42.

The inner arm 41 can be connected to the main body of the towing drone 10 or the support frame 60. In some embodiments, the inner arm 41 can also be mounted on a dedicated tension arm 40 mounting plate. The tension arm 40 mounting plate can be disposed, for example, on the support frame 60, and this application is not limited thereto.

In some embodiments, referring to Figures 27 and 28, Figure 28 is a perspective view of the body connection joint 43. The inner arm 41 can be connected to the drone body 50 or support frame 60 of the towing drone 10 via two symmetrically distributed body connection joints 43. The body connection joint 43 includes an integrally formed body connection sleeve 431 and a tension arm connection sleeve 432. The body connection sleeve 431 and the tension arm connection sleeve 432 can be perpendicular to each other. The circular tube structure on the drone body 50 or support frame 60 can pass through the body connection sleeve 431, and the inner arm 41 can pass through the tension arm connection sleeve 432, thereby fixing the drone body 50 or support frame 60 and the inner arm 41 together via the body connection joint 43.

In some embodiments, the end of the body connecting sleeve 431 away from the tension arm connecting sleeve 432 has symmetrically distributed body connecting edges 4312. The tension arm connecting sleeve 432 has a tension arm connecting edge 4321 at one end of the body connecting sleeve 431. Adjacent tension arm connecting edges 4321 can be connected together by fasteners. Adjacent body connecting edges 4312 can be connected together by fasteners. Both the tension arm connecting edge 4321 and the body connecting edge 4312 are slotted structures, which can be tightened with fasteners to fix the inserted round tube structure and the inner arm 41 portion, respectively. The outer wall of the tension arm connecting sleeve 432 may have a positioning hole, in which a positioning bolt assembly is detachably installed to ensure that the inner arm 41 cannot rotate around its axis after installation, achieving precise fixation of the body connecting joints 43 on both sides and the inner arm 41.

Referring to Figures 29, 30, and 31, Figure 29 is an exploded view of the outer arm 42 shown in Figure 27, Figure 30 is a perspective view of the inner connector 442 shown in Figure 29, and Figure 31 is a perspective view of the outer connector 441 shown in Figure 29. The two sides of the inner arm 41 can be connected to the outer arm 42 via connector assemblies 44. Connector assembly 44 may include an outer connector 441, an inner connector 442, and a retaining ring assembly 443. The inner connector 442 can be configured to be sleeved on the outside of the inner arm 41. The outer connector 441 can be configured to be sleeved on the outside of the outer arm 42. The inner connector 442 and the outer connector 441 can be connected together via the retaining ring assembly 443. The inner connector 442 can be fixed to the inner arm 41 by bonding, integral molding, or other means. The outer connector 441 can be fixed to the outer arm 42 by bonding, integral molding, or other means.

In some embodiments, one of the inner connector 442 and the outer connector 441 includes an integrally formed double ear 4421 and a positioning block 4422 at its end, and the other includes an integrally formed single ear 4411 at its end, defining a positioning groove 4412. The double ear 4421 and the single ear 4411 are configured to be connected by a hinge axis. Folding between the inner arm 41 and the outer arm 42 is achieved by rotating the double ear 4421 and the single ear 4411 on the hinge axis. The positioning block 4422 and the positioning groove 4412 can be configured to cooperate with each other, thereby facilitating rapid positioning and installation of the inner arm 41 and the outer arm 42 in the telescopic state. The double ear 4421 and the positioning block 4422 can be distributed opposite each other. The positioning groove 4412 can be, for example, a square opening structure, and the positioning block 4422 can be, for example, a cubic structure; this application does not impose specific limitations.

In some embodiments, the inner connector 442 includes two ears 4421 and a positioning block 4422, and the outer connector 441 includes a single ear 4411 and a positioning groove 4412, as an example for illustration. Referring to FIG32, FIG32 shows a longitudinal cross-sectional view of the connection between the outer arm 42 and the inner arm 41. Specifically, the outer side wall of the end of the inner connector 442 away from the inner arm 41 is provided with a first thread. The retaining ring assembly 443 includes an outer retaining ring 4431 and an inner retaining ring 4432. The outer retaining ring 4431 is sleeved on the outer periphery of the outer connector 441. The inner side of the end of the outer retaining ring 4431 away from the outer connector 441 is provided with a second thread. The second thread can be engaged with the first thread. The outer connector 441 has an inwardly protruding annular structure on the inner side wall of the end away from the second thread, and an outwardly protruding annular structure on the outer side wall of the outer connector 441. Once the outer retaining ring 4431 is threaded in, the inwardly protruding annular structure contacts the outwardly protruding annular structure, and the threaded connection secures the inner connector 442 and the outer connector 441. The end of the outer retaining ring 4431 furthest from the outer connector 441 is threadedly connected to the inner retaining ring 4432. The other end of the inner retaining ring 4432 is fitted onto the inner connector 442, and the inner wall of the inner retaining ring 4432 also has an inwardly protruding annular structure, which cooperates with the outwardly protruding annular structure on the outer wall of the inner connector 442 to secure the outer retaining ring 4431.

In this disclosed tension arm 40, when it needs to be extended, the double ears 4421 on the inner connector 442 and the single ear 4411 on the outer connector 441 can be hinged together via a hinge shaft. The positioning block 4422 can be engaged in the positioning groove 4412, thereby achieving a connection where the inner arm 41 and the outer arm 42 are on the same straight line. Finally, the outer retaining ring 4431 is threadedly fixed to the thread on the inner connector 442, and the inner retaining ring 4432 is threadedly connected to the external thread on the outer retaining ring 4431, thus achieving a connection and fixation between the inner arm 41 and the outer arm 42. When the tension arm 40 needs to be folded, in the straightened state, first release the inner retaining ring 4432 from fixing the outer retaining ring 4431, then release the outer retaining ring 4431 from fixing the inner connector 442, and finally, rotate the double ear 4421 or the single ear 4411 around the hinge shaft so that the positioning block 4422 disengages from the positioning groove 4412, and the inner arm 41 and the outer arm 42 can be in a folded state.

Support frame 60 for towing UAV 10

Referring to Figures 2 and 33, Figure 33 shows a perspective view of the support frame 60 in Figure 2. The support frame 60 is mounted on the lower end of the towing drone 10 body. The support frame 60 may include: a plurality of longitudinal beams 61, one or more crossbeams 62, and one or more base frames 63. The plurality of longitudinal beams 61 may be arranged vertically or at an angle. At least two of the plurality of longitudinal beams 61 are connected together by at least one of the one or more crossbeams 62. The base frame 63 is connected to at least one of the plurality of longitudinal beams 61 on the side away from the towing drone 10 body.

In some embodiments, the base 63 can be a skid. When the towing drone 10 lands, there will be a forward descent speed and force. The skid provides stability adjustment during landing. When the towing drone 10 lands at an angle, the end of the skid lands first, so that under the action of the gravity of the towing drone 10, the end that touches the ground acts as a fulcrum, and the towing drone 10 will quickly adjust its attitude to be horizontal.

In some embodiments, the support frame 60 further includes one or more pulleys (not shown) disposed on the side of the base frame 63 away from the main body of the towing drone 10 to facilitate the handling of the towing drone 10.

In some embodiments, the plurality of longitudinal beams 61 may include symmetrically distributed longitudinal beams 61. A plurality of crossbeams 62 are installed at equal intervals between the longitudinal beams 61. The crossbeams 62 are arranged between the longitudinal beams 61 to improve the stability of the longitudinal beams 61 under compressive loads and prevent the longitudinal beams 61 from buckling.

In some embodiments, a battery pack 81 may be installed between the longitudinal beams 61. This allows the robust structure of the support frame 60 to support the battery pack 81, ensuring a secure connection. Furthermore, mounting the battery pack 81 on the crossbeams 62 frees up internal space for other equipment, enhancing the versatility of the towing drone 10. Installing the battery pack 81 between the crossbeams 62 results in a weight distribution closer to the center of gravity of the towing drone 10, reducing torque interference during flight and improving the stability and maneuverability of the towing drone 10. With the battery pack 81 exposed externally, it can be inspected, repaired, or replaced without disassembling the fuselage, reducing maintenance costs and technical barriers. The battery pack 81 can be secured with a quick-release device, facilitating rapid battery replacement by ground personnel, shortening downtime, and making it suitable for missions requiring frequent charging. During flight, airflow directly passes over the battery surface, enhancing heat dissipation and preventing the high-temperature environment inside the fuselage from affecting battery life. As the lowest structural element of the towing drone 10, the support frame 60 can preferentially absorb impact energy during a collision. The battery pack 81, supported by the crossbeams 62, is positioned low and independently fixed, reducing the risk of damage to the battery from other components of the fuselage. Finally, the battery pack 81 is installed between the crossbeams 62 of the support frame 60, away from the propeller airflow area, reducing the impact of airflow disturbances on flight attitude, especially during hovering or low-speed flight.

In some embodiments, referring to Figures 34 and 35, Figure 34 shows a perspective view of the connecting joint of the support frame 60, and Figure 35 shows a perspective view of the tee connector 65. The upper end of the longitudinal beam 61 can be connected to the main body of the towing drone 10 via the connecting joint of the support frame 60. The longitudinal beam 61 can be connected to the base frame 63 or the crossbeam 62 via the tee connector 65.

The fuselage connection joint may include a beveled structure 641 located at the top and a longitudinal beam mating sleeve 642 integrally formed with the beveled structure 641. A weight-reducing hole may be formed at the center of the upper end face of the beveled structure 641 to reduce structural weight. Several studs are symmetrically installed around the outer periphery of the weight-reducing hole. The studs are connected to the main body of the towing drone 10 via nuts. In addition to bearing the pressure of the support frame 60, the studs also bear the bending moment under unbalanced forces on the support frame 60. The longitudinal beam mating sleeve 642 has symmetrically formed first slots in its longitudinal direction. Considering assembly deformation and tolerances, the first slots facilitate the quick insertion of the upper part of the longitudinal beam 61 into the longitudinal beam mating sleeve 642.

Referring to Figures 36, 37, 38, and 39, Figure 36 shows a perspective view of a towing drone 10 according to a second embodiment of the present disclosure, Figure 37 is another perspective view of the towing drone 10 shown in Figure 36, Figure 38 is an enlarged view of portion E in Figure 37, and Figure 40 is yet another perspective view of the towing drone 10 shown in Figure 36. As shown, a support frame 60 may be provided with a tension arm 40 mounting plate, and the tension arm 40 or its inner arm 41 described above may be mounted on the tension arm 40 mounting plate. The towing drone 10 may include a flight attitude detection component. The flight attitude detection component may be disposed inside the tension arm 40.

In some embodiments, the plurality of vertical rotors 211 may include a pair of vertical rotors 211 arranged symmetrically. As shown in Figure 36, four vertical rotors 211 are arranged, with two diagonally opposite rotors forming a pair. The distance between the two pull rotors 223 may be in the range of 1.5 to 2 times the distance between the pairs of rotors. A longer pull arm 40 can increase the torque of the pull force generated by the pull rotors 223, making the towing drone 10 more stable when towing heavy objects. When the towing drone 10 is subjected to external disturbances (such as wind), the longer pull arm can help maintain balance and reduce fluctuations in flight attitude.

In some embodiments, the power supply 80 may further include a battery pack holder 83 for placing and/or storing battery packs. The battery pack holder 83 may be connected to the support frame 60. One or more battery packs 81 may be disposed in the battery pack holder 83. The battery packs 81 are used to provide power to the towing drone 10.

Specifically, the battery pack holder 83 may include a base plate 831 configured to define a space for accommodating the battery pack 81, two opposing fixing plates 832, and a side plate 833. The base plate 831 may be rectangular, rhomboid, or similar in shape. The two fixing plates 832 may be fixedly connected to a support frame 60. The fixing plates 832 may be connected, for example, to a longitudinal beam 61 of the support frame 60. The base plate 831 is connected to the two fixing plates 832. The side plate 833 is rotatably connected to the base plate 831. The side plate 833 is detachably connected to at least one of the two fixing plates 832. The battery pack 81 may be disposed within the space for accommodating the battery pack 81.

Specifically, the base plate 831 is connected to two fixed plates 832 disposed on the support frame 60 at one set of parallel edges, and a side plate 833 is rotatably connected to the base plate 831 at another set of parallel edges. The side plate 833 is detachably connected to at least one of the two fixed plates 832 by a clamping assembly 835.

In this embodiment, the battery pack holder 83 can adopt a modular structure. The base plate 831 and the side plate 833 can be connected by a rotatable method such as a hinge. The installation and removal of the side plate 833 and the fixing plate 832 are realized by using the clamping assembly 835. The installation and removal are simpler and more convenient, and the effect of quick installation and quick removal can be achieved.

The two fixing plates 832 are fixedly connected by at least one reinforcing rib. One or more reinforcing ribs are also provided between the two fixing plates 832. The two ends of the reinforcing ribs can be connected to the bottom of the two fixing plates 832 by means of threaded connections or other methods. By providing reinforcing ribs, the supporting effect of the base plate 831 can be improved, and the stability of the battery pack mounting bracket 83 can be enhanced.

As shown in Figures 37 and 38, the clamping assembly 835 includes a guide block 8351, a clamping rod 8352, and a spring 8353. The guide block 8351 can be mounted on the side plate 833. The clamping rod 8352 passes through the guide block 8351 and is slidably connected to the fixed plate 832. One end of the spring 8353 is connected to the guide block 8351, and the other end is connected to the clamping rod 8352. By utilizing the interaction between the clamping rod 8352 and the spring 8353, the connection between the side plate 833 and the fixed plate 832 can be quickly achieved. By pulling the clamping rod 8352 to compress the spring 8353, the battery pack holder 83 can be quickly unlocked. Overall, the assembly and unlocking of the battery pack holder 83 can be quickly achieved, facilitating the maintenance of the battery pack 81 stored in the battery pack holder 83.

In some embodiments, as shown in FIG36, the battery pack mounting rack 83 further includes a top plate 834. The top plate 834 is connected to the side of the two fixing plates 832 away from the bottom plate 831. The top plate 834 and the fixing plates 832 can be connected by an L-shaped block. The top plate 834 can limit the battery pack 81 to prevent the battery pack 81 from falling off when the towing drone 10 is tilted during flight. The L-shaped block can achieve a secure connection between the top plate 834 and the fixing plates 832.

The battery pack holder 83 shown in Figures 36-39 can be incorporated into the towing drone 10 described in conjunction with Figures 2-35, specifically mounted on the support frame 60 of the towing drone 10.

In some embodiments, the base frame 63 of all support frames 60 described in this disclosure may be at least partially fitted with a rubber sleeve 67. By providing the rubber sleeve 67, vibrations generated during towing of the towing drone 10 can be absorbed and reduced, the impact on the main body and electronic equipment of the towing drone 10 can be reduced, and the service life of the towing drone 10 can be extended.

Referring to Figures 40-42, Figure 40 shows a perspective view of a towing drone 10 according to a third embodiment of the present disclosure, Figure 41 shows another perspective view of the towing drone 10 described in Figure 40, and Figure 42 shows an enlarged view of portion F in Figure 41. The towing drone 10 may include a buffer device 55. The buffer device 55 may be located on the same side of the main body of the towing drone 10 as one or more support frames 60. The buffer device 55 may include a telescopic rod 551, a telescopic spring 552, and a support base 553. The telescopic spring 552 may be sleeved on the outer periphery of the telescopic rod 551. The support base 553 may be connected to a first end of the telescopic rod 551 away from the main body of the towing drone 10.

In some embodiments, the buffer device 55 further includes a motor mounted to the body of the towing drone 10 or the support frame 60. The output end of the motor is connected to the second end of the telescopic rod 551 opposite to the first end.

Specifically, a detachable buffer device 55 is installed at the bottom of the main body of the towing drone 10. The buffer device 55 includes a buffer motor 554. The buffer motor 554 is fixedly installed on the bottom end face of the main body of the towing drone 10. A telescopic rod 551 is installed at the center of the bottom end face of the main body of the towing drone 10. A support base 553 is fixedly installed at the bottom end of the telescopic rod 551. The support base 553 can be, for example, a cross-shaped support base 553, a circular support base 553, or a support base 553 of other shapes. The towing assembly 70 can be fixedly installed on the upper surface of the cross-shaped support base 553.

In this embodiment, by installing the buffer device 55 on the bottom end face of the towing drone 10 body, and installing the telescopic rod 551 of the buffer device 55 on the bottom of the fuselage, which has a telescopic function, it can provide cushioning when the towing drone 10 lands, reducing impact and damage. The telescopic spring 552 is sleeved on the outside of the telescopic rod 551, further enhancing the cushioning effect and protecting the towing drone 10 from damage during landing. The support base 553 is installed at the bottom end of the telescopic rod 551, providing a stable support structure.

In some embodiments, the second direction Y of the tension rotor 223 is perpendicular to the first direction X of the vertical rotor 211, forming a 90° angle. The angle between the second direction Y and the first direction X may also be in the range of 90° to 70°, or in the range of 85° to 70°, or in the range of 80° to 70°, or in the range of 80° to 75°. In some embodiments, a connecting seat 7133 is bolted to the bottom of the buffer motor 554. A mounting seat is sleeved on the outside of the telescopic end of the telescopic spring 552. One end of the telescopic spring 552 is connected to the center of the outer wall of the connecting seat 7133, and the other end of the telescopic spring 552 is fixedly connected to the mounting seat. In this embodiment, the buffer motor 554 is located on the bottom end face of the fuselage and serves as the driving component of the buffer device 55. A connecting seat 7133 is bolted to the bottom of the buffer motor 554, acting as a connection between the buffer motor 554 and the telescopic rod 551. The center of the outer wall of the connecting seat 7133 is connected to one end of the telescopic spring 552, allowing the telescopic spring 552 to deform during the landing of the towing drone 10, thereby providing a buffering effect. In some embodiments, grounding plates 556 are fixedly installed at the four corners of the bottom of the support base 553. The grounding plates 556 increase the stability of the towing drone 10 during landing. When the towing drone 10 lands, the grounding plates 556 first contact the ground, dispersing the impact force of the landing through their large contact area, thus improving the landing stability of the towing drone 10. The grounding plates 556 can be made of a non-slip material to ensure that the towing drone 10 does not slide or tip over due to slippery or tilted ground during landing. The buffer device 55 can also be incorporated into the embodiment described with reference to Figures 1-39. Specifically, the buffer device 55 can be detachably mounted to the bottom of the main body of the towing drone 10 described above.

In some embodiments, the traction assembly 70 is mounted on the side of the support base 553 facing the main body of the traction drone 10. Specifically, the traction end of the traction assembly 70 is connected to the center of the cross support base 553.

The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it.

Claims (37)

A towing drone, characterized in that it comprises: Multiple vertical rotors, wherein the rotation axis of each vertical rotor is a first direction; Two thrust rotors, wherein the rotation axis of each thrust rotor is in a second direction, and the angle between the second direction and the first direction is in the range of 90° to 70°, or in the range of 85° to 70°, or in the range of 80° to 70°, or in the range of 80° to 75°; and The traction assembly is configured to connect to the traction rope. The towing drone according to claim 1 is characterized in that, The traction assembly is also configured to store and/or retract the traction rope. The towing drone according to claim 1 or 2, characterized in that it further comprises: A drone body, wherein each of the plurality of vertical rotors is mounted on the drone body, and at least one of a flight controller, radar, navigation equipment, data transmission equipment, altitude sensor, image transmission equipment, and antenna is disposed inside or outside the drone body; and One or more support frames are connected to the main body of the drone. The towing drone according to claim 3 is characterized in that, The towing drone also includes a lifting arm; the lifting arm is connected to the drone body or the support frame; and The two tension rotors are symmetrically fixed to the tension arm. The towing drone according to claim 4 is characterized in that, The extension direction of the tension arm is parallel to an axis of symmetry of the drone body. The towing drone according to claim 4 or 5 is characterized in that, The one or more support frames include two support frames spaced apart along a third direction; and The extension direction of the tension arm is parallel to the third direction. The towing drone according to any one of claims 3-6 is characterized in that, The towing drone includes a buffer device located on the same side of the drone body as the one or more support frames; the buffer device includes a telescopic rod, a telescopic spring, and a support base, the telescopic spring being sleeved on the outer periphery of the telescopic rod, and the support base being connected to the first end of the telescopic rod away from the drone body. The towing drone according to claim 7 is characterized in that, The traction assembly is installed on the side of the support facing the main body of the UAV. The towing drone according to claim 7 or 8 is characterized in that, The buffer device also includes a motor mounted to the main body of the drone or the support frame, the output end of which is connected to the second end of the telescopic rod opposite to the first end. The towing drone according to any one of claims 4-9 is characterized in that, The support frame also includes a tension arm placement plate, on which the tension arm is mounted. The towing drone according to any one of claims 4-10 is characterized in that The towing drone further includes: a pull motor for each of the two pull rotors, and a flight attitude detection component disposed inside the pull arm; the flight attitude detection component is configured to detect the flight attitude of the towing drone and is connected to the flight controller; the pull motor is configured to be connected to the flight controller. The towing drone according to any one of claims 4-11 is characterized in that, The tension arm includes an inner arm and two outer arms, the two outer arms being foldably connected to both sides of the inner arm; One of the two pull rotors is connected to one of the two outer arms, and the other of the two pull rotors is connected to the other of the two outer arms. The towing drone according to claim 12 is characterized in that, The inner arm is connected to the drone body; or, the inner arm is connected to the support frame; or, when claim 12 is dependent on claim 10 or 11, the inner arm is mounted on the tension arm placement plate. The towing drone according to any one of claims 1-13 is characterized in that, The towing drone also includes a lifting arm configured to house the vertical rotors; the plurality of vertical rotors include a pair of vertical rotors arranged symmetrically at the center; the distance between two towing rotors is in the range of 1.5 to 2 times the distance between the pair of rotors. The towing drone according to any one of claims 4-14 is characterized in that, The towing drone also includes a power source, which is located on the side of the towing arm away from the drone body. The towing drone according to claim 15 is characterized in that, The power source includes a battery pack and a battery pack holder; The battery pack placement rack is mounted on the support frame and located on the side of the tension arm away from the main body of the drone; or, the battery pack placement rack is suspended on the tension arm and located on the side of the tension arm away from the main body of the drone. The towing drone according to claim 15 is characterized in that, The battery pack mounting rack includes a base plate configured to define a battery pack accommodating space, two oppositely arranged fixing plates, and a side plate; the two fixing plates are connected to the support frame; the base plate is connected to the two fixing plates; the side plate is rotatably connected to the base plate; the side plate is detachably connected to at least one of the two fixing plates; the battery pack is disposed within the battery pack accommodating space. The towing drone according to claim 17 is characterized in that, The two fixing plates are fixedly connected by at least one reinforcing rib; and/or The side plate is detachably connected to at least one of the two fixed plates via a clamping assembly; the clamping assembly includes a guide block, a clamping rod, and a spring; the guide block is fixed to the side plate; the clamping rod passes through the guide block and is slidably connected to the fixed plate; one end of the spring is connected to the guide block, and the other end is connected to the clamping rod. The towing drone according to claim 17 is characterized in that, The battery pack rack also includes a top plate; the top plate is connected to the side of the two fixing plates away from the bottom plate. The towing drone according to any one of claims 1-19 is characterized in that, The traction assembly includes a winch assembly, a support rod assembly, and a winch motor; the winch assembly is configured to wind up and unwind the traction rope; the support rod assembly is mounted on the surface of the winch assembly away from the main body of the UAV; and the winch motor is configured to drive at least a portion of the winch assembly to rotate. The towing drone according to claim 20 is characterized in that, The support rod assembly includes a support rod base, a support rod, and a guide head; one end of the support rod is rotatably connected to the support rod base, and the other end of the support rod is connected to the guide head. The towing drone according to claim 21 is characterized in that, The guide head includes: two opposing clamping plates and a ball head rotatably disposed between the two clamping plates; the ball head defines a guide hole; the guide hole is configured to allow a traction rope from the winch assembly to pass through it; the two clamping plates together define a mounting hole in which the support rod engages. The towing drone according to any one of claims 20-22 is characterized in that, The winch assembly comprises, from the inside out, a first rotating component, a second rotating component, and an outer frame; The first rotating component includes: two first end plates, a plurality of first supports, and a traction rope shaft; the two first end plates are arranged opposite to each other and are connected to each other through the plurality of first supports; the traction rope shaft is disposed within the plurality of first supports and is used to connect the traction rope; the winch motor is configured to drive the traction rope shaft to rotate. The second rotating member includes: two second end plates and a plurality of second pillars; the two second end plates are disposed opposite to each other and are interconnected by the plurality of second pillars; and The outer frame includes two third end plates and a plurality of third pillars; the two third end plates are disposed opposite to each other and are interconnected by the plurality of third pillars; the outer frame is configured to securely connect the winch assembly to other parts of the traction drone. The towing drone according to claim 23 is characterized in that, The two third end plates are rotatably connected to the two second end plates via outer bearings; the two second end plates are rotatably connected to the two first end plates via inner bearings. The towing drone according to claim 24 is characterized in that, The outer side wall of the first end plate and the inner side wall of the second end plate respectively define a first slot and a second slot for engaging the inner bearing; the outer side wall of the second end plate and the inner side wall of the third end plate respectively define a third slot and a fourth slot for engaging the outer bearing. The towing drone according to any one of claims 21-25 is characterized in that, The support rod base includes a base joint and a support rod pivot; the support rod pivot is configured to connect the support rod and is rotatably connected to the base joint. The towing drone according to claim 26 is characterized in that, The base connector includes a base and vertical plates disposed opposite to each other on both sides of the base. The vertical plates are provided with rotating holes for the support rod shaft to pass through. The towing drone according to any one of claims 21-27 is characterized in that, The traction assembly also includes an angle sensor configured to detect the angle of the support rod. The towing drone according to any one of claims 4-28 is characterized in that, The traction drone also includes a pulling unit; the pulling unit includes a pulling motor bracket, a pulling motor, and the pulling rotor; the pulling motor bracket is sleeved on the pulling arm; the pulling motor is mounted on the pulling motor bracket; the output end of the pulling motor is connected to the pulling rotor. The towing drone according to any one of claims 12-28 is characterized in that, The outer arm is connected to the inner arm via a connector assembly; the connector assembly includes an outer connector, an inner connector, and a retaining ring assembly; the inner connector is configured to be sleeved on the outside of the inner arm; the outer connector is configured to be sleeved on the outside of the outer arm; the inner connector and the outer connector are connected by the retaining ring assembly. The towing drone according to claim 30 is characterized in that, One of the inner connector and the outer connector includes two lugs, and the other includes a single lug; the two lugs and the single lug are configured to be connected by a hinge shaft; and/or One of the inner connector and the outer connector includes a positioning block, and the other defines a positioning groove; the positioning block and the positioning groove are configured to cooperate with each other. The towing drone according to claim 30 or 31 is characterized in that, The retaining ring assembly includes an inner retaining ring and an outer retaining ring; the inner retaining ring is configured to be sleeved on the outer periphery of the inner connector; the outer retaining ring is configured to be sleeved on the outer periphery of the outer connector; the end of the outer retaining ring away from the outer connector is fixed to the end of the inner retaining ring away from the inner connector. The towing drone according to any one of claims 3-32 is characterized in that, The support frame includes: multiple longitudinal beams, one or more transverse beams, and one or more base frames; the multiple longitudinal beams are arranged vertically or at an angle; at least two of the multiple longitudinal beams are connected together by at least one of the one or more transverse beams; the base frame is connected to at least one of the multiple longitudinal beams on the side away from the main body of the UAV. The towing drone according to claim 33 is characterized in that, The support frame also includes one or more pulleys disposed on the side of the base frame away from the main body of the drone. The towing drone according to any one of claims 4-34 is characterized in that, The traction assembly is connected to the middle of the pulling arm. A traction system, comprising: The towing drone according to any one of claims 1-35; and An unpowered aircraft, configured to be connected to the towed drone via a tow rope. The traction system according to claim 36 is characterized in that, The unpowered aircraft is a paraglider.