CN111977011B - Throwing device for multi-rotor aircraft and control method thereof - Google Patents
Throwing device for multi-rotor aircraft and control method thereof Download PDFInfo
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- CN111977011B CN111977011B CN202010919552.8A CN202010919552A CN111977011B CN 111977011 B CN111977011 B CN 111977011B CN 202010919552 A CN202010919552 A CN 202010919552A CN 111977011 B CN111977011 B CN 111977011B
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- aerial vehicle
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000001179 sorption measurement Methods 0.000 claims abstract description 12
- 239000002184 metal Substances 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 10
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims 4
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000002421 cell wall Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 238000001816 cooling Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
- B64F1/06—Launching or towing gear using catapults
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention discloses a throwing device for a multi-rotor aircraft and a control method thereof, wherein the throwing device comprises a connecting seat and a control device, the connecting seat is provided with more than one guide rail, the guide rails are distributed in an annular array and are provided with a launching bin matched with the multi-rotor unmanned aerial vehicle, the guide rail is provided with a self-driven sliding block assembly for conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin, the self-driven sliding block assembly is provided with a dovetail tenon, the guide rail is provided with a vertical guide groove matched with the dovetail tenon, the front surfaces of the self-driven sliding block assemblies are respectively provided with a catapulting device for popping the multi-rotor unmanned aerial vehicle, and the catapulting device is provided with an adsorption mechanism for adsorbing the multi-rotor unmanned aerial vehicle in conveying; this a put in device for many rotor crafts can put in a plurality of unmanned aerial vehicle in proper order, in the occasion that needs many rotor unmanned aerial vehicle, can reduce the demand to the place of taking off, reduces the time of putting.
Description
Technical Field
The invention relates to a throwing device for a multi-rotor aircraft and a control method thereof.
Background
The multi-rotor unmanned aerial vehicle is a special unmanned helicopter with three or more rotor shafts. Which is rotated by a motor on each shaft to drive the rotor, thereby generating lift thrust. The collective pitch of the rotor is fixed and not as variable as in a typical helicopter. The relative rotation speed among different rotors can be changed, so that the single-shaft propulsion force can be changed, and the running track of the aircraft can be controlled. The method has strong operability, can vertically take off, land and hover, and is mainly applicable to low-altitude, low-speed and task types with vertical take off, land and hover requirements.
At present, a plurality of multi-rotor unmanned aerial vehicles often need to be put in the time of linkage work, so that the unmanned aerial vehicle has great demands on the ground, and therefore, a throwing device for the multi-rotor unmanned aerial vehicles is necessary to be provided, so that the demands on the take-off ground are reduced, and the putting time is shortened.
Disclosure of Invention
The invention aims to solve the technical problem of providing a throwing device for a multi-rotor aircraft, which can throw a plurality of unmanned aerial vehicles in sequence, and can reduce the requirement on a take-off place and the placing time in occasions where a plurality of multi-rotor unmanned aerial vehicles are needed.
In order to solve the problems, the invention adopts the following technical scheme:
the utility model provides a put in device for many rotor crafts, includes connecting seat and controlling means, be provided with the guide rail on the connecting seat, the guide rail is provided with more than one, the guide rail is annular array distribution and is formed with the launch bin that pairs with many rotor unmanned aerial vehicle, guide rail and connecting seat fixed connection, be provided with on the guide rail and be used for carrying many rotor unmanned aerial vehicle to the self-driven slider subassembly on launch bin top, be provided with the dovetails on the self-driven slider subassembly, be provided with the vertical guide way that pairs with the dovetails on the guide rail, self-driven slider subassembly passes through vertical guide way sliding connection with the guide rail, self-driven slider subassembly is provided with more than one, self-driven slider subassembly openly all is provided with the catapulting device that pops up many rotor unmanned aerial vehicle, catapulting device is located the launch bin, be provided with the adsorption device who is arranged in adsorbing the transport on the catapulting device, self-driven slider subassembly, catapulting device and adsorption device all with controlling means electric connection.
Preferably, a first connecting ring and a second connecting ring are arranged above the connecting seat, the first connecting ring and the second connecting ring are fixedly connected with the guide rail, a retaining ring is arranged on the self-driving sliding block assembly, the self-driving sliding block assembly is fixedly connected with the retaining ring, a buffer rubber ring is arranged on the retaining ring, the stability of the guide rail can be further improved through the arrangement of the first connecting ring and the second connecting ring, the guide rail is prevented from being displaced, and meanwhile, the retaining ring is proportioned, so that the self-driving sliding block assembly of the same level can be kept to be consistent in height, and the operation is more stable.
As the preference, inlay on the interior anchor ring of first go-between has infrared emission pipe and infrared receiver tube, infrared receiver tube and controlling means electric connection, controlling means and first go-between fixed connection are through being provided with infrared emission pipe and infrared receiver tube, in case the infrared ray is shielded by many rotor unmanned aerial vehicle, infrared receiver tube is with information feedback for controlling means, can effectually promote degree of automation for the operation is more intelligent.
Preferably, the outer ring surface of the second connecting ring is provided with a first hinge joint, a second hinge joint and a third hinge joint, the first hinge joint, the second hinge joint and the third hinge joint are fixedly connected with the second connecting ring, connecting pins are arranged on the first hinge joint, the second hinge joint and the third hinge joint, the first hinge joint, the second hinge joint and the third hinge joint are respectively connected with the connecting pins on the first hinge joint, the second hinge joint and the third hinge joint in a rotating mode, the connecting pins and the second connecting ring form a tripod structure, a bottom plate is arranged below the connecting seat, a connecting column is arranged on the bottom plate, a connecting ball is arranged at the top end of the connecting column, a rotating hole matched with the connecting ball is formed in the connecting seat, the connecting column and the connecting seat are connected in a rotating mode through the connecting ball and the rotating hole, a rotatable structure is adopted, the direction of a transmitting bin can be changed according to actual requirements, and meanwhile, the tripod structure is arranged in a matching mode, good supporting effect can be provided, and stability during operation can be effectively guaranteed.
Preferably, the self-driven sliding block assembly comprises a sliding block body and a rack, wherein the dovetail and the sliding block body are integrally arranged, the dovetail is provided with a mounting groove, a mounting groove and a shaft hole, the mounting groove and the mounting groove are communicated through the shaft hole, the mounting groove is provided with two brushless motors, the brushless motors are horizontally oppositely arranged, driving gears matched with the rack are arranged in the mounting groove, the tail end of an output shaft of each brushless motor penetrates out of the shaft hole and is fixedly connected with the driving gears in the mounting groove, the rack is tightly attached to the bottom of a vertical guide groove and is electrically connected with a guide rail bolt, the brushless motors are electrically connected with a control device in a gear transmission mode, good stability is achieved, the brushless motors are mounted in a horizontally oppositely arranged mode, good gravity parallelism can be guaranteed, good power can be provided, and meanwhile, the independent driving structure enables the self-driven sliding block assemblies of different levels to have little mutual influence.
As the preference, be provided with the roller needle row between vertical guide way and the dovetail, roller needle row and guide rail fixed connection, the dovetail is hugged closely with the roller needle row, the drive gear both sides all are provided with turntable bearing, turntable bearing one side and drive gear fixed connection, turntable bearing another side and the cell wall fixed connection of mounting groove, the guide rail side is provided with the air inlet, the inlet port is provided with more than one, the inlet port is equidistant distribution, the inlet port is linked together with vertical guide way, through being provided with the roller needle row, can effectually reduce the frictional force of during operation, is provided with turntable bearing simultaneously, can guarantee the stability of gear operation, reduces the condition that the shake appears in the gear, can make the transportation work more stable when driving slider subassembly high-speed upward operation certainly in the configuration air inlet moreover can make external air can be pressed into vertical guide way, for brushless motor cooling.
Preferably, the ejection device comprises a carrier plate, a metal connecting sheet and a connecting rope body, the metal connecting sheet is embedded in the carrier plate, an insertion groove matched with the carrier plate is formed in the slider body, the carrier plate is rotationally connected with the slider body, a first electromagnet is embedded in the groove bottom of the insertion groove, a second electromagnet, a third electromagnet and a fourth electromagnet are arranged between the first electromagnet and the metal connecting sheet, the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are fixedly connected with the connecting rope body and form fan-shaped distribution, the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are electrically connected with the control device, a buffer silica gel layer is coated on the outer surfaces of the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet, a plurality of electromagnets are adopted to realize the ejection of the multi-rotor unmanned aerial vehicle, the ejection device is simple in structure and small in occupied space.
Preferably, the adsorption mechanism comprises an air pump and a sealing rubber ring, a negative pressure cavity is formed in the carrier plate, an air suction nozzle of the air pump is communicated with the negative pressure cavity, an air port is formed in one end of the carrier plate, the sealing rubber ring is fixedly connected with the carrier plate and surrounds the air port, the air pump is electrically connected with the control device, a rubber sleeve is wrapped on the outer side of the air pump, the adsorption mechanism is simple in structure and convenient to maintain, and meanwhile the rubber sleeve is wrapped on the outer side of the air pump, so that damage to the air pump caused by severe impact can be effectively avoided.
Preferably, the back of the rack is embedded with a magnet body, the driving gear is a ferrite stainless steel gear, and the magnet body is embedded on the back of the rack to absorb the driving gear, so that a certain positioning effect can be achieved on the self-driving sliding block assembly.
The invention also provides a control method of the throwing device for the multi-rotor aircraft, which comprises the following steps:
1) Sequentially placing the multi-rotor unmanned aerial vehicle on a sealing rubber ring of a carrier plate;
2) Starting an air pump through a control device to pump the negative pressure cavity into a negative pressure state, so that the multi-rotor unmanned aerial vehicle is adsorbed;
3) Starting a brushless motor through a control device, and rapidly conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin;
4) Once the infrared ray is shielded by many rotor unmanned aerial vehicle, the infrared ray receiver tube gives controlling means with information feedback, and controlling means stops brushless motor and air pump's work afterwards to start fourth electro-magnet, third electro-magnet, second electro-magnet and first electro-magnet in proper order, start the interval in proper order and be 0.25s, make the carrier plate embed into the embedded groove fast, lead to many rotor unmanned aerial vehicle to be thrown out the emission storehouse, accomplish the input of an unmanned aerial vehicle.
The beneficial effects of the invention are as follows: can stack many rotor unmanned aerial vehicle in proper order on the self-driven slider subassembly of different levels, use controlling means control a plurality of unmanned aerial vehicle to put in proper order, in the occasion that needs many rotor unmanned aerial vehicle, can reduce the demand to the place of taking off, reduce and put time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic overall structure of a launch device for a multi-rotor aircraft according to the present invention.
Fig. 2 is a schematic view of a partial structure of a launch device for a multi-rotor aircraft according to the present invention.
Fig. 3 is a perspective view of a self-driven slider assembly of a launch device for a multi-rotor aircraft according to the present invention.
Figure 4 is a cross-sectional view of a self-driven slider assembly of a launch device for a multi-rotor aircraft of the present invention.
In the figure:
1. a connecting seat; 2. a control device; 3. a guide rail; 4. a transmitting bin; 5. a self-driven slider assembly; 6. a dovetail; 7. a vertical guide groove; 8. an ejection device; 9. a first connection ring; 10. a second connecting ring; 11. a retaining ring; 12. an infrared ray receiving tube; 13. a first joint; 14. a second joint; 15. a connecting pin; 16. a bottom plate; 17. a connecting column; 18. a connecting ball; 19. a slider body; 20. a rack; 21. a placement groove; 22. a mounting groove; 23. a brushless motor; 24. a drive gear; 25. a roller pin row; 26. a turntable bearing; 27. an air inlet; 28. a carrier plate; 29. a metal connecting sheet; 30. connecting a rope body; 31. an insertion groove; 32. a first electromagnet; 33. a first electromagnet; 34. a third electromagnet; 35. a fourth electromagnet; 36. an air extracting pump; 37. sealing the rubber ring; 38. a magnet body.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the embodiments, it should be understood that the directions or positional relationships indicated by the terms "middle", "upper", "lower", "top", "right side", "left end", "above", "back", "middle", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience in describing the present invention, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention.
In this embodiment, if the connection or fixation between the components is not specifically described, the connection or fixation may be performed by a conventional manner such as bolting, pinning, bonding, or riveting, which are commonly used in the prior art, and thus, the description thereof will not be given in the examples.
Examples
As shown in fig. 1-4, a throwing device for a multi-rotor aircraft comprises a connecting seat 1 and a control device 2, wherein a guide rail 3 is arranged on the connecting seat 1, the guide rail 3 is provided with more than one, the guide rail 3 is distributed in an annular array and is provided with a launching bin 4 matched with the multi-rotor unmanned aerial vehicle, the guide rail 3 is fixedly connected with the connecting seat 1, a self-driven sliding block assembly 5 used for conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin 4 is arranged on the guide rail 3, a dovetail 6 is arranged on the self-driven sliding block assembly 5, a vertical guide groove 7 matched with the dovetail 6 is arranged on the guide rail 3, the self-driven sliding block assembly 5 and the guide rail 3 are in sliding connection through the vertical guide groove 7, the self-driven sliding block assembly 5 is provided with more than one, the self-driven sliding block assembly 5 is provided with a catapulting device 8 which pops the multi-rotor unmanned aerial vehicle out, the catapulting device 8 is positioned in the launching bin 4, an adsorption mechanism used for adsorbing the multi-rotor unmanned aerial vehicle in the conveying is arranged on the catapulting device 8, and the self-driven sliding block assembly 5, the self-driving sliding block assembly 8 and the self-driving device 2 are electrically connected with the adsorption device 2.
In this embodiment, the first connecting ring 9 and the second connecting ring 10 are disposed above the connecting seat 1, the first connecting ring 9 and the second connecting ring 10 are fixedly connected with the guide rail 3, the self-driving slider assembly 5 is provided with a retaining ring 11, the self-driving slider assembly 5 is fixedly connected with the retaining ring 11, and a buffer rubber ring (not shown) is disposed on the retaining ring 11, so that the stability of the guide rail 3 can be further improved through the configuration of the first connecting ring 9 and the second connecting ring 10, the guide rail 3 is prevented from being displaced, and meanwhile, the retaining ring 11 is proportioned, so that the self-driving slider assembly 5 of the same level can be kept in high consistency, and the operation is more stable.
In this embodiment, it has infrared emission pipe (not shown) and infrared receiver tube 12 to inlay on the interior anchor ring of first go-between 9, infrared receiver tube 12 and controlling means 2 electric connection, controlling means 2 and first go-between 9 fixed connection, through being configured with infrared emission pipe and infrared receiver tube 12, once the infrared is shielded by many rotor unmanned aerial vehicle, infrared receiver tube 12 is with the information feedback to controlling means 2, can effectually promote degree of automation for the operation is more intelligent.
In this embodiment, the outer ring surface of second go-between 10 is provided with first articulated joint 13, second articulated joint 14 and third articulated joint (not shown), first articulated joint 13, second articulated joint 14 and third articulated joint all with second go-between 10 fixed connection, all be provided with connecting leg 15 on first articulated joint 13, second articulated joint 14 and the third articulated joint, first articulated joint 13, second articulated joint 15 and third articulated joint all rotate with the connecting leg 15 on their each, connecting leg 15 and second go-between 10 constitute tripod structure, connecting seat 1 below is provided with bottom plate 16, be provided with spliced pole 17 on bottom plate 16, the spliced pole 17 top is provided with connecting ball 18, be provided with on connecting seat 1 with connecting ball 18 matched with rotation hole (not shown), spliced pole 17 and connecting seat 1 rotate through connecting ball 18 and rotation hole and are connected, have adopted rotatable structure, can change the directional structure that promotes the storehouse according to actual demand, and good stability when can guarantee the effective stability of tripod of the great support ratio of function simultaneously.
In this embodiment, the self-driven slider assembly 5 includes a slider body 19 and a rack 20, the dovetail 6 and the slider body 19 are integrally disposed, the dovetail 6 is provided with a mounting groove 21, a mounting groove 22 and a shaft hole (not shown), the mounting groove 21 and the mounting groove 22 are communicated through the shaft hole, the mounting groove 22 is provided with two brushless motors 23, the brushless motors 23 are horizontally disposed in opposite directions, a driving gear 24 matched with the rack 20 is disposed in the mounting groove 21, the tail end of an output shaft of the brushless motor 22 penetrates out of the shaft hole and is fixedly connected with the driving gear 24 in the mounting groove 21, the rack 20 is tightly attached to the bottom of the vertical guide groove 7 and is in bolted connection with the guide rail 3, the brushless motors 23 and the control device 2 are electrically connected in a gear transmission manner, good stability is achieved, the horizontally disposed brushless motors are mounted in a relatively good gravity parallel manner, good power is provided, and simultaneously, and the independent driving structure enables the self-driven slider assemblies to have very little influence on each other.
In this embodiment, dovetail 6 and vertical guide way 7 clearance fit, be provided with roller needle row 25 between vertical guide way 7 and the dovetail 6, roller needle row 25 and guide rail 3 fixed connection, dovetail 6 is hugged closely with roller needle row 25, drive gear 24 both sides all are provided with turntable bearing 26, turntable bearing 26 one side and drive gear 24 fixed connection, turntable bearing 26 another side and the cell wall fixed connection of mounting groove, guide rail 3 side is provided with air inlet 27, air inlet 27 is provided with more than one, the inlet is equidistant distribution, air inlet 27 is linked together with vertical guide way 7, through being provided with roller needle row 25, can effectually reduce the frictional force of during operation, is provided with turntable bearing 26 simultaneously, can guarantee the stability of gear operation, reduces the circumstances that the gear appears the shake, can make the transportation work more stable.
In this embodiment, the ejection device 8 includes a carrier plate 28, a metal connecting sheet 29 and a connection rope 30, the metal connecting sheet 29 is embedded in the carrier plate 28, an insertion groove 31 paired with the carrier plate 28 is provided on the slider 19, the carrier plate 28 is rotationally connected with the slider 19, a first electromagnet 32 is embedded on the bottom of the insertion groove 31, a second electromagnet 33, a third electromagnet 34 and a fourth electromagnet 35 are provided between the first electromagnet 32 and the metal connecting sheet 29, the first electromagnet 32, the second electromagnet 33, the third electromagnet 34 and the fourth electromagnet 35 are fixedly connected with the connection rope 30 and form a fan-shaped distribution, the first electromagnet 32, the second electromagnet 33, the third electromagnet 34 and the fourth electromagnet 35 are electrically connected with the control device 2, and a buffer silica gel layer (not shown) is coated on the outer surfaces of the first electromagnet 32, the second electromagnet 33, the third electromagnet 34 and the fourth electromagnet 35.
In this embodiment, the adsorption mechanism includes the aspiration pump 36 and the sealing rubber ring 37, the inside cavity that is of carrier plate 28 sets up and is formed with negative pressure chamber (not shown), the suction nozzle of aspiration pump 36 is linked together with the negative pressure chamber, carrier plate 28 one end is provided with the gas port (not shown), sealing rubber ring 37 and carrier plate 28 fixed connection and enclose the gas port setting, aspiration pump 36 and controlling means electric connection, aspiration pump 36 outward flange parcel has rubber sleeve (not shown), adsorption mechanism simple structure, maintenance is convenient, and the while is wrapped up at the aspiration pump outward flange and is had the rubber sleeve, can effectually avoid the aspiration pump to receive violent striking and lead to damaging.
In this embodiment, the magnet 38 is embedded on the back of the rack 20, and the driving gear is a ferritic stainless steel gear, and the magnet is embedded on the back of the rack, so that the function of adsorbing the driving gear can be achieved, and a certain positioning effect can be achieved on the self-driven sliding block assembly.
The invention also provides a control method of the throwing device for the multi-rotor aircraft, which comprises the following steps:
1) Sequentially placing the multi-rotor unmanned aerial vehicle on a sealing rubber ring of a carrier plate;
2) Starting an air pump through a control device to pump the negative pressure cavity into a negative pressure state, so that the multi-rotor unmanned aerial vehicle is adsorbed;
3) Starting a brushless motor through a control device, and rapidly conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin;
4) Once the infrared ray is shielded by many rotor unmanned aerial vehicle, the infrared ray receiver tube gives controlling means with information feedback, and controlling means stops brushless motor and air pump's work afterwards to start fourth electro-magnet, third electro-magnet, second electro-magnet and first electro-magnet in proper order, start the interval in proper order and be 0.25s, make the carrier plate embed into the embedded groove fast, lead to many rotor unmanned aerial vehicle to be thrown out the emission storehouse, accomplish the input of an unmanned aerial vehicle.
The beneficial effects of the invention are as follows: can stack many rotor unmanned aerial vehicle in proper order on the self-driven slider subassembly of different levels, use controlling means control a plurality of unmanned aerial vehicle to put in proper order, in the occasion that needs many rotor unmanned aerial vehicle, can reduce the demand to the place of taking off, reduce and put time.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any changes or substitutions that do not undergo the inventive effort should be construed as falling within the scope of the present invention.
Claims (6)
1. A put in device for many rotor crafts, its characterized in that: the automatic-driving unmanned aerial vehicle comprises a connecting seat and a control device, wherein a guide rail is arranged on the connecting seat, the guide rail is provided with more than one, the guide rail is distributed in an annular array and is provided with a transmitting bin matched with the multi-rotor unmanned aerial vehicle, the guide rail is fixedly connected with the connecting seat, a self-driving sliding block assembly used for conveying the multi-rotor unmanned aerial vehicle to the top end of the transmitting bin is arranged on the guide rail, a dovetail joint is arranged on the self-driving sliding block assembly, a vertical guide groove matched with the dovetail joint is arranged on the guide rail, the self-driving sliding block assembly is in sliding connection with the guide rail through the vertical guide groove, the self-driving sliding block assembly is provided with more than one, the front surface of the self-driving sliding block assembly is provided with an ejecting device for ejecting the multi-rotor unmanned aerial vehicle, the ejecting device is positioned in the transmitting bin, an adsorption mechanism used for adsorbing the multi-rotor unmanned aerial vehicle in conveying is arranged on the ejecting device, and the self-driving sliding block assembly, the ejecting device and the adsorption mechanism are electrically connected with the control device;
the self-driven sliding block assembly comprises a sliding block body and a rack, wherein the dovetail and the sliding block body are integrally arranged, a mounting groove and a shaft hole are formed in the dovetail, the mounting groove and the mounting groove are communicated through the shaft hole, two mounting grooves are formed in the mounting groove, brushless motors are arranged in the mounting groove in a horizontally opposite mode, driving gears matched with the rack are arranged in the mounting groove, the tail end of an output shaft of the brushless motor penetrates out of the shaft hole and is fixedly connected with the driving gears in the mounting groove, the rack is tightly attached to the bottom of a vertical guide groove and is connected with a guide rail bolt, and the brushless motors are electrically connected with a control device;
the ejection device comprises a carrier plate, a metal connecting sheet and a connecting rope body, wherein the metal connecting sheet is embedded in the carrier plate, an insertion groove matched with the carrier plate is formed in the slider body, the carrier plate is rotationally connected with the slider body, a first electromagnet is embedded on the bottom of the insertion groove, a second electromagnet, a third electromagnet and a fourth electromagnet are arranged between the first electromagnet and the metal connecting sheet, the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are fixedly connected with the connecting rope body and form fan-shaped distribution, the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are electrically connected with the control device, and buffer silica gel layers are coated on the outer surfaces of the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet;
the adsorption mechanism comprises an air pump and a sealing rubber ring, a negative pressure cavity is formed in the support plate, an air suction nozzle of the air pump is communicated with the negative pressure cavity, an air port is formed in one end of the support plate, the sealing rubber ring is fixedly connected with the support plate and surrounds the air port, the air pump is electrically connected with the control device, and a rubber sleeve is wrapped on the outer side of the air pump.
2. A launch device for a multi-rotor aircraft according to claim 1, characterized in that: the connecting seat top is provided with first go-between and second go-between, first go-between and second go-between all with guide rail fixed connection, be provided with the holding ring on the self-driven slider subassembly, self-driven slider subassembly and holding ring fixed connection, be provided with the buffer rubber circle above the holding ring.
3. A launch apparatus for a multi-rotor aircraft according to claim 2 wherein: the infrared transmitting tube and the infrared receiving tube are embedded on the inner ring surface of the first connecting ring, the infrared receiving tube is electrically connected with the control device, and the control device is fixedly connected with the first connecting ring.
4. A launch apparatus for a multi-rotor aircraft according to claim 3 wherein: the outer ring surface of second go-between is provided with first articulated joint, second articulated joint and third articulated joint, first articulated joint, second articulated joint and third articulated joint all with second go-between fixed connection, all be provided with the connecting leg on first articulated joint, second articulated joint and the third articulated joint, first articulated joint, second articulated joint and third articulated joint all rotate with the connecting leg on their each and are connected, connecting leg and second go-between constitute tripod structure, the connecting seat below is provided with the bottom plate, be provided with the spliced pole on the bottom plate, the spliced pole top is provided with the spliced ball, be provided with the rotation hole that matches with the spliced ball on the connecting seat, spliced pole and connecting seat pass through spliced ball and rotation hole rotation connection.
5. A launch apparatus for a multi-rotor aircraft according to claim 4 wherein: the novel rolling needle is characterized in that the dovetail is in clearance fit with the vertical guide groove, a rolling needle row is arranged between the vertical guide groove and the dovetail, the rolling needle row is fixedly connected with the guide rail, the dovetail is clung to the rolling needle row, two sides of the driving gear are respectively provided with a turntable bearing, one face of each turntable bearing is fixedly connected with the driving gear, the other face of each turntable bearing is fixedly connected with the groove wall of the corresponding mounting groove, an air inlet is formed in the side face of the guide rail, more than one air inlet hole is formed in the side face of the guide rail, the air inlet holes are distributed at equal intervals, and the air inlet holes are communicated with the vertical guide groove.
6. A method for controlling a launch device for a multi-rotor aircraft, comprising the steps of:
1) Sequentially placing the multi-rotor unmanned aerial vehicle on a sealing rubber ring of a carrier plate;
2) Starting an air pump through a control device to pump the negative pressure cavity into a negative pressure state, so that the multi-rotor unmanned aerial vehicle is adsorbed;
3) Starting a brushless motor through a control device, and rapidly conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin;
4) Once the infrared ray is shielded by many rotor unmanned aerial vehicle, the infrared ray receiver tube gives controlling means with information feedback, and controlling means stops brushless motor and air pump's work afterwards to start fourth electro-magnet, third electro-magnet, second electro-magnet and first electro-magnet in proper order, start the interval in proper order and be 0.25s, make the carrier plate embed into the embedded groove fast, lead to many rotor unmanned aerial vehicle to be thrown out the emission storehouse, accomplish the input of an unmanned aerial vehicle.
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