CN106143939B - A kind of intelligent docking robot for unmanned plane landing - Google Patents
A kind of intelligent docking robot for unmanned plane landing Download PDFInfo
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- CN106143939B CN106143939B CN201610606328.7A CN201610606328A CN106143939B CN 106143939 B CN106143939 B CN 106143939B CN 201610606328 A CN201610606328 A CN 201610606328A CN 106143939 B CN106143939 B CN 106143939B
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- bottom plate
- unmanned plane
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- locking
- operation console
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 24
- 238000013016 damping Methods 0.000 claims abstract description 33
- 230000009184 walking Effects 0.000 claims abstract description 22
- 210000005069 ears Anatomy 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 21
- 239000000758 substrate Substances 0.000 claims description 15
- 230000035939 shock Effects 0.000 claims description 12
- 239000006096 absorbing agent Substances 0.000 claims description 10
- 239000011241 protective layer Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 22
- 230000008569 process Effects 0.000 abstract description 22
- 230000001771 impaired effect Effects 0.000 abstract description 12
- 230000009514 concussion Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 230000004044 response Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000000284 resting effect Effects 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 239000002344 surface layer Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- 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
- B64F1/007—Helicopter portable landing pads
-
- 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
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of intelligent docking robot for unmanned plane landing, including bottom plate, and the lower face of bottom plate is symmetrical arranged that there are four branches of walking；Branch of walking includes two mounting ears for being symmetricly set on bottom plate lower face, rotary shaft is equipped with by bearing between two mounting ears, the middle part of rotary shaft is equipped with traveling wheel by key, and rotary shaft is connected by shaft coupling with the output shaft of movable motor close to one end of sidewall of the bottom plate, movable motor is mounted on by motor cabinet on the lower face of bottom plate；Intelligent docking device is installed in the middle part of the upper surface of bottom plate.The present invention can solve to need manual operation and transportational process not to have the defects of facility is locked in anticollision when existing unmanned plane stops impaired concussion when means of transportation is existing to stop, landing, the intelligent docking function that unmanned plane is automatically accepted may be implemented, and have many advantages, such as without manual operation, damping performance is good, crashworthiness is good and locking property is good.
Description
Technical field
The present invention relates to unmanned plane field, specifically a kind of intelligent docking robots for unmanned plane landing.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Unmanned plane has the characteristics that small, light-weight, expense is low, operation is flexible, safe, extensive use
In take photo by plane, detect, search and rescue, the fields such as resource exploration.
Existing unmanned plane is not fixed in takeoff setting and landing place, is required for artificially going to take manually after stop, then
It is transported in vanning, but existing this unmanned plane is stopped means of transportation and had the following defects：1, existing unmanned plane may wind-engaging
Vibratory forces are excessive when the external factors such as power, misoperation, out of control lead to landing and phenomenon that fuselage is impaired；2, existing unmanned plane exists
It is required for manual operation to take when takeoff and landing, it is complicated for operation；3, it is required for vanning to protect after existing unmanned plane is stopped
Could be transported after depositing, but due to vanning when there is no anticollision gear and locking equipment, cause in transportational process be easy collision by
The phenomenon that damage.
Invention content
It to solve the above-mentioned problems, can be with the present invention provides a kind of intelligent docking robot for unmanned plane landing
It solves to need manual operation and transportational process not to have when existing unmanned plane stops impaired concussion when means of transportation is existing to stop, landing
Have the defects of facility is locked in anticollision, may be implemented the intelligent docking function that unmanned plane is automatically accepted, and with without manual operation,
The advantages that damping performance is good, crashworthiness is good and locking property is good.
To achieve the goals above, the present invention is realized using following technical scheme：A kind of intelligence for unmanned plane landing
Robot, including bottom plate can be stopped, the lower face of the bottom plate is symmetrical arranged there are four branch of walking, and four walking branches can be with
Control bottom plate is arbitrarily walked, and direction is controllable；The walking branch includes two mounting ears for being symmetricly set on bottom plate lower face,
Rotary shaft is equipped with by bearing between two mounting ears, the middle part of rotary shaft is equipped with traveling wheel by key, and rotary shaft is leaned on
One end of nearly sidewall of the bottom plate is connected by shaft coupling with the output shaft of movable motor, and the movable motor is mounted on by motor cabinet
On the lower face of bottom plate, rotary shaft rotation, rotary shaft is driven to drive traveling wheel rotation, driven by traveling wheel by movable motor
Bottom plate moves, and the present invention is moved to operate bottom plate along assigned direction by controlling the movable motor on four walking branches respectively
It is dynamic, it is not necessarily to manual operation, solves the problems, such as that existing unmanned plane is required for manual operation to take in takeoff and landing；The bottom
Intelligent docking device is installed, the work(that unmanned plane stop is automatically accepted may be implemented in intelligent docking device in the middle part of the upper surface of plate
Can, and there is good damping performance, locking property and stable support energy；There are four the upper surface of the bottom plate is symmetrical arranged
Anticollision branch, anticollision branch can prevent unmanned plane from colliding impaired phenomenon in transportational process, and crashworthiness is good, anticollision branch
Chain includes the anticollision pillar being welded on bottom plate, is evenly arranged with three support columns on anticollision branch column outer wall, three support columns
End is connected with support plate, damping spring is uniformly connected on the outer wall of support plate, and the outer end of all damping springs is all connected with
On vibration damper plate, when unmanned plane encounters collision in transportational process, vibration damper plate is first subjected to vibratory forces, and then vibration damper plate passes through
Damping spring substantially reduces the vibratory forces being subject to, and further decreases vibratory forces finally by anticollision pillar and support column, has
It is impaired to solve the problems, such as that existing unmanned plane is easy collision in transportational process for good damping performance and crashworthiness.
As a preferred technical solution of the present invention, the intelligent docking device includes the base being mounted in the middle part of bottom plate
Plate, the upper surface of the substrate are symmetrical arranged that there are four supporting mechanism in parallel and four damping branches, and two neighboring damping branch
There are one supporting mechanism in parallel between chain, for supporting mechanism in parallel based on parallel institution, parallel institution has dynamic response
Good, rigidity height, large carrying capacity, the advantages that stability is good and kinematic accuracy is high, with good stable support energy, and damping
Branch has good damping performance；The upper surface of described four supporting mechanisms in parallel and four damping branches is equipped with operation
Platform, the upper surface of operation console are symmetrical arranged there are four locking branch, and locking branch can be with unmanned plane work(that auto lock has been stopped
Can, there is good locking property；The parallel connection supporting mechanism includes the fixed platform of be installed on substrate end face, fixed platform upper end
Face is symmetrically installed with four branches in parallel, and the upper surface of four branches in parallel is equipped with moving platform, and moving platform is mounted on operation console
Lower face, branch in parallel includes the lower fixing axle for being welded on fixed platform upper surface, has been connected through a screw thread down in lower fixing axle
Spherical hinge, lower spherical hinge upper end have been connected through a screw thread lower connecting cylinder, and lower connecting cylinder upper end has been connected through a screw thread hydraulic cylinder, liquid
Cylinder pressure upper end has been connected through a screw thread connecting cylinder, and upper connecting cylinder upper end has been connected through a screw thread spherical hinge, on upper spherical hinge
End has been connected through a screw thread fixing axle, and upper fixing axle is welded on the lower face of moving platform, and fixed platform, lower spherical hinge are S pairs, liquid
Cylinder pressure is P pairs, upper spherical hinge is that S pairs and moving platform form 4-SPS parallel institutions, when unmanned plane rests on operation console,
The present invention is good by 4-SPS parallel institutions dynamic response, rigidity is high, large carrying capacity, stability are good and kinematic accuracy height etc. is special
Point substantially reduces vibratory forces when unmanned plane is stopped.
As a preferred technical solution of the present invention, the damping branch includes the lower ear of be installed on substrate end face
, shock absorber is connected with by axis pin between lower ear base, shock absorber upper end is connected to by axis pin on upper ear seat, upper ear seat installation
In the lower face of operation console, substrate, the revolute pair R of lower ear base, shock absorber movement when prismatic pair P, upper ear seat revolute pair R with
Operation console forms 4-RPR parallel institutions, the two-in-parallel mechanism that 4-RPR parallel institutions are formed with 4-SPS parallel institutions, by parallel connection
The features such as mechanism dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high reduces unmanned plane and is rising
Vibratory forces during drop are led to vibratory forces mistake when solving unmanned plane landing by the external factors such as wind-force, misoperation, out of control
Big and phenomenon that fuselage is impaired, has good stable support energy.
As a preferred technical solution of the present invention, the locking branch includes that two be welded on operation console hang
Ear is connected with leading screw between two lifting lugs by bearing, and leading screw is connected with lock close to one end of operation console outer wall by shaft coupling
Tight motor, locking motor are mounted on motor fixing frame；The motor fixing frame is mounted on operation console；The middle part of the leading screw
It is connected through a screw thread sliding block, the both ends of sliding block are each provided with a gag lever post, and the lower end of every gag lever post is installed in one
On line slide rail, two line slide rail lower ends are symmetrically mounted on by bolt on operation console；The upper surface of the sliding block is welded with
Fixed plate, three locking pillars are evenly arranged on the side wall of fixed plate, and the end of three locking pillars is welded with arc locking
Piece.When on the operation console between unmanned plane drops to four locking branches, locking branch is started to work, and locking motor starts work
Make, locking motor drives leading screw rotation, leading screw band movable slider to move, and sliding block is real under the synkinesia of gag lever post and line slide rail
Now smoothly movement, sliding block drive fixed plate movement, fixed plate that the arc lock sheet on three locking pillars is driven to move synchronously,
When arc lock sheet is tightly attached on unmanned plane, locking motor is stopped, so that four arcs on four locking branches
Unmanned plane is locked on operation console by lock sheet so that the present invention has good locking property, solves existing unmanned plane and exists
Due to there is no locking equipment to be easy the phenomenon by external force breakage in transportational process.
As a preferred technical solution of the present invention, rubber protective layer is provided on the outside of the vibration damper plate, rubber is protected
Sheath Impact Resisting Capability is good, and surface layer does not have dent or damage after continuous shock, does not influence appearance, increases unmanned plane and transporting
Crashworthiness in the process.
When work, when unmanned plane needs to stop, the walking branch below bottom plate is started to work, and movable motor drives rotation
Shaft rotation is dynamic, and rotary shaft drives traveling wheel rotation, drives bottom plate movement by traveling wheel, the present invention by controlling four walkings respectively
Movable motor on branch moves to operate bottom plate along assigned direction, is not necessarily to manual operation, moves to row when below unmanned plane
It walks branch to be stopped, then unmanned plane starts after resting on operation console, since fixed platform, lower spherical hinge are S pairs, hydraulic cylinder
For the 4-SPS parallel institutions and substrate, the revolute pair R of lower ear base, shock absorber fortune that P is secondary, upper spherical hinge is S pairs and moving platform formation
The 4-RPR parallel institutions that the revolute pair R of prismatic pair P, upper ear seat when dynamic are formed with operation console, constitute it is mutually coordinated it is double simultaneously
Online structure utilizes the features such as parallel institution dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, drop
Low vibratory forces of unmanned plane during landing, so that resting on operation console of can stablizing of unmanned plane, when nobody
Four locking branches are started to work after machine is stopped, and locking motor is started to work, and locking motor drives leading screw rotation, leading screw band
Movable slider moves, and sliding block realizes that stable movement, sliding block drive fixed plate fortune under the synkinesia of gag lever post and line slide rail
Dynamic, fixed plate drives the arc lock sheet on three locking pillars to move synchronously, when arc lock sheet is tightly attached on unmanned plane
Locking motor is stopped, so that unmanned plane is locked at operation console by four arc lock sheets on four locking branches
On；After locking, walking branch task again, walking branch drives unmanned plane to move to required place, and due to it is double simultaneously
The collision prevention function of the locking work and anticollision branch of the stabilization support function, locking branch of online structure, can make unmanned plane exist
It stands intact in transportational process, whole process is not necessarily to manual operation, realizes the intelligent docking that unmanned plane is automatically accepted in the present invention
Function.
The beneficial effects of the invention are as follows：
1, the present invention devises walking branch, and the movable motor walked on branch moves to operate bottom plate along assigned direction
It is dynamic, it is not necessarily to manual operation, solves the problems, such as that existing unmanned plane is required for manual operation to take in takeoff and landing；
2, the present invention devises anticollision branch, the vibratory forces being subject to when substantially reducing transport by damping spring, finally
Vibratory forces are further decreased by anticollision pillar and support column, there is good damping performance and crashworthiness, solve existing
Unmanned plane is easy the impaired problem of collision in transportational process；
3, the two-in-parallel mechanism that present invention design is made of 4-SPS parallel institutions and 4-RPR parallel institutions, the two are mutually assisted
It adjusts, by the features such as parallel institution dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, reduces
Vibratory forces of unmanned plane during landing improve stable support energy of the unmanned plane in transportational process；
4, the present invention devises locking branch, and unmanned plane is locked at behaviour by four arc lock sheets on four locking branches
Make on platform so that the present invention has good locking property, solves existing unmanned plane in transportational process due to not locking
Equipment is easy the phenomenon by external force breakage；
5, the present invention, which solves when existing unmanned plane stops impaired concussion when means of transportation is existing to stop, landing, needs people
There is no anticollision to lock the problems such as facility for operation and transportational process, realizes the intelligent docking function that unmanned plane is automatically accepted, and
Have many advantages, such as without manual operation, damping performance is good, crashworthiness is good and locking property is good.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the structural schematic diagram between bottom plate of the present invention and walking branch；
Fig. 3 is the structural schematic diagram of intelligent docking device of the present invention；
Fig. 4 is the structural schematic diagram between operation console of the present invention and locking branch；
Fig. 5 is the structural schematic diagram of supporting mechanism in parallel of the invention.
Specific embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 5, a kind of intelligent docking robot for unmanned plane landing, including bottom plate 1, the bottom plate 1
Lower face be symmetrical arranged there are four branch 2 of walking, four walking branches 2 can control bottom plate 1 and arbitrarily walk, and direction can
Control；The walking branch 2 includes two mounting ears 21 for being symmetricly set on 1 lower face of bottom plate, is passed through between two mounting ears 21
Bearing is equipped with rotary shaft 22, and the middle part of rotary shaft 22 is equipped with traveling wheel 23 by key, and rotary shaft 22 is close to 1 side wall of bottom plate
One end be connected with the output shaft of movable motor 24 by shaft coupling, the movable motor 24 by motor cabinet be mounted on bottom plate 1
Lower face on, by movable motor 24 drive rotary shaft 22 rotate, rotary shaft 22 drive traveling wheel 23 rotate, pass through traveling wheel
23 drive bottom plates 1 move, the present invention by control respectively four walking branch 2 on movable motor 24 come operate bottom plate 1 along
Assigned direction moves, and is not necessarily to manual operation, solves existing unmanned plane and be required for manual operation to take in takeoff and landing
Problem；Intelligent docking device 3 is installed in the middle part of the upper surface of the bottom plate 1, intelligent docking device 3 may be implemented that nothing is automatically accepted
The function of man-machine stop, and there is good damping performance, locking property and stable support energy；The upper surface of the bottom plate 1
It is symmetrical arranged there are four anticollision branch 4, anticollision branch 4 can prevent unmanned plane from colliding impaired phenomenon in transportational process, prevent
Hit functional, anticollision branch 4 includes being welded on anticollision pillar 41 on bottom plate 1, is evenly arranged on 41 outer wall of anticollision pillar
The end of three support columns 42, three support columns 42 is connected with support plate 43, and damping is uniformly connected on the outer wall of support plate 43
Spring 44, and the outer end of all damping springs 44 is both connected on vibration damper plate 45, when unmanned plane encounters collision in transportational process
When, vibration damper plate 45 is first subjected to vibratory forces, and then vibration damper plate 45 substantially reduces the vibratory forces being subject to by damping spring 44, most
Vibratory forces are further decreased by anticollision pillar 41 and support column 42 afterwards, there is good damping performance and crashworthiness, are solved
Existing unmanned plane is easy the impaired problem of collision in transportational process.
The intelligent docking device 3 includes the substrate 31 for being mounted on 1 middle part of bottom plate, and the upper surface of the substrate 31 is symmetrically set
Supporting mechanism 32 in parallel and four damping branches 33 there are four setting, and propped up there are one in parallel between two neighboring damping branch 33
Support mechanism 32, supporting mechanism 32 in parallel is based on parallel institution, and parallel institution is with dynamic response is good, rigidity is high, carrying energy
The advantages that power is big, stability is good and kinematic accuracy is high has good stable support energy, and damping branch 33 is with good
Damping performance；The upper surface of described four supporting mechanisms 32 in parallel and four damping branches 33 is equipped with operation console 34, operation console
34 upper surface is symmetrical arranged there are four locking branch 35, locking branch 35 can with the unmanned plane function that auto lock has been stopped,
With good locking property；The parallel connection supporting mechanism 32 includes the fixed platform 321 mounted on 31 upper surface of substrate, fixed platform
321 upper surfaces are symmetrically installed there are four branch 322 in parallel, and the upper surface of four branches 322 in parallel is equipped with moving platform 323, moves
Platform 323 is mounted on the lower face of operation console 34, and branch 322 in parallel includes the lower fixing axle for being welded on 321 upper surface of fixed platform
3221, lower spherical hinge 3222 has been connected through a screw thread in lower fixing axle 3221, and lower 3222 upper end of spherical hinge has been connected through a screw thread
Lower connecting cylinder 3223, lower 3223 upper end of connecting cylinder have been connected through a screw thread hydraulic cylinder 3224, and 3224 upper end of hydraulic cylinder passes through screw thread
It is connected with connecting cylinder 3225,3225 upper end of upper connecting cylinder has been connected through a screw thread spherical hinge 3226, on upper spherical hinge 3226
End has been connected through a screw thread fixing axle 3227, and upper fixing axle 3227 is welded on the lower face of moving platform, fixed platform 321, lower ball
Hinge 3222 is S pairs, hydraulic cylinder 3224 is P pairs, upper spherical hinge 3226 is that S pairs and moving platform 323 form 4-SPS parallel machines
Structure, when unmanned plane rests on operation console 34, the present invention is good by 4-SPS parallel institutions dynamic response, rigidity is high, carrying energy
The features such as power is big, stability is good and kinematic accuracy is high substantially reduces vibratory forces when unmanned plane is stopped.
The damping branch 33 includes the lower ear base 331 mounted on 31 upper surface of substrate, passes through axis pin between lower ear base 331
It is connected with shock absorber 332,332 upper end of shock absorber is connected to by axis pin on upper ear seat 333, and upper ear seat 333 is mounted on operation console
34 lower face, the rotation of prismatic pair P, upper ear seat 333 when substrate 31, the revolute pair R of lower ear base 331, shock absorber 332 move
Secondary R is with the formation 4-RPR parallel institutions of operation console 34, the two-in-parallel mechanism that 4-RPR parallel institutions are formed with 4-SPS parallel institutions,
By the features such as parallel institution dynamic response is good, rigidity is high, large carrying capacity, stability are good and kinematic accuracy is high, nothing is reduced
Man-machine vibratory forces during landing are caused when solving unmanned plane landing by the external factors such as wind-force, misoperation, out of control
Vibratory forces are excessive and phenomenon that fuselage is impaired, have good stable support energy.
The locking branch 35 includes two lifting lugs 351 being welded on operation console 34, passes through axis between two lifting lugs 351
It holds and is connected with leading screw 352, leading screw 352 is connected with locking motor 353 close to one end of 34 outer wall of operation console by shaft coupling, locking
Motor 353 is mounted on motor fixing frame 354；The motor fixing frame 354 is mounted on operation console 34；The leading screw 352
Middle part has been connected through a screw thread sliding block 355, and sliding block 355 is provided at both ends with two gag lever posts 356, under two gag lever posts 356
End is separately mounted on two line slide rails 357, and two 357 lower ends of line slide rail are symmetrically mounted on operation console 34 by bolt
On；The upper surface of the sliding block 355 is welded with fixed plate 358, and three locking pillars are evenly arranged on the side wall of fixed plate 358
359, the end of three locking pillars 359 is welded with arc lock sheet 3510.When unmanned plane drop to four locking branches 35 it
Between operation console 34 on when, locking branch 35 start to work, locking motor 353 start to work, locking motor 353 drive leading screw
352 rotations, leading screw 352 are moved with movable slider 355, and sliding block 355 is real under the synkinesia of gag lever post 356 and line slide rail 357
Now smoothly movement, sliding block 355 drive fixed plate 358 to move, and fixed plate 358 drives the arc lock on three locking pillars 359
Tight piece 3510 moves synchronously, and when arc lock sheet 3510 is tightly attached on unmanned plane, locking motor 353 is stopped, so that
Unmanned plane is locked on operation console 34 by four arc lock sheets 3510 on four locking branches 35 so that the present invention has good
Good locking property solves existing unmanned plane in transportational process due to not having locking equipment to be easy to be showed by external force breakage
As.
The outside of the vibration damper plate 45 is provided with rubber protective layer, and rubber protective layer Impact Resisting Capability is good, after continuous shock
Surface layer does not have dent or damage, does not influence appearance, increases crashworthiness of the unmanned plane in transportational process.
When work, when unmanned plane needs to stop, the walking branch 2 of 1 lower section of bottom plate is started to work, and movable motor 24 drives
The rotation of rotary shaft 22, rotary shaft 22 drive traveling wheel 23 to rotate, and drive bottom plate 1 to move by traveling wheel 23, the present invention is by dividing
Not Kong Zhi four walking branches 2 on movable motors 24 moved along assigned direction to operate bottom plate 1, be not necessarily to manual operation, fortune
Walking branch 2 is stopped when moving to unmanned plane, and then unmanned plane starts after resting on operation console 34, due to fixed platform
321, lower spherical hinge 3222 is S pairs, hydraulic cylinder 3224 is P pairs, the 4-SPS that upper spherical hinge 3226 is S pairs and the formation of moving platform 323
The rotation of prismatic pair P, upper ear seat 333 when parallel institution and substrate 31, the revolute pair R of lower ear base 331, shock absorber 332 move
The 4-RPR parallel institutions that secondary R is formed with operation console 34, constitute mutually coordinated two-in-parallel mechanism, utilize parallel institution dynamic
Respond, rigidity height, large carrying capacity, the features such as stability is good and kinematic accuracy is high, reduce unmanned plane during landing
Vibratory forces so that resting on operation console 34 of can stablizing of unmanned plane, four lockings after unmanned plane is stopped
Branch 35 is started to work, and locking motor 353 is started to work, and locking motor 353 drives leading screw 352 to rotate, and leading screw 352 is with movable slider
355 movements, sliding block 355 realize that smoothly movement, sliding block 355 drive under the synkinesia of gag lever post 356 and line slide rail 357
Fixed plate 358 moves, and fixed plate 358 drives the arc lock sheet 3510 on three locking pillars 359 to move synchronously, when arc is locked
Locking motor 353 is stopped when tight piece 3510 is tightly attached on unmanned plane, so that four arcs on four locking branches 35
Unmanned plane is locked on operation console 34 by shape lock sheet 3510；After locking, the task again of branch 2 of walking, branch 2 of walking
Unmanned plane is driven to move to required place, and due to the locking work of the stabilization support function of two-in-parallel mechanism, locking branch 35
With the collision prevention function of anticollision branch 4, unmanned plane can be made to stand intact in transportational process, whole process is without artificial behaviour
Make, realize the intelligent docking function that unmanned plane is automatically accepted in the present invention, solves existing unmanned plane and stop means of transportation presence
Stop when concussion is impaired, landing when need manual operation and transportational process there is no the problems such as anticollision locking facility, reached mesh
's.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (3)
1. a kind of intelligent docking robot for unmanned plane landing, it is characterised in that：Including bottom plate (1), the bottom plate (1)
Lower face is arranged symmetrically, and there are four walking branches (2)；Intelligent docking device (3) is installed in the middle part of the upper surface of the bottom plate (1)；
The upper surface of the bottom plate (1) is symmetrical arranged there are four anticollision branch (4), and anticollision branch (4) includes being welded on bottom plate (1)
Anticollision pillar (41) is evenly arranged with three support columns (42), the end of three support columns (42) on anticollision pillar (41) outer wall
It is connected with support plate (43), damping spring (44), and all damping springs (44) are uniformly connected on the outer wall of support plate (43)
Outer end be both connected on vibration damper plate (45)；
The intelligent docking device (3) includes the substrate (31) being mounted in the middle part of bottom plate (1), the upper surface pair of the substrate (31)
Claiming setting, there are four supporting mechanism (32) in parallel and four damping branches (33), and have between two neighboring damping branch (33)
One supporting mechanism (32) in parallel；The upper surface of described four supporting mechanisms (32) in parallel and four damping branches (33) is equipped with
Operation console (34), the upper surface of operation console (34) are symmetrical arranged that there are four locking branches (35)；The parallel connection supporting mechanism (32)
Fixed platform (321) including being mounted on substrate (31) upper surface, fixed platform (321) upper surface are symmetrically installed that there are four branches in parallel
(322), the upper surface of four branches (322) in parallel is equipped with moving platform (323), and moving platform (323) is mounted on operation console (34)
Lower face, branch (322) in parallel includes being welded on the lower fixing axle (3221) of fixed platform (321) upper surface, lower fixing axle
(3221) lower spherical hinge (3222) has been connected through a screw thread on, lower spherical hinge (3222) upper end has been connected through a screw thread lower connecting cylinder
(3223), lower connecting cylinder (3223) upper end has been connected through a screw thread hydraulic cylinder (3224), and hydraulic cylinder (3224) upper end passes through screw thread
It is connected with connecting cylinder (3225), upper connecting cylinder (3225) upper end has been connected through a screw thread spherical hinge (3226), upper spherical hinge
(3226) upper end has been connected through a screw thread fixing axle (3227), and upper fixing axle (3227) is welded on the lower face of moving platform；
The damping branch (33) includes the lower ear base (331) mounted on substrate (31) upper surface, and lower ear base passes through between (331)
Axis pin is connected with shock absorber (332), and shock absorber (332) upper end is connected to by axis pin on upper ear seat (333), upper ear seat (333)
Lower face mounted on operation console (34)；
The locking branch (35) includes two lifting lugs (351) being welded on operation console (34), is led between two lifting lugs (351)
It crosses bearing and is connected with leading screw (352), leading screw (352) is connected with locking electricity close to one end of operation console (34) outer wall by shaft coupling
Machine (353), locking motor (353) are mounted on motor fixing frame (354)；The motor fixing frame (354) is mounted on operation console
(34) on；Sliding block (355) is connected through a screw thread in the middle part of the leading screw (352), the both ends of sliding block (355) are each provided with one
The lower end of gag lever post (356), every gag lever post (356) is installed on a line slide rail (357), two line slide rails
(357) lower end is symmetrically mounted on by bolt on operation console (34)；The upper surface of the sliding block (355) is welded with fixed plate
(358), three locking pillars (359), the end of three locking pillars (359) are evenly arranged on the side wall of fixed plate (358)
It is welded with arc lock sheet (3510).
2. a kind of intelligent docking robot for unmanned plane landing according to claim 1, it is characterised in that：The row
It includes two mounting ears (21) for being symmetricly set on bottom plate (1) lower face to walk branch (2), passes through axis between two mounting ears (21)
It holds and rotary shaft (22) is installed, the middle part of rotary shaft (22) is equipped with traveling wheel (23) by key, and rotary shaft (22) is the bottom of close to
One end of plate (1) side wall is connected by shaft coupling with the output shaft of movable motor (24)；The movable motor (24) passes through motor
Seat is mounted on the lower face of bottom plate (1).
3. a kind of intelligent docking robot for unmanned plane landing according to claim 1, it is characterised in that：It is described to subtract
It is provided with rubber protective layer on the outside of shake plate (45).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610606328.7A CN106143939B (en) | 2016-07-29 | 2016-07-29 | A kind of intelligent docking robot for unmanned plane landing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610606328.7A CN106143939B (en) | 2016-07-29 | 2016-07-29 | A kind of intelligent docking robot for unmanned plane landing |
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| Publication Number | Publication Date |
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| CN106143939A CN106143939A (en) | 2016-11-23 |
| CN106143939B true CN106143939B (en) | 2018-11-13 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741911B (en) * | 2016-12-30 | 2023-10-13 | 歌尔股份有限公司 | Unmanned plane of robot |
| CN107199554B (en) * | 2017-07-27 | 2020-03-13 | 苏州托玛斯机器人集团有限公司 | Unmanned aerial vehicle maintains debugging robot fast |
| CN111059431B (en) * | 2019-12-24 | 2022-11-15 | 燕山大学 | Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device |
| CN112193262B (en) * | 2020-10-09 | 2021-09-21 | 江苏九州电器有限公司 | Protection subassembly of heater for carriage |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102398681A (en) * | 2010-09-09 | 2012-04-04 | 上海市南洋模范中学 | Airplane emergency landing device |
| KR101709812B1 (en) * | 2012-09-13 | 2017-02-23 | 한국전자통신연구원 | Smart helipad for supporting landing of aircraft with capable of vertical take-off and landing, system including the smart helipad, and method of enabling the smart helipadng |
| DE102013019098B3 (en) * | 2013-11-11 | 2015-01-08 | Hochschule für Technik und Wirtschaft Dresden | System for recording parameters of the environment and environment |
| CN104386258A (en) * | 2014-08-20 | 2015-03-04 | 华南农业大学 | Feeding platform and feeding method suitable for field operation feeding for agricultural unmanned aerial vehicle |
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Effective date of registration: 20180930 Address after: 239000 room 103 and 201, 2 building, 82 business center, Huayuan Road, Chuzhou, Anhui. Applicant after: Anhui dream wing UAV Technology Co., Ltd. Address before: 246001, the first floor of Yang Jiashan C building, Yingjiang District, Anqing, Anhui, from west to East. Applicant before: Anqing Mirui Intelligent Technology Co., Ltd. |
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Address after: 239000 No. 5 workshop of Wenhui Road 398, Wuyi Town, Chuzhou City, Anhui Province Patentee after: Anhui dream wing UAV Technology Co., Ltd. Address before: 239000 room 103 and 201, 2 building, 82 business center, Huayuan Road, Chuzhou, Anhui. Patentee before: Anhui dream wing UAV Technology Co., Ltd. |