CN106477056A - Unmanned vehicle with hoistable platform - Google Patents
Unmanned vehicle with hoistable platform Download PDFInfo
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- CN106477056A CN106477056A CN201510546127.8A CN201510546127A CN106477056A CN 106477056 A CN106477056 A CN 106477056A CN 201510546127 A CN201510546127 A CN 201510546127A CN 106477056 A CN106477056 A CN 106477056A
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- iron core
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Abstract
A kind of unmanned vehicle with hoistable platform，Including unmanned vehicle and platform，Feature is that a hoistable platform carried on the back by aircraft，Vertical guide pillar is fixed with platform，Unmanned vehicle can lift along vertical guide pillar，Have on platform from power mains induced electricity getting device，The iron core of ring-type is had on device，Iron core is made up of two parts，Can be with folding，Axially it is wound with sensing electricity taking coil outside iron core，During power taking, power transmission line passes through from the ring that two parts iron core forms，The bearing support of two translations in left and right or rotation is had on platform，Cored and sensing electricity taking coil is fixed on bearing support，A screw rod simultaneous with left hand thread and right-handed thread is had to pass through two bearing supports，The bearing of screw rod is fixed on platform，Motor-driven screw rod rotates，Left-handed nut on screw rod and right-handed nut's relative movement can make iron core close when clamping two bearing supports，The type carrying parallelogram holding mechanism on aircraft can be booted picking-up platform，Benefit is convenient to unmanned vehicle independent charging.
Description
Technical field：
The present invention is the improvement with regard to unmanned vehicle from power mains induced electricity getting device.
Background technology：
Power transmission line unmanned machine line walking be the eighties in last century occur, with unmanned air vehicle technique development obtained in recent years more general
Time application, but electronic unmanned plane airborne period is too short becomes the limited subject matter of application.Primary solutions are intelligence on tower
Charge in charging depressed place, disclosed on the net《North China Power Grid Co., Ltd's science and technology item fund application paper》Project name is《Power transmission line
Road Intelligent patrol robot》Report in mentioned to being had from the scheme of power mains induced power taking with iron-core coil, do not have concrete reality
Arrange and think, this report has been done and described in greater detail to the status both at home and abroad of unmanned plane line walking and technical scheme, the running mechanism mesh of line walking
Front still based on wheeled.
The purpose of the present invention is：There is provided a kind of unmanned vehicle from power mains induced electricity getting device.
Content of the invention：
A kind of unmanned vehicle with hoistable platform, including unmanned vehicle and platform, feature is that have a hoistable platform, puts down
The bottom surface of platform is relative with above unmanned vehicle, and platform is fixed with vertical guide pillar, unmanned vehicle has and joins with vertical guide pillar
The vertical guide pin bushing closing, unmanned vehicle can lift along vertical guide pillar.
Unmanned vehicle relies on the air force that rotor provides to rise and relies on gravity to decline, and platform has spring removable pin, unmanned
Hook is fixed with aircraft, unmanned vehicle rise to close to the upper extreme position of platform when hook on inclined-plane back down spring live
Spring removable pin is backed down when bearing support movement is to iron core make position by automatic locking after dynamic pin, and spring removable pin is unmanned after opening
Aircraft is down to and can be blocked by the lobe on vertical guide pillar during the lower limit position of vertical guide pillar bottom.
Platform can rely on the parallelogram connection-rod holding mechanism of motor-driven to lift, and parallelogram connection-rod holding mechanism is
The short connecting rod hinged place of upper end is hinged with platform, the hinged place at long connecting rod center of parallelogram connection-rod holding mechanism bottom with
The plate that aircraft fuselage extends downwardly from is hinged, and the motor with decelerator is fixed on the plate that aircraft fuselage extends downwardly from, and pushes away
The short connecting rod hinged place lifting mechanism bottom is hinged with an election nut, elects screw thread axially bored line and the connecting rod link axle of nut
Axis is vertical, elects nut and elects screw rod cooperation, the motor-driven with decelerator is elected screw rod and made lifting platform.
Connecting wire between all electric equipments on platform and unmanned vehicle is coiled into the vertical guide pillar that spring shape is contained in platform
Outside vertical guide pillar that is interior or being enclosed within platform.
There is opening at least one section, spring-like wire is contained in the vertical guide pillar with open slot in vertical guide pillar.
The platform both sides projection vertical with transmission of electricity bobbin thread has wall, and the upper edge of wall stops that power transmission line too declines, on wall
With switch, power transmission line close to or touching wall upper edge when trigger switch.
Platform carries from power mains induced electricity getting device, and sensing electricity getting device has the iron core of ring-type, and the iron core of ring-type is by two parts group
Become, ring-type can be formed when being combined with folding, axially be wound with sensing electricity taking coil outside iron core, during power taking, power transmission line is from two
Pass through in the ring dividing iron core composition, platform has two bearing supports in left and right, bearing support is fixed cored, wherein at least one ferrum
Have sensing electricity taking coil outside core, two bearing supports are staggered relatively, when two bearing supports near when iron core formed closed magnetic circuit, have one
, simultaneous with the screw rod of left hand thread and right-handed thread, the axis of screw rod is vertical with the axis of iron core, and the bearing of screw rod is fixed on for root
On platform, screw rod passes through two bearing supports, screw rod has simultaneously and coordinates the left-handed nut of relative configuration and right-handed nut with it, electricity
Motivation drive screw turns, left-handed nut and right-handed nut's relative movement can make iron core close when clamping two bearing supports, bearing support
Both sides have roller,
Platform is box-like, and bearing support has lead or the fairlead of level, and the cassette bottom of box-like platform has at least three projections
Bar, every raised item has the lateral aperture of at least two and lead or fairlead cooperation, and the bearing of screw rod is on raised item, left
Spin nut and right-handed nut are separately fixed on left bearing support or right bearing support, each bearing support is fixed with Semicircular iron core and
Sensing electricity taking coil, there is the roller of vertical axises the both sides of each bearing support, and there is trunnion axis the both sides of at least one bearing support simultaneously
Roller.
Unmanned vehicle is many rotor unmanned aircrafts, and 4 rotors along line of symmetry distribution are vertical axes, mainly provide lift,
The rotor that axis is overlapped with the plane of symmetry is trunnion axis, is the rotor of special offer onward impulse, iron core in make position no
The air force that people's aircraft is provided with rotor moves along power transmission line, and unmanned vehicle carries the tail rotor of trunnion axis, unmanned flight
The rotor of device carries protective cover.
The cam that spring removable pin is driven by a decelerator controls,
The motor of drive screw turns is servomotor, and automatic control circuit obtains according to the sensing electricity taking coil detecting
Voltage levels send corresponding order, the size of the air gap between adjust automatically two parts iron core to servomotor.
In addition coil is wound with iron core or believes coil by the use of sensing electricity taking coil as the transmitting-receiving of power line carrier communication.
Lead is fixed on raised item, bearing support has fairlead, lead and fairlead cooperate.
Raised item can be two parts along the upper and lower subdivision of lateral aperture horizontal center line, and upper and lower two parts raised item is screwed.
Raised item can not also subdivision, whole piece raised item all fixed with platform with screw.
The bearing support that hinge format rotates, two bearing supports form a hinge, and platform has the supporting of hinge axis, torsionspring
Make two bearing supports separately, left-handed nut extrudes a bearing support right-handed nut and extrudes another bearing support.
Platform parallel with screw axis both sides projection have a wall, the upper edge of wall stops that power transmission line too declines, on wall
At least a pair of laser diode emitters and the photoswitch of receptor composition, when power transmission line stops light, photoswitch sends letter
Number.
With a pair of guide housing, guide housing is fixed on platform, and guide housing has depression, and bearing support is in separate extreme position
Under depression, one section of inclined-plane or curved surface, inclined-plane or curved surface guiding power transmission line are arranged sensing electricity taking coil fixed thereon at the top of depression
Spigot surface along inclined-plane or curved form slides to centre position.It is fixed with least on the raised item on platform below iron core division face
Two leads, bearing support have fairlead, lead and fairlead cooperate, raised item is along along lateral aperture horizontal center line
Lower subdivision is two parts, and upper and lower two parts raised item is screwed.
There is hole the front portion having the axle of trunnion axis roller of bearing support both sides in two bearing supports, corresponding on another bearing support
There is the axle with hole cooperation at position, in shaft insertion hole when two bearing supports are drawn close.
The motor of drive screw is the motor with decelerator, decelerator output shaft pass through shaft coupling drive screw, band
The motor having decelerator is fixed in the box wall of platform.
Invention effect：
, from power mains induced electricity getting device, the charging making unmanned vehicle can unmanned manipulation in the wild for the unmanned vehicle of the present invention
In the case of automatically carry out, the virtually limitless airborne period that increased unmanned plane, make power transmission line line walking work become simple, adopt
Screw drive with left-right rotary screw thread makes structure simple, so that the impost in addition to iron core and sensing electricity taking coil is reduced, lifting is flat
Platform can effectively prevent unmanned vehicle from power mains induced electricity getting device in the case of unpowered by wind around power transmission line upset and
It is conveniently accessible to power transmission line.
Brief description：
1. the axle 7. of the roller 6. trunnion axis roller of wall 2. photoswitch 3. bearing support 4. touching column 5. trunnion axis
Sensing electricity taking coil 8. platform, 9. underside roller, 10. lead, 11. screw rod, 12. raised item 13. nut 14.
Roller 19. rotor of vertical guide pillar 17. iron core 18. vertical axises of shaft coupling 15. drive screw motor 16.
20. unmanned vehicle fuselage 21. links up with 22. guide housing, 23. photographic head, 24. tail rotor, 25. lobe 26. connecting rod
Below assembly 27. unmanned vehicle, prominent plate 28. is elected motor 29. and is elected screw rod 30. election nut 31. level
The axle of axle rotor 32. spring removable pin, 33. torsionspring, 34. touching lever, 35. microswitch 36. hinge type bearing support
The cam that stud 38. removable pin guide rail 39. decelerator of 37. gear springs drives
Fig. 1 is the axonometric chart of the power taking platform with translational bearing support,
Fig. 2 is axonometric chart when power taking platform with translational bearing support is fitted together with unmanned vehicle,
Fig. 3 is that power taking platform with translational bearing support is fitted together with unmanned vehicle and unmanned vehicle carries parallel four
The axonometric chart of side shape holding mechanism,
Fig. 4 is the axonometric chart of the power taking platform with hinge type bearing support,
Fig. 5 is the axonometric chart of translational removable pin that the cam that decelerator drives controls and bottom roller assembly together,
Fig. 6 is translational removable pin that bracing frame touches out in iron core make position and the solid of bottom roller assembly together
Figure,
Fig. 7 is the axonometric chart of the swing type activity pin assemblies that the cam that decelerator drives controls.
Specific embodiment：
Below in conjunction with example, the present invention is described in detail：
It is to carry the platform that iron core senses the part such as electricity taking coil and drive mechanism referring to accompanying drawing 1,8, be rectangular box shape,
It is the rectangular box with flange made of plastic in this example, cassette bottom has three parallel raised items 12, symmetrical along the line of symmetry of box
Arrangement, raised item is the strip of rectangular cross section, and every raised item has two lateral apertures coordinating with lead 10 or fairlead, three
With one heart and insertion, raised item is two parts along the upper and lower subdivision of lateral aperture horizontal center line, and bottom is molded for corresponding aperture on bar raised item
In cassette bottom, upper and lower two parts raised item is screwed.Raised item can not also subdivision, whole piece raised item is screwed
On the bottom surface of box-like platform, round tubular lead 10 is fixed in the lateral aperture on raised item.
If carry long fairlead on bearing support 3, fairlead can slide in the lateral aperture on the raised item of both sides.
The bearing of screw rod 11, on raised item, three raised items has corresponding hole, and extreme position microswitch can also be contained in
On the raised item of both sides.
17 is iron core, and iron core is in cylindrical tube shape, is made using high permeability materials such as stalloys, cuts dimidiation along centrage,
7 is sensing electricity taking coil, and sensing electricity taking coil is axially wound on the outside of semi-circular iron core, is also in semi-circular, two sensing power takings
Coil is connected in series, because sensing electricity taking coil will move with bearing support the lead of sensing electricity taking coil will be coiled into spring-like.
3 is bearing support, is made with high molecular polymer, and top is coordinated with sensing electricity taking coil, and sensing electricity taking coil is cementing or sets
Fat cast is fixed in the half slot on top, and three holes are arranged at bottom, and the hole of the left and right sides is pilot hole, and middle hole is fixed with gold
Belong to the left-handed or right-handed nut making, each protruding one section on the wall of two end faces of half slot, be one with bearing support 3,
There are the roller 5 of trunnion axis and the supporting of the roller 18 of vertical axises above, also place the hole of microswitch 35 and touching column 4.
11 is screw rod, respectively has one section of screw thread along about the centrage of length, be wherein left hand thread another side be right-handed thread,
Gear-like is made in the end of screw rod, and the output shaft of the drive screw motor with decelerator has both gears to pass through interior gear coupling even
Connect.
Platform 8 parallel with screw axis both sides projection have a wall 1, the upper edge of wall stops that power transmission line too declines, box
During shape platform, wall 1 is exactly the box wall of box-like platform.
Have switch on wall 1, when power transmission line close to or touching wall edge when send signal.Switch has various ways, for example
The lower section of the supporting plate of level is fixed with hinge, and one page of hinge is fixed on wall, and the lower section of supporting plate is fixed with the pressing plate of horn shape,
Pressing plate presses fixing microswitch on wall.Or nylon yarn tensioned is on two supports, both ends touching fine motion is opened
Close, during power transmission line compressing nylon yarn, send signal.But it is most convenient that adopting photoswitch, have on two walls in this example
A pair of laser diode emitters and the photoswitch 2 of receptor composition, when power transmission line stops light, photoswitch sends signal,
Photoswitch grafting or the cementing upper edge in wall.
For strengthening the supporting force of the axle of trunnion axis roller on bearing support, the trunnion axis of bearing support both sides in two bearing supports, is had to roll
There is hole the front portion of the axle 6 of son, and on another bearing support, there is the axle with hole cooperation at corresponding position, and when two bearing supports are drawn close, axle is inserted
Enter in hole.
9 is power transmission line underside roller, and the bearing bracket stand of power transmission line underside roller is inlayed in the bottom surface being fixed on box-like platform 8 or box wall.
When with translational removable pin, the guide rail of removable pin is formed integrally with the bearing bracket stand of power transmission line underside roller.
Bearing support can also folding by the way of rotating, as shown in Figure 4, two bearing supports form hinges, and box-like is put down
The supporting of hinge axis 36 is had on the cassette bottom of platform, torsionspring 33 makes two bearing supports separately, and bearing support side has stud 37 to be used for
Stop spring force side, the bearing support of the top of bearing support and aforementioned translation is the same, as hereinbefore one simultaneous with
The screw rod 11 of left hand thread and right-handed thread passes through two bearing supports, and it is another that left-handed nut extrudes a bearing support right-handed nut extruding
Individual bearing support, the following of nut has the baffle plate preventing it from rotating, and the supporting of screw rod is embedded in the box wall of box-like platform.Carry and turn
During dynamic formula spring removable pin, the lateral projections of bearing support have touching lever 34, and touching lever touches the one of rotary moving pin in iron core make position
Arm makes removable pin unlock.
Catch the catching range of power transmission line for increasing unmanned vehicle from power mains induced electricity getting device, be provided with a pair of guide housing 22,
Guide housing 22 is the thin-wall part that plastics are made, and guide housing is fixed on platform, and guide housing has depression, and bearing support is in separate pole
During extreme position, under depression, the top of depression has one section of inclined-plane or curved surface, inclined-plane or curved surface to draw to sensing electricity taking coil fixed thereon
Lead power transmission line and slide to centre position along inclined-plane or curved surface.
For preventing unmanned vehicle from being rolled around power transmission line by wind in the case of unpowered from power mains induced electricity getting device, flat
The corner of platform is provided with vertical guide pillar 16, the pipe that vertical guide pillar can be made using macromolecular material, unmanned vehicle fuselage 20
On have vertical guide pin bushing with the cooperation of vertical guide pillar 16, unmanned vehicle can lift along vertical guide pillar, and the lower end spiral shell of vertical guide pillar is consolidated
There is lobe 25, unmanned vehicle is down to and can be kept off by the lobe 25 on vertical guide pillar during the lower limit position of vertical guide pillar bottom
Live.
Spring removable pin 32 is had on platform, unmanned vehicle fuselage is fixed with hook 21, unmanned vehicle rises to close to platform
Inclined-plane on hook during upper extreme position backs down automatic locking after spring removable pin.
The switch of each extreme position can also adopt satisfactory noncontacting switch using microswitch.
Consider unmanned vehicle from the groundwork of power mains induced electricity getting device be power transmission line line walking work it is sometimes desirable to
Line walking by the way of hanging on power transmission line, now unmanned vehicle need with rotor provide air force along power transmission line move,
And need to turn to sensitive when catching be aligned power transmission line from below, so the unmanned vehicle adopting is many rotor unmanned aircrafts,
As shown in Fig. 2, Fig. 3, unmanned vehicle fuselage 20 is the style of protruding six bars of a central box, divides along line of symmetry
4 rotors 19 of cloth are vertical axes, mainly provide lift, and aircraft is overlapped with the plane of symmetry and level with an axis
Trunnion axis rotor 31, this rotor is the rotor of special offer onward impulse, and unmanned vehicle carries the tail rotor 24 of trunnion axis
Make steering sensitive, the rotor of unmanned vehicle prevents damaged in collision with protective cover.
The side of spring removable pin can not be touched open during line walking in iron core make position using bearing support by the way of hanging on power transmission line
Formula, the cam that now spring removable pin is driven by a decelerator controls, and as shown in Figure 5, Figure 7, is flat shown in Fig. 5
Dynamic formula spring removable pin, is rotary type spring removable pin shown in Fig. 7.
Because the curent change that power transmission line passes through is very big, there may come a time when difference an order of magnitude, cause to sense the electricity that electricity taking coil obtains
Away from excessive, the motor 15 of therefore drive screw turns can adopt servomotor to pressure difference of height, and automatic control circuit is according to inspection
The voltage levels that the sensing electricity taking coil measuring obtains send corresponding order to servomotor, between adjust automatically two parts iron core
The size of the air gap, makes the voltage substantially constant that sensing electricity taking coil obtains.
There is no the position of signal because the work of power transmission line line walking is likely to be at barren hill, therefore make full use of power line carrier communication
It is also optional, be now in addition wound with coil or believe resonance using sensing electricity taking coil simultaneously as the transmitting-receiving of power line carrier communication
Coil.The high-frequency signal that coil obtains is separated with power frequency by high pass filter, and resonance receives transmission frequency with predetermined, by passing
The power line carrier communication signal processing mode of system obtains signal.Because the frequency band of power line carrier communication is narrower, only pass on relatively
For simple information, the such as information such as GPS location, simple command, single image, but this has been very useful.
For convenience of catching power transmission line and observing power transmission line, aircraft has camera lens photographic head 23 upwards, the image that photographic head shoots
It is used for by predetermined image correction to program position of aircraft, due to having no problem apart from the more more convenient power transmission line of observing of power transmission line.
Connecting wire between sensing electricity taking coil on platform and the other equipment that may install and unmanned vehicle is coiled into spring shape
Shape, is contained in the vertical guide pillar of platform or is enclosed within outside the vertical guide pillar of platform, when spring-like wire is contained in vertical guide pillar, vertically
There is opening at least one section, wire lead-out wire is drawn from open slot, and moves in open slot, is anti-in guide pillar
Abrasion, can add wearing bush.
Sometimes power transmission line inconvenience aircraft particularly near, now can using with parallelogram connection-rod holding mechanism from lifting
The type of fall platform, as shown in Figure 3：Three holes are had on laminar linkage plane, the intersection of two of which line of symmetry has
One centre bore, two heads respectively have a hole, and hole is on centerline and symmetrical, and the such connecting rod of two panels cuts with scissors in central hole
Pick up, in sequential series being hinged together in the hole of multiple such connection rod set heads forms the link assembly 26 of parallelogram sturcutre,
Respectively there is one group of short connecting rod at two of the link assembly of such a string parallelogram sturcutre, short connecting rod has two holes, between hole
Away from identical with the spacing in the hole on long connecting rod, two short connecting rods are hinged together, the hole at the other two ends of two short connecting rods each with a long company
Bar is hinged together, and forms parallelogram, and two short connecting rod hinged places of upper end are hinged together with platform, two short companies of lower end
Bar hinged place is hinged together with electing nut 30, elects nut and coordinates with an election screw rod 29, elects screw rod and pass through shaft coupling
It is connected with reducing motor 28, unmanned vehicle fuselage extends downwardly from one block of hollow plate 27, the connection rod set of parallelogram sturcutre
26 between cored slab two inwall, and the line of symmetry of the bottom of cored slab has a hole, the connection rod set of parallelogram sturcutre under
The center hinged place of the two panels long connecting rod on side is hinged with cored slab 27 by this hole, and reducing motor is fixed on the outer wall of cored slab
On.Reducing motor drives election screw rod to make lifting platform.
Such parallelogram connection-rod holding mechanism can also two groups used in parallel, such fuselage needs stretch two pieces same
Cored slab.
Substantially working condition is such：The platform of sensing electricity getting device carried on the back by unmanned vehicle, close to transmission of electricity below power transmission line
Line, makes power transmission line be in the surface of platform by predetermined image correction to program position and iron core axis and transmission of electricity bobbin thread are close to overlapping,
Now unmanned vehicle rises, and when unmanned vehicle rises to power transmission line close to the upper edge of box-like platform, photoswitch is given
Signal, the screw rod that drive screw motor-driven carries left-right rotary screw thread rotates, and drives two half iron core sensings on bearing support to take
Electric coil is drawn close to center until when iron core contact or only very little gap, touching microswitch provides signal and makes motor stall, with
When bearing support the spring removable pin on platform is touched out, unmanned vehicle drops to bottom by gravity along the vertical guide pillar on platform,
Hang over and start to charge up there.Charging complete, unmanned vehicle rises along vertical guide pillar, during to extreme position, is fixed on unmanned flying
After the inclined-plane on hook on row device backs down spring removable pin, unmanned vehicle is pinned by spring removable pin automatically with platform, touches simultaneously
Touch the microswitch of mesa base, providing signal makes electric motor driven screw invert, drive two half iron core sensings on bearing support to take
Electric coil separately, provides signal, motor stall to microswitch during extreme position, and unmanned vehicle declines certain distance to disengaging
Start after power transmission line to normal cruise.
As line walking by the way of hanging on power transmission line, the air force that now unmanned vehicle is provided with rotor moves along power transmission line,
When running into the barriers such as separation of division power transmission line, follow procedure provides command signal makes electric motor driven screw invert, and drives supporting
Half iron core sensing electricity taking coil of on frame two separately, provides signal to microswitch during extreme position, unmanned vehicle declines one
After the segment distance that moves ahead again after set a distance extremely disengaging power transmission line is avoided dividing the barriers such as separation of power transmission line, unmanned vehicle is carried on the back
The platform of sensing electricity getting device, close to power transmission line below power transmission line, makes power transmission line be in by predetermined image correction to program position flat
, with transmission of electricity bobbin thread close to overlapping, now unmanned vehicle rising, when unmanned vehicle rises to for the surface of platform and iron core axis
Power transmission line close to the upper edge of box-like platform when, photoswitch provides signal, drive screw motor-driven carry left-right rotary screw thread
Screw rod rotate, drive two half iron core sensing electricity taking coils on bearing support to draw close to center until iron core contact or only very little
During gap, touching microswitch provides signal and makes motor stall, and unmanned vehicle advances again, to running into division power transmission line again
The separation period of the day from 11 p.m. to 1 a.m repeat aforementioned operation circulation.Unmanned vehicle can be charged while work.If necessary to simply hang over
On power transmission line and during unmanned vehicle rotor stall, spring removable pin is opened by the cam that decelerator drives, unmanned flight
Device drops to bottom by gravity along the vertically-guided bar on platform, hangs over and charges there.
Using the self-raising lift platform with parallelogram connection-rod holding mechanism type when, aircraft hovers over below power transmission line,
Start the motor of holding mechanism, platform rises to photoswitch and provides signal, screw rod rotates makes iron core close, and hangs over as needed
Line walking after charging there or rising.
Although platform can be one flat plate in the simplest situations is fixed on the bearing of screw rod and the guide rail of drive mechanism
Deng, and can also carry on platform other forms power taking sensing electricity taking coil, for example sensing electricity taking coil be only wound on side ferrum
On core, opposite side is one piece of iron core, rotates or this block iron core of translation is closed so as to be formed with the iron core being wound with sensing electricity taking coil
Close magnetic circuit, the side that sensing electricity taking coil can be wound on iron core can also separately be wound on both sides, only carries horizontal shaft roller side
Bearing support is mobile or two bearing supports all move and using each individually screw drive be all possible, but these are not excellent
Choosing.
Wheeled running mechanism can also be carried on platform.
Claims (10)
1. a kind of unmanned vehicle with hoistable platform, including unmanned vehicle and platform it is characterised in that：There is a lifting
Platform, the bottom surface of platform is relative with above unmanned vehicle, and platform is fixed with vertical guide pillar, unmanned vehicle has and hangs down
The vertical guide pin bushing of straight guide pillar cooperation, unmanned vehicle can lift along vertical guide pillar.
2. the unmanned vehicle with hoistable platform according to claim 1 it is characterised in that：Unmanned vehicle relies on rotation
The air force that the wing provides rises and relies on gravity to decline, and platform has spring removable pin, unmanned vehicle is fixed with hook,
Unmanned vehicle rise to close to the upper extreme position of platform when hook on inclined-plane back down automatic locking after spring removable pin, supporting
Frame movement is to cam control during iron core make position backed down spring removable pin or spring removable pin is driven by a decelerator
System, spring removable pin open rear unmanned vehicle be down to vertical guide pillar bottom lower limit position when can be by the projection on vertical guide pillar
Portion is blocked.
3. the unmanned vehicle with hoistable platform according to claim 1 it is characterised in that：Platform relies on motor to drive
The dynamic lifting of parallelogram connection-rod holding mechanism, the short connecting rod hinged place of parallelogram connection-rod holding mechanism the top and platform
Hinged, the plate that the hinged place at long connecting rod center of parallelogram connection-rod holding mechanism bottom is extended downwardly from aircraft fuselage cuts with scissors
Connect, the motor with decelerator is fixed on the plate that aircraft fuselage extends downwardly from, and the short connecting rod of holding mechanism bottom is hinged
Place is hinged with an election nut, and the screw thread axially bored line electing nut is vertical with the axis of connecting rod link axle, elects nut and election
Screw rod coordinates, and the motor-driven with decelerator is elected screw rod and made lifting platform.
4. the unmanned vehicle with hoistable platform according to claim 1 it is characterised in that：All electrical equipment on platform
Connecting wire between equipment and unmanned vehicle is coiled into spring shape and is contained in the vertical guide pillar of platform or is enclosed within the vertical of platform to be led
Outside post.
5. the unmanned vehicle with hoistable platform according to claim 1 it is characterised in that：Platform and transmission of electricity bobbin thread
Vertical both sides projection has wall, and the upper edge of wall stops that power transmission line too declines, wall carries switch, power transmission line is close
Or trigger switch when touching the upper edge of wall.
6. the unmanned vehicle with hoistable platform according to claim 1 or 2,3,4,5 it is characterised in that：Band
Have from power mains induced electricity getting device, sensing electricity getting device has the iron core of ring-type, the iron core of ring-type is made up of two parts, Ke Yikai
Close, when being combined, form ring-type, outside iron core, be axially wound with sensing electricity taking coil, during power taking, power transmission line forms from two parts iron core
Ring in pass through, platform has left and right two bearing supports, bearing support is fixed cored, outside wherein at least one iron core, has sensing
Electricity taking coil, two bearing supports are staggered relatively, when two bearing supports near when iron core formed closed magnetic circuit, have one simultaneous with
Left hand thread and the screw rod of right-handed thread, the axis of screw rod is vertical with the axis of iron core, and the bearing of screw rod is fixed on platform, spiral shell
Bar passes through two bearing supports, screw rod has simultaneously and coordinates the left-handed nut of relative configuration and right-handed nut, motor-driven spiral shell with it
Bar rotates, and left-handed nut and right-handed nut's relative movement can make iron core close when clamping two bearing supports, there is rolling the both sides of bearing support
Son,
7. the unmanned vehicle with hoistable platform according to claim 6 it is characterised in that：Platform is box-like,
Lead or the fairlead of level are had on bolster, the cassette bottom of box-like platform have at least three raised items, every raised item has to
Few two lateral apertures with lead or fairlead cooperation, on raised item, left-handed nut and right-handed nut are respectively for the bearing of screw rod
It is fixed on left bearing support or right bearing support, each bearing support is fixed with Semicircular iron core and sensing electricity taking coil, each
There is the roller of vertical axises the both sides of bolster, and there is the roller of trunnion axis the both sides of at least one bearing support simultaneously.
8. the unmanned vehicle with hoistable platform according to claim 1 it is characterised in that：Unmanned vehicle is many rotations
Wing unmanned vehicle, 4 rotors along line of symmetry distribution are vertical axes, mainly provide lift, and axis is overlapped with the plane of symmetry
Rotor is trunnion axis, is the rotor of special offer onward impulse, and iron core unmanned vehicle rotor in make position provides
Air force move along power transmission line, unmanned vehicle carries the tail rotor of trunnion axis, and the rotor of unmanned vehicle carries protective cover.
9. the unmanned vehicle with hoistable platform according to claim 6 it is characterised in that：The electricity of drive screw turns
Motivation is servomotor, and automatic control circuit senses the voltage levels of electricity taking coil acquirement to servomotor according to detect
Send corresponding order, the size of the air gap between adjust automatically two parts iron core.
10. the unmanned vehicle with hoistable platform according to claim 6 it is characterised in that：In addition it is wound with iron core
Coil or by the use of sensing electricity taking coil as power line carrier communication transmitting-receiving believe coil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510546127.8A CN106477056B (en) | 2015-08-31 | 2015-08-31 | Unmanned vehicle with hoistable platform |
Applications Claiming Priority (1)
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| CN110422329A (en) * | 2019-07-19 | 2019-11-08 | 苏州高博软件技术职业学院 | Cam controls the wheeled dynamic swing device and wheeled dynamic wing method that blade rotates |
| CN111452662A (en) * | 2020-04-01 | 2020-07-28 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle charging device, unmanned aerial vehicle and battery charging method |
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