CN107856877B - Small unmanned aerial vehicle's transmission, recovery system - Google Patents
Small unmanned aerial vehicle's transmission, recovery system Download PDFInfo
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- CN107856877B CN107856877B CN201711353931.XA CN201711353931A CN107856877B CN 107856877 B CN107856877 B CN 107856877B CN 201711353931 A CN201711353931 A CN 201711353931A CN 107856877 B CN107856877 B CN 107856877B
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- unmanned aerial
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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
- B64F1/04—Launching or towing gear
- B64F1/06—Launching or towing gear using catapults
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a small unmanned aerial vehicle transmitting and recovering system, which comprises a vehicle body, wherein a transmitting cavity is formed in the rear side of the tail part of the vehicle body and close to the roof, a transmitting mechanism is arranged in the transmitting cavity, a recovering cavity is formed in the rear part of the left side of the vehicle body and close to the roof, a recovering mechanism is arranged in the recovering cavity, a through groove for communicating the transmitting cavity and the recovering cavity is formed between the transmitting cavity and the recovering cavity, and a conveying mechanism is arranged in the through groove. The beneficial effects achieved by the invention are as follows: good concealment and high maneuvering performance.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a transmitting and recycling system of a small unmanned aerial vehicle.
Background
Unmanned aerial vehicle, short for Unmanned Aerial Vehicle (UAV), has flexible, the reaction is quick, unmanned aerial vehicle's flight, advantage that the operation requirement is low. The unmanned aerial vehicle can realize the real-time transmission of images and the detection function of high-risk areas by carrying various sensors. Currently, the demands of the army and police on unmanned aerial vehicles are increasing. For small unmanned aerial vehicles, manual control release, manual operation flying and manual operation recovery are often carried out. In the manual release process, release from a stationary place is often required, and if release is performed in a moving vehicle, dynamic release is performed, but the release is difficult to operate, and particularly when war or crime is hit, the simple and easy release is very important. In the recovery process, a person is required to stop the small unmanned aerial vehicle at a static position and then can recover the small unmanned aerial vehicle, the unmanned aerial vehicle is required to be recovered at any time in order to reduce the possibility of target exposure, and the static recovery mode cannot meet the use requirement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a transmitting and recycling system of a small unmanned aerial vehicle with good concealment and high maneuvering performance.
The aim of the invention is achieved by the following technical scheme: the emission and recovery system of the small unmanned aerial vehicle comprises a vehicle body, wherein an emission cavity is formed in the rear side of the tail part of the vehicle body and close to the roof, an emission mechanism is installed in the emission cavity, a recovery cavity is formed in the rear part of the left side of the vehicle body and close to the roof, a recovery mechanism is installed in the recovery cavity, a through groove for communicating the emission cavity and the recovery cavity is formed between the emission cavity and the recovery cavity, and a conveying mechanism is installed in the through groove;
the launching mechanism comprises an elastic launching device, the elastic launching device is arranged at the front wall of a launching cavity, a chute is formed in the bottom surface of the launching cavity, a guide rail is arranged, the chute is close to the front end of a vehicle body, the guide rail is close to the rear end of a launching hole, a pushing block is arranged in the chute, one end of the pushing block is fixedly connected with the elastic launching device, the other end of the pushing block is matched with the shape of the tail end of a small machine, an inverted T-shaped groove is formed in the guide rail, steel blocks are fixed at the bottom ends of supporting legs of the small unmanned aerial vehicle, rollers capable of retracting into the steel blocks are arranged on the upper surface, the lower surface, the left surface and the right surface of the steel blocks, a magnetic seat A is arranged at one end, close to the chute, of the T-shaped groove of the guide rail, and a magnetic seat A switch is arranged in the magnetic seat A;
the elastic transmitting device, the magnetic seat switch and the telescopic driving switch of the roller are electrically connected with the processor, the processor is also electrically connected with the speed measurer and the bump measurer respectively, the speed measurer is used for measuring the running speed of the vehicle body, the bump measurer is used for measuring the displacement of the vehicle body in the up-down direction of the vehicle body in unit time, the elastic transmitting device is started when the bump measurer detects the upward displacement of the vehicle body in the up-down direction, and the speed measured by the speed measurer controls the transmitting force of the elastic transmitting device;
the recovery mechanism comprises a recovery telescopic arm and a platform, one end of the recovery telescopic arm is fixed in the recovery cavity, one end of the recovery telescopic arm is fixed with the platform through a rotating head, a plurality of grooves are formed in the platform, a magnetic seat B is placed in each groove, a magnetic seat B switch is arranged on each magnetic seat B, and each magnetic seat B corresponds to one supporting leg of the unmanned aerial vehicle;
the rotary head and the recovery telescopic arm are connected with the processor, the vehicle body is further provided with image monitoring equipment, the rotary head and the recovery telescopic arm are electrically connected with the processor, and the processor is internally provided with a database recording module which records the position data of the platform when the unmanned aerial vehicle flies from different angles;
the conveying mechanism comprises a cross beam and a clamping conveying arm, the cross beam is transversely fixed on the wall of the through groove, a conveying block sliding along the cross beam is arranged on the cross beam, the conveying block is electrically connected with a conveying motor, the clamping conveying arm and a clamping conveying arm driving device are fixed on the conveying block, and the conveying motor and the clamping arm driving device are electrically connected with each other through processors;
the clamping conveying arm further comprises two sections of telescopic clamping rods and clamping heads, one ends of the clamping rods are arranged on the conveying blocks, the clamping heads are fixed at the other ends of the clamping rods and comprise left and right clamping blocks, hemispherical grooves are formed in opposite faces of the clamping blocks, spherical bodies are fixed at middle positions of supporting legs of the small unmanned aerial vehicle, and the spherical bodies are matched with the hemispherical grooves of the clamping blocks.
The bottom surface of the emission cavity forms a certain inclination angle, and is low in front and high in back along the front and back directions of the vehicle body.
The tail end of the small unmanned aerial vehicle is provided with a shell plate with higher strength.
Each wall in the T-shaped groove of the guide rail is a smooth wall with very low roughness.
The upper surface of the magnetic seat A and the lower surface of the T-shaped groove are positioned on the same horizontal plane; the upper surface of the magnetic seat B is lower than the upper surface of the platform.
The groove is a circular groove, an arc angle is formed at the edge of the groove, and the steel block of the small unmanned aerial vehicle support leg is a circular steel block; the upper surface of the platform is very smooth.
All steel blocks on the support legs of the unmanned aerial vehicle enclose into a circle.
And controllable switch boards are arranged at the outlets of the emission cavity and the recovery cavity.
The invention has the following advantages: (1) By arranging the elastic transmitting device and the guide rail, the dynamic release of the small unmanned aerial vehicle can be effectively realized; (2) The arrangement of the T-shaped groove in the guide rail, the steel block on the support leg of the unmanned aerial vehicle and the roller enables the unmanned aerial vehicle to be capable of being better emitted; (3) The speed measurer and the bump measurer are arranged, so that the unmanned aerial vehicle can emit according to the actual running condition of the vehicle body, the emitted quality is ensured, and the unmanned aerial vehicle can start flying automatically; (4) The magnetic seat A is arranged, so that the unmanned aerial vehicle can be adsorbed at the position of the guide rail close to the chute before being transmitted, the unmanned aerial vehicle is ensured to be stationary differently, and the unmanned aerial vehicle is convenient to transmit; (5) By arranging the recovery telescopic arm, the platform and the magnetic seat B, the movable recovery of the small unmanned aerial vehicle can be realized conveniently in the vehicle movement process; (6) The rotating head, the image monitoring equipment and the database recording module in the processor can rapidly adjust the position of the platform according to the flight direction of the small unmanned aerial vehicle, so that the unmanned aerial vehicle is rapidly recovered at a low speed; (7) The upper surface of the platform is smooth, the upper surface of the magnetic seat B is lower than the upper surface of the platform, and the edge of the groove of the platform is provided with an arc angle, so that when the positions of the rigid blocks on the supporting legs of the unmanned aerial vehicle deviate from the positions of the grooves, the magnetic force is attractive, the magnetic force is convenient to automatically fine-tune, and the rigid blocks of the supporting legs of the unmanned aerial vehicle slide into the grooves.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the launching mechanism;
FIG. 3 is a schematic view of the recovery mechanism;
FIG. 4 is a schematic view of the structure of the conveying mechanism;
FIG. 5 is a schematic view of the structure of the clamping blocks in the clamping head;
fig. 6 is a schematic structural view of a unmanned aerial vehicle leg;
in the figure: the device comprises a 1-car body, a 2-launching mechanism, a 3-recovery mechanism, a 4-conveying mechanism, a 5-elastic launching device, a 6-guide rail, a 7-pushing block, an 8-steel block, a 9-roller, a 10-magnetic seat A, an 11-recovery telescopic arm, a 12-platform, a 13-rotating head, a 14-magnetic seat B, a 15-cross beam, a 16-clamping conveying arm, a 17-conveying block, an 18-clamping rod, a 19-clamping head and a 20-spherical body.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1, the launching and recycling system of the small unmanned aerial vehicle comprises a vehicle body 1, wherein a launching cavity is formed in the rear side of the tail part of the vehicle body 1 and close to the roof, a launching mechanism 2 is installed in the launching cavity, a recycling cavity is formed in the rear part of the left side of the vehicle body 1 and close to the roof, a recycling mechanism 3 is installed in the recycling cavity, a through groove for communicating the launching cavity and the recycling cavity is formed between the launching cavity and the recycling cavity, and a conveying mechanism 4 is installed in the through groove.
Specifically, the launching mechanism 2 include elasticity emitter 5, elasticity emitter 5 sets up in emission chamber antetheca position department, open on the bottom surface in emission chamber has the spout, be provided with guide rail 6, the spout is close to the front end of automobile body, guide rail 6 is close to the rear end of emission hole, install pusher 7 in the spout, the one end and the elasticity emitter 5 of pusher 7 link to each other fixedly, the other end and the tail end appearance looks adaptation of miniascone of pusher 7, open and have the T type groove of inversion in the guide rail 6, the bottom mounting of miniascone's stabilizer blade has steel billet 8, the upper and lower face and the left and right sides face of steel billet 8 all are provided with the gyro wheel 9 that can retract in the steel billet 8, the one end that is close to the spout in the T type inslot of guide rail 6 is provided with magnetic force seat A10, be provided with magnetic force seat A switch in the magnetic force seat A10.
Further, the elastic transmitting device 5, the magnetic seat switch and the telescopic driving switch of the roller 9 are all electrically connected with a processor, the processor is also electrically connected with a speed measurer and a jolt measurer respectively, the speed measurer is used for measuring the running speed of the vehicle body, the jolt measurer is used for measuring the displacement of the vehicle body in the up-down direction of the vehicle body in unit time, when the jolt measurer detects that the displacement of the vehicle body in the up-down direction is upward, the elastic transmitting device 5 is started, and the speed measured by the speed measurer controls the transmitting force of the elastic transmitting device 5;
specifically, recovery mechanism 3 including retrieving flexible arm 11, platform 12, retrieve the one end of flexible arm 11 and fix at retrieving the intracavity, retrieve the one end of flexible arm 11 and be fixed with platform 12 through swivel 13, open on the platform 12 and have a plurality of recesses, placed magnetic force seat B14 in the recess, be provided with magnetic force seat B switch on the magnetic force seat B14, every magnetic force B14 corresponds a stabilizer blade of unmanned aerial vehicle.
Further, the rotating head 13 and the recovery telescopic arm 11 are all connected with a processor, an image monitoring device is further arranged on the vehicle body 1, the image monitoring device, the rotating head 13 and the recovery telescopic arm 11 are all electrically connected with the processor, a database recording module is arranged in the processor, and the database recording module records position data of the platform 12 when the unmanned aerial vehicle flies from different angles.
Specifically, the conveying mechanism 4 comprises a cross beam 15 and a clamping conveying arm 16, the cross beam 15 is transversely fixed on the wall of the through groove, a conveying block 17 sliding along the cross beam 15 is arranged on the cross beam 15, the conveying block 17 is electrically connected with a conveying motor, the clamping conveying arm 16 and a clamping conveying arm driving device are fixed on the conveying block 17, and the conveying motor and the clamping arm driving device are electrically connected through processors.
Further, the clamping conveying arm 16 further comprises two sections of telescopic clamping rods 18 and clamping heads 19, one ends of the clamping rods 18 are arranged on the conveying blocks 17, the clamping heads 19 are fixed at the other ends of the clamping rods 18, the clamping heads 19 comprise left and right clamping blocks, hemispherical grooves are formed in opposite faces of the clamping blocks, spherical bodies 20 are fixed at middle positions of supporting legs of the small unmanned aerial vehicle, and the spherical bodies 20 are matched with the hemispherical grooves of the clamping blocks.
In this embodiment, the bottom surface of the emission cavity forms a certain inclination angle, and is low in front and high in rear along the front and rear direction of the vehicle body.
In this embodiment, the tail end of the small unmanned aerial vehicle is provided with a shell plate with higher strength.
All walls in the T-shaped groove of the guide rail 6 are smooth walls with low roughness, so that the unmanned aerial vehicle can conveniently emit.
The upper surface of the magnetic seat A10 and the lower surface of the T-shaped groove are positioned on the same horizontal plane; the upper surface of magnet holder B14 is lower than the upper surface of platform 12. The groove is a circular groove, an arc angle is formed at the edge of the groove, and the steel block 8 of the small unmanned aerial vehicle support leg is a circular steel block; the upper surface of the platform 12 is very smooth. All steel blocks on the support legs of the unmanned aerial vehicle enclose into a circle. The unmanned aerial vehicle can be reset and recovered in time.
And controllable switch boards are arranged at the outlets of the emission cavity and the recovery cavity, so that the concealment is improved.
Claims (6)
1. Small-size unmanned aerial vehicle's transmission, recovery system, its characterized in that: the vehicle comprises a vehicle body (1), wherein a transmitting cavity is formed in the rear side of the tail part of the vehicle body (1) and close to the vehicle roof, a transmitting mechanism (2) is installed in the transmitting cavity, a recovery cavity is formed in the rear part of the left side of the vehicle body (1) and close to the vehicle roof, a recovery mechanism (3) is installed in the recovery cavity, a through groove for communicating the transmitting cavity and the recovery cavity is formed between the transmitting cavity and the recovery cavity, and a conveying mechanism (4) is installed in the through groove;
the launching mechanism (2) comprises an elastic launching device (5), the elastic launching device (5) is arranged at the front wall of the launching cavity, a chute is formed in the bottom surface of the launching cavity and provided with a guide rail (6), the chute is close to the front end of a vehicle body, the guide rail (6) is close to the rear end of the launching hole, a pushing block (7) is arranged in the chute, one end of the pushing block (7) is fixedly connected with the elastic launching device (5), the other end of the pushing block (7) is matched with the shape of the tail end of the small-sized computer, an inverted T-shaped groove is formed in the guide rail (6), steel blocks (8) are fixed at the bottom ends of supporting legs of the small-sized unmanned aerial vehicle, rollers (9) capable of retracting into the steel blocks (8) are arranged on the upper surface, the lower surface and the left side and the right side of the steel blocks (8), a magnetic seat A (10) is arranged at one end, close to the chute, of the magnetic seat A is arranged in the T-shaped groove of the guide rail (6);
the elastic transmitting device (5), the magnetic seat switch and the telescopic driving switch of the roller (9) are electrically connected with the processor, the processor is also electrically connected with the speed measurer and the jolt measurer respectively, the speed measurer is used for measuring the running speed of the vehicle body, the jolt measurer is used for measuring the displacement of the vehicle body in the up-down direction of the vehicle body in unit time, the elastic transmitting device (5) is started when the jolt measurer detects the upward displacement of the vehicle body in the up-down direction, and the speed measured by the speed measurer controls the transmitting force of the elastic transmitting device (5);
the recovery mechanism (3) comprises a recovery telescopic arm (11) and a platform (12), one end of the recovery telescopic arm (11) is fixed in the recovery cavity, the platform (12) is fixed at one end of the recovery telescopic arm (11) through a rotating head (13), a plurality of grooves are formed in the platform (12), a magnetic seat B (14) is placed in each groove, a magnetic seat B switch is arranged on each magnetic seat B (14), and each magnetic seat B (14) corresponds to one supporting leg of the unmanned aerial vehicle;
the rotary head (13) and the recovery telescopic arm (11) are connected with a processor, an image monitoring device is further arranged on the vehicle body (1), the image monitoring device, the rotary head (13) and the recovery telescopic arm (11) are electrically connected with the processor, a database recording module is arranged in the processor, and the database recording module records position data of the platform (12) when the unmanned aerial vehicle flies from different angles;
the conveying mechanism (4) comprises a cross beam (15) and a clamping conveying arm (16), the cross beam (15) is transversely fixed on the wall of the through groove, a conveying block (17) sliding along the cross beam (15) is arranged on the cross beam (15), the conveying block (17) is electrically connected with a conveying motor, the clamping conveying arm (16) and a clamping conveying arm driving device are fixed on the conveying block (17), and the conveying motor and the clamping arm driving device are electrically connected through processors;
the clamping conveying arm (16) further comprises two sections of telescopic clamping rods (18) and clamping heads (19), one end of each clamping rod (18) is arranged on each conveying block (17), the other end of each clamping rod (18) is fixedly provided with each clamping head (19), each clamping head (19) comprises a left clamping block and a right clamping block, hemispherical grooves are formed in opposite faces of the clamping blocks, spherical bodies (20) are fixed in middle positions of supporting legs of the small unmanned aerial vehicle, and the spherical bodies (20) are matched with the hemispherical grooves of the clamping blocks;
the bottom surface of the emission cavity forms a certain inclination angle, and is low in front and high in back along the front and back directions of the vehicle body;
the upper surface of the magnetic seat A (10) and the lower surface of the T-shaped groove are positioned on the same horizontal plane; the upper surface of the magnetic base B (14) is lower than the upper surface of the platform (12).
2. The unmanned aerial vehicle's launch, recovery system of claim 1, wherein: the tail end of the small unmanned aerial vehicle is provided with a shell plate with higher strength.
3. The unmanned aerial vehicle's launch, recovery system of claim 2, wherein: each wall in the T-shaped groove of the guide rail (6) is a smooth wall with very low roughness.
4. The unmanned aerial vehicle's launch, recovery system of claim 1, wherein: the groove is a circular groove, an arc angle is formed at the edge of the groove, and a steel block (8) of the small unmanned aerial vehicle support leg is a circular steel block; the upper surface of the platform (12) is very smooth.
5. The unmanned aerial vehicle's launch, recovery system of claim 4, wherein: all steel blocks on the support legs of the unmanned aerial vehicle enclose into a circle.
6. The unmanned aerial vehicle's launch, recovery system of claim 1, wherein: and controllable switch boards are arranged at the outlets of the emission cavity and the recovery cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711353931.XA CN107856877B (en) | 2017-12-15 | 2017-12-15 | Small unmanned aerial vehicle's transmission, recovery system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711353931.XA CN107856877B (en) | 2017-12-15 | 2017-12-15 | Small unmanned aerial vehicle's transmission, recovery system |
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| Publication Number | Publication Date |
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| CN107856877A CN107856877A (en) | 2018-03-30 |
| CN107856877B true CN107856877B (en) | 2023-09-05 |
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| CN201711353931.XA Active CN107856877B (en) | 2017-12-15 | 2017-12-15 | Small unmanned aerial vehicle's transmission, recovery system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747842B (en) * | 2018-12-27 | 2022-05-17 | 中国航空工业集团公司西安飞机设计研究所 | Aerial recovery unit of unmanned aerial vehicle |
| CN112644729B (en) * | 2021-01-04 | 2022-05-24 | 航天时代飞鸿技术有限公司 | Automatic launching and recycling device and method based on unmanned vehicle |
| CN113955138B (en) * | 2021-10-29 | 2023-11-28 | 重庆交通大学 | Unmanned aerial vehicle recovery platform |
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