CN107985172A - A kind of fixing device in unmanned plane transport - Google Patents
A kind of fixing device in unmanned plane transport Download PDFInfo
- Publication number
- CN107985172A CN107985172A CN201810029128.9A CN201810029128A CN107985172A CN 107985172 A CN107985172 A CN 107985172A CN 201810029128 A CN201810029128 A CN 201810029128A CN 107985172 A CN107985172 A CN 107985172A
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- China
- Prior art keywords
- straight line
- fixed
- unmanned plane
- servomotor
- moving cell
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
Abstract
The present invention discloses the fixing device in a kind of unmanned plane transport, including visual sensor, visual tag, fixed plate, position regulator, it is left, right side buckling device, the visual sensor is indirectly fixed in fixed plate, visual tag is fixed on unmanned aerial vehicle body upper surface, fixed plate is left, right both sides are fixed left respectively, right side buckling device, it is left, right side buckling device is used for the undercarriage for fixing unmanned plane, the position regulator is installed in fixed plate, landing platform is provided with position regulator, position regulator is used for the locus for adjusting the horizontal direction of landing platform, the visual sensor is connected by circuit with arithmetic and control unit, position regulator and a left side, all servomotors of right side buckling device are connected by circuit with arithmetic and control unit, realize the automatic fixed of unmanned plane.
Description
Technical field
The present invention relates to the fixing device in a kind of unmanned plane fixing device, more particularly to a kind of transport of unmanned plane.
Background technology
With the continuous development of unmanned air vehicle technique, unmanned plane is also gradual in field applications such as transport, investigation, mapping, agriculturals
Popularization, for unmanned plane since quality is small, energy reserves is few, and is not easily accomplished remote control, so inapplicable long-distance flight,
Need to transport using transporting equipment, especially large-scale unmanned plane quality is larger, with greater need for using vehicle transport, to avoid unmanned plane from existing
Collide with transportational process, it is necessary to which unmanned plane is fixed.
Fixing device in the unmanned plane transport of the technical program is based on what is proposed under this background, utilizes unmanned plane
Two visual sensors or camera installed on the visual tag and fixed plate installed on fuselage match, visual sensing
The position of unmanned plane is accurately positioned by the processing of arithmetic and control unit for the data of device, arithmetic and control unit control adjustment landing platform
Locus, unmanned plane undercarriage is fixed using the buckling device set at left and right sides of unmanned plane；Landing platform is fixed on electronic
On turntable, realize that unmanned plane horizontal direction is rotated to adjust the orientation of unmanned plane；Electrical turntable is fixed on two superpositions and sets shifting
On movable plate, linear motion unit is installed on two movable plates, the linear motion unit installed on two movable plates is mutually perpendicular to set
Put, realize the adjustment of electrical turntable optional position in the horizontal direction；Being accurately positioned for unmanned plane is realized by vision positioning technology,
Unmanned plane undercarriage is fixed using pressing plate is swung, realizes the automatic fixed of unmanned plane, accurate positioning, facilitates the fixation of unmanned plane.
The content of the invention
It is an object of the invention to：The unmanned plane on landing platform is dropped to, nothing is identified by visual space location technology
Man-machine exact position, the position regulator that arithmetic and control unit control landing platform lower end is fixed, adjustment unmanned plane is mobile, rotation
To predeterminated position, unmanned plane is fixed using the undercarriage of buckling device compression unmanned plane.
The object of the present invention is achieved like this：A kind of fixing device in unmanned plane transport, lifting column 2, left side button
Attach together and put 3, fixed plate 4, position regulator 5, right side buckling device 6, visual tag 7, visual sensor 8, arithmetic and control unit
10,2 lower end of lifting column is fixed in fixed plate 4, and visual sensor mounting base 9, vision are fixed in 2 upper end of lifting column
Sensor 8 is fixed in visual sensor mounting base 9, and arithmetic and control unit 10 is arranged in fixed plate 4, and visual tag 7 is fixed on
On the upper surface of 1 fuselage of unmanned plane, 4 arranged on left and right sides of fixed plate fixes left side buckling device 3, right side buckling device 6 respectively, uses
In the undercarriage of fixed unmanned plane 1, the 4 symmetrical structure of fixed plate, left side buckling device 3 and right side buckling device
6 on fixed plate 4 bilateral symmetry plane it is symmetrical；
The position regulator 5 is installed in fixed plate 4, and landing platform 17 is provided with position regulator 5；
The visual sensor 8 is connected by circuit with arithmetic and control unit 10, for gathering the locus of visual tag 7,
All servomotors of position regulator 5 are connected by circuit with arithmetic and control unit 10.
The left side buckling device 3 includes left vertical beam 301, left pressing plate 302, and left servomotor 11, left flanged pipe 12 are left
301 lower end of vertical beam is fixed on 4 left end of fixed plate, and 301 upper end of left vertical beam and the left end of left pressing plate 302 are rotatablely connected, left servo electricity
Machine 11 is fixed on left vertical beam 301 by left flanged pipe 12, and the output shaft of left servomotor 11 fixes the left end of left pressing plate 302,
The right end lower surface of left pressing plate 302 is provided with v-depression 3021, for fastening the left cross bar 101 for the undercarriage for compressing unmanned plane,
Right side buckling device includes right vertical beam, right pressing plate, right servomotor.
The position regulator 5 includes first straight line moving cell 15, the first movable plate 14, second straight line movement list
First 13, second movable plate 16, electrical turntable 18, landing platform 17, the fixed part of the first straight line moving cell 15 are consolidated
The upper surface of fixed plate 4 is scheduled on, the movable part or sliding block of first straight line moving cell 15 fix the following table of the first movable plate 14
The fixed part of second straight line moving cell 13 is fixed in face, the upper surface of the first movable plate 14, second straight line moving cell 13
Movable part or sliding block fix the lower surface of the second movable plate 16, and the peace of electrical turntable 18 is fixed in the upper surface of the second movable plate 16
Seat is filled, the rotating part of electrical turntable 16 fixes hoistable platform 17, and the first straight line moving cell 15, second is straight
Line moving cell 13 is arranged in a mutually vertical manner, and the first straight line moving cell 15, second straight line moving cell 13 are electronic straight
Line moving cell, first straight line moving cell 15, second straight line moving cell 13, the servomotor on electrical turntable 18 pass through
Circuit is connected with arithmetic and control unit.
The first straight line moving cell 15 is two linear motion units being arranged in parallel, and the second straight line is transported
Moving cell 13 is two linear motion units being arranged in parallel, respectively improving the first movable plate 14, the second movable plate 16
Stability and support stiffness.
The left servomotor 11, right servomotor are connected by circuit with arithmetic and control unit.
The first straight line moving cell 15, second straight line moving cell use feed screw nut and guide rail slide block machine
Structure, screw one end be respectively fixedly connected with first straight line moving cell 15, second straight line moving cell servomotor output
Axis.
The quantity of the visual tag 7 is four, square arrangement, and the quantity of the visual sensor 8 is two
A, two visual sensors 8 are connected by circuit with arithmetic and control unit 10.
4 lower surface of fixed plate is fixed at the top of the vehicle body of haulage vehicle in upper or wagon box.
The first straight line moving cell 15, second straight line moving cell use feed screw nut and guide rail slide block machine
Structure, screw one end are fixedly connected with the output shaft of servomotor.
The left servomotor 11, right servomotor are both provided with band-type brake, left servomotor 11, the power-off of right servomotor
Rear left servomotor 11, right servomotor band-type brake hold the shaft of servomotor tightly, and during energization, band-type brake is opened.
Compared with prior art, the invention has the advantages that：
1. utilize two visual sensors or camera installed on the visual tag and fixed plate installed on unmanned aerial vehicle body
Match, the position of unmanned plane, arithmetic and control unit are accurately positioned by the processing of arithmetic and control unit for the data of visual sensor
The locus of control adjustment landing platform, unmanned plane undercarriage is fixed using the buckling device set at left and right sides of unmanned plane；
2. landing platform is fixed on electrical turntable, realize that unmanned plane horizontal direction is rotated to adjust the orientation of unmanned plane；It is electronic
Turntable is fixed on two superpositions and sets on movable plate, and linear motion unit is installed on two movable plates, is installed on two movable plates
Linear motion unit be arranged in a mutually vertical manner, realize the adjustment of electrical turntable optional position in the horizontal direction；
3 realize being accurately positioned for unmanned plane by visual identity location technology, and unmanned plane undercarriage is fixed using pressing plate is swung, real
The automatic of existing unmanned plane is fixed, and accurate positioning, facilitates the fixation of unmanned plane.
Brief description of the drawings
Fig. 1 is the fixing device overall construction drawing one in unmanned plane transport.
Fig. 2 is the fixing device overall construction drawing two in unmanned plane transport.
Fig. 3 is the buckling device structure diagram of the undercarriage of fixed unmanned plane.
Fig. 4 is the position regulator structure diagram set below landing platform.
Embodiment
With reference to Fig. 1~4, the fixing device in a kind of unmanned plane of the invention transport, including lifting column 2, left side fasten
Device 3, fixed plate 4, position regulator 5, right side buckling device 6, visual tag 7, visual sensor 8, visual sensor peace
Seat 9, arithmetic and control unit 10 are filled, the 4 symmetrical structure of fixed plate, 2 lower end of lifting column is fixed on fixation
Visual sensor mounting base 9 is fixed in the front center of plate 4,2 upper end of lifting column, and visual sensor 8 is fixed on visual sensor
In mounting base 9, arithmetic and control unit 10 is arranged in fixed plate 4, and visual tag 7 is fixed on the upper surface of 1 fuselage of unmanned plane, depending on
The quantity for feeling label 7 is four, and the left side buckling device 3 is fixed in square arrangement, 4 left end centre position of fixed plate,
The right side buckling device 6 is fixed in 4 right end centre position of fixed plate, and left side buckling device 3 is with right side buckling device 6 on solid
The symmetrical plane of the left and right directions of fixed board 4 is symmetrical, and left side buckling device 3, right side buckling device 6 are respectively used to fix nobody
Left cross bar 101, the right cross bar 102 that left and right sides lower end is set between machine 1 rises and falls.
The left side buckling device 3 includes left vertical beam 301, left pressing plate 302, and left servomotor 11, left flanged pipe 12 are left
301 lower end of vertical beam is fixed on 4 left end centre position of fixed plate, and 301 upper end of left vertical beam and the left end of left pressing plate 302 are rotatablely connected,
Left servomotor 11 is fixed on the rear end of left flanged pipe 12, and left 12 front end of flanged pipe is fixed on left vertical beam 301, for fixed left
Servomotor 11, left flanged pipe 12 are in hollow-core construction, and the output shaft of left servomotor fixes the left end of left pressing plate 302, for controlling
The swing of left pressing plate 302 processed, the right end lower surface of left pressing plate 302 are provided with v-depression 3021, and left cross bar is compressed for fastening
101, the undercarriage of fixed unmanned plane.
The position regulator 5 includes first straight line moving cell 15, the first movable plate 14, second straight line movement list
First 13, second movable plate 16, electrical turntable 18, landing platform 17, the fixed part of the first straight line moving cell 15 are consolidated
The upper surface of fixed plate 4 is scheduled on, the movable part or sliding block of first straight line moving cell 15 fix the following table of the first movable plate 14
The fixed part of second straight line moving cell 13 is fixed in face, the upper surface of the first movable plate 14, second straight line moving cell 13
Movable part or sliding block fix the lower surface of the second movable plate 16, and the peace of electrical turntable 18 is fixed in the upper surface of the second movable plate 16
Seat is filled, the rotating part of electrical turntable 16 fixes hoistable platform 17.The hoistable platform 17 is rounded, drops to unmanned plane
Any angle of landing platform circumferencial direction can.The first straight line moving cell 15, second straight line movement are single
Member 13 is arranged in a mutually vertical manner, and the first straight line moving cell 15, second straight line moving cell 13 are electric rectilinear movement list
Member.The first straight line moving cell 15, second straight line moving cell use feed screw nut and guide rail slide block mechanism, screw
One end is fixedly connected with the output shaft of servomotor.
The first straight line moving cell 15 is two linear motion units being arranged in parallel, and the second straight line is transported
Moving cell 13 is two linear motion units being arranged in parallel, respectively improving the first movable plate 14, the second movable plate 16
Stability and support stiffness.
The quantity of the visual sensor 8 is two, to improve the positioning accuracy of unmanned plane, two visual sensors
8 are connected by circuit with arithmetic and control unit 10, and for gathering the spatial positional information of visual tag 7, first straight line movement is single
Member 15, second straight line moving cell 13, the servomotor on electrical turntable 18 are connected by circuit with arithmetic and control unit, are used for
Realize the control driving of arithmetic and control unit 10 first straight line moving cell 15, second straight line moving cell 13, on electrical turntable 18
Servomotor rotates, the first movable plate 14 of adjustment, the horizontal direction movement of the second movable plate 16 and the level of electrical turntable 18
Direction rotates.
4 lower surface of fixed plate is fixed at the top of the vehicle body of haulage vehicle in upper or wagon box.
When unmanned plane 1 needs landing, lifting column position is in stroke minimum position, a left side for control left side buckling device 3
Servomotor 11, the right servomotor of right side buckling device 6 rotate, and left pressing plate 302, right pressing plate are in vertical state, and unmanned plane 1 drops
Fall on landing platform 17, lifting column rises to precalculated position, and visual sensor 8 detects the position of visual tag 7, even if flying
The propeller of machine blocks two visual tags 7, and visual sensor 8 can also detect two visual tags to position the position of unmanned plane
Put, arithmetic and control unit 10 calculates the locus of visual tag 7, so as to calculate the position of the undercarriage of unmanned plane 1, computing
Controller 10 controls the servomotor of electrical turntable 18 to rotate, and landing platform 1, which rotates, to be realized the side around of unmanned plane 1
Position is ajusted, and arithmetic and control unit control first straight line moving cell 15, the servomotor of second straight line moving cell 13 rotate, and first
Movable plate 14, the second movable plate 16 adjustment position, make the undercarriage of unmanned plane 1 be moved to precalculated position, control left side fastens dress
The right servomotor rotation of 3 left servomotor 11, right side buckling device 6 is put, left pressing plate 302, right pressing plate are simultaneously towards nobody
The interior side oscillation of machine 1 or fixed plate 4, the v-depression 3021 on left pressing plate 302, the v-depression clamping unmanned plane 1 in right pressing plate
The left cross bar 101 in undercarriage lower end, right cross bar 102 so that fixed unmanned plane 1, the left servomotor 11, right servomotor
Band-type brake is both provided with, left servomotor 11, right servomotor power-off rear left servomotor 11, right servomotor band-type brake hold servo tightly
The shaft of motor, during energization, band-type brake is opened, and after the completion of 1 undercarriage of unmanned plane is fixed, left servomotor 11, right servomotor break
Electricity, left servomotor 11, right servomotor band-type brake hold the shaft of servomotor, after the completion of 1 undercarriage of unmanned plane is fixed, lifting tightly
The external part of column 2 declines, and lifting column position is in stroke minimum position.
After the transport of unmanned plane 1 arrives at, left servomotor 11, the right side buckling device 6 of control left side buckling device 3
Right servomotor rotate, left pressing plate 302, right pressing plate be in vertical state, and unmanned plane 1 flies away from landing platform, control left side fastening
The left servomotor 11 of device 3, the right servomotor of right side buckling device 6 rotate backward, and left pressing plate 302, right pressing plate are fitted in
On landing platform 17.
Claims (10)
- A kind of 1. fixing device in unmanned plane transport, it is characterised in that：Lifting column（2）, left side buckling device（3）, it is fixed Plate（4）, position regulator（5）, right side buckling device（6）, visual tag（7）, visual sensor（8）, arithmetic and control unit （10）, the lifting column（2）Lower end is fixed on fixed plate（4）On, lifting column（2）Visual sensor installation is fixed in upper end Seat（9）, visual sensor（8）It is fixed on visual sensor mounting base（9）On, arithmetic and control unit（10）It is arranged on fixed plate（4） On, visual tag（7）It is fixed on unmanned plane（1）On the upper surface of fuselage, fixed plate（4）Arranged on left and right sides respectively detain by fixed left side Attach together and put（3）, right side buckling device（6）, for fixing unmanned plane（1）Undercarriage, the fixed plate（4）It is symmetrical Structure, left side buckling device（3）With right side buckling device（6）On fixed plate（4）Bilateral symmetry plane it is symmetrical；The position regulator（5）Installed in fixed plate（4）On, position regulator（5）On be provided with landing platform （17）；The visual sensor（8）Pass through circuit and arithmetic and control unit（10）Connection, for gathering visual tag（7）Space Position, position regulator（5）All servomotors pass through circuit and arithmetic and control unit（10）Connection.
- 2. the fixing device in unmanned plane transport according to claim 1, it is characterised in that：The left side buckling device （3）Including left vertical beam（301）, left pressing plate（302）, left servomotor（11）, left flanged pipe（12）, left vertical beam（301）Lower end is consolidated It is scheduled on fixed plate（4）Left end, left vertical beam（301）Upper end and left pressing plate（302）Left end rotation connection, left servomotor（11）It is logical Cross left flanged pipe（12）It is fixed on left vertical beam（301）On, left servomotor（11）Output shaft fix left pressing plate（302）A left side End, left pressing plate（302）Right end lower surface be provided with v-depression（3021）, for fastening a left side for the undercarriage for compressing unmanned plane Cross bar（101）, right side buckling device include right vertical beam, right pressing plate, right servomotor.
- 3. the fixing device in unmanned plane transport according to claim 1, it is characterised in that：The position regulator （5）Including first straight line moving cell（15）, the first movable plate（14）, second straight line moving cell（13）, the second movable plate （16）, electrical turntable（18）, landing platform（17）, the first straight line moving cell（15）Fixed part be fixed on fixation Plate（4）Upper surface, first straight line moving cell（15）Movable part or sliding block fix the first movable plate（14）Lower surface, First movable plate（14）Upper surface fix second straight line moving cell（13）Fixed part, second straight line moving cell（13） Movable part or sliding block fix the second movable plate（16）Lower surface, the second movable plate（16）Upper surface fix electrical turntable （18）Mounting base, electrical turntable（16）Rotating part fix hoistable platform（17）, the described first straight line movement Unit（15）, second straight line moving cell（13）It is arranged in a mutually vertical manner, the first straight line moving cell（15）, second straight line Moving cell（13）For electric rectilinear movement unit, first straight line moving cell（15）, second straight line moving cell（13）, it is electronic Turntable（18）On servomotor be connected by circuit with arithmetic and control unit.
- 4. the fixing device in unmanned plane transport according to claim 2, it is characterised in that：The first straight line movement Unit（15）For two linear motion units being arranged in parallel, the second straight line moving cell（13）It is arranged in parallel for two Linear motion unit, respectively improving the first movable plate（14）, the second movable plate（16）Stability and support stiffness.
- 5. the fixing device in unmanned plane transport according to claim 2, it is characterised in that：The left servomotor （11）, right servomotor is connected by circuit with arithmetic and control unit.
- 6. the fixing device in unmanned plane transport according to claim 3, it is characterised in that：The first straight line movement Unit（15）, second straight line moving cell use feed screw nut and guide rail slide block mechanism, screw one end is respectively fixedly connected with First straight line moving cell（15）, second straight line moving cell servomotor output shaft.
- 7. the fixing device in being transported according to claim 1-6 any one of them unmanned plane, it is characterised in that：The vision Label（7）Quantity be four, square arrangement, the visual sensor（8）Quantity be two, two visual sensings Device（8）Pass through circuit and arithmetic and control unit（10）Connection.
- 8. the fixing device in being transported according to claim 1-6 any one of them unmanned plane, it is characterised in that：The fixation Plate（4）Lower surface is fixed at the top of the vehicle body of haulage vehicle in upper or wagon box.
- 9. the fixing device in unmanned plane transport according to claim 3 or 4 or 6, it is characterised in that：Described first is straight Line moving cell（15）, second straight line moving cell use feed screw nut and guide rail slide block mechanism, screw one end, which is fixed, to be connected Connect the output shaft of servomotor.
- 10. the fixing device in unmanned plane transport according to claim 2 or 4 or 5, it is characterised in that：Watch on the left side Take motor（11）, right servomotor be both provided with band-type brake, left servomotor（11）, right servomotor power-off rear left servomotor （11）, right servomotor band-type brake hold the shaft of servomotor tightly, during energization, band-type brake is opened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029128.9A CN107985172A (en) | 2018-01-12 | 2018-01-12 | A kind of fixing device in unmanned plane transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029128.9A CN107985172A (en) | 2018-01-12 | 2018-01-12 | A kind of fixing device in unmanned plane transport |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107985172A true CN107985172A (en) | 2018-05-04 |
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ID=62040996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810029128.9A Pending CN107985172A (en) | 2018-01-12 | 2018-01-12 | A kind of fixing device in unmanned plane transport |
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| CN108657058A (en) * | 2018-05-17 | 2018-10-16 | 北京中资燕京汽车有限公司 | Unmanned plane car-mounted device |
| CN109533374A (en) * | 2018-12-07 | 2019-03-29 | 国网河南省电力公司南阳供电公司 | A kind of power circuit unmanned plane inspection operation auxiliary system |
| CN109703438A (en) * | 2018-12-26 | 2019-05-03 | 深圳市星图智控科技有限公司 | Vehicle-mounted unmanned aerial vehicle draw off gear and system |
| CN110143263A (en) * | 2019-06-04 | 2019-08-20 | 河南大域航空科技有限公司 | A kind of sea search and rescue equipment based on unmanned air vehicle technique |
| CN114655105A (en) * | 2022-04-11 | 2022-06-24 | 中国人民解放军国防科技大学 | Mobile rotor unmanned plane bee colony hangar |
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| CN114655105A (en) * | 2022-04-11 | 2022-06-24 | 中国人民解放军国防科技大学 | Mobile rotor unmanned plane bee colony hangar |
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