CN108945509B - Active conical auxiliary guide clamping mechanism - Google Patents
Active conical auxiliary guide clamping mechanism Download PDFInfo
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- CN108945509B CN108945509B CN201810553131.0A CN201810553131A CN108945509B CN 108945509 B CN108945509 B CN 108945509B CN 201810553131 A CN201810553131 A CN 201810553131A CN 108945509 B CN108945509 B CN 108945509B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 230000000670 limiting effect Effects 0.000 claims description 15
- 239000007787 solid Substances 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims 1
- 239000002184 metal Substances 0.000 claims 1
- 238000011084 recovery Methods 0.000 abstract description 48
- 238000000034 method Methods 0.000 description 8
- 238000004064 recycling Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000005441 aurora Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An active conical auxiliary guide clamping mechanism relates to the field of unmanned aerial vehicle recovery, and comprises a reset elastic element, a seat ring, a base and a plurality of rib plates; the seat ring is installed on the base, and a plurality of floor plates have been arranged along circumference on the seat ring, and the floor plate rotates to be installed on the seat ring, has arranged the elastic element that resets of being connected with the two between seat ring and the base, and initial state, a plurality of floor plate enclose into an inverted cone structure, and processing has the perforating hole that enables unmanned aerial vehicle bottom toper adapter to pass through on the base. The unmanned aerial vehicle recovery device is suitable for offshore recovery of unmanned aerial vehicles, the recovery area of the unmanned aerial vehicles is enlarged, the control precision of the unmanned aerial vehicles is reduced, and the recovery stability is improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle recovery, and provides an active deformable unmanned aerial vehicle sea surface recovery and capture system according to research requirements of deformable unmanned aerial vehicle sea surface recovery and reuse technologies, and further provides an active conical auxiliary guide clamping mechanism for realizing reliable capture of a deformable unmanned aerial vehicle in a marine recovery process according to the capture requirements of the sea surface recovery and capture system.
Background
At present, unmanned aerial vehicles mainly have parachute landing recovery, net collision recovery, landing gear pulley landing, overhead hooking recovery and the like, different grabbing and locking devices are different in different recovery modes, parachute recovery and net collision recovery are the main unmanned aerial vehicle recovery modes in 1985-1994, and representative patents are UB2219777A and US 5109788A. In 1995-1999, wire-strike recovery began to develop, with a representative patent being U.S. Pat. publication No. US6264140B1, issued to INSITU, Inc. 1999. Since the 21 st century, the INSITU company has continued to improve the recovery of wire-strike, and in 2003, proposed a patent with publication number US7059564B 2; the core patent US20120048996a1 of aerial recovery was presented during 2005-2009. During 2010-2012, 2011, AURORA corporation filed a patent application published under US20130082137a 1. In 2012, patent application publication No. WO2013/171735a1 of YOFFE, Meir, israel shows an unmanned aerial vehicle recovery system of "fixed point take-off and landing"; the recovery system is light in weight and can be kept stable at sea. Both of these patents are extensions of the INSITU sky hook recycling technology. In addition, AAI in 2010 filed a patent US8453967B2 of a net collision recovery device adopted on an aerial detector drone; leisn en company filed a patent application publication No. US20130341462a1 in 2012, which discloses landing a drone on rollers made of vertically aligned elastic material, and then recovering by a capturing mechanism, providing a new recovery concept.
To sum up, in the aspect of marine unmanned aerial vehicle recovery, the problems of complex system, low control precision, poor control initiative, stability of locking to be improved and the like still exist in the prior art and the disclosed technology and device.
Disclosure of Invention
The invention provides an active conical auxiliary guide clamping mechanism which is suitable for offshore recovery of an unmanned aerial vehicle, aims to overcome the defects of the prior art, enlarges the recovery area of the unmanned aerial vehicle and reduces the control precision of the unmanned aerial vehicle.
The technical scheme adopted by the invention is as follows:
an active conical auxiliary guide clamping mechanism comprises a reset elastic element, a seat ring, a base and a plurality of ribbed plates;
the seat ring is installed on the base, and a plurality of floor plates have been arranged along circumference on the seat ring, and the floor plate rotates to be installed on the seat ring, has arranged the elastic element that resets of being connected with the two between seat ring and the base, and initial state, a plurality of floor plate enclose into an inverted cone structure, and processing has the perforating hole that enables unmanned aerial vehicle bottom toper adapter to pass through on the base.
Furthermore, the seat ring comprises two rings and a plurality of limiting blocks, the two rings are arranged side by side from top to bottom and are connected through the limiting blocks, and the limiting blocks are inserted on the base.
Typically, the two rings are metallic rings.
Furthermore, the elastic element that resets is the torsional spring, and the torsional spring suit is on the last ring of seat ring, and the one end and the base of torsional spring are connected, and the other end and the floor of torsional spring are connected.
Furthermore, one end of the ribbed plate is bent, a groove capable of being embedded into the other end of the torsion spring is formed in the other end of the ribbed plate, and the other end of the ribbed plate is rotatably connected with the seat ring.
Furthermore, the base comprises a positioning seat matched with the seat ring and a connecting plate arranged at intervals with the positioning seat and connected into a whole, and the positioning seat is of a cylindrical structure with one end open and the other end provided with a bottom plate; the bottom plate and the middle part of the flat plate are provided with through holes through which the conical adapter at the bottom of the unmanned aerial vehicle can pass, the inner side wall surface of the positioning seat is provided with a slot matched with the limiting block, the limiting block is inserted into the slot, and a conical cylinder extending towards the opening is arranged on the hole in the middle part of the bottom plate.
Furthermore, the active conical auxiliary guiding and clamping mechanism also comprises a proximity switch and a plurality of push-pull electromagnets;
a plurality of push-pull electromagnets are arranged on one end face of the flat plate adjacent to the positioning seat along the circumferential direction, the base of each push-pull electromagnet is installed on the flat plate, a plurality of spring traction rods of the push-pull electromagnets point to the through hole, and the spring traction rods of the push-pull electromagnets can lock the conical adapter at the bottom of the unmanned aerial vehicle after being extended; the proximity switch is arranged on one end face of the flat plate, which is adjacent to the positioning seat, and receives a signal sent by the bottom of the unmanned aerial vehicle entering the through hole and sends an instruction.
Compared with the prior art, the invention has the beneficial effects that:
the active conical auxiliary guide clamping mechanism provided by the invention can play a tolerance guide role in the initial section of recovery and butt joint of the unmanned aerial vehicle, and reduce the positioning precision of the posture and the position of the unmanned aerial vehicle; in the process of recovering to the recycling bin, play the solid effect of card, prevent that unmanned aerial vehicle from scraping with the inside production of recycling bin. Further improvement marine unmanned aerial vehicle's recovery stability and precision, reduced the locking degree of difficulty of unmanned aerial vehicle recovery in-process. Meanwhile, the control precision of the unmanned aerial vehicle is also reduced, and the recovery area of the unmanned aerial vehicle is enlarged.
Drawings
FIG. 1 is a schematic view of an active cone-shaped auxiliary guiding and clamping mechanism according to the present invention;
FIG. 2 is a schematic view of the arrangement of the base and seat ring;
FIG. 3 is a schematic structural view of the base viewed from the direction of the cone;
FIG. 4 is a schematic view of the base viewed from the direction of the power source
FIG. 5 is a schematic view of a seat ring structure;
FIG. 6 is a schematic diagram of a push-pull electromagnet;
fig. 7 is a schematic view of the tapered adapter at the bottom of the drone being gradually wedged under the drive of the active tapered auxiliary guide clamping mechanism;
FIG. 8 is a schematic view of a rib structure;
FIG. 9 is a schematic view of a groove on a rib;
fig. 10 is a diagram of a completely opened state of a rib plate of the active cone-shaped auxiliary guiding and clamping mechanism when the unmanned aerial vehicle is recovered;
fig. 11 is a diagram of a state in which a rib plate of the active conical auxiliary guide clamping mechanism is to be closed when the unmanned aerial vehicle is recovered;
fig. 12 is a diagram illustrating a completely closed state of the rib plates of the active conical auxiliary guiding and fastening mechanism when the unmanned aerial vehicle is recovered.
The reference numbers shown in the figures: the unmanned aerial vehicle comprises a rib plate 1, a groove 1-1, a reset elastic element 2, a seat ring 3, a ring 3-1, a limiting block 3-2, a base 4, a through hole 4-0, a positioning seat 4-1, a power source connecting seat 4-2, a push-pull electromagnet 5 and an unmanned aerial vehicle 6.
Detailed Description
The present invention will be described in detail with reference to fig. 1 and 7.
Referring to fig. 1-2, the active conical auxiliary guiding and clamping mechanism of the present embodiment is an active conical auxiliary guiding and clamping mechanism suitable for offshore recovery of an unmanned aerial vehicle, and includes a restoring elastic element 2, a seat ring 3, a base 4, and a plurality of rib plates 1;
the seat ring 3 is installed on the base 4, a plurality of rib plates 1 are arranged on the seat ring 3 along the circumferential direction, the rib plates 1 are rotatably installed on the seat ring 3, the reset elastic element 2 connected with the seat ring 3 and the base 4 is arranged between the seat ring 3 and the base 4, in an initial state, the plurality of rib plates 1 form an inverted cone structure in a surrounding mode, and a through hole 4-0 enabling the conical adapter at the bottom of the unmanned aerial vehicle to pass through is processed on the base 4.
The ribbed plate is an actuating mechanism for unfolding and closing the whole active conical auxiliary guide clamping mechanism, and is gradually closed under the limitation of the recovery cylinder in the recovery process; during the releasing process, the elastic element is gradually unfolded under the action of the reset elastic element. The plurality of ribbed plates are matched to form a conical guide structure, and when the structure is in a closed state, the enveloping radius of the periphery of the structure is smaller than the inner diameter of the recovery cylinder and can be stored in the recovery cylinder; when the conical auxiliary structure is unfolded, the unfolding area of the conical structure is greatly increased, the recovery area is greatly increased, and the control precision of the unmanned aerial vehicle is reduced.
Referring to fig. 5 for explanation, in order to ensure stable and reliable operation, the seat ring 3 comprises two rings 3-1 and a plurality of limit blocks 3-2, the two rings 3-1 are arranged side by side up and down and connected through the plurality of limit blocks 3-2, and the limit blocks 3-2 are inserted on the base 4. The seat ring 3 is used to connect the respective ribs 1 so that the respective ribs 1 can be unfolded and closed at the seat ring 3. The number of the limiting blocks 3-2 is 40.
As a preferred scheme, the elastic return element 2 is a torsion spring, the torsion spring is sleeved on the upper ring of the upper seat ring 3, one end of the torsion spring is connected with the base 4, and the other end of the torsion spring is connected with the rib plate 1. Typically, both rings 3-1 are metallic rings.
Referring to fig. 8 and 9, as a preferred embodiment, one end of rib 1 is bent, the other end of rib 1 is formed with a groove 1-1 into which the other end of the torsion spring is inserted, and the other end of rib 1 is rotatably connected to seat ring 3. Place a torsional spring in the seat ring 3 position department that every floor 1 corresponds, the torsional spring suit is on the last becket of seat ring 3, one end is pressed on the draw-in groove of base 4, the other end is pressed in the slot of floor 1, when not having the recovery section of thick bamboo restriction, under the effect of torsional spring, whole toper structure is in the state of expanding, in the recovery process, because the radius restriction of recovery section of thick bamboo, the supplementary card solid mechanism of guide of active toper closes gradually, the torsional spring is compressed, the release in-process, because the effect of reset torsional spring, the supplementary card solid mechanism of guide of toper expandes gradually.
Referring to fig. 3 and 4 for explanation, the base 4 comprises a positioning seat 4-1 which is matched with the seat ring 3 and a connecting plate 4-2 which is arranged at an interval with the positioning seat 4-1 and is connected with the positioning seat into a whole, wherein the positioning seat 4-1 is a cylindrical structure with one end open and the other end provided with a bottom plate; the middle parts of the bottom plate and the connecting plate 4-2 are provided with through holes through which the conical adapter at the bottom of the unmanned aerial vehicle can pass, the inner side wall surface of the positioning seat 4-1 is provided with a slot matched with the limiting block 3-2, the limiting block 3-2 is inserted in the slot, and a conical cylinder extending towards the opening is arranged on a hole in the middle part of the bottom plate.
The base has two main functions, namely, the base provides mounting support for the active conical auxiliary guiding and clamping mechanism, the push-pull electromagnet 5, the photoelectric switch and the like; another important function is to cooperate with the tapered adapter at the end of the unmanned aerial vehicle through the tapered surface of the tapered cylinder 4-3 on the base 4, so as to realize the limiting effect on the unmanned aerial vehicle. The base structure shape is complicated, is the basic support of whole unmanned aerial vehicle toper assistance-guiding and tight device again, will bear the whole loads of unmanned aerial vehicle and whole device.
Referring to fig. 6, the active conical auxiliary guiding and clamping mechanism further comprises a proximity switch and a plurality of push-pull electromagnets 5; a plurality of push-pull electromagnets 5 are circumferentially arranged on one end face of the connecting plate 4-2 adjacent to the positioning seat 4-1, a base of each push-pull electromagnet 5 is mounted on the connecting plate 4-2, a plurality of spring draw bars of the push-pull electromagnets 5 point to the through holes 4-0, and the spring draw bars of the push-pull electromagnets 5 can lock the conical adapter at the bottom of the unmanned aerial vehicle after being extended; the proximity switch is arranged on one end face of the connecting plate 4-2 adjacent to the positioning seat 4-1, and receives a signal sent by the bottom of the unmanned aerial vehicle entering the through hole 4-0 and sends an instruction. Typically, the proximity switch is an opto-electronic switch. The photoelectric switch senses a signal sent out from the bottom of the unmanned aerial vehicle and transmits the signal to the control system to make corresponding judgment.
Push-pull electromagnet has two effects, and one is at the unmanned aerial vehicle recovery in-process, and when unmanned aerial vehicle bottom signal was received by inductor (photoelectric switch), push-pull electromagnet got into the mode of opening through circuit control, and after unmanned aerial vehicle bottom toper adapter got into guiding mechanism assigned position, push-pull electromagnet played, and push-pull electromagnet's push rod stretched out locking unmanned aerial vehicle bottom adapter, guaranteed the locking stability of recovery process. And secondly, in the unmanned aerial vehicle release stage, the push-pull electromagnet receives an active signal to enter an opening mode, and the conical adapter at the bottom of the unmanned aerial vehicle is released, so that the unmanned aerial vehicle is free from first constraint.
For example, a two-dimensional schematic diagram of an active cone-shaped auxiliary guiding and clamping mechanism is shown in fig. 7. The maximum unfolding angle beta of the conical mechanism is 35 degrees, the maximum opening range L of the active conical auxiliary guiding and clamping mechanism for recovery is 1000mm, and the recovery range of the unmanned aerial vehicle 6 can be effectively increased in a fully opened state, so that the requirement on the positioning accuracy of a recovery system of the unmanned aerial vehicle 6 is reduced; the rotation radius R of the ribbed slab 1 is 1000 mm; the outer envelope radius of the active conical auxiliary guiding and clamping mechanism in a fully opened state is 562 mm; when the active conical auxiliary guide clamping mechanism is in a closed state, the outer envelope radius r is 513mm, and the size is matched with the size of the inner diameter of the recovery cylinder wall, so that the restraint effect on the ribbed slab 1 can be achieved, and interference cannot occur; when the active conical auxiliary guide clamping mechanism is in a closed state, the axial distance H is 1000mm, the height H of the size larger than the gravity center of the unmanned aerial vehicle is 800mm, and the gravity center of the unmanned aerial vehicle can be ensured to be stable when the active conical auxiliary guide clamping mechanism is in a folded state; the outer envelope radius r0 of the base is 509mm, which is smaller than the inner diameter of the wall of the recycling bin.
Working process
Referring to fig. 10-12, when the unmanned aerial vehicle starts to be recovered, under the supporting and pressing action of the reset torsion spring, the active conical auxiliary guiding and clamping mechanism is in a fully opened state as shown in fig. 10, after the conical adapter at the bottom of the unmanned aerial vehicle falls into the maximum opening range of the active conical auxiliary guiding and clamping mechanism, which can be used for recovery, under the guiding action of the active conical auxiliary guiding and clamping mechanism, the unmanned aerial vehicle can smoothly slide into the conical surface matched with the conical adapter of the unmanned aerial vehicle on the base, and the state is as shown in fig. 11, so that the unmanned aerial vehicle is limited and wedged by the conical adapter. Then under the drive of the tooth-shaped synchronous belt, the active conical auxiliary guide clamping mechanism moves downwards, and the torsion spring is pressed through the ribbed plate under the constraint action of the wall of the recycling cylinder, so that the ribbed plate of the active conical auxiliary guide clamping mechanism is folded to a closed state as shown in figure 12 and smoothly folded into the recycling cylinder; in the reverse launching process, after the active conical auxiliary guiding and clamping mechanism rises to the position that the rib plate extends out of the recovery cylinder, the active conical auxiliary guiding and clamping mechanism continuously opens along with the rising process of the base under the supporting and pressing action of the reset torsion spring until the active conical auxiliary guiding and clamping mechanism is in the maximum opening state.
The present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made by the technical essence of the present invention by those skilled in the art can be made without departing from the scope of the present invention.
Claims (5)
1. The utility model provides an active toper is assisted and is led card solid mechanism which characterized in that: the device comprises a reset elastic element (2), a seat ring (3), a base (4) and a plurality of rib plates (1);
the base ring (3) is installed on the base (4), a plurality of rib plates (1) are arranged on the base ring (3) along the circumferential direction, the rib plates (1) are rotatably installed on the base ring (3), a reset elastic element (2) connected with the base ring (3) and the base (4) is arranged between the base ring (3) and the base (4), in an initial state, the plurality of rib plates (1) form an inverted cone-shaped structure in a surrounding mode, and a through hole (4-0) through which a conical adapter at the bottom of the unmanned aerial vehicle can pass is processed on the base (4);
the seat ring (3) comprises two rings (3-1) and a plurality of limiting blocks (3-2), the two rings (3-1) are arranged side by side up and down and are connected through the plurality of limiting blocks (3-2), and the limiting blocks (3-2) are inserted on the base (4); the base (4) comprises a positioning seat (4-1) which is matched with the seat ring (3) to be installed and a connecting plate (4-2) which is arranged at an interval with the positioning seat (4-1) and connected into a whole, the positioning seat (4-1) is of a cylindrical structure with one end open and the other end provided with a bottom plate, the middle parts of the bottom plate and the connecting plate (4-2) are provided with through holes (4-0) through which conical adapters at the bottom of the unmanned aerial vehicle can pass, the inner side wall surface of the positioning seat (4-1) is provided with inserting grooves matched with the limiting blocks (3-2), the limiting blocks (3-2) are inserted into the inserting grooves, and conical cylinders (4-3) extending towards the open are arranged on;
the active conical auxiliary guiding and clamping mechanism also comprises a proximity switch and a plurality of push-pull electromagnets (5); a plurality of push-pull electromagnets (5) are arranged on one end face, adjacent to the positioning seat (4-1), of the connecting plate (4-2) along the circumferential direction, bases of the push-pull electromagnets (5) are installed on the connecting plate (4-2), a plurality of spring draw bars of the push-pull electromagnets (5) point to the through hole (4-0), and the spring draw bars of the push-pull electromagnets (5) can lock the conical adapter at the bottom of the unmanned aerial vehicle after being extended; the proximity switch is arranged on one end face of the connecting plate (4-2) adjacent to the positioning seat (4-1), and receives a signal sent by the bottom of the unmanned aerial vehicle entering the through hole (4-0) and sends an instruction.
2. The active cone-shaped auxiliary guiding and clamping mechanism of claim 1, wherein: the elastic reset element (2) is a torsion spring, the torsion spring is sleeved on the upper ring of the seat ring (3), one end of the torsion spring is connected with the base (4), and the other end of the torsion spring is connected with the rib plate (1).
3. The active cone-shaped auxiliary guiding and clamping mechanism of claim 2, wherein: one end of the ribbed plate (1) extends to form a bending part, the other end of the ribbed plate (1) is provided with a groove which can be embedded into the other end of the torsion spring, and the other end of the ribbed plate (1) is sleeved on the ring (3-1) at the upper part.
4. The active cone-shaped auxiliary guiding and clamping mechanism of claim 3, wherein: the proximity switch is a photoelectric switch.
5. An active cone assisted guide clamp mechanism according to claim 1, 2, 3 or 4 wherein: the ring (3-1) is a metal ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810553131.0A CN108945509B (en) | 2018-05-31 | 2018-05-31 | Active conical auxiliary guide clamping mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810553131.0A CN108945509B (en) | 2018-05-31 | 2018-05-31 | Active conical auxiliary guide clamping mechanism |
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| CN108945509A CN108945509A (en) | 2018-12-07 |
| CN108945509B true CN108945509B (en) | 2021-04-09 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11518542B2 (en) * | 2019-02-15 | 2022-12-06 | Hoverfly Technologies, Inc. | Landing structure for an unmanned aerial vehicle |
| CN115571288B (en) * | 2022-08-30 | 2023-07-11 | 武汉理工大学 | Umbrella-shaped unmanned aerial vehicle transceiver adapting to complex sea conditions |
| CN116022386B (en) * | 2023-03-31 | 2023-06-06 | 中国空气动力研究与发展中心空天技术研究所 | Device for releasing and recycling unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5320395A (en) * | 1992-09-25 | 1994-06-14 | Oceaneering International, Inc. | Microconical interface fitting and interface grasping tool |
| CN201254296Y (en) * | 2008-05-26 | 2009-06-10 | 廖志明 | Airfoil fuel filling taper sleeve of aerial tanker |
| CN102358434A (en) * | 2011-09-15 | 2012-02-22 | 中国科学院自动化研究所 | Recycling system for aquatic unmanned aerial vehicle |
| CN203127149U (en) * | 2013-01-18 | 2013-08-14 | 东北大学 | Two-freedom-degree unmanned aerial vehicle net striking recovery device |
| CN107215485A (en) * | 2017-05-31 | 2017-09-29 | 北京空间飞行器总体设计部 | A kind of passive triggering locking device |
-
2018
- 2018-05-31 CN CN201810553131.0A patent/CN108945509B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5320395A (en) * | 1992-09-25 | 1994-06-14 | Oceaneering International, Inc. | Microconical interface fitting and interface grasping tool |
| CN201254296Y (en) * | 2008-05-26 | 2009-06-10 | 廖志明 | Airfoil fuel filling taper sleeve of aerial tanker |
| CN102358434A (en) * | 2011-09-15 | 2012-02-22 | 中国科学院自动化研究所 | Recycling system for aquatic unmanned aerial vehicle |
| CN203127149U (en) * | 2013-01-18 | 2013-08-14 | 东北大学 | Two-freedom-degree unmanned aerial vehicle net striking recovery device |
| CN107215485A (en) * | 2017-05-31 | 2017-09-29 | 北京空间飞行器总体设计部 | A kind of passive triggering locking device |
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| CN108945509A (en) | 2018-12-07 |
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