CN109747849B - Small-size unmanned aerial vehicle that patrols and examines moves platform release recovery system - Google Patents
Small-size unmanned aerial vehicle that patrols and examines moves platform release recovery system Download PDFInfo
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Abstract
The invention relates to the field of unmanned aerial vehicles, in particular to a small-sized routing inspection unmanned aerial vehicle mobile platform release and recovery system, wherein an experiment platform is installed on a mobile platform, a lifting port is arranged on the experiment platform, a limiting mechanism is arranged on the periphery of the lifting port, a lifting mechanism with a lifting table is arranged in the experiment platform, the routing inspection unmanned aerial vehicle is driven by the lifting table to lift or fall back through the lifting port, when the routing inspection unmanned aerial vehicle lands on the experiment platform, the routing inspection unmanned aerial vehicle is driven by the limiting mechanism to move to the middle of the lifting table, a charging port is arranged in the experiment platform, a charging through hole is arranged on the lifting table, a charging pole is arranged on the lower side of the routing inspection unmanned aerial vehicle, and when the routing inspection unmanned aerial vehicle is driven by the lifting table to fall back, the charging port penetrates through hole on the lifting table and is in butt joint with the charging pole on the lower side of the routing inspection unmanned aerial vehicle. The unmanned aerial vehicle control system integrates various control system experiment platforms by means of the movable platform, and can realize the functions of delivering, routing inspection and returning charge of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a release and recovery system for a small-sized routing inspection unmanned aerial vehicle maneuvering platform.
Background
In recent years, along with the rapid development of the relevant technologies of unmanned aerial vehicles at home and abroad, the unmanned aerial vehicles are also more and more widely used, wherein an important application field of the unmanned aerial vehicles is that the unmanned aerial vehicles are used as inspection equipment to carry out safety inspection on rails, production lines, high-voltage lines and the like, the unmanned aerial vehicles used for inspection generally use batteries as energy units, the endurance time of the unmanned aerial vehicles is an obvious short board, and the work efficiency of the unmanned aerial vehicles for inspection is undoubtedly improved if the unmanned aerial vehicles can be ensured to be charged in time in the inspection process.
Disclosure of Invention
The invention aims to provide a releasing and recovering system for a small-sized routing inspection unmanned aerial vehicle mobile platform, which integrates various control system experiment platforms by virtue of the mobile platform and can realize the functions of delivering, routing inspection and returning charge of the unmanned aerial vehicle.
The purpose of the invention is realized by the following technical scheme:
a small-sized routing inspection unmanned aerial vehicle mobile platform release and recovery system comprises a mobile platform, an experimental platform, a limiting mechanism, a lifting mechanism and a routing inspection unmanned aerial vehicle, wherein the experimental platform is arranged on the mobile platform, the experimental platform is provided with a lifting port, the periphery of the lifting port is provided with a limiting mechanism, the experimental platform is internally provided with a lifting mechanism with a lifting platform, and the inspection unmanned aerial vehicle is driven by the lifting platform to rise or fall back from the lifting port, when the inspection unmanned aerial vehicle lands on the experiment platform, the inspection unmanned aerial vehicle is driven by the limiting mechanism to move to the middle part of the lifting platform, a charging interface is arranged in the experiment platform, a charging through hole is arranged on the lifting platform, a charging pole is arranged at the lower side of the inspection unmanned aerial vehicle, and when patrolling and examining unmanned aerial vehicle and passing through after the elevating platform drives the fall back, the interface that charges by charge through-hole on the elevating platform passes and dock with the pole of charging of patrolling and examining the unmanned aerial vehicle downside.
The limiting mechanism comprises two X-direction moving limiting rods and two Y-direction moving limiting rods, the X-direction moving limiting rods and the Y-direction moving limiting rods enclose a square, and the lifting port is located in the middle of the square.
The X-direction moving limiting rod and the Y-direction moving limiting rod are located on different planes.
The two ends of the X-direction moving limiting rod are driven to move through an X-direction driving device respectively, and the two ends of the Y-direction moving limiting rod are driven to move through a Y-direction driving device respectively.
The X-direction driving device is arranged on the mounting bases at two sides of the experiment platform, and the Y-direction driving device is directly arranged on the upper surface of the experiment platform.
X includes X to driving motor, X to lead screw and X to the slider to drive arrangement, X all sets up on X is to the mount pad to lead screw, X to driving motor and X to the slider, X is installed to the mount pad on the mounting base, X passes through to the lead screw X is rotatory to driving motor drive, X to be equipped with on the slider with X is to lead screw complex screw, X is fixed on X is to the slider to the removal gag lever post tip.
Y includes that Y is to driving motor, Y to lead screw and Y to the slider to drive arrangement, Y all sets up on Y is to the mount pad to driving motor, Y to lead screw and Y to the slider, Y is to the upper surface of mount pad direct mount at the experiment platform, Y passes through to the lead screw Y is rotatory to driving motor drive, Y to be equipped with on the slider with Y is to lead screw complex screw, Y is fixed on Y is to the slider to the removal gag lever post tip.
Be equipped with locking mechanical system on the elevating platform, locking mechanical system includes spacing steering wheel and spacing hook, spacing hook passes through spacing steering wheel drive swing hooks the foot rest of patrolling and examining unmanned aerial vehicle lower extreme.
The lifting mechanism comprises a lifting platform, a base, a lifting scissors fork and a hydraulic cylinder, one side of the lower end of the lifting scissors fork is hinged with the base, the other side of the lower end of the lifting scissors fork is connected with the base in a sliding mode, the lifting platform is installed at the upper end of the lifting scissors fork, and the lifting scissors fork is driven to lift through the hydraulic cylinder.
A telescopic protection plate is arranged in a lifting port of the experiment platform; patrol and examine unmanned aerial vehicle downside and be equipped with the camera.
The invention has the advantages and positive effects that:
1. the invention can select the moving platform based on different working conditions, for example, unmanned vehicles or off-road vehicles can be selected on land, unmanned vehicles suitable for rails can be selected when the railway track is patrolled and examined, and the invention has stronger adaptability.
2. The inspection unmanned aerial vehicle can be charged conveniently, and can work continuously for a long time, so that the inspection efficiency is greatly improved.
Drawings
Figure 1 is a schematic view of the present invention,
figure 2 is a schematic diagram of the experimental platform of figure 1,
figure 3 is a schematic view of the spacing mechanism of figure 1,
figure 4 is an enlarged view of a portion of the spacing mechanism of figure 3,
figure 5 is a schematic view of the lift table of figure 3,
figure 6 is a schematic view of the drone of figure 1,
fig. 7 is a schematic view of the lifting mechanism of fig. 1.
The device comprises a movable platform 1, an experiment platform 2, an experiment platform main body 201, a protection board 202, a charging interface 203, a mounting base 204, a lifting port 205, a limiting mechanism 3, an X-direction moving limiting rod 31, an X-direction driving motor 311, an X-direction lead screw 312, an X-direction slider 313, a Y-direction moving limiting rod 32, a Y-direction driving motor 321, a Y-direction lead screw 322, a Y-direction slider 323, a lifting mechanism 4, a lifting platform 401, a limiting steering engine 402, a limiting hook 403, a charging through hole 404, a base 405, a bolt 406, a hydraulic cylinder 407, a pulley 408, a pulley groove 409, a lifting scissor 410, an unmanned inspection vehicle 5, a foot stool 501, a camera 502 and a charging pole 503.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the invention includes a movable platform 1, an experimental platform 2, a limiting mechanism 3, a lifting mechanism 4 and an inspection unmanned aerial vehicle 5, wherein the movable platform 1 is a mobile device, a user can select an unmanned vehicle or a cross-country vehicle as the movable platform 1 according to actual conditions, for example, on the land, the unmanned vehicle suitable for rails can be selected as the movable platform 1 when inspecting railway tracks, and the movable platform 1 is a mounting base for all the devices and mechanisms of the invention. Experiment platform 2 is installed move on the platform 1, as shown in fig. 2, be equipped with lift mouth 205 at the upper surface middle part of experiment platform main part 201, as shown in fig. 3 lift mouth 205 is equipped with stop gear 3 all around, is in addition experiment platform 2 is inside to be equipped with elevating system 4 of taking elevating platform 401, and when patrolling and examining unmanned aerial vehicle 5 and prepare to take off, it passes through to patrol and examine unmanned aerial vehicle 5 elevating platform 401 drive by elevating platform 205 rises to outside experiment platform 2, after patrolling and examining unmanned aerial vehicle 5 and descend on experiment platform 2, patrol and examine unmanned aerial vehicle 5 and pass through earlier stop gear 3 drive removes the adjustment position to guarantee to patrol and examine unmanned aerial vehicle 5 and fall in elevating platform 401 middle part, then by elevating platform 401 drives and falls back in experiment platform 2. As shown in fig. 2, the inside interface 203 that charges that is equipped with of experiment platform 2, as shown in fig. 5 be equipped with the through-hole 404 that charges on the elevating platform 401, as shown in fig. 6 patrol and examine 5 downside of unmanned aerial vehicle and be equipped with charge pole 503, work as after the elevating platform 401 completely falls back, the interface 203 that charges by the through-hole 404 that charges on the elevating platform 401 passes and with patrol and examine the realization of charging of the butt joint of charge pole 503 of unmanned aerial vehicle 5 downside.
As shown in fig. 7, the lifting mechanism 4 further includes a base 405, a lifting scissors 410 and a hydraulic cylinder 407 besides the lifting platform 401, one side of the lower end of the lifting scissors 410 is hinged to the base 405 through a bolt 406, the other side is connected to the base 405 in a sliding manner, and the lifting platform 401 is installed at the upper end of the lifting scissors 410. As shown in fig. 7, pulley grooves 409 are respectively disposed on two sides of one end of the base 405, two pulleys 408 are disposed on the lifting scissors 410 and roll along the two pulley grooves 409, a hydraulic cylinder 407 is hinged to the base 405, a rod portion of the hydraulic cylinder 407 is hinged to a crossing portion of the lifting scissors 410, and the lifting scissors 410 are driven to open and close by the hydraulic cylinder 407 to achieve lifting.
As shown in fig. 1 and fig. 3 to 4, the limiting mechanism 3 includes two X-direction movable limiting rods 31 and two Y-direction movable limiting rods 32, the X-direction movable limiting rods 31 and the Y-direction movable limiting rods 32 form a square, and the lifting opening 205 is located in the middle of the square. The two ends of the X-direction movement limiting rod 31 are driven to move through the X-direction driving device respectively, the two ends of the Y-direction movement limiting rod 32 are driven to move through the Y-direction driving device respectively, and the X-direction movement limiting rod 31 and the Y-direction movement limiting rod 32 are located on different planes to avoid interference. In this embodiment, the X-direction moving limiting rod 31 is disposed above the Y-direction moving limiting rod 32, as shown in fig. 2, two sides of the experiment platform 2 in the length direction are respectively provided with a mounting base 204, the X-direction driving devices at two ends of the X-direction moving limiting rod 31 are respectively mounted on the mounting bases 204 at two sides of the experiment platform 2, and the Y-direction driving devices are directly mounted on the upper surface of the experiment platform 2.
As shown in fig. 4, the X-direction driving device includes an X-direction driving motor 311, an X-direction lead screw 312, and an X-direction slider 313, the X-direction driving motor 311, the X-direction lead screw 312, and the X-direction slider 313 are all disposed on an X-direction mounting base, the X-direction mounting base is mounted on the mounting base 204, the X-direction lead screw 312 is driven to rotate by the X-direction driving motor 311, a nut engaged with the X-direction lead screw 312 is disposed on the X-direction slider 313, and two ends of the X-direction movement limiting rod 31 are respectively fixed on the X-direction sliders 313 on two sides. The Y-direction driving device comprises a Y-direction driving motor 321, a Y-direction lead screw 322 and a Y-direction sliding block 323, the Y-direction driving motor 321, the Y-direction lead screw 322 and the Y-direction sliding block 323 are all arranged on a Y-direction mounting seat, the Y-direction mounting seat is directly mounted on the upper surface of the experiment platform 2, the Y-direction lead screw 322 is driven to rotate through the Y-direction driving motor 321, a nut matched with the Y-direction lead screw 322 is arranged on the Y-direction sliding block 323, and two ends of the Y-direction movement limiting rod 32 are respectively fixed on the Y-direction sliding blocks 323 on two sides.
As shown in fig. 6, the lower end of the inspection unmanned aerial vehicle 5 is provided with a foot rest 501, as shown in fig. 5, a locking mechanism is arranged on the lifting platform 401 and used for locking the foot rest 501 at the lower end of the inspection unmanned aerial vehicle 5, the locking mechanism comprises a limiting steering engine 402 and a limiting hook 403, after the inspection unmanned aerial vehicle 5 descends and is adjusted in position through the limiting mechanism 3, the limiting hook 403 on the lifting platform 401 is driven by the limiting steering engine 402 to swing to hook the foot rest 501 at the lower end of the inspection unmanned aerial vehicle 5, and the purpose of locking the inspection unmanned aerial vehicle 5 is achieved.
As shown in fig. 2, a telescopic protection board 202 is arranged in the lifting port 205 of the experiment platform 2, when the inspection unmanned aerial vehicle 5 is ready to take off, the protection board 202 retracts to expose the lifting port 205, and when the inspection unmanned aerial vehicle 5 completely falls into the experiment platform 2, the protection board 202 extends to shield the lifting port 205 to play a protection role.
As shown in fig. 6, a camera 502 is arranged on the lower side of the inspection unmanned aerial vehicle 5, and in this embodiment, the camera 502 is a two-degree-of-freedom camera.
The working principle of the invention is as follows:
the mobile platform 1 is moved to a section to be patrolled and examined, the mobile platform 1 is used as a mobile device, and a user can select the mobile device according to actual conditions. When the unmanned aerial vehicle 5 that patrols and examines prepares to take off and patrol and examine, the last protection shield 202 of experiment platform 2 withdraws earlier and exposes lift mouthful 205, patrol and examine unmanned aerial vehicle 5 through elevating platform 401 drive by lift mouthful 205 rises to outside the experiment platform 2, then patrol and examine unmanned aerial vehicle 5 and take off and begin to patrol and examine the operation. When patrolling and examining unmanned aerial vehicle 5 and accomplishing to patrol and examine the operation and descend on experiment platform 2, at first patrol and examine unmanned aerial vehicle 5 and pass through limiting mechanism 3's X is to removing gag lever post 31 and Y to removing the gag lever post drive and remove the adjustment position to guarantee to patrol and examine unmanned aerial vehicle 5 and fall in elevating platform 401 middle part, then spacing hook 403 on the elevating platform 401 is hooked through spacing steering wheel 402 drive swing and is patrolled and examined foot rest 501 of unmanned aerial vehicle 5 lower extreme, realizes that the locking patrols and examines unmanned aerial vehicle 5, then patrol and examine unmanned aerial vehicle 5 by elevating platform 401 drives in falling back experiment platform 2, works as after elevating platform 401 completely returns, the interface 203 that charges in the experiment platform 2 by charging through-hole 404 on the elevating platform 401 passes and realizes charging with the pole 503 butt joint of patrolling and examining the unmanned aerial vehicle 5 downside, and protection shield 202 on the experiment platform 2 can stretch out and cover elevating port 205 this moment.
Claims (2)
1. The utility model provides a small-size unmanned aerial vehicle that patrols and examines platform release recovery system that moves which characterized in that: comprises a movable platform (1), an experiment platform (2), a limiting mechanism (3), a lifting mechanism (4) and an inspection unmanned aerial vehicle (5), wherein the experiment platform (2) is arranged on the movable platform (1), a lifting port (205) is arranged on the experiment platform (2), the limiting mechanism (3) is arranged around the lifting port (205), the lifting mechanism (4) with a lifting platform (401) is arranged in the experiment platform (2), the inspection unmanned aerial vehicle (5) is driven by the lifting port (205) to lift or fall back through the lifting platform (401), when the inspection unmanned aerial vehicle (5) falls on the experiment platform (2), the inspection unmanned aerial vehicle (5) is driven by the limiting mechanism (3) to move to the middle part of the lifting platform (401), a charging port (203) is arranged in the experiment platform (2), a charging through hole (404) is arranged on the lifting platform (401), a charging pole (503) is arranged on the lower side of the inspection unmanned aerial vehicle (5), and when the inspection unmanned aerial vehicle (5) is driven to return through the lifting platform (401), the charging interface (203) penetrates through a charging through hole (404) in the lifting platform (401) and is in butt joint with the charging pole (503) on the lower side of the inspection unmanned aerial vehicle (5);
the limiting mechanism (3) comprises two X-direction movable limiting rods (31) and two Y-direction movable limiting rods (32), the X-direction movable limiting rods (31) and the Y-direction movable limiting rods (32) enclose to form a square, and the lifting port (205) is located in the middle of the square;
two ends of the X-direction moving limiting rod (31) are driven to move through an X-direction driving device respectively, two ends of the Y-direction moving limiting rod (32) are driven to move through a Y-direction driving device respectively, two sides of the experiment platform (2) are provided with a mounting base (204) respectively, the X-direction driving device is mounted on the mounting base (204) on the corresponding side, and the Y-direction driving device is directly mounted on the upper surface of the experiment platform (2);
the X-direction driving device comprises an X-direction driving motor (311), an X-direction lead screw (312) and an X-direction sliding block (313), the X-direction lead screw (312), the X-direction driving motor (311) and the X-direction sliding block (313) are all arranged on an X-direction mounting seat, the X-direction mounting seat is mounted on the mounting base (204), the X-direction lead screw (312) is driven to rotate through the X-direction driving motor (311), a nut matched with the X-direction lead screw (312) is arranged on the X-direction sliding block (313), and the end part of the X-direction movement limiting rod (31) is fixed on the X-direction sliding block (313);
the Y-direction driving device comprises a Y-direction driving motor (321), a Y-direction lead screw (322) and a Y-direction sliding block (323), the Y-direction driving motor (321), the Y-direction lead screw (322) and the Y-direction sliding block (323) are all arranged on a Y-direction mounting seat, the Y-direction mounting seat is directly mounted on the upper surface of the experiment platform (2), the Y-direction lead screw (322) is driven to rotate through the Y-direction driving motor (321), a nut matched with the Y-direction lead screw (322) is arranged on the Y-direction sliding block (323), and the end part of the Y-direction movement limiting rod (32) is fixed on the Y-direction sliding block (323);
a plurality of groups of locking mechanisms are arranged on the lifting platform (401), each locking mechanism comprises a limiting steering engine (402) and a limiting hook (403), and the limiting hook (403) is driven by the limiting steering engine (402) to swing to hook a foot rest (501) corresponding to the lower end of the inspection unmanned aerial vehicle (5);
elevating system (4) are including elevating platform (401), base (405), lift and cut fork (410) and pneumatic cylinder (407), lift and cut fork (410) lower extreme one side and base (405) articulated, the opposite side with base (405) sliding connection, elevating platform (401) are installed lift and cut fork (410) upper end, lift and cut fork (410) pass through pneumatic cylinder (407) drive is gone up and down.
2. The small inspection unmanned aerial vehicle powered platform release recovery system of claim 1, wherein: a telescopic protection plate (202) is arranged in a lifting port (205) of the experiment platform (2); patrol and examine unmanned aerial vehicle (5) downside and be equipped with camera (502).
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