CN110001935B - Unmanned aerial vehicle takes off and land auxiliary device from initiative platform - Google Patents
Unmanned aerial vehicle takes off and land auxiliary device from initiative platform Download PDFInfo
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- CN110001935B CN110001935B CN201910376730.4A CN201910376730A CN110001935B CN 110001935 B CN110001935 B CN 110001935B CN 201910376730 A CN201910376730 A CN 201910376730A CN 110001935 B CN110001935 B CN 110001935B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
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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
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Abstract
The invention discloses an unmanned aerial vehicle self-driving platform lifting auxiliary device, which comprises a rectangular sleeve, a direct-current gear motor screw rod, a motor sliding block, a compression spring, a rectangular sliding block and a harpoon structure, wherein the rectangular sleeve is provided with a rectangular sleeve top cover and a harpoon structure extending hole; the DC gear motor drives the motor slider to slide along the opposite direction in a reverse rotation way, and the fish fork structure extends out of the rectangular sleeve. The driving mode of the invention has good stability, ensures the flight attitude and stability of the unmanned aerial vehicle during take-off, and can directly land at any angle in the state of extending the harpoon.
Description
Technical Field
The invention belongs to the field of cooperation of unmanned aerial vehicles and unmanned ships, and particularly provides an unmanned aerial vehicle self-driving platform take-off and landing auxiliary device.
Background
In the current problems of robot equipment development, the cruising ability of unmanned aerial vehicles and the narrow field of view of unmanned vessels have prevented further research. The unmanned aerial vehicle has wide visual field but poor endurance, and can not provide water surface global information for a long time; the unmanned ship has insufficient ability to sense the water surface environment, but has stronger cruising ability, the unmanned ship with strong cruising is taken as a platform, and the problem of combining the unmanned ship with the unmanned ship is critical to realize the autonomous take-off and landing by using the wide visual field perception of the unmanned ship. There is therefore a need for a more sophisticated robotic collaboration system.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides the unmanned aerial vehicle self-driving platform take-off and landing auxiliary device which is good in driving mode stability, ensures the flight attitude and stability of the unmanned aerial vehicle during take-off, and can directly land at any angle in a harpoon extending state.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The invention provides an unmanned aerial vehicle self-driving platform take-off and landing auxiliary device, which comprises: rectangular sleeve, DC gear motor screw, motor slide block, compression spring, rectangular slide block and fish fork structure;
the top end of the rectangular sleeve is provided with a rectangular sleeve top cover, the bottom of the rectangular sleeve is provided with a fish-fork structure extending hole, the direct-current speed-reducing motor is fixedly arranged on the rectangular sleeve top cover, one end of the compression spring is connected with the rectangular sleeve top cover, the other end of the compression spring is connected with the rectangular sliding block, the rectangular sliding block is connected with the fish-fork structure, and the rectangular sliding block slides along a screw rod of the direct-current speed-reducing motor;
The direct-current gear motor drives the motor sliding block, the motor sliding block slides along a direct-current gear motor screw rod to push the rectangular sliding block, the rectangular sliding block drives the harpoon structure to retract into the rectangular sleeve, and the direct-current gear motor screw rod is in spiral transmission and self-locking to keep the harpoon structure in a contracted state;
The direct-current gear motor drives the motor sliding block to slide along the opposite direction in a reversing way, the compression spring extrudes the rectangular sliding block towards the direction of the extending hole of the harpoon structure, and the rectangular sliding block drives the harpoon structure to extend out of the rectangular sleeve.
As a preferable technical scheme, the harpoon structure comprises a front fork and a limiting structure;
one end of the front fork is provided with a limiting spigot for preventing the front fork from falling off from the rectangular sleeve, and the other end of the front fork adopts a conical structure and is used for being inserted into a grid of the movable platform;
The limiting structure comprises a connecting rod, a blocking arm and a torsion spring, one end of the blocking arm is hinged to the head of the front fork through a pin shaft, the torsion spring is sleeved on the pin shaft, two ends of the torsion spring are respectively connected with the front fork and the blocking arm, the other end of the blocking arm is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to a rectangular sliding block, and when the fish fork structure stretches out, the limiting structure automatically springs out through the elastic action of the torsion spring.
As the preferable technical scheme, the limit structures are two groups, are symmetrically arranged respectively and have opposite spring opening directions.
As the preferable technical scheme, the two sides of the front fork are axially provided with strip-shaped openings, and the limiting structure pops up from the strip-shaped openings at the two sides.
As the preferable technical scheme, the middle part of the rectangular sliding block is provided with a through hole, the side face is provided with a slotted hole, and the lower side is provided with a sliding block connecting hole.
As the preferred technical scheme, still include fixed knot constructs, rectangular sleeve passes through fixed knot and constructs to be installed on unmanned aerial vehicle undercarriage, fixed knot constructs including pipe clamp, installation spout and regulation pole, rectangular sleeve has the spout, installation spout one end and regulation pole swing joint, in the spout was located to the other pot head, slides in the spout, adjusts pole height-adjusting and angle, it is connected through fastening nut with the installation spout to adjust the pole.
As the preferable technical scheme, still include limit switch pair and trigger lever, limit switch pair sets up the upper and lower end in rectangular sleeve side to set up relatively, trigger lever one end links to each other with rectangular slide, and the rectangular sleeve outside is located to the other end, and the trigger lever slides in limit switch pair formed restriction distance, and the trigger lever touches limit switch to the time, and direct current gear motor stops the operation, and direct current gear motor screw rod screw drive produces the auto-lock after the contraction of harpoon structure is accomplished.
As an optimal technical scheme, a sliding block limiting surface is arranged in the front fork and used for limiting the rectangular sliding block to continue to slide downwards after the fish fork structure automatically bounces off.
As the preferable technical scheme, still be provided with two hexagon socket head cap screws, symmetrical connection is on the rectangle slider, rectangle sleeve both sides are equipped with perpendicular groove, hexagon socket head cap screws is in erecting the inslot slip, drives the flexible of harpoon structure.
As the preferable technical scheme, unmanned aerial vehicle takes off and land auxiliary device from initiative platform and sets up two sets, installs two undercarriage at unmanned aerial vehicle respectively.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) The double-harpoon mechanism can realize the repeated take-off and landing of the unmanned aerial vehicle, and harpoon of the double-harpoon mechanism can be recovered into the sleeve, so that the take-off and landing on the land surface can be realized.
(2) The invention can directly land at any angle in the state of extending the harpoon, and the extending process of the harpoon structure can not influence the flying attitude and stability of the unmanned aerial vehicle after the unmanned aerial vehicle takes off and leaves the grid.
(3) The invention adopts the direct-current gear motor to drive the motor sliding block to slide, and the motor sliding block slides along the screw rod of the direct-current gear motor and drives the fish fork structure, so that the stability is better.
(4) The invention adopts the limit switch to carry out the signal feedback design of taking off or landing completion, so that the control mode is more accurate.
(5) The invention adopts the fixed structure to be fixed on the landing gear, and is convenient for adjusting the angle and the height of the rectangular sleeve relative to the landing gear.
(6) According to the invention, the two hexagon socket screws are symmetrically connected to the rectangular sliding block, and after the unmanned aerial vehicle falls on the grid, the hexagon socket screws can be slid upwards to shrink the harpoon, so that the unmanned aerial vehicle can be conveniently taken out from the grid manually.
Drawings
Fig. 1 is a schematic view of an extension state of a self-driving platform take-off and landing auxiliary device of an unmanned aerial vehicle according to the embodiment;
Fig. 2 is a schematic diagram of a retraction state of the unmanned aerial vehicle self-driving platform take-off and landing auxiliary device according to the embodiment;
Fig. 3 is an overall schematic diagram of the unmanned aerial vehicle self-driving platform take-off and landing auxiliary device according to the embodiment;
FIGS. 4 (a) - (b) are front and top views of the front fork structure of the present embodiment;
FIGS. 5 (a) - (c) are front, side and top views of a rectangular slider structure according to the present embodiment;
fig. 6 is a schematic view of the landing grid structure of the present embodiment.
The device comprises a 1-direct current gear motor, a 2-rectangular sleeve top cover, a 3-compression spring, a 4-direct current gear motor screw, a 5-motor sliding block, a 6-rectangular sliding block, a 61-notch, a 62-sliding block connecting hole, a 63-slot, a 64-through hole, a 7-rectangular sleeve, an 8-front fork, a 81-front fork notch, a 82-front fork connecting hole, a 83-sliding block limiting surface, a 84-front fork limiting spigot, a 9-connecting rod, a 10-blocking arm, a 11-torsion spring, a 12-front fork top end, a 13-adjusting rod, a 14-installation sliding groove, a 15-pipe clamp, a 16-triggering rod, a 17-limiting switch and a 18-inner hexagon screw.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Examples
As shown in fig. 1 and 2, this embodiment provides an unmanned aerial vehicle self-driving platform take-off and landing auxiliary device, including: the device comprises a direct-current gear motor 1, a compression spring 3, a direct-current gear motor screw 4, a motor sliding block 5, a rectangular sliding block 6, a rectangular sleeve 7, a front fork 8, a connecting rod 9, a baffle arm 10 and a torsion spring 11;
In this embodiment, the top of rectangular sleeve 7 is equipped with rectangular sleeve top cap 2, and the bottom is equipped with the harpoon structure and stretches out the hole, and direct current gear motor 1 fixed mounting is on rectangular sleeve top cap 2, compression spring 3, rectangular sliding block 6 and harpoon structure are arranged in rectangular sleeve 7 from top to bottom in proper order, and rectangular sleeve 7 is equipped with the through-hole, makes direct current gear motor screw 4 one end is located in the rectangular sleeve, direct current gear motor screw 4 links to each other with the harpoon structure through rectangular sliding block 6, and rectangular sliding block 6 can slide on direct current gear motor screw 4.
In the embodiment, the self gravity of the unmanned aerial vehicle enables the fish fork structure to be inserted into the net during landing and realizes the fixation of the unmanned aerial vehicle and the self-service platform; the direct-current gear motor 1 enables the harpoon structure to shrink into the rectangular sleeve 7 and keep the contraction state of the harpoon structure, so that the unmanned aerial vehicle can take off, and the harpoon structure can pop up the rectangular sleeve 7 after taking off.
In this embodiment, the harpoon structure includes a front fork 8 and a limiting structure, a limiting spigot 84 for preventing the front fork 8 from falling off from the rectangular sleeve 7 is disposed at the end of the front fork 8, the front fork top 12 adopts a conical structure, the conical structure facilitates the insertion of the front fork 8 into the grid of the self-driving platform, the rectangular slider 6 is slidably connected with the front fork 8, and the limiting structure is hinged with the front fork top 12 and the rectangular slider 6.
In this embodiment, the limit structure is connected with the rectangular slide block 6 through a pin shaft, the limit structure comprises a connecting rod 9, a baffle arm 10 and a torsion spring 11, wherein one end of the baffle arm 10 is hinged with the head of the front fork 8 through a pin shaft, the torsion spring 11 is sleeved on the pin shaft, two ends of the torsion spring are respectively connected with the front fork 8 and the baffle arm 10, the other end of the baffle arm 10 is hinged with one end of the connecting rod 9, the other end of the connecting rod 9 is hinged with the rectangular slide block 6, and when the fish fork structure stretches out, the limit structure automatically pops open under the action of the elasticity of the torsion spring 11.
In this embodiment, the limiting structures are two groups, and are symmetrically arranged respectively, and the flicking directions are opposite.
In this embodiment, the front fork 8 is a cuboid structure, and the four sides of the cuboid structure are provided with strip-shaped openings, and two groups of the limiting mechanisms can be ejected out from the strip-shaped openings on two sides.
As shown in fig. 3, the unmanned aerial vehicle lifting auxiliary device further comprises an adjusting rod 13, a mounting chute 14, a pipe clamp 15, a trigger rod 16, a limit switch 17 and an inner hexagon screw 18, wherein the pipe clamp 15, the mounting chute 14 and the adjusting rod 13 form a fixed structure, the rectangular sleeve 7 is mounted on the landing gear of the unmanned aerial vehicle through the pipe clamp 15, the mounting chute 14 and the adjusting rod 13, the pipe clamp 15 is connected with the adjusting rod 13 and mounted on the landing gear of the unmanned aerial vehicle, and the angle and the height of the unmanned aerial vehicle lifting auxiliary device relative to the landing gear are adjusted through the adjusting rod 13. The rectangular sleeve 7 is provided with a chute, one end of the installation chute is movably connected with the adjusting rod, the other end of the installation chute is sleeved in the chute, the installation chute slides in the chute, the height and the angle are adjusted through the adjusting rod, the adjusting rod is connected with the installation chute through the fastening nut, and the angle and the height of the rectangular sleeve relative to the landing gear can be adjusted through the fastening nut in a tightness adjustment mode.
In this embodiment, two limit switches 17 are connected to the upper and lower ends of the side of the rectangular sleeve 7, and the trigger lever 16 contacts with the limit switches to limit the limit positions of the rectangular slider, i.e. limit the upper and lower limit displacements of the harpoon structure.
In this embodiment, the trigger lever 16 is driven to contact with the limit switch 17 when the harpoon structure stretches out or contracts, when the trigger lever 16 contacts the limit switches 17 on the upper side and the lower side, the dc gear motor stops running, and after the harpoon structure contracts, the dc gear motor screw 4 is self-locked, so as to maintain the contraction state of the harpoon structure. The two hexagon socket screws 18 that this embodiment set up, symmetrical connection is on the rectangle slider, rectangle sleeve both sides are equipped with perpendicular groove, hexagon socket screws is slided in perpendicular inslot, drives the flexible of harpoon structure. After the unmanned aerial vehicle falls on the grid, the inner hexagon screw can shrink the harpoon by sliding upwards, the bottom harpoon does not need to be manually pressed for shrinkage, and the unmanned aerial vehicle is conveniently taken out of the grid manually.
As shown in fig. 4 (a) - (b), and in combination with fig. 1 and 2, the front end of the front fork 8 is designed with a conical sharp corner and a rectangular base, the side surface of the front fork 8 is provided with a strip-shaped opening, and the limit structure can be ejected from the strip-shaped side surface of the narrow side of the rectangular front fork structure. Be equipped with in the front fork 8 and be used for limiting rectangle slider 6 is in the automatic bullet of harpoon structure back continues gliding slider limiting surface 83, rectangle slider 6 is when the downwardly sliding, with the slider limiting surface 83 contact of front fork 8, slider limiting surface 83 restriction rectangle slider 6's displacement prevents that it from continuing the downwardly movement, ensures simultaneously that connecting rod 9 and fender arm 10 form certain contained angle (about 45 degrees angles), and the harpoon structure of being convenient for is retrieved and is closed, and can not produce the phenomenon that connecting rod 9 and fender arm 10 can not be retrieved because of connecting rod 9 and fender arm 10 contained angle is too little. The front fork 8 is also provided with a front fork notch 81 and a front fork connecting hole 82, the blocking arm 10 is matched and connected with the front fork connecting hole 82 through a pin shaft, and the rectangular sliding block 6 is sleeved in the front fork notch 81 to slide. The front fork 8 is provided with a limiting spigot 84 for preventing the front fork 8 from sliding out of the rectangular sleeve 7.
As shown in fig. 5 (a) - (c), the rectangular sliding block 6 has a cuboid structure with a through hole 64 in the middle and a notch 61 at the bottom, and the through hole 64 is used for inserting a direct current gear motor screw into the rectangular sleeve; the lower side of the rectangular sliding block 6 is provided with a sliding block connecting hole 62 for hinging with the connecting rod 9, one end of the direct current gear motor screw 4 is fixed at the bottom of the rectangular sleeve, the rectangular sliding block 6 is arranged in the rectangular sleeve 7 to realize axial sliding, and the self-locking of the direct current gear motor screw 4 is fixed. The rectangular slider 6 is also provided with slots 63 for mounting socket head cap screws 18.
As shown in FIG. 6, the mesh of the landing grid is constructed according to the size of the harpoon structure, and it is possible to insert double harpoons at any angle into the mesh.
In this embodiment, two sets of harpoon structures are adopted to form a double harpoon system, and the purpose is that: firstly, the reliability of landing is increased, and due to the fact that a landing platform is small and the autonomous landing precision is limited, the unexpected situation that only one landing gear of the unmanned aerial vehicle is landed on the grid and the other landing gear is not landed on the grid successfully can occur. If there is only one harpoon structure, the unmanned aerial vehicle may not be able to be fixed on the unmanned ship at this time, resulting in a landing failure and a capsizing fall. The double-fish-fork system can ensure that the unmanned aerial vehicle can overturn but cannot fall as long as one landing gear is dropped on the grid; secondly, the double-harpoon system avoids the phenomenon that a single anchoring mechanism can enable the unmanned aerial vehicle to rotate due to shaking when the unmanned aerial vehicle rolls and pitching.
In this embodiment, the unmanned aerial vehicle takes off and land from the initiative platform auxiliary device and is two sets, installs respectively on two undercarriage of unmanned aerial vehicle.
The following details take the four-rotor unmanned aerial vehicle as an example of autonomous take-off and landing on an unmanned ship:
When unmanned aerial vehicle takes off, unmanned aerial vehicle flies to control and receives unmanned aerial vehicle command of taking off, control direct current gear motor 1 begins the operation, motor slider 5 upwards moves along motor screw 4 for rectangle slider 6 promotes front fork 8 upwards, stop gear contracts under the extrusion of rectangle sleeve 7 bottom hole limit, whole front fork 8 slowly takes in the sleeve afterwards until the trigger lever touches limit switch when flying to control and receiving limit switch signal and send out the command and make direct current gear motor 1 stall, the rotor rotates, unmanned aerial vehicle takes off. When the unmanned aerial vehicle flies away from the unmanned ship and rises to a certain height, the flight control sends out an instruction to enable the direct-current gear motor 1 to rotate reversely, the front fork 8 and the rectangular sliding block 6 slide downwards under the extrusion of the compression spring 3 until the trigger rod 16 touches the limit switch 17, the flight control receives a signal and sends out an instruction to enable the motor to stop running, and at the moment, the fish fork structure stretches out.
When landing, unmanned aerial vehicle slowly descends on the net, and front fork 8 inserts the net and blocks by unmanned aerial vehicle gravity, and trigger lever 16 bullet is opened and trigger limit switch again this moment, and unmanned aerial vehicle flies to control and stops the rotor and rotate after receiving limit switch signal, and the landing is accomplished. The process of enabling the harpoon structure to extend out after the unmanned aerial vehicle takes off and leaves the grid can not influence the flight attitude and stability of the unmanned aerial vehicle.
In the embodiment, the double-harpoon mechanism is driven by a direct-current gear motor, the motor is connected to the unmanned aerial vehicle flight control module, and autonomous take-off and landing and manual take-off and landing are realized through programming. When the program is wrong, the control mode can be switched to a manual control mode to realize take-off and landing, and manual control and automatic landing can be realized.
In the embodiment, the rectangular sleeve and the harpoon mechanism can be made of aluminum alloy materials, so that the weight is greatly reduced, and the anti-rust device has good anti-rust capability.
The unmanned aerial vehicle takes off and land auxiliary device from initiative platform that provides in this embodiment is lighter and handy than current product, has alleviateed the weight of product to a great extent, and through the measurement, the weight of current product is about 170g, determines that unmanned aerial vehicle takes off and land auxiliary device from initiative platform weight is 70-80g, and weight is about half of current product.
The problem that the irregular platform that faces when unmanned aerial vehicle takes off produced is solved to this embodiment, and like unmanned aerial vehicle takes off when taking off and land, and the contact of platform produces the collision and makes unmanned aerial vehicle topple the crash. The unmanned aerial vehicle self-driving platform take-off and landing auxiliary device can be arranged on an unmanned ship or an unmanned vehicle and other self-driving platforms, so that the unmanned aerial vehicle can take off and land autonomously.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (8)
1. Unmanned aerial vehicle takes off and land auxiliary device from initiative platform, its characterized in that includes: rectangular sleeve, DC gear motor screw, motor slide block, compression spring, rectangular slide block and fish fork structure;
the top end of the rectangular sleeve is provided with a rectangular sleeve top cover, the bottom of the rectangular sleeve is provided with a fish-fork structure extending hole, the direct-current speed-reducing motor is fixedly arranged on the rectangular sleeve top cover, one end of the compression spring is connected with the rectangular sleeve top cover, the other end of the compression spring is connected with the rectangular sliding block, the rectangular sliding block is connected with the fish-fork structure, and the rectangular sliding block slides along a screw rod of the direct-current speed-reducing motor;
The direct-current gear motor drives the motor sliding block, the motor sliding block slides along a direct-current gear motor screw rod to push the rectangular sliding block, the rectangular sliding block drives the harpoon structure to retract into the rectangular sleeve, and the direct-current gear motor screw rod is in spiral transmission and self-locking to keep the harpoon structure in a contracted state;
the direct-current speed reducing motor reversely drives the motor sliding block to slide along the opposite direction, the compression spring extrudes the rectangular sliding block towards the direction of the extending hole of the harpoon structure, and the rectangular sliding block drives the harpoon structure to extend out of the rectangular sleeve;
The device comprises a fixing structure, a rectangular sleeve, a pipe clamp, a mounting sliding groove and an adjusting rod, wherein the rectangular sleeve is arranged on an undercarriage of the unmanned aerial vehicle through the fixing structure and is provided with the sliding groove, one end of the mounting sliding groove is movably connected with the adjusting rod, the other end of the mounting sliding groove is sleeved in the sliding groove and slides in the sliding groove, the adjusting rod is used for adjusting the height and the angle, and the adjusting rod is connected with the mounting sliding groove through a fastening nut;
the fish fork structure is characterized by further comprising a limit switch pair and a trigger rod, wherein the limit switch pair is arranged at the upper end and the lower end of the side face of the rectangular sleeve and is arranged oppositely, one end of the trigger rod is connected with the rectangular sliding block, the other end of the trigger rod is arranged at the outer side of the rectangular sleeve, the trigger rod slides in a limiting distance formed by the limit switch pair, the trigger rod touches the limit switch pair, the direct current gear motor stops running, and the screw transmission of the direct current gear motor generates self-locking after the contraction of the fish fork structure is completed.
2. The unmanned aerial vehicle self-driving platform take-off and landing aid of claim 1, wherein the harpoon structure comprises a front fork and a limiting structure;
one end of the front fork is provided with a limiting spigot for preventing the front fork from falling off from the rectangular sleeve, and the other end of the front fork adopts a conical structure and is used for being inserted into a grid of the movable platform;
The limiting structure comprises a connecting rod, a blocking arm and a torsion spring, one end of the blocking arm is hinged to the head of the front fork through a pin shaft, the torsion spring is sleeved on the pin shaft, two ends of the torsion spring are respectively connected with the front fork and the blocking arm, the other end of the blocking arm is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to a rectangular sliding block, and when the fish fork structure stretches out, the limiting structure automatically springs out through the elastic action of the torsion spring.
3. The unmanned aerial vehicle self-driving platform take-off and landing auxiliary device according to claim 2, wherein the limiting structures are arranged in two groups, are symmetrically arranged respectively, and are opposite in ejection direction.
4. The unmanned aerial vehicle self-driving platform take-off and landing auxiliary device according to claim 2, wherein the two sides of the front fork are axially provided with strip-shaped openings, and the limiting structure pops out from the strip-shaped openings at the two sides.
5. The unmanned aerial vehicle self-driving platform take-off and landing auxiliary device according to claim 1, wherein the rectangular sliding block is provided with a through hole in the middle, a slotted hole in the side, and a sliding block connecting hole in the lower side.
6. The unmanned aerial vehicle self-driving platform take-off and landing auxiliary device according to claim 2, wherein a sliding block limiting surface is arranged in the front fork and used for limiting the rectangular sliding block to continue to slide downwards after the fish fork structure automatically flicks off.
7. The unmanned aerial vehicle self-driving platform take-off and landing auxiliary device according to claim 1, further comprising two socket head cap screws symmetrically connected to the rectangular sliding block, wherein vertical grooves are formed in two sides of the rectangular sleeve, and the socket head cap screws slide in the vertical grooves to drive the fish fork structure to stretch out and draw back.
8. The unmanned aerial vehicle self-driving platform take-off and landing aid according to any one of claims 1 to 7, wherein the unmanned aerial vehicle self-driving platform take-off and landing aid is provided with two sets, which are respectively arranged on two landing gears of the unmanned aerial vehicle.
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| CN201910376730.4A CN110001935B (en) | 2019-05-07 | 2019-05-07 | Unmanned aerial vehicle takes off and land auxiliary device from initiative platform |
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| CN201910376730.4A CN110001935B (en) | 2019-05-07 | 2019-05-07 | Unmanned aerial vehicle takes off and land auxiliary device from initiative platform |
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| CN110481374B (en) * | 2019-07-16 | 2022-04-05 | 深圳市人工智能与机器人研究院 | Bank-based automatic butt-joint charging device of unmanned ship |
| CN113022875B (en) * | 2019-12-25 | 2023-06-02 | 海鹰航空通用装备有限责任公司 | Locking mechanism and landing gear and unmanned aerial vehicle provided with same |
| CN112158333A (en) * | 2020-10-22 | 2021-01-01 | 中国科学院沈阳自动化研究所 | Air releasing and recovering device for reversed fish fork type primary-secondary unmanned aerial vehicle |
| CN112829930A (en) * | 2021-03-17 | 2021-05-25 | 南开大学 | Autonomous recovery and release device and system for rotor unmanned aerial vehicle |
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