CN110104200B - Rotor type vehicle-mounted unmanned aerial vehicle locking device - Google Patents
Rotor type vehicle-mounted unmanned aerial vehicle locking device Download PDFInfo
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- CN110104200B CN110104200B CN201910457607.5A CN201910457607A CN110104200B CN 110104200 B CN110104200 B CN 110104200B CN 201910457607 A CN201910457607 A CN 201910457607A CN 110104200 B CN110104200 B CN 110104200B
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
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- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000013519 translation Methods 0.000 abstract 1
- 230000014616 translation Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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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
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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
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
- B64F1/125—Mooring or ground handling devices for helicopters
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
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- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a rotary wing type vehicle-mounted unmanned aerial vehicle locking device, belongs to the technical field of unmanned aerial vehicles, and provides a range-adjustable rotary wing type vehicle-mounted unmanned aerial vehicle locking device which can compensate the position error of the unmanned aerial vehicle in the lifting and falling processes and can lock the unmanned aerial vehicle. This unmanned aerial vehicle locking means realizes rotatoryly by the cross of electric push cylinder drive swastika style of calligraphy rotary mechanism, through four connecting rods tractive four mounts translations, realizes the shrink and the expansion of mount. This unmanned aerial vehicle locking device can compensate the position error that unmanned aerial vehicle played and fell, guarantees that unmanned aerial vehicle plays, falls accurate location, simultaneously through X, Y, Z three-dimensional space restrictions, realizes unmanned aerial vehicle's high reliable locking.
Description
Technical Field
The invention belongs to the technical field of armored vehicles, and relates to a rotary wing type vehicle-mounted unmanned aerial vehicle locking device.
Background
Along with each becoming mature day by day of on-vehicle unmanned aerial vehicle each item technique, its application in the military field is also more and more, mainly has: reconnaissance and early warning, tracking and positioning, special combat, relay communication, accurate guidance, information countermeasure, battlefield search and rescue and other various strategic and tactical tasks. The military application range and field will be expanded and expanded continuously in future.
Because battlefield operational environment is complicated changeable, the manual operation need be reduced in on-vehicle unmanned aerial vehicle's the process of receiving and releasing to avoid exposing personnel's target. Along with the increasing of strategic and tactical ideas of unmanned operation in recent years, unmanned vehicles carrying unmanned aerial vehicles become indispensable constituent elements of the whole unmanned operation system, and the collecting and releasing system of vehicle-mounted unmanned aerial vehicles becomes a key link of the integrated operation and application of unmanned vehicles and unmanned aerial vehicles.
In order to save space in the vehicle and reduce operational complexity, the rotary wing vehicle mounted drone is often arranged to the roof (overhead) platform with a cross line as a visual locking reference.
After the existing man-machine locks the cross line, certain errors exist in the lifting process, and under the condition of no human intervention, accurate locking is difficult to achieve, so that a locking mechanism with a large tolerance range needs to be developed.
Disclosure of Invention
The invention solves the technical problem of providing a range-adjustable rotor type vehicle-mounted unmanned aerial vehicle locking device, which can make up for the position error of the unmanned aerial vehicle during rising and falling, ensure the precise positioning of the unmanned aerial vehicle during rising and falling, and realize the high-reliability locking of the unmanned aerial vehicle through the X, Y, Z three-dimensional space limitation.
The technical scheme of the invention is as follows: a rotary wing type unmanned aerial vehicle locking device comprises a mounting plate, a swastika-shaped rotating mechanism, a transition support, a guide rail, a fixing frame and a lifting deck; the swastika-shaped rotating mechanism consists of a cross and four connecting rods; the four connecting rods are respectively connected with the four end parts of the cross; two ends of the connecting rod are respectively hinged on the end part of the cross and one side section of the transition bracket; the swastika-shaped rotating mechanism is characterized in that a cross frame of the swastika-shaped rotating mechanism can be driven to rotate; the four groups of guide rails are fixed on the mounting plate 1 and are used for respectively limiting the movement directions of the four fixing frames; two opposite groups of the four groups of guide rails are in the horizontal direction, and the other two opposite groups of the four groups of guide rails are in the vertical direction; the number of the transition supports is four, and the transition supports can respectively translate along each corresponding group of guide rails; each group of transition brackets can move along the guide rail from the periphery to the center of the mounting plate or from the center to the periphery of the mounting plate; the fixed frame is rigidly connected with the transition support; the mount is used for restricting the space freedom upwards and outwards of unmanned aerial vehicle landing leg.
Preferably, four mounts are made by the angle steel, and after the transition support moved to the center, one side of angle steel can be located the upper end of unmanned aerial vehicle landing leg.
Preferably, the fixing frame is rigidly connected with the transition support and arranged in parallel with each other.
Preferably, each set of rails comprises two tracks; the two sides of the lower end of each transition support are respectively positioned in two parallel rails in one group of guide rails.
Preferably, the swastika-shaped rotating mechanism further comprises an electric pushing cylinder, the electric pushing cylinder body is hinged to the mounting plate, and the end portion of the electric pushing cylinder is hinged to the cross to drive the cross of the swastika-shaped rotating mechanism to rotate.
Preferably, the cross is located in the middle of the mounting plate.
Preferably, let the unmanned aerial vehicle base be length, width, height, x, y, z, and allow the landing error to be Δ l; the four scaffolds constitute a three-dimensional confined space of length, width, height, (x + Δ l), (y + Δ l), z.
Preferably, the swastika-shaped rotating mechanism further comprises a lifting plate which is positioned above the swastika-shaped rotating mechanism.
Preferably, the landing plate is provided with a cross target for landing identification of the unmanned aerial vehicle.
Preferably, the landing plate is slotted with a transition bracket through slot.
The invention has the technical effects that:
1. the design theory is advanced, and swastika style of calligraphy rotary mechanism is driven by the electric push cylinder, drives the mount and opens and close, can satisfy the unmanned aerial vehicle take off and land demand of great position error.
2. Through swastika style of calligraphy rotary mechanism initial position's regulation, can satisfy the unmanned aerial vehicle take off and land requirement of different control accuracy, promote locking system work efficiency.
3. Through accurate size design, can guarantee the spacing of unmanned aerial vehicle X, Y, Z three directions.
4. The whole set of mechanism has simple manufacturing process, low manufacturing cost and good reliability and maintainability.
Drawings
FIG. 1 is a schematic view of a vehicle mounted unmanned latching mechanism 1;
fig. 2 is a schematic view of a locking mechanism of the vehicle-mounted unmanned aerial vehicle 2;
fig. 3 a swastika-shaped rotating mechanism;
fig. 4 drone locking state;
fig. 5 drone release state;
fig. 6 a schematic view of a release state mechanism of the drone;
fig. 7 is a schematic view of a locking state mechanism of the unmanned aerial vehicle;
Detailed Description
The present invention will now be described in detail with reference to the attached drawings, but the invention is not limited thereto.
The invention relates to a locking device of a rotary wing type unmanned aerial vehicle, which mainly comprises a mounting plate, a guide rail, an electric pushing cylinder, a swastika-shaped rotating mechanism, a fixing frame and a lifting deck. The guide rails are fixed on the mounting plate and used for respectively limiting the movement directions of the four fixing frames; the swastika-shaped rotating mechanism is driven by the electric pushing cylinder to rotate, and the four fixing frames are driven by the four connecting rods to translate so as to contract and expand the fixing frames; the four fixing frames are made of angle steel and are respectively used for limiting three spatial directions and the turning freedom degree of the unmanned aerial vehicle X, Y, Z; a cross target for the unmanned aerial vehicle to perform lifting identification is arranged on the lifting plate; the landing plate is provided with a transition support passing groove. The sealing between the vehicle body and the mounting plate is ensured.
Further: a rotary wing type unmanned aerial vehicle locking device comprises a mounting plate 1, a swastika-shaped rotating mechanism 3, a transition support 6, a guide rail 7, a fixing frame 8 and a lifting deck 9; the swastika-shaped rotating mechanism 3 consists of a cross 4 and four connecting rods 5; the four connecting rods 5 are respectively connected with the four end parts of the cross 4; two ends of the connecting rod 5 are respectively hinged on the end part of the cross 4 and one side section of the transition bracket 6; the cross frame 4 of the swastika-shaped rotating mechanism 3 can be driven to rotate; four groups of guide rails 7 are fixed on the mounting plate 1 and used for respectively limiting the moving directions of the four fixing frames; two opposite groups of the four groups of guide rails 7 are in the horizontal direction, and the other two opposite groups are in the vertical direction; the number of transition supports 6 is four, each of which can translate along a corresponding set of rails 7; each set of transition brackets 6 can move along the guide rails 7 from the outer periphery of the mounting plate 1 to the center or from the center of the mounting plate 1 to the outer periphery; the fixed frame 8 is rigidly connected with the transition support 6; mount 8 is used for limiting the upward and outward spatial freedom of the unmanned aerial vehicle legs.
Four mounts are made by the angle steel, and after transition support 6 moved to the center, one side edge of angle steel can be located the upper end of unmanned aerial vehicle landing leg.
The fixed mount 8 is rigidly connected with the transition support 6 and arranged in parallel.
Each group of guide rails comprises two rails; the two sides of the lower end of each transition bracket 6 are respectively positioned in two rails which are arranged in parallel in a group of guide rails.
The swastika-shaped rotating mechanism is characterized by further comprising an electric pushing cylinder, the electric pushing cylinder body is hinged to the mounting plate, the end portion of the electric pushing cylinder is hinged to the cross frame, and the cross frame of the swastika-shaped rotating mechanism is driven to rotate.
Further embodiments are described in conjunction with the figures as follows: the invention relates to a locking device of a rotary wing type unmanned aerial vehicle, which consists of a mounting plate 1, an electric pushing cylinder 2, a swastika-shaped rotating mechanism 3 (consisting of a cross frame 4 and a connecting rod 5), a transition support 6, a guide rail 7, a fixing frame 8 and a lifting plate 9. The swastika-shaped rotating mechanism comprises a cross and a connecting rod, and the connecting rod is hinged with the cross and the transition support respectively. The transition support is rigidly connected with the fixed frame, and the action track of the transition support is limited by the guide rail. The fixed bolster is made by the angle steel, through four fixed bolster linkages, can realize the spacing of unmanned aerial vehicle X, Y, Z three directions.
The device takes an electric pushing cylinder 2 hinged to an installation plate 1 as a power source to drive a cross frame 4 of a swastika-shaped rotating mechanism 3 to rotate (the electric pushing cylinder 2 is simultaneously hinged to the cross frame 4), and a connecting rod 5 hinged to the cross frame 4 and a transition support 6 pulls the transition support 6 to move. Since the transition support 6 is constrained in its path by the guide 7 fixed to the mounting plate 1, the transition support 6 can only translate along the guide 7. Mount 8 links firmly with 6 rigidity of transition support for the space freedom of restriction unmanned aerial vehicle landing leg. The unmanned aerial vehicle lands on the landing plate 9, and the surface of the landing plate 9 is provided with a cross target line for locking the landing target by the unmanned aerial vehicle (fig. 1-3).
The working process and principle of the invention are as follows:
the locking state (figure 4) and the releasing state (figure 5) of the unmanned locking mechanism are represented by a fixed frame 8. When the unmanned aerial vehicle is in a release state, the four fixing frames surround a larger area, the swastika-shaped rotating mechanism 3 is in an initial position (fig. 6), and the unmanned aerial vehicle can land in the larger area after locking the cross line target; when unmanned aerial vehicle was in when being locked the state, four mounts enclose into a less region, swastika type rotary mechanism 3 is rotatory to certain angle (fig. 7), and the spatial state of unmanned aerial vehicle landing leg is restricted by mount 8 this moment. Since the four fixing brackets 8 move to the center of the cross at the same time, the unmanned aerial vehicle with landing error is finally adjusted to an accurate position.
At present, unmanned aerial vehicle landing legs at home and abroad usually comprise two cylindrical bases and oblique ribs. The unmanned aerial vehicle is locked by limiting the spatial freedom degree of the unmanned aerial vehicle base. Swastika-shaped rotating mechanism is driven through the electric pushing cylinder, so that the fixing frame is driven to contract and expand, and locking and releasing of the unmanned aerial vehicle are achieved.
The unmanned aerial vehicle base is of a three-dimensional structure with length, width, height and x, y and z, and the landing error is allowed to be delta l.
When the locking mechanism of the unmanned aerial vehicle is in the maximum tolerance state, the four fixing frames 8 form a three-dimensional limiting space with the length, the width, the height (x + delta l) (y + delta l) and the z;
when the unmanned aerial vehicle locking mechanism is transited from the maximum tolerance state to the locking state, the four fixing frames 8 move towards the center of the swastika-shaped rotating mechanism 3 in the direction X, Y respectively, and meanwhile, the unmanned aerial vehicle is pushed by the fixing frames 8 and accurately moves to the position corresponding to the locking state.
When unmanned aerial vehicle locking mechanism is in the locking state, four mounts 8 group become long wide the three-dimensional restriction space of height x y z, realize spacing to unmanned aerial vehicle x, y, the three-dimensional direction of z.
Because different unmanned aerial vehicles have different descending precisions, through the initial angle of presetting swastika type rotary mechanism 3, reduce the maximum tolerance scope of four mounts 8, reduce delta l value, promote unmanned aerial vehicle locking mechanism efficiency.
There are, of course, many other embodiments of the invention and modifications and variations which will be apparent to those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a rotor type unmanned aerial vehicle locking means which characterized in that: the swastika-shaped rotating mechanism is composed of a mounting plate (1), a swastika-shaped rotating mechanism (3), a transition support (6), a guide rail (7), a fixing frame (8) and a lifting deck (9);
the swastika-shaped rotating mechanism (3) consists of a cross (4) and four connecting rods (5); the four connecting rods (5) are respectively connected with the four end parts of the cross (4); two ends of the connecting rod (5) are respectively hinged on the end part of the cross (4) and one side section of the transition bracket (6);
the cross (4) of the swastika-shaped rotating mechanism (3) can be driven to rotate;
four groups of guide rails (7) are fixed on the mounting plate (1) and are used for respectively limiting the movement directions of the four fixing frames; two opposite groups of the four groups of guide rails (7) are in the horizontal direction, and the other two opposite groups are in the vertical direction;
the number of the transition supports (6) is four, and the transition supports can respectively translate along each corresponding group of guide rails (7); each group of transition brackets (6) can move along the guide rail (7) from the outer periphery of the mounting plate (1) to the center or from the center of the mounting plate (1) to the outer periphery;
the fixed frame (8) is rigidly connected with the transition support (6); the mount (8) is used for limiting the upward and outward spatial freedom of the unmanned aerial vehicle legs.
2. The locking device for a rotary wing type unmanned aerial vehicle according to claim 1, wherein: four mounts are made by the angle steel, move the back to the center in transition support (6), and one side of angle steel can be located the upper end of unmanned aerial vehicle landing leg.
3. The locking device for a rotary wing type unmanned aerial vehicle according to claim 1, wherein: the fixed mount (8) is rigidly connected with the transition support (6) and arranged in parallel.
4. The locking device for a rotary wing type unmanned aerial vehicle according to claim 1, wherein: each group of guide rails comprises two rails; the two sides of the lower end of each transition support (6) are respectively positioned in two parallel rails in a group of guide rails.
5. The locking device for a rotary wing type unmanned aerial vehicle according to claim 1, wherein: the swastika-shaped rotating mechanism is characterized by further comprising an electric pushing cylinder, the electric pushing cylinder body is hinged to the mounting plate, the end portion of the electric pushing cylinder is hinged to the cross frame, and the cross frame of the swastika-shaped rotating mechanism is driven to rotate.
6. The locking device for a rotary wing type unmanned aerial vehicle according to claim 1, wherein: the cross (4) is positioned in the middle of the mounting plate (1).
7. The locking device for a rotary wing type unmanned aerial vehicle according to claim 1, wherein: setting the unmanned aerial vehicle base as length, width, height and x, y and z, and allowing the landing error to be delta l; the four scaffolds constitute a three-dimensional confined space of length, width, height, (x + Δ l), (y + Δ l), z.
8. The locking device for a rotary wing type unmanned aerial vehicle according to claim 1, wherein: the swastika-shaped rotating mechanism also comprises a lifting deck (9) which is positioned on the swastika-shaped rotating mechanism (3).
9. The locking device for a rotary wing type unmanned aerial vehicle according to claim 8, wherein: and a cross target for landing and landing recognition by the unmanned aerial vehicle is arranged on the landing deck.
10. The locking device for a rotary wing type unmanned aerial vehicle according to claim 8, wherein: the lifting deck is provided with a transition bracket passing through the groove.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910457607.5A CN110104200B (en) | 2019-05-29 | 2019-05-29 | Rotor type vehicle-mounted unmanned aerial vehicle locking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910457607.5A CN110104200B (en) | 2019-05-29 | 2019-05-29 | Rotor type vehicle-mounted unmanned aerial vehicle locking device |
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| CN110104200A CN110104200A (en) | 2019-08-09 |
| CN110104200B true CN110104200B (en) | 2020-11-13 |
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| CN201910457607.5A Active CN110104200B (en) | 2019-05-29 | 2019-05-29 | Rotor type vehicle-mounted unmanned aerial vehicle locking device |
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| CN115123058B (en) * | 2022-07-02 | 2023-07-04 | 巢湖市空鹫无人机科技有限责任公司 | Vehicle-mounted unmanned aerial vehicle retraction device |
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| WO2019078812A1 (en) * | 2017-10-16 | 2019-04-25 | Ford Global Technologies, Llc | Positioning systems and methods |
| 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 |
| CN109703735A (en) * | 2018-10-11 | 2019-05-03 | 深圳市科卫泰实业发展有限公司 | A kind of unmanned plane horn automatic folding device |
| CN109760848A (en) * | 2019-02-27 | 2019-05-17 | 上海交通大学 | A kind of unmanned plane landing anti-skidding locking mechanism of unmanned boat |
| CN109774961A (en) * | 2019-01-09 | 2019-05-21 | 徐工集团工程机械股份有限公司 | Unmanned plane draw off gear and its control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101262968B1 (en) * | 2009-09-02 | 2013-05-09 | 부산대학교 산학협력단 | Unmanned Aerial System Including Unmanned Aerial Vehicle Having Spherical Loading Portion And Unmanned Ground Vehicle Therefor |
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2019
- 2019-05-29 CN CN201910457607.5A patent/CN110104200B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019078812A1 (en) * | 2017-10-16 | 2019-04-25 | Ford Global Technologies, Llc | Positioning systems and methods |
| CN109703735A (en) * | 2018-10-11 | 2019-05-03 | 深圳市科卫泰实业发展有限公司 | A kind of unmanned plane horn automatic folding device |
| 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 |
| CN109774961A (en) * | 2019-01-09 | 2019-05-21 | 徐工集团工程机械股份有限公司 | Unmanned plane draw off gear and its control method |
| CN109760848A (en) * | 2019-02-27 | 2019-05-17 | 上海交通大学 | A kind of unmanned plane landing anti-skidding locking mechanism of unmanned boat |
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