CN110155268A - A kind of unmanned plane recycling charging unit - Google Patents
A kind of unmanned plane recycling charging unit Download PDFInfo
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- CN110155268A CN110155268A CN201910578838.1A CN201910578838A CN110155268A CN 110155268 A CN110155268 A CN 110155268A CN 201910578838 A CN201910578838 A CN 201910578838A CN 110155268 A CN110155268 A CN 110155268A
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- 238000007600 charging Methods 0.000 title claims abstract description 80
- 238000004064 recycling Methods 0.000 title abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000000694 effects Effects 0.000 claims abstract description 11
- 230000003028 elevating effect Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000004807 localization Effects 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 239000007788 liquid Substances 0.000 claims 1
- 230000006641 stabilisation Effects 0.000 claims 1
- 238000011105 stabilization Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 238000013519 translation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
- B63B35/52—Nets, slipways or the like, for recovering aircraft from the water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- 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
- B64F1/007—Helicopter portable landing pads
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of unmanned plane recycling charging unit, it is mounted on unmanned boat platform, including elevating mechanism, stabilized platform and unmanned plane landing platform, elevating mechanism is fixed in unmanned boat, it is connected to the bottom of unmanned plane landing platform by stabilized platform, lifting grasping mechanism, lifting charging unit and charging positioning mechanism are equipped in the unmanned plane landing platform.Structure of the invention is novel, it is skillfully constructed, the height and angle of unmanned plane landing platform are adjusted by the scissor mechanism and stabilized platform of elevating mechanism, the displacement after lifting and translation limitation unmanned plane landing by going up and down grasping mechanism, unmanned plane is fixed on lifting charging unit and is charged, charging continuation of the journey effect is good, has a safety feature, high degree of automation.
Description
Technical field
The present invention relates to unmanned machine applied technical field, it is specifically a kind of be applied to unmanned boat platform on to unmanned plane into
The device of row recycling charging.
Background technique
21 century is " century of ocean ".Significant change is occurring for current international ocean situation, this is to Chinese ocean
The building and development of strategy be both opportunity simultaneously and abnormal stern challenge.
In recent years, with the development of unmanned boat technology, domestic and international scientific research institutions have now been developed several shallow drafts, machines
The good unmanned boat model of dynamic property, and put into actual Ocean Surveying application.At the same time, unmanned plane is one kind by radio
Remote control equipment or the unmanned vehicle of itself presetting apparatus manipulation.It is more next with the rapid development of unmanned plane industry
More unmanned planes is applied to the industries such as agricultural, forestry, electric power, mapping, telemetering.Nowadays, unmanned air vehicle technique develops also
Highly developed, people can use unmanned plane and execute high risk, high-intensitive task, ensure the life peace of the mankind to the full extent
Entirely.If can combine unmanned plane with unmanned boat technology, the functionality of unmanned boat can be greatly enhanced.
In practical applications, unmanned plane usually requires to carry various equipment to realize various functions, improves unmanned plane application
Intelligence, reliability and convenience it is significant.The accurate landing of unmanned plane is that influence unmanned plane at this stage each in each row
An important factor for industry application development.For the automatic landing of unmanned plane, traditional landing method positioning accuracy is not high, and reliability
It is low；And as the increase of UAV flight's equipment, the sole mass of unmanned plane increase, kwh loss is larger.But unmanned plane base
This is powered by battery.Since battery technology level is limited, cruising ability is also choosing of facing of current multi-rotor unmanned aerial vehicle
One of war, by the unmanned plane that unmanned boat is carrier-borne, since working range is far from lash ship and bank base, the continuation of the journey difficulty of unmanned plane is further
It increases.Therefore, the fixation and charging that unmanned plane how is realized on unmanned boat platform, improve the continuation of the journey effect of unmanned plane, are people
The direction studied always.
Summary of the invention
In order to solve the deficiencies in the prior art, the present invention proposes a kind of unmanned plane recycling charging unit, realizes unmanned boat pair
The fixation and charging of unmanned plane improve the continuation of the journey effect of unmanned plane.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions:
A kind of unmanned plane recycling charging unit, is mounted on unmanned boat platform, including elevating mechanism, stabilized platform and unmanned plane drop
Fall platform, elevating mechanism is fixed in unmanned boat, is connected to the bottom of unmanned plane landing platform by stabilized platform, it is described nobody
Lifting grasping mechanism and lifting charging unit are equipped in machine landing platform, wherein lifting charging unit includes installation pedestal, installation
Pedestal is fixed in unmanned plane landing platform, and the first vertical lifting motor is fixed in installation pedestal, and the first lifting motor is logical
It crosses first shaft coupling and is fixed with the first vertical lead screw, circular sleeve closed at both ends is coaxially arranged on the first lead screw, it is round
Battery module is provided in sleeve, there are two the chargings being connected to battery module to insert for setting on corresponding circular sleeve outer wall
Slot；The lifting grasping mechanism has two groups for being symmetrically distributed in lifting charging unit two sides, including glide base, glide base can
Mobile setting is fixed with the second vertical lifting motor, the second lifting motor in unmanned plane landing platform, on glide base
It is fixed with the second vertical lead screw by second shaft coupling, chuck sleeve closed at both ends is coaxially arranged on the second lead screw, presss from both sides
It is provided with chuck shape fixture at the top of tool sleeve, is provided with charging interface on the outer wall of chuck sleeve, with lifting charging unit
Charging slot matches.
In the present invention, the lifting grasping mechanism is distributed in two sides centered on going up and down charging unit, glide base
It is arranged in unmanned plane landing platform by oat tail groove structure, glide direction is the company for going up and down charging unit to lifting grasping mechanism
On line, two glide bases are located on the same line.
Further, the chuck shape fixture includes clamp body, clamping block and sliding slot, and it is in 120 ° of angles that clamping block, which has 3,
Symmetrical centered on clamp body center on clamp body, sliding slot is fixed on clamp body by clamping block, sliding slot and clamp body
Between reserve the arc-shaped slots of three clamping unmanned plane undercarriages, sliding slot and charging interface are connected, and the undercarriage of unmanned plane is passed through
For the battery charging built in unmanned plane.
In the present invention, the chuck sleeve of the lifting grasping mechanism is slided up and down along the second lead screw, relative to sliding
Pedestal keeps opposing stationary in the horizontal direction and does not rotate；The circular sleeve of lifting charging unit glides on the first lead screw
It is dynamic, it keeps opposing stationary in the horizontal direction relative to installation pedestal and does not rotate.
In the present invention, charging positioning mechanism is provided on the unmanned plane landing platform, charging positioning mechanism includes position
Four bevel gear boxes in four angles of horizontal plane, Relative distribution is provided with two transmission shafts and two respectively between four bevel gear boxes
Root third lead screw, two transmission shafts and two third lead screws are alternateed as a rectangular four edges, on transmission shaft point
It is not provided with dual-axle motor, two localization handspikes being arranged symmetrically, the both ends of localization handspike are provided between two third lead screws
It is overlapped on two third lead screws by sliding block, and free to slide along third lead screw, the glide direction and sliding of localization handspike
Pedestal glide direction is consistent, and lifting grasping mechanism is pushed to slide along the direction of glide base.
Further, bearing block is provided in the middle part of the third lead screw and supports lead screw, and limit the activity of localization handspike
Range is provided with third shaft coupling on the transmission shaft.
In the present invention, the elevating mechanism includes bottom plate and scissor mechanism, and scissor mechanism includes that two groups of X-type arrangement are total
Four movable rods, every group of two movable rods are mounted on bottom plate in scissors, pass through stock in the middle part of every group of two movable rod
It is connected to another group of movable rod；The lower end of corresponding two movable rods is hinge on the floor, another two movable rods
Lower end is flexibly connected by the U-type groove structure being fixed on bottom plate with bottom plate.
Further, the scissor mechanism includes scissors hydraulic cylinder, and one end of scissors hydraulic cylinder is connected on stock,
The other end is connected on bottom plate, passes through the flexible lifting to push scissor mechanism of scissors hydraulic cylinder.
Further, the stabilized platform includes upper plate, lower plate, connecting rod and elastic rod, wherein the downside setting of lower plate
There is U-type groove structure, is connect with the upper end of two movable rods of scissor mechanism, the upper end of another two movable rods of scissor mechanism
It is hinged on the downside of lower plate；The upper plate is fixedly connected with unmanned plane landing platform, and the elastic rod is threadably secured
Between plate and lower plate, connecting rod has two of parallel arrangement, and both ends are hinged with upper plate and lower plate respectively, is provided with branch in the middle part of connecting rod
Support hydraulic cylinder, the other end of support hydraulic pressure oil cylinder is fixed in lower plate, and flexible by support hydraulic pressure oil cylinder changes upper plate
Angle between lower plate further changes the angle of unmanned plane landing platform.
Further, the elastic rod has two of parallel arrangement.
Compared with prior art, structure of the invention is novel, is skillfully constructed, adjusts nothing by scissor mechanism and stabilized platform
The height and angle of man-machine landing platform, the displacement after lifting and translation limitation unmanned plane landing by going up and down grasping mechanism,
Unmanned plane is fixed on lifting charging unit and is charged, charging continuation of the journey effect is good, has a safety feature, high degree of automation.
Detailed description of the invention
Fig. 1 is that unmanned plane recycling charging unit of the invention is equipped on the status diagram on unmanned boat；
Fig. 2 is the structural schematic diagram that unmanned plane of the invention recycles charging unit；
Fig. 3 is stabilized platform use state diagram of the invention (support hydraulic pressure oil cylinder is not shown)；
Fig. 4 is the structural schematic diagram of unmanned plane landing platform of the invention；
Fig. 5 is the structural schematic diagram of the lifting charging unit in Fig. 4；
Fig. 6 is the structural schematic diagram of the chuck shape fixture of the lifting grasping mechanism in Fig. 4；
Fig. 7 is lifting grasping mechanism and lifting charging unit working state schematic representation.
In figure: lifting mechanism I: bottom plate I-1, U-type groove structure I -2, scissor mechanism I-3, scissors hydraulic cylinder I-4；
Stabilized platform II: elastic rod II-1, connecting rod II-2, support hydraulic pressure oil cylinder II-3；
Unmanned plane landing platform III: dual-axle motor III-1, localization handspike III-2, bevel gear box III-3, third lead screw III-
4, bearing block III-5, sliding block III-6, lifting charging unit III-7, lifting grasping mechanism III-8, installation pedestal III-9, the
One lifting motor III-10, first shaft coupling III-11, the first lead screw III-12, battery module III-13, cylinder sleeve III-
14, clamp body III-15, sliding slot III-16, clamping block III-17, third shaft coupling III-18, transmission shaft III-19, charging
Mouth III-20, charging slot III-21.
Specific embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
It limits the scope of the invention.
Charging unit is recycled referring to unmanned plane shown in Fig. 1-7, is mounted on unmanned boat platform, including is lifting mechanism I, steady
Fixed platform II and unmanned plane landing platform III, lifting mechanism I are fixed in unmanned boat, are connected to nobody by stabilized platform II
The bottom of machine landing platform III, the unmanned plane landing platform III is interior to be equipped with lifting grasping mechanism III-8, lifting charging unit
III-7 and charging positioning mechanism.
The lifting mechanism I includes bottom plate I-1 and scissor mechanism I-3, and scissor mechanism I-3 includes that two groups of X-type arrangement are total
Four movable rods, every group of two movable rods are mounted on bottom plate I-1 in scissors, pass through length in the middle part of every group of two movable rod
Bar is connected to another group of movable rod；The lower end of corresponding two movable rods is hinged on bottom plate I-1, and another two activities are even
The lower end of bar is flexibly connected by the U-type groove structure I -2 being fixed on bottom plate I-1 with bottom plate I-1；The scissor mechanism I-3 packet
Scissors hydraulic cylinder I-4 is included, one end of scissors hydraulic cylinder I-4 is connected on stock, and the other end is connected on bottom plate I-1, is led to
Cross the flexible lifting to push scissor mechanism I-3 of scissors hydraulic cylinder I-4.
The stabilized platform II includes upper plate, lower plate, connecting rod II-2 and elastic rod II-1, wherein the downside setting of lower plate
There are U-type groove structure I -2, is connect with the upper end of two movable rods of scissor mechanism I-3, another two activities of scissor mechanism I-3
The upper end of connecting rod is hinged on the downside of lower plate；The upper plate is fixedly connected with unmanned plane landing platform III, the elastic rod
II-1 has two of parallel arrangement, is threadably secured between upper plate and lower plate, and connecting rod II-2 has two of parallel arrangement, and two
End is hinged with upper plate and lower plate respectively, is provided with support hydraulic pressure oil cylinder II-3 in the middle part of connecting rod II-2, support hydraulic pressure oil cylinder II-3's
The other end is fixed in lower plate, and flexible by support hydraulic pressure oil cylinder II-3 changes the angle between upper plate and lower plate, into one
Step changes the angle of unmanned plane landing platform III.
The lifting charging unit III-7 includes installation pedestal III-9, and installation pedestal III-9 is fixed on unmanned plane landing
In platform III, it is logical that the first vertical lifting motor III-10, the first lifting motor III-10 is fixed on installation pedestal III-9
It crosses first shaft coupling III-11 and is fixed on the first vertical lead screw III-12, the first lead screw III-12 and be coaxially arranged with two end seals
The circular sleeve closed is provided with battery module III-13 in circular sleeve, on corresponding circular sleeve outer wall there are two settings
The charging slot III-21 being connected to battery module III-13；The lifting grasping mechanism III-8 is symmetrically distributed in lifting and fills
Two groups of the two sides electric installation III-7, including glide base, glide base are movably disposed in unmanned plane landing platform III,
The second vertical lifting motor is fixed on glide base, the second lifting motor is fixed with vertical second by second shaft coupling
Lead screw is coaxially arranged with chuck sleeve closed at both ends on the second lead screw, chuck shape fixture is provided at the top of chuck sleeve, blocks
Plate-like fixture includes clamp body III-15, clamping block III-17 and sliding slot III-16, and clamping block III-17 has 3, in 120 ° of folders
Angle is symmetrical centered on the center clamp body III-15 on clamp body III-15, and sliding slot III-16 is consolidated by clamping block III-17
It is scheduled on clamp body III-15, the circular arc of three clamping unmanned plane undercarriages is reserved between sliding slot III-16 and clamp body III-15
Shape slot, sliding slot III-16 and charging interface III-20 are connected, and the undercarriage by unmanned plane is that the battery built in unmanned plane fills
Electricity；Charging interface III-20 is provided on the outer wall of the chuck sleeve, the charging slot III- with lifting charging unit III-7
21 match.
The lifting grasping mechanism III-8 is distributed in two sides centered on going up and down charging unit III-7, and glide base leads to
It crosses oat tail groove structure to be arranged in unmanned plane landing platform III, glide direction is to go up and down charging unit III-7 to lifting gripper
On the line of structure III-8, the glide base of two lifting grasping mechanism III-8 is located on the same line；The lifting crawl
The chuck sleeve of mechanism III-8 is slided up and down along the second lead screw, keeps relatively quiet in the horizontal direction relative to glide base
It does not only rotate, the circular sleeve of lifting charging unit III-7 is slided up and down along the first lead screw III-12, relative to installation pedestal
III-9 keeps opposing stationary in the horizontal direction and does not rotate.
The charging positioning mechanism includes four bevel gear box III-3 positioned at four angles of horizontal plane, four bevel gear boxes
Relative distribution is provided with two transmission shaft III-19 and two third lead screws III-4, two transmission shaft III- respectively between III-3
19 and two third lead screw III-4 are alternateed as a rectangular four edges, are respectively arranged on transmission shaft III-19
Two localization handspike III-2 being arranged symmetrically, localization handspike are provided between dual-axle motor III-1, two third lead screw III-4
The both ends of III-2 are overlapped on two third lead screw III-4 by sliding block III-6, and along third lead screw III-4 free skating
Dynamic, the glide direction of localization handspike III-2 is consistent with glide base glide direction, and push go up and down grasping mechanism III-8 along
It slides in the direction of glide base；It is provided with bearing block III-5 in the middle part of the third lead screw III-4 and supports lead screw, and limits and determines
The scope of activities of position push rod III-2 is provided with third shaft coupling III-18 on the transmission shaft III-19.
When the unmanned plane recycling charging unit is applied to the unmanned plane continuation of the journey charging of unmanned boat platform, including following step
It is rapid:
(1) when unmanned boat receives unmanned plane falling signal, hull turnover panel is opened, the scissors hydraulic cylinder of lifting mechanism I is started
I-4 motor, hoistable platform rise with the movement of scissors hydraulic cylinder I-4 piston rod, and stabilized platform II is pushed to rise；
(2) the first lifting motor III-10 for starting unmanned plane landing platform III, is driven by the first lead screw III-12, is pushed
Lifting charging unit III-7 makees ascending motion；
(3) the angular transducer detection hull for being mounted on the bottom stabilized platform II tilts angle, and angular transducer will tilt
The variation output of angle is that voltage signal changes, and is sent and is instructed by controller, starts two support hydraulic pressures of stabilized platform II
Oil cylinder II-3 pushes connecting rod II-2 to rotate, and the levelness of stabilized platform II is adjusted, due to the side stabilized platform II bullet
Property bar II-1 support, can achieve certain bending degree；
(4) when the position of unmanned plane is located above dropping zone, by the infrared camera on unmanned plane to chuck shape fixture
The infrared beacon of upper preset wavelength carries out detection and is positioned；
(5) when detecting the infrared beacon of the preset wavelength, nothing is guided in the position of infrared camera according to infrared beacon
Man-machine downward flight, and real time image collection is carried out to the object on unmanned boat by Image Acquisition camera, to the object of acquisition
Body image is identified；
(6) when recognizing the image of preset card disk-like structure in subject image, according to chuck shape fixture in Image Acquisition
The position guidance unmanned plane landing of camera；
(7) when unmanned plane drops to certain altitude, unmanned plane is detected at a distance from chuck shape fixture by range sensor, is reached
After pre-determined distance, chuck shape fixture starts unmanned plane of boosting and grab, and completes unmanned plane recycling；
(8) after the completion of unmanned plane recycling, start dual-axle motor III-1, drive transmission shaft III-19 and third lead screw III-4 fortune
It is dynamic, move localization handspike III-2, localization handspike III-2 pushes lifting grasping mechanism III-8, makes to go up and down grasping mechanism III-8
Glide base level sliding, when lifting grasping mechanism III-8 charging interface III-20 insertion lifting charging platform charging
In slot III-21, circuit is connected, and battery module III-13 is by chimeric charging jack and charging slot III-21, by electric current
It is transmitted at chuck shape fixture, starts the battery recharging to unmanned plane via the undercarriage of unmanned plane, meanwhile, twin shaft electricity
Machine III-1 stop motion.
Therefore, in conjunction with above-mentioned construction and the course of work it can be found that unmanned plane of the present invention recycles charging unit knot
Structure is novel, is skillfully constructed, can be fixed on unmanned plane on unmanned boat platform and charge, and charging continuation of the journey effect is good, safety
It can good, high degree of automation.
Claims (10)
1. a kind of unmanned plane recycles charging unit, it is mounted on unmanned boat platform, it is characterised in that: including elevating mechanism, stabilization
Platform and unmanned plane landing platform, elevating mechanism are fixed in unmanned boat, are connected to unmanned plane landing platform by stabilized platform
Bottom, lifting grasping mechanism and lifting charging unit are equipped in the unmanned plane landing platform, wherein lifting charging unit packet
Installation pedestal is included, installation pedestal is fixed in unmanned plane landing platform, the first vertical lifting motor is fixed in installation pedestal,
First lifting motor is fixed with the first vertical lead screw by first shaft coupling, is coaxially arranged on the first lead screw closed at both ends
Circular sleeve is provided with battery module in circular sleeve, on corresponding circular sleeve outer wall setting there are two and battery module
The charging slot of connection；The lifting grasping mechanism has two groups for being symmetrically distributed in lifting charging unit two sides, including sliding base
Seat, glide base are movably disposed in unmanned plane landing platform, and the second vertical lifting motor is fixed on glide base,
Second lifting motor is fixed with the second vertical lead screw by second shaft coupling, is coaxially arranged on the second lead screw closed at both ends
Chuck sleeve is provided with chuck shape fixture at the top of chuck sleeve, charging interface is provided on the outer wall of chuck sleeve, with lifting
The charging slot of charging unit matches.
2. unmanned plane according to claim 1 recycles charging unit, it is characterised in that: the lifting grasping mechanism is to go up and down
Two sides are distributed in centered on charging unit, glide base is arranged in unmanned plane landing platform by oat tail groove structure, sliding
Direction is to go up and down on charging unit to the line of lifting grasping mechanism, and two glide bases are located on the same line.
3. unmanned plane according to claim 2 recycles charging unit, it is characterised in that: the chuck shape fixture includes fixture
Body, clamping block and sliding slot, clamping block has 3, symmetrical centered on clamp body center on clamp body in 120 ° of angles, sliding
Slot is fixed on clamp body by clamping block, and the arc-shaped slot of three clamping unmanned plane undercarriages is reserved between sliding slot and clamp body,
Sliding slot and charging interface are connected, and the undercarriage by unmanned plane is that the battery built in unmanned plane charges.
4. unmanned plane according to claim 1 recycles charging unit, it is characterised in that: the fixture of the lifting grasping mechanism
Sleeve is slided up and down along the second lead screw, is kept opposing stationary in the horizontal direction relative to glide base and is not rotated；Lifting is filled
The circular sleeve of electric installation is slided up and down along the first lead screw, kept in the horizontal direction relative to installation pedestal it is opposing stationary not
Rotation.
5. unmanned plane according to claim 1 recycles charging unit, it is characterised in that: set on the unmanned plane landing platform
It is equipped with charging positioning mechanism, charging positioning mechanism includes four bevel gear boxes positioned at four angles of horizontal plane, four bevel gear boxes
Between respectively Relative distribution be provided with two transmission shafts and two third lead screws, two transmission shafts and two third lead screws are mutually handed over
For as a rectangular four edges, it is respectively arranged with dual-axle motor on transmission shaft, is provided with two between two third lead screws
The both ends of the localization handspike that item is arranged symmetrically, localization handspike are overlapped on two third lead screws by sliding block, and along third silk
Thick stick is free to slide, and the glide direction of localization handspike is consistent with glide base glide direction, and pushes lifting grasping mechanism along cunning
It slides in the direction of moving base.
6. unmanned plane according to claim 5 recycles charging unit, it is characterised in that: be provided in the middle part of the third lead screw
Bearing block supports lead screw, and limits the scope of activities of localization handspike, and third shaft coupling is provided on the transmission shaft.
7. unmanned plane according to claim 1 recycles charging unit, it is characterised in that: the elevating mechanism include bottom plate and
Scissor mechanism, scissor mechanism include X-type arrangement two groups totally four movable rods, every group of two movable rods are mounted in scissors
On bottom plate, another group of movable rod is connected to by stock in the middle part of every group of two movable rod；Corresponding two movable rods
Lower end be hinge on the floor, the lower ends of another two movable rods passes through the U-type groove structure and the bottom plate activity that are fixed on bottom plate
Connection.
8. unmanned plane according to claim 7 recycles charging unit, it is characterised in that: the scissor mechanism includes scissors liquid
One end of compressing cylinder, scissors hydraulic cylinder is connected on stock, and the other end is connected on bottom plate.
9. unmanned plane according to claim 7 recycles charging unit, it is characterised in that: the stabilized platform include upper plate,
Lower plate, connecting rod and elastic rod, wherein the downside of lower plate is provided with U-type groove structure, with two movable rods of scissor mechanism
Upper end connection, the upper end of another two movable rods of scissor mechanism is hinged on the downside of lower plate；The upper plate and unmanned plane drop
Platform is fallen to be fixedly connected, the elastic rod is threadably secured between upper plate and lower plate, and connecting rod has two of parallel arrangement, and two
End is hinged with upper plate and lower plate respectively, is provided with support hydraulic pressure oil cylinder in the middle part of connecting rod, the other end of support hydraulic pressure oil cylinder is fixed on
In lower plate.
10. unmanned plane according to claim 9 recycles charging unit, it is characterised in that: the elastic rod has parallel arrangement
Two.
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