CN110498043A - It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system - Google Patents

It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system Download PDF

Info

Publication number
CN110498043A
CN110498043A CN201910812036.2A CN201910812036A CN110498043A CN 110498043 A CN110498043 A CN 110498043A CN 201910812036 A CN201910812036 A CN 201910812036A CN 110498043 A CN110498043 A CN 110498043A
Authority
CN
China
Prior art keywords
unmanned plane
expansion brackets
rhombus expansion
extending arm
parallel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910812036.2A
Other languages
Chinese (zh)
Inventor
田亚平
唐雅琦
唐磊
杨毅
杨扬
张丹
彭艳
蒲华燕
谢少荣
罗均
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Shanghai for Science and Technology
Original Assignee
University of Shanghai for Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201910812036.2A priority Critical patent/CN110498043A/en
Publication of CN110498043A publication Critical patent/CN110498043A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02Dropping, ejecting, or releasing articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/22Taking-up articles from earth's surface
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use

Abstract

The invention discloses a kind of, and the unmanned plane collaboration unmanned boat with extending arm in parallel lays recovery system, including unmanned plane, rhombus expansion brackets, steering engine and mechanical hook, there are two the rhombus expansion brackets for the uav bottom connection, two rhombus expansion brackets constitute stretching, extension arm configuration in parallel, the steering engine and the mechanical hook are all set in the bottom of the rhombus expansion brackets, the steering engine is used to drive the upper and lower flexible and left and right translation of two rhombus expansion brackets, the mechanical hook for catch on nobody very on the rectangular frame with guide rope;Unmanned plane collaboration unmanned boat provided by the invention with extending arm in parallel lays recovery system, and the accurate control by unmanned plane to extensible mechanical arm is realized guide rope taking back lash ship, assists the recycling operation of unmanned boat;Have the characteristics that easy to operate, movement is rapid, reusable, safety is good.

Description

It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system
Technical field
The present invention relates to UAV flight's mechanical arm technical field, more particularly to a kind of nobody with extending arm in parallel Machine collaboration unmanned boat lays recovery system.
Background technique
Currently, mainly all being laid both at home and abroad using some more traditional for lay reclaimer and the method for unmanned boat Way of recycling first launches guide rope gas cylinder to mother for example, the throwing type being commonly used now lays recovery system On ship, then weight slided into horn mouth along guide rope, is docked with unmanned boat completion.But it is frequent to be influenced gas cylinder by sea situation Gas leakage causes guide wire that can not launch on lash ship, and gas cylinder can only once make a call to two hairs, inconvenient to use.
Using the good travelling performance of unmanned plane and operability, extending arm in parallel can be carried below unmanned plane, is passed through The mechanical hook for manipulating unmanned plane parallel connection extending arm, removes to hook the bracket that guide rope is connected on unmanned boat, is a kind of novel nothing People's ship lays recovery gear.
However the unmanned boat of sea free movement is recovered on lash ship, it is a very difficult process.Currently Throwing type mechanism, guide rope is launched on lash ship by the gas cylinder on unmanned boat, since gas cylinder is by sea situation shadow Sound is larger, tends not to cast to the scheduled band of position, needs the cooperation of staff on lash ship.But since unmanned boat is by sea Hull concussion can occur for condition influence, and unmanned plane is influenced also shake by sea wind, leads to the mechanical hook on unmanned plane Dock that there is also certain difficulty with the bracket on unmanned boat.There is presently no a kind of easy, controllable, reusable, energy It is enough mounted on unmanned boat and automatically casts guide rope to the recyclable device on lash ship.
Unmanned plane can adjust the position of mechanical hook, on unmanned boat by the multifreedom motion of extending arm in parallel Bracket smoothly completes docking, to control the movement of unmanned plane, bracket and guide rope are taken back lash ship.Have on unmanned boat one can The rectangle support of expansion is collapsed, and stent ends are connect with guide rope.In the process of moving, bracket is placed upside down in unmanned boat to unmanned boat On, it influences to collide with unmanned boat against sea situation;When recycling unmanned boat, bracket is erect, is facilitated on unmanned plane Mechanical hook hooks bracket.It hooks after-poppet and is detached from unmanned boat, bracket and guide rope are taken back by lash ship by unmanned plane, then led Weight is directed into horn mouth and completes docking by messenger, then unmanned boat is hung back lash ship with mechanical arm, and the recycling for completing unmanned boat is made Industry.Unmanned plane can repeatedly use, and mechanical and control system is all simpler than throwing type mechanism.Unmanned plane parallel connection stretching machine Tool arm has many advantages, such as that easy to operate, conveniently moving, safety are good, controllability is good, can be used for assisting unmanned boat lay with Recycle operation.
Mostly it is currently the mechanical arm that operability is not strong and structure is not sufficiently stable with the immediate technical solution of the present invention:
1) Publication No. CN105314102A, patent name are the patent document of " a kind of unmanned plane for equipping mechanical arm " In, there are three above motion redundancy freedom degrees for mechanical arm tool, can be realized the rotation of multi-angle;The end of mechanical arm can load A variety of pawl machines can control the stretching, extension and rotation of mechanical arm itself, can also control the contraction and release of end pawl machine.Super redundancy machine Tool arm, expanded mechanical arm can opereating specification, increase mechanical arm retractility and transformation angle, can be used for remote delivery packet It wraps up in;The sampling of hazardous environment reduces the risk of manual sampling.But the use scope of mechanical arm is limited, can not execute it is a variety of not Same task.
2) Publication No. CN105014687A, patent name are the patent of " a kind of mechanical arm with multi-rotor unmanned aerial vehicle " In document, mechanical arm is connected to below multi-rotor unmanned aerial vehicle, and mechanical arm is made of large arm, forearm and clamper, solves machinery Arm can not be freely the problem of high-altitude operates, but the operability of mechanical arm is not strong, can not achieve fortune of stretching at any angle It is dynamic.
3) Publication No. CN108298084A, patent name are the patent of " a kind of armed unmanned plane of autonomous crawl object " In document, each rotary joint of mechanical arm is controlled by corresponding steering engine, can carry out any angle and direction rotation, It swings and opening and closing, grasping movement nimbly and freely, grabs high-efficient.But the stability of mechanical arm is bad, grabs not secured enough.
To sum up, provide a kind of easy to operate, mobile rapid, reusable, safety it is good with extending arm in parallel Unmanned plane collaboration unmanned boat lays the technical issues of recovery system is those skilled in the art's urgent need to resolve.
Summary of the invention
The object of the present invention is to provide a kind of, and the unmanned plane collaboration unmanned boat with extending arm in parallel lays recovery system, with The above-mentioned problems of the prior art is solved, the accurate control by unmanned plane to extensible mechanical arm is realized guide rope band Lash ship is returned, the recycling operation of unmanned boat is assisted.The unmanned plane with extending arm in parallel that the present invention designs has easy to operate, shifting Move the features such as rapid, reusable, safety is good.
To achieve the above object, the present invention provides following schemes:
The present invention provide it is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system, including nobody Machine, rhombus expansion brackets, steering engine and mechanical hook, there are two the rhombus expansion brackets for the uav bottom connection, described in two Rhombus expansion brackets constitute stretching, extension arm configuration in parallel, and the steering engine and the mechanical hook are all set in the rhombus expansion brackets Bottom, the steering engine are used to drive upper and lower flexible and the left and right translation, the mechanical hook of two rhombus expansion brackets to be used for Catch on nobody very on the rectangular frame with guide rope.
Preferably, the top of two rhombus expansion brackets is connected with one piece of top connecting plate, the top connection jointly The connection of the bottom platform of plate and unmanned plane.
Preferably, the bottom of the top connecting plate is additionally provided with a connection frame, the top of two rhombus expansion brackets The two sides of the connection frame are connected to, and two rhombus expansion brackets and the connection frame are hinged.
Preferably, the connection frame is welded and fixed with the top connecting plate.
Preferably, the bottom of two rhombus expansion brackets is connected with one piece of bottom connecting plate, and two water chestnuts jointly Shape expansion bracket and the bottom connecting plate are hinged.
Preferably, the steering engine is fixed by bolts on the bottom connecting plate.
Preferably, there are two the mechanical hook settings, two mechanical hooks are symmetrically disposed on the bottom connection The two sides of plate, and the mechanical hook is welded and fixed with the bottom connecting plate.
Preferably, the mechanical hook is self-locking mechanical hook.
Preferably, the rhombus expansion brackets are made of multiple diamond shape hinge units, four sides of the diamond shape hinge unit Bar is mutually hinged, and the adjacent four edges bar of the diamond shape hinge unit of adjacent two is by two in X-shaped interconnection Long connecting rod constitute, two long connecting rods infall be articulated and connected, each hinge joint of the diamond shape hinge unit it is hinged Bearing is provided at axis.
Preferably, multiple synchronising (connecting) rods being laterally arranged are also connected between two rhombus expansion brackets, it is each described Synchronising (connecting) rod is connected between the opposite two diamond shape hinge unit of two rhombus expansion brackets, the synchronising (connecting) rod One end and the left side of diamond shape hinge unit described in one of them are hingedly point articulated, and the other end is then hingedly single with diamond shape described in another The left side of member is hingedly point articulated, or, the right side hinge joint of described synchronising (connecting) rod one end and one of them diamond shape hinge unit Hingedly, the other end is then hingedly point articulated with the right side of diamond shape hinge unit described in another.
The present invention achieves following advantageous effects compared with the existing technology:
1, the unmanned plane collaboration unmanned boat provided by the invention with extending arm in parallel lays recovery system, parallel mechanical arm With telescopic performance, device volume is smaller, easy to operate, motion stabilization, and the recycling that lash ship can be assisted to complete unmanned boat is made Industry.
2, the unmanned plane collaboration unmanned boat provided by the invention with extending arm in parallel lays recovery system, is stretched by parallel connection Mechanical hook below swing arm goes on capture unmanned boat to be connected with the rectangular frame of guide rope, can also cooperate with nobody under high sea situation Ship, which smoothly completes, to be laid and recycling operation.
3, the unmanned plane collaboration unmanned boat provided by the invention with extending arm in parallel lays recovery system, extending arm in parallel There are two the freedom degree in direction, it can be achieved that flexible up and down and left and right translation, can compensate the flight error of unmanned plane, provide operation Redundancy.
4, the unmanned plane collaboration unmanned boat provided by the invention with extending arm in parallel lays recovery system, and mechanical hook is Self-locking mechanical hook, has self-locking function, hook after rectangular frame can automatically lock, set respectively in the two sides of bottom connecting plate A mechanical hook is set, the probability that mechanical hook captures rectangular frame is increased.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings Obtain other attached drawings.
Fig. 1 is that the stereochemical structure that the unmanned plane with extending arm in parallel in the present invention cooperates with unmanned boat to lay recovery system is shown It is intended to;
Fig. 2 is the extended state structural schematic diagram of parallel connection extending arm in the present invention;
Fig. 3 is the status architecture schematic diagram that moves right of parallel connection extending arm in the present invention;
Fig. 4 is the top structure schematic diagram of parallel connection extending arm in the present invention;
Fig. 5 is the bottom substance schematic diagram of parallel connection extending arm in the present invention;
In figure: 1- unmanned plane, 2- rhombus expansion brackets, 3- mechanical hook, 4- top connecting plate, 5- connection frame, the bottom 6- connect Fishplate bar, 7- synchronising (connecting) rod, 8- guide rope, 9- rectangular frame, 10- long connecting rod.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of, and the unmanned plane collaboration unmanned boat with extending arm in parallel lays recovery system, with It solves the problems, such as of the existing technology.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real Applying mode, the present invention is described in further detail.
The present invention provides a kind of, and the unmanned plane collaboration unmanned boat with extending arm in parallel lays recovery system, such as Fig. 1-5 It is shown, including unmanned plane 1, rhombus expansion brackets 2, steering engine (not shown) and mechanical hook 3,1 bottom of unmanned plane be connected with two A rhombus expansion brackets 2, two rhombus expansion brackets 2 constitute stretching, extension arm configuration in parallel, and steering engine and mechanical hook 3 are all set in diamond shape The bottom of expansion bracket 2, steering engine are used to drive the upper and lower flexible and left and right translation of two rhombus expansion brackets 2, and mechanical hook 3 is for hooking Firmly nobody very on the rectangular frame 9 with guide rope 8.
In the present invention, the top of two rhombus expansion brackets 2 is connected with one piece of top connecting plate 4 jointly, and top connecting plate 4 is welded It is connected in the bottom platform of unmanned plane 1, the bottom of top connecting plate 4 is also welded with a connection frame 5, two rhombus expansion brackets 2 Top is connected to the two sides of connection frame 5, and two rhombus expansion brackets 2 and connection frame 5 are hinged;Two rhombus expansion brackets 2 Bottom is connected with one piece of bottom connecting plate 6 jointly, and two rhombus expansion brackets 2 and bottom connecting plate 6 are hinged;Steering engine passes through bolt It is fixed on connecting plate;There are two the settings of mechanical hook 3, and two mechanical hooks 3 are symmetrically disposed on the two sides of bottom connecting plate 6, And mechanical hook 3 is welded and fixed with bottom connecting plate 6.
Mechanical hook 3 in the present invention is selected specifically to self-locking mechanical hook 3, self-locking by motor driven;Work as nothing After man-machine 1 camera captures the rectangular frame 9 on unmanned boat, mechanical hook 3 is opened, and is locked automatically after clamping rectangular frame 9 Tightly, guide rope 8 is taken back by lash ship by the movement of unmanned plane 1, lash ship is assisted to complete the recycling operation of unmanned boat.
In the present invention, rhombus expansion brackets 2 are made of multiple diamond shape hinge units, and four side rods of diamond shape hinge unit are homogeneous Mutually hinged, the adjacent four edges bar of two adjacent diamond shape hinge units is by two 10 structures of long connecting rod in X-shaped interconnection At two long connecting rods 10 are articulated and connected in infall;Axis is provided at the articulated shaft of each hinge joint of diamond shape hinge unit (not shown) is held, the friction of hinged place, keeps the movement of mechanical arm more steady when the setting of bearing reduces movement.
In the present invention, multiple synchronising (connecting) rods 7 being laterally arranged, each synchronization are also connected between two rhombus expansion brackets 2 Connecting rod 7 is connected between the opposite two diamond shape hinge unit of two rhombus expansion brackets 2,7 one end of synchronising (connecting) rod and wherein one The left side of a diamond shape hinge unit is hingedly point articulated, and the other end is then hingedly point articulated with the left side of another diamond shape hinge unit, Or, 7 one end of synchronising (connecting) rod and the right side of one of diamond shape hinge unit are hingedly point articulated, the other end is then cut with scissors with another diamond shape The right side of order member is hingedly point articulated;The setting of synchronising (connecting) rod 7 makes two rhombus expansion brackets 2 of the left and right sides remain one The movement effects of cause.
Invention applies a specific example illustrates the principle and implementation of the invention, above embodiments are said It is bright to be merely used to help understand method and its core concept of the invention;At the same time, for those skilled in the art, foundation Thought of the invention, there will be changes in the specific implementation manner and application range.To sum up, the content of the present specification should not manage Solution is limitation of the present invention.

Claims (10)

1. it is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system, it is characterised in that: including unmanned plane, Rhombus expansion brackets, steering engine and mechanical hook, there are two the rhombus expansion brackets, two diamond shapes for the uav bottom connection Expansion bracket constitutes stretching, extension arm configuration in parallel, and the steering engine and the mechanical hook are all set in the bottom of the rhombus expansion brackets Portion, the steering engine are used to drive the upper and lower flexible and left and right translation of two rhombus expansion brackets, and the mechanical hook is for hooking Firmly nobody very on the rectangular frame with guide rope.
2. the unmanned plane collaboration unmanned boat according to claim 1 with extending arm in parallel lays recovery system, feature Be: the top of two rhombus expansion brackets is connected with one piece of top connecting plate, the top connecting plate and unmanned plane jointly Bottom platform connection.
3. the unmanned plane collaboration unmanned boat according to claim 2 with extending arm in parallel lays recovery system, feature Be: the bottom of the top connecting plate is additionally provided with a connection frame, is connected at the top of two rhombus expansion brackets The two sides of the connection frame, and two rhombus expansion brackets and the connection frame are hinged.
4. the unmanned plane collaboration unmanned boat according to claim 3 with extending arm in parallel lays recovery system, feature Be: the connection frame is welded and fixed with the top connecting plate.
5. the unmanned plane collaboration unmanned boat according to claim 1 with extending arm in parallel lays recovery system, feature Be: the bottom of two rhombus expansion brackets is connected with one piece of bottom connecting plate jointly, and two rhombus expansion brackets with The bottom connecting plate is hinged.
6. the unmanned plane collaboration unmanned boat according to claim 5 with extending arm in parallel lays recovery system, feature Be: the steering engine is fixed by bolts on the bottom connecting plate.
7. the unmanned plane collaboration unmanned boat according to claim 5 with extending arm in parallel lays recovery system, feature Be: there are two the mechanical hook settings, and two mechanical hooks are symmetrically disposed on the two sides of the bottom connecting plate, and The mechanical hook is welded and fixed with the bottom connecting plate.
8. the unmanned plane collaboration unmanned boat according to claim 7 with extending arm in parallel lays recovery system, feature Be: the mechanical hook is self-locking mechanical hook.
9. the unmanned plane collaboration unmanned boat according to claim 1 with extending arm in parallel lays recovery system, feature Be: the rhombus expansion brackets are made of multiple diamond shape hinge units, and four side rods of the diamond shape hinge unit are mutually cut with scissors It connecing, the adjacent four edges bar of the diamond shape hinge unit of adjacent two is constituted by two in the long connecting rod of X-shaped interconnection, Two long connecting rods are articulated and connected in infall, are provided at the articulated shaft of each hinge joint of the diamond shape hinge unit Bearing.
10. the unmanned plane collaboration unmanned boat according to claim 9 with extending arm in parallel lays recovery system, feature It is: is also connected with multiple synchronising (connecting) rods being laterally arranged between two rhombus expansion brackets, each synchronising (connecting) rod connects Be connected between the opposite two diamond shape hinge unit of two rhombus expansion brackets, described synchronising (connecting) rod one end with wherein The left side of one diamond shape hinge unit is hingedly point articulated, and the other end is then cut with scissors with the left side of diamond shape hinge unit described in another Contact is hinged, or, described synchronising (connecting) rod one end and the right side of diamond shape hinge unit described in one of them are hingedly point articulated, the other end It is then hingedly point articulated with the right side of diamond shape hinge unit described in another.
CN201910812036.2A 2019-08-30 2019-08-30 It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system Pending CN110498043A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910812036.2A CN110498043A (en) 2019-08-30 2019-08-30 It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910812036.2A CN110498043A (en) 2019-08-30 2019-08-30 It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system

Publications (1)

Publication Number Publication Date
CN110498043A true CN110498043A (en) 2019-11-26

Family

ID=68590592

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910812036.2A Pending CN110498043A (en) 2019-08-30 2019-08-30 It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system

Country Status (1)

Country Link
CN (1) CN110498043A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4536024A (en) * 1980-06-23 1985-08-20 Gabriel Edwin Z Techniques for safely unloading cargo
CN201099515Y (en) * 2007-11-26 2008-08-13 张刚 Scissors type elevating garbage transfer station
CN105540457A (en) * 2015-12-16 2016-05-04 上海大学 Automatic deployment and retrieval system for unmanned surface vehicle
CN107433618A (en) * 2016-05-25 2017-12-05 中国科学院沈阳自动化研究所 A kind of scalable mechanical arm of bidirectional-movement
CN208505690U (en) * 2018-08-15 2019-02-15 黑龙江大学 A kind of sewage sampling device based on unmanned plane
CN110001879A (en) * 2019-04-10 2019-07-12 上海大学 A kind of unmanned plane assistance recycling unmanned boat system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4536024A (en) * 1980-06-23 1985-08-20 Gabriel Edwin Z Techniques for safely unloading cargo
CN201099515Y (en) * 2007-11-26 2008-08-13 张刚 Scissors type elevating garbage transfer station
CN105540457A (en) * 2015-12-16 2016-05-04 上海大学 Automatic deployment and retrieval system for unmanned surface vehicle
CN107433618A (en) * 2016-05-25 2017-12-05 中国科学院沈阳自动化研究所 A kind of scalable mechanical arm of bidirectional-movement
CN208505690U (en) * 2018-08-15 2019-02-15 黑龙江大学 A kind of sewage sampling device based on unmanned plane
CN110001879A (en) * 2019-04-10 2019-07-12 上海大学 A kind of unmanned plane assistance recycling unmanned boat system

Similar Documents

Publication Publication Date Title
US9944408B2 (en) Systems and methods for recovering and controlling post-recovery motion of unmanned aircraft
US6659703B1 (en) Stabilized ship-borne access apparatus and control method for the same
WO2018072654A1 (en) Automatic unloading carrier and unmanned aerial vehicle
US5154561A (en) Automated all-weather cargo transfer system
US6347424B1 (en) Movement absorbing transferring system
CN103794842B (en) A kind of annular truss formula large space development agency
CN101712379B (en) Folding small-sized unmanned aerial vehicle
US5054717A (en) Aircraft capture systems
EP3263455B1 (en) Locking line capture devices for unmanned aircraft, and associated systems and methods
CN104005330B (en) Flexible pontoon bridge
US20040146388A1 (en) Light weight parallel manipulators using active/passive cables
US4281611A (en) System for mooring a ship, particularly an oil-tanker, to an off-shore tower or column
AU2011264627B2 (en) Mobile aircraft recovery system
US10046864B2 (en) Small unmanned aerial vehicle (SUAV) shipboard recovery system
US20060102783A1 (en) Methods and apparatuses for capturing and recovering unmanned aircraft, including extendable capture devices
JP2010500221A (en) Launch / recovery mechanism for aerodynamic profile elements and aerodynamic profile elements
US20050151014A1 (en) Methods and apparatuses for launching, capturing, and storing unmanned aircraft, including a container having a guide structure for aircraft components
US20060038067A1 (en) Methods and apparatuses for launching and capturing unmanned aircraft, including a combined launch and recovery system
US20050230536A1 (en) Methods and apparatuses for capturing and storing unmanned aircraft, including methods and apparatuses for securing the aircraft after capture
US20050151009A1 (en) Methods and apparatuses for launching unmanned aircraft, including methods and apparatuses for launching aircraft with a wedge action
CN108639287B (en) Large-scale heavy-load hybrid-driven underwater glider
CN104589366B (en) A kind of change cell type Multifunctional manipulator claw
US20100038481A1 (en) Systems and Methods for Recovering an Airship
CN204452930U (en) The four-axle aircraft of telescopic folding
RU138497U1 (en) Device for disposing space debr from use of useful loads

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination