CN111284722A - Aerial recovery system of unmanned aerial vehicle - Google Patents
Aerial recovery system of unmanned aerial vehicle Download PDFInfo
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- CN111284722A CN111284722A CN201811485922.0A CN201811485922A CN111284722A CN 111284722 A CN111284722 A CN 111284722A CN 201811485922 A CN201811485922 A CN 201811485922A CN 111284722 A CN111284722 A CN 111284722A
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- China
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- unmanned aerial
- aerial vehicle
- recovery system
- arm
- snatchs
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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
- B64F1/02—Arresting gear; Liquid barriers
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an aerial recovery system of an unmanned aerial vehicle. Snatch the mechanism and snatched the part including the arm, wherein the arm snatchs the mechanism and is connected with female machine, snatched the part and is connected with the unmanned aerial vehicle of waiting to retrieve, and unmanned aerial vehicle snatchs the working range of mechanism at the arm through female machine positioning control, and the arm snatchs the mechanism and snatchs and fix and snatch the part, realizes unmanned aerial vehicle's recovery. The unmanned aerial vehicle recovery system has the advantages that the unmanned aerial vehicle can be directly recovered in the air by the recovery system without landing on the existing functions and purposes, the energy for returning the unmanned aerial vehicle is saved, the working radius of the unmanned aerial vehicle is increased, the working efficiency is improved, and the unmanned aerial vehicle recovery system plays a great role in the technical field of unmanned aerial vehicle clustering.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an aerial recovery system of an unmanned aerial vehicle.
Background
The small unmanned aerial vehicle has the advantages of light weight, low cost, flexible deployment and the like, but is limited by the structure of the small unmanned aerial vehicle, and is small in load capacity, short in range, small in task radius and only suitable for small-range investigation work. The unmanned aerial vehicle air recovery technology is applied, so that the unmanned aerial vehicle can be recovered by the mother aircraft, and the energy of the unmanned aerial vehicle during returning is saved. The task radius of the whole system can be greatly increased. Simultaneously, can carry many small-size unmanned aerial vehicles by female machine and constitute the cluster system, many small-size unmanned aerial vehicles are with low costs than single large-scale unmanned aerial vehicle, even at complicated abominable environment damage, also can reduce the loss, reduce the risk.
At present, unmanned aerial vehicle cluster technology has obtained rapid development, and the research about unmanned aerial vehicle cluster algorithm is more at present, but from the angle of using, the relevant research of unmanned aerial vehicle recovery technique is few to it is lower to retrieve the success rate in the air of prior art unmanned aerial vehicle, and recovery time is longer, and quick reliable unmanned aerial vehicle recovery technique is one of the difficult problem that restricts unmanned aerial vehicle cluster and use.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an aerial recovery system of an unmanned aerial vehicle, which enables the unmanned aerial vehicle to be recovered in the air directly without landing on the ground when the unmanned aerial vehicle returns, saves the energy of the unmanned aerial vehicle returning, increases the combat radius of the unmanned aerial vehicle, improves the working efficiency and plays a great role in the technical field of unmanned aerial vehicle clustering.
The technical scheme adopted by the invention for realizing the purpose is as follows:
the utility model provides an aerial recovery system of unmanned aerial vehicle, includes that the arm snatchs the mechanism and is snatched the part by, wherein the arm snatchs the mechanism and is connected with the female machine that is used for retrieving, be connected by the part of snatching with the unmanned aerial vehicle that waits to retrieve, unmanned aerial vehicle passes through female machine positioning control is in the arm snatchs the working range of mechanism, the arm snatchs the mechanism and snatchs and fix by the part of snatching, realize unmanned aerial vehicle's recovery.
The mechanical arm grabbing mechanism comprises a fixed plate, a mechanical claw opening and closing driving mechanism and two mechanical arms, wherein one end of the fixed plate is connected with the female machine, the mechanical claw opening and closing driving mechanism is arranged on the fixed plate and connected with the two mechanical arms, and the mechanical claw opening and closing driving mechanism is used for driving the two mechanical arms to open or close.
And a recovery groove is formed in one end, close to the fixing plate, of the two mechanical arms, and the grabbed part is locked in the recovery groove.
And the tail ends of the two mechanical arms are provided with positioning clamping grooves for mutual positioning connection.
One end of the fixing plate is connected with the mother machine through a mounting interface.
Two the arm with the installation interface is the connection of certain angle, makes what grab get by the inside landing of snatched component.
The gripper opening and closing driving mechanism comprises a steering engine, a driving gear and two driven gears, wherein the two driven gears are rotatably installed on the fixed plate and are meshed with each other, the driving gear is arranged at the output end of the steering engine and is meshed with one of the driven gears, and the two mechanical arms are respectively connected with the two driven gears.
The grabbed part comprises a supporting rod, and a fixing seat and a clamping seat which are arranged at two ends of the supporting rod, wherein the fixing seat is connected with the unmanned aerial vehicle, and the clamping seat is matched with the mechanical arm grabbing mechanism to play a limiting role.
The fixing base is C type structure, the bracing piece is located unmanned aerial vehicle's focus position.
The clamping seat is of a hollow structure.
The invention has the following beneficial effects and advantages:
1. the unmanned aerial vehicle control system has the advantages of few changes to the unmanned aerial vehicle, almost no moving parts, simple structure and high reliability.
2. The unmanned aerial vehicle can be recovered in the air, the unmanned aerial vehicle does not need to reserve the energy reserve of return voyage, and the combat radius of the unmanned aerial vehicle is greatly increased.
3. The invention is the simplest logistics and lowest cost solution for small-sized and large-operation-radius unmanned aerial vehicles when reliable land-based or sea-based landing sites do not exist.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the construction of the robotic arm of the present invention;
FIG. 3 is a schematic structural diagram of the gripper opening and closing driving mechanism of the present invention;
fig. 4 is a schematic structural diagram of a gripped part of the drone of the present invention.
In the figure: 1 snatchs the mechanism for the arm, 101 are the installation interface, 102 is the fixed plate, 103 is driven gear, 104 is the steering wheel, 105 is the accumulator, 106 is the arm, 107 is positioning groove, 108 is the bearing, 2 is for being snatched the part, 201 is the fixing base, 202 is the bracing piece, 203 is the cassette, 3 is unmanned aerial vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the aerial recovery system for unmanned aerial vehicles provided by the invention comprises a mechanical arm grabbing mechanism 1 and a grabbed part 2, wherein the mechanical arm grabbing mechanism 1 is connected with a mother machine, the grabbed part 2 is connected with an unmanned aerial vehicle 3 to be recovered, the unmanned aerial vehicle 3 is positioned and controlled in the working range of the mechanical arm grabbing mechanism 1 through the mother machine, and the mechanical arm grabbing mechanism 1 grabs and fixes the grabbed part 2, so that the unmanned aerial vehicle 3 is recovered.
As shown in fig. 2, the robot grabbing mechanism 1 includes a fixing plate 102, a gripper opening and closing driving mechanism and two robots 106, wherein one end of the fixing plate 102 is connected to the main machine, the gripper opening and closing driving mechanism is disposed on the fixing plate 102 and connected to the two robots 106, and the gripper opening and closing driving mechanism is used for driving the two robots 106 to open or close.
A recovery groove 105 is provided between the two robot arms 106 at an end near the fixing plate 102, and the gripped part 2 is locked in the recovery groove 105. The tail ends of the two mechanical arms 106 are provided with positioning clamping grooves 107 used for mutual positioning connection, and the positioning clamping grooves 107 are used for avoiding the situation that the mechanical arms are deformed and misplaced and are not firm in grabbing.
Furthermore, one end of the fixing plate 102 is connected to the mother machine through the mounting interface 101, and the two robot arms 106 are connected to the mounting interface 101 at a certain angle, so that the gripped component 2 can slide inward into the recovery tank 105.
As shown in fig. 3, the gripper opening and closing driving mechanism includes a steering engine 104, a driving gear and two driven gears 103, wherein the two driven gears 103 are rotatably mounted on the fixing plate 102 and are engaged with each other, the driving gear is disposed at an output end of the steering engine 104 and is engaged with one of the driven gears 103, the two mechanical arms 106 are respectively connected with the two driven gears 103, and the steering engine 104 drives the two mechanical arms 106 to open and close through gear transmission.
In the embodiment of the present invention, the mechanical arm 106 and the driven gear 103 are an integral structure.
The steering engine 104 drives the toothed mechanical arm 106 to move, the response speed is high, and the grabbing action can be completed quickly. Take tooth swing arm, accumulator, hand claw, positioning channel section to install in order, confirm that the gripper opens angle and hand claw length according to unmanned aerial vehicle's positioning error, guarantee that unmanned aerial vehicle can fix a position at hand claw working range. Mutual interlock when positioning channel is closed avoids the hand claw to receive unmanned aerial vehicle gravity and impact to be out of shape, leads to snatching not jail.
As shown in fig. 4, the part 2 to be grabbed includes the supporting rod 202 and the fixing base 201 and the cassette 203 of threaded connection at the both ends of the supporting rod 202, wherein the fixing base 201 is connected with the unmanned aerial vehicle 3, and the cassette 203 is grabbed the mechanism 1 cooperation with the arm, plays and is grabbed the mechanism 1 by the arm and snatch the back anti-drop's effect.
The fixed seat 201 is of a C-shaped structure, and an installation space is reserved for airborne equipment; bracing piece 202 perpendicular to unmanned aerial vehicle 3's rotor horizontal plane, and pass central point and put, bracing piece 202 is installed in unmanned aerial vehicle focus position, is favorable to retrieving back unmanned aerial vehicle and shuts down the gesture under the action of gravity and keep. The bracing piece 202 can be as required length adjustment unit figure, bracing piece length more than or equal to unmanned aerial vehicle positioning accuracy's twice.
In the embodiment of the present invention, the height of the fixing base 201 is 70mm, and the cross section is a square with 12mm × 12 mm; the length of the support rod 202 is 200mm, and the radius is 5.5 mm; the diameter of the cassette 203 is 75mm and the thickness is 18 mm. The mounting interface 101 and the steering engine 104 are respectively connected with the fixing plate 102 through screws, and the recovery tank 5, the positioning clamping groove 7 and the arm 6 are connected in a gluing manner. The mounting interface 101 and the mechanical arm 106 form an angle of 75 degrees, the mechanical arm 106 is made of a carbon fiber tube, the length of the carbon fiber tube is 70cm, the maximum opening angle is 120 degrees, and the closing time is less than 1 second; the recovery tank 105 is circular, has a diameter of 12cm, is matched with the fixed clamping seat and clamps the grabbed part 2 on the unmanned aerial vehicle 3; the positioning clamping groove 107 is used for avoiding the situation that the mechanical arm 106 is deformed and dislocated, and the situation that the mechanical arm is not firm in grabbing is caused. The steering engine 104 is used for controlling the closing of the mechanical arm 106, and the steering engine 104 is a commercially available full-metal brushless steering engine with the model number of RCOMG H4.
The recovery task flow of the invention is as follows:
the unmanned aerial vehicle 3 firstly moves up slowly at a speed of 0.05m/s at a position of 30cm below the mechanical arm according to position information provided by the recovery mechanism, meanwhile, the unmanned aerial vehicle controller compares the position of the unmanned aerial vehicle with the working range of the mechanical arm 106, and if the unmanned aerial vehicle is in the range, the unmanned aerial vehicle sends a message to the recovery system; after receiving the message, the recovery system closes the mechanical arm 106 and sends the message of closing the mechanical arm to the unmanned aerial vehicle 3; after receiving the message, the unmanned aerial vehicle 3 closes the power of the unmanned aerial vehicle, and the recovery task is completed.
The unmanned aerial vehicle recovery system has the advantages that the unmanned aerial vehicle can be directly recovered in the air by the recovery system without landing on the existing functions and purposes, the energy for returning the unmanned aerial vehicle is saved, the working radius of the unmanned aerial vehicle is increased, the working efficiency is improved, and the unmanned aerial vehicle recovery system plays a great role in the technical field of unmanned aerial vehicle clustering.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an aerial recovery system of unmanned aerial vehicle, its characterized in that snatchs mechanism (1) and is snatched part (2) including the arm, and wherein the arm snatchs mechanism (1) and is connected with the female machine that is used for retrieving, be snatched part (2) and be connected with unmanned aerial vehicle (3) of waiting to retrieve, unmanned aerial vehicle (3) are passed through female machine positioning control is in the arm snatchs the working range of mechanism (1), the arm snatchs mechanism (1) and snatchs and fix snatch part (2), realize the recovery of unmanned aerial vehicle (3).
2. The unmanned aerial vehicle aerial recovery system of claim 1, wherein the mechanical arm grabbing mechanism (1) comprises a fixed plate (102), a mechanical claw opening and closing driving mechanism and two mechanical arms (106), wherein one end of the fixed plate (102) is connected with the main machine, the mechanical claw opening and closing driving mechanism is arranged on the fixed plate (102) and connected with the two mechanical arms (106), and the mechanical claw opening and closing driving mechanism is used for driving the two mechanical arms (106) to open or close.
3. Unmanned aerial vehicle aerial recovery system of claim 2, wherein a recovery groove (105) is provided between the two robotic arms (106) at an end near the fixed plate (102), the gripped part (2) being locked within the recovery groove (105).
4. Unmanned aerial vehicle aerial recovery system of claim 2, characterized in that the ends of the two robotic arms (106) are provided with positioning slots (107) for mutual positioning connection.
5. Unmanned aerial vehicle airborne recovery system according to claim 2, characterized in that one end of the fixing plate (102) is connected with the parent machine by means of a mounting interface (101).
6. Unmanned aerial vehicle aerial recovery system of claim 5, wherein the two robotic arms (106) are connected to the mounting interface (101) at an angle such that the gripped part (2) can slide down inwardly.
7. The aerial unmanned aerial vehicle recovery system of claim 2, wherein the gripper opening and closing driving mechanism comprises a steering engine (104), a driving gear and two driven gears (103), wherein the two driven gears (103) are rotatably mounted on the fixing plate (102) and are meshed with each other, the driving gear is arranged at an output end of the steering engine (104) and is meshed with one driven gear (103), and the two mechanical arms (106) are respectively connected with the two driven gears (103).
8. The aerial unmanned aerial vehicle recovery system of claim 1, wherein the grabbed part (2) comprises a support rod (202), and a fixing seat (201) and a clamping seat (203) which are arranged at two ends of the support rod (202), wherein the fixing seat (201) is connected with the unmanned aerial vehicle (3), and the clamping seat (203) is matched with the mechanical arm grabbing mechanism (1) to play a role in limiting.
9. The aerial unmanned aerial vehicle recovery system of claim 8, wherein the fixing base (201) is a C-shaped structure, and the supporting rod (202) is located at the center of gravity of the unmanned aerial vehicle (3).
10. The aerial unmanned aerial vehicle recovery system of claim 8, wherein the card holder (203) is a hollowed-out structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811485922.0A CN111284722A (en) | 2018-12-06 | 2018-12-06 | Aerial recovery system of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811485922.0A CN111284722A (en) | 2018-12-06 | 2018-12-06 | Aerial recovery system of unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN111284722A true CN111284722A (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811485922.0A Pending CN111284722A (en) | 2018-12-06 | 2018-12-06 | Aerial recovery system of unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113138605A (en) * | 2020-12-25 | 2021-07-20 | 北京理工大学 | Recovery and release device applied to primary and secondary unmanned aerial vehicles and control method thereof |
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2018
- 2018-12-06 CN CN201811485922.0A patent/CN111284722A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113138605A (en) * | 2020-12-25 | 2021-07-20 | 北京理工大学 | Recovery and release device applied to primary and secondary unmanned aerial vehicles and control method thereof |
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