CN111634224B - Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device - Google Patents
Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device Download PDFInfo
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- CN111634224B CN111634224B CN202010699478.3A CN202010699478A CN111634224B CN 111634224 B CN111634224 B CN 111634224B CN 202010699478 A CN202010699478 A CN 202010699478A CN 111634224 B CN111634224 B CN 111634224B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
Abstract
The invention relates to the technical field of unmanned aerial vehicle flight auxiliary equipment, and provides a three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device, which comprises a base, three driving systems, three sets of ball head adapter rods and a regular hexagon flat plate, wherein the three sets of ball head adapter rods are arranged on the base; the driving system is used as a core part, wherein the planetary gear motor provides power, the trapezoidal lead screw is driven to rotate by controlling the rotation of the motor, and the sliding block is indirectly converted into translational motion through a circular flange nut and a linear bearing which are fixed on the sliding block; the ball head adapter rod connected with the upper side wing chain connecting plate of the sliding block is used as a supporting rod to carry a regular hexagon flat plate; when the rotation speeds of the planetary gear motors in the driving system are consistent, the moving speeds of the sliding blocks are also the same, and the regular hexagonal flat plate and the base do lifting motion in parallel; on the contrary, when the rotating speeds of the planetary gear motors are different, the translation speeds of the sliding blocks are different, and the regular hexagonal flat plate can do pitching motion; the invention can realize lifting motion and spatial multi-angle motion, and has wider application range; the device removes can regard as unmanned aerial vehicle take-off and landing point, storage device etc. still can the application in other fields, if: object transportation shock absorption, and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight auxiliary equipment, and particularly provides a three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device.
Background
The three-freedom-degree motion platform can do single-freedom-degree motion with any one degree of freedom in three degrees of freedom in space and can also do compound motion with any number of degrees of freedom. Because the servo system and the servo electric cylinder which are controlled in a full digital mode are used as the actuating mechanism of the moving part of the platform, the motion trail and the speed of the three-degree-of-freedom simulation platform are smooth and continuous, and the high-frequency-response rapid motion and the low-speed stable motion can be realized.
The general three-degree-of-freedom platform consists of three servo electric cylinders, three universal hinges (Hooke's hinges) respectively arranged up and down, and an upper platform and a lower platform. The lower platform is fixed on an infrastructure, and the motion of the platform in three spatial degrees of freedom (X, Y, Z, alpha, beta and gamma) is completed by means of the telescopic motion of three servo electric cylinders, so that various spatial motion postures can be simulated.
Disclosure of Invention
The invention provides a three-degree-of-freedom vehicle-mounted aircraft platform which comprises three driving systems, three sets of ball head adapter rods, a regular hexagon flat plate and a set of base. A speed reduction motor is arranged in a driving system of the vehicle-mounted aircraft platform and serves as a power source, and the motor drives a trapezoidal screw rod to rotate so as to enable a sliding block to translate; the three driving systems can independently or cooperatively work to adjust the posture of the regular hexagon flat plate in the space.
A three-degree-of-freedom vehicle-mounted aircraft platform, comprising: the device comprises a base, three driving systems, three sets of ball head adapter rods and a regular hexagon flat plate. The base comprises a bottom plate and three limiters; the base is fixedly connected with the driving system; the ball head adapter rod is fixedly connected with the driving system; the flat plate of the regular hexagon is fixedly connected with the ball head adapter rod. (the number of parts not emphasized by the context defaults to single)
Further, the base includes: a bottom plate and three limiters; the drive system includes: the device comprises a speed reducing motor fixing plate, a planetary speed reducing motor, a plum blossom coupling (motor end), a trapezoidal screw, two linear optical axes, a circular flange screw nut, two flange linear bearings, a sliding block, two flank connecting plates, four flange nuts, two shaft sleeves, a photoelectric rotary encoder, an encoder fixing plate and a plum blossom coupling (encoder end); the ball head adapter rod comprises an A-shaped rod, a ball table base and an outer frame.
Furthermore, the geometric shape of the base middle bottom plate is hexagonal and consists of three equal long sides and three equal short sides, wherein the long sides and the short sides are adjacent in pairs, hole sites for installing a circuit board are provided on the plane of the bottom plate, and rectangular grooves fixed by limiters are arranged at the midpoints of the three long sides of the bottom plate; the geometric shape of the stopper is similar to that of an English letter F, the lower end of the stopper can be matched with the rectangular groove of the bottom plate, and the highest point of the stopper is the lowest height of the regular hexagon flat plate which can be reached during movement.
Furthermore, the lower ends of the three limiters in the base are respectively matched with the rectangular groove of the base plate and fixedly connected by screws.
Furthermore, a speed reducing motor fixing plate in the driving system is provided with through holes for mounting the planetary speed reducing motor, wherein one large-diameter through hole is provided, 4 small-diameter through holes are provided, and two counter bores are symmetrical about the through holes; the diameter of a rotating shaft of the planetary gear motor is 8mm, and is the same as the outer diameter of the trapezoidal lead screw; the diameters of center holes at the two ends of the plum blossom coupling (at the motor end) are 8mm, and the plum blossom coupling can be connected with the rotating shaft of the planetary gear motor and the trapezoidal lead screw in series; the length of the trapezoidal lead screw is 250mm, the lead is 2mm, and the two plum couplings are arranged behind the trapezoidal lead screw to provide the maximum translation distance of 213mm for the sliding block; the diameter of the optical axis is 8mm, and the installation height of the optical axis is the same as that of the trapezoidal lead screw; the geometric shape of the sliding block is a rectangular cube, a round multi-groove for mounting the round flange lead screw nut is arranged at the center of the sliding block, the round multi-groove is divided into a large groove and a small groove, the diameter of the large groove is the same as that of a flange plate of the round flange lead screw nut, and the diameter of the small groove is the same as that of the outer diameter of the round flange lead screw nut; the left end and the right end of the round multi-groove of the sliding block are respectively provided with a double-edge-cutting oval groove for mounting the flange linear bearing, and the left side and the right side of the sliding block are respectively provided with two threaded holes for fixing the side wing connecting plate; the geometrical shape of the side wing connecting plate is a letter L, five through holes with the interval of 20mm are arranged on the side wing connecting plate, the through holes are used for adjusting the fixed position of the A-shaped rod, and two through holes are also arranged on the side wing connecting plate and are used for connecting the sliding block; the flange bearing is arranged in a through hole of the side wing connecting plate; the diameter of the rotating shaft of the photoelectric rotary encoder is 4 mm; the geometric shape of the encoder fixing plate is approximately the same as that of the speed reducing motor fixing plate, a central through hole is formed for mounting the photoelectric rotary encoder, the two counter bores are symmetrical relative to the central through hole, and three threaded holes are formed in the lower end of the two counter bores; the diameter of a central hole at one end of the plum blossom coupling (encoder end) is 8mm, the diameter of the other end of the plum blossom coupling is 4mm, and the plum blossom coupling can be connected with the trapezoidal lead screw and a rotating shaft of the photoelectric rotary encoder in series; .
Further, the speed reducing motor fixing plate is fixedly connected with the bottom plate through screws; the planetary gear motor rotating shaft is fixedly connected with the central through hole of the gear motor fixing plate through a screw after being matched and placed; similarly, the installation modes of the photoelectric rotary encoder and the encoder fixing plate are the same as those of the photoelectric rotary encoder and the encoder fixing plate, and are not described again; the circular flange screw nut and the flange linear bearing are fixedly connected with the sliding block, then the trapezoidal screw is manually rotated to enter the circular flange screw nut, and one end of the linear optical axis is aligned with the flange linear bearing hole and is slowly inserted; the side wing connecting plate is fixedly connected with the sliding block through a screw; the flange bearing is fixedly connected with the side wing connecting plate; the shaft sleeve is coaxially connected with the flange bearing; the plum coupling (motor end) and the plum coupling (encoder end) are connected in series to form a planetary gear motor, a trapezoidal lead screw and a photoelectric rotary encoder, and play a coaxial role.
Furthermore, an A-shaped rod in the ball head adapter rod is named by the geometric shape of the A-shaped rod, a forked end of the A-shaped rod is connected with the flank connecting plate, and a threaded rod is arranged at the upper end of the B-shaped rod; the diameters of the two bottoms of the ball table are the same, and a threaded hole penetrates through the ball table at the center of a bottom circle; the arc-shaped groove on the table base is used for placing the table; the outer frame and the ball table base are fixed to form a space, so that the ball table can rotate in the space.
Furthermore, the table, the sphere base and the outer frame are fixedly connected; the threaded rod at the upper end of the A-shaped rod is fixedly connected with the ball table through a threaded hole, and the through hole at the forked end is coaxially and fixedly connected with the shaft sleeve.
Furthermore, the mounting steps of the three driving systems in the vehicle-mounted aircraft platform and the three sets of ball head adapter rods are the same, and the next step of debugging can be performed after all parts are mounted.
The advantage of the present invention is that,
the invention has simple structure, simple installation, lower cost, long service life and high precision; most parts are made of 7075 aluminum alloy, so that the whole weight is light; a-shaped shaft for supporting is made of 45# steel, so that the loading capacity and the overall strength of the platform are improved.
The invention adopts a direct-current permanent magnet brushless planetary gear reduction motor to drive a trapezoidal screw rod to rotate so as to drive a trapezoidal screw rod nut, and a sliding block is guided to move in a translation manner through a linear optical axis; the trapezoidal screw is controlled to rotate and stop by the speed reducing motor to achieve the self-locking effect, and the positioning precision can reach 0.02 mm.
The invention can adjust the lifting height stroke or the space angle of the regular hexagonal platform required in the actual use process by changing the installation position of the A-shaped rod on the side wing connecting plate.
The lifting speed and the space angle of the regular hexagon plate can be adjusted by respectively controlling the rotating speeds of the three speed reducing motors, and the maximum pitch angle is 25 degrees and the maximum lifting height is 290mm through motion simulation; three speed reducing motors in the driving system have a synergistic effect, so that the control capability and the reaction speed of the platform under the condition of large load are greatly improved.
The invention can be used in other fields besides being used as an aircraft taking-off and landing lifting platform, such as: shock absorption in the transportation of small fragile objects and the like.
Drawings
Fig. 1 is a schematic structural diagram of a three-degree-of-freedom vehicle-mounted aircraft platform according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a base according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a driving system provided in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a driving system provided in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a ball joint adapter rod provided in the embodiment of the present invention;
FIG. 6 is a schematic diagram of a regular hexagonal plate structure provided by an embodiment of the present invention;
FIG. 7 is a schematic view of a linkage assembly and a regular hexagonal platform according to an embodiment of the present invention;
fig. 8 is a characteristic schematic diagram of a slide block, a speed reduction motor fixing plate and an encoder fixing plate provided by the embodiment of the invention.
Detailed Description
The invention will be described in detail with reference to the following drawings, wherein elements and specific features are designated by numerals in the drawings.
Fig. 1 is a schematic structural diagram of a three-degree-of-freedom vehicle-mounted aircraft platform, which includes: the device comprises a base, three driving systems, three sets of ball head adapter rods and a regular hexagon flat plate.
The base is fixedly connected with the transmission system; the ball head adapter rod is fixedly connected with the transmission system; the flat plate of the regular hexagon is fixedly connected with the ball head adapter rod. In the figure, the regular hexagon flat plate and the base are in a parallel state, and the motion states of the three sliders in the driving system are consistent. (the number of parts not emphasized by the context defaults to single)
According to the following figures, the base comprises a bottom plate 1 and three limiters 2; the drive system includes: the device comprises a speed reducing motor fixing plate 3, a planetary speed reducing motor 4, a plum blossom coupling (motor end) 5, a trapezoidal lead screw 6, a linear optical axis 7, a circular flange lead screw nut 8, a flange linear bearing 9, a sliding block 10, two flank connecting plates 11, four flange bearings 12, two shaft sleeves 13, a photoelectric rotary encoder 14, an encoder fixing plate 15 and a plum blossom coupling (encoder end) 16; the ball head adapter rod comprises an A-shaped rod 17, a ball table 18, a ball table base 19 and an outer frame 20; a regular hexagonal plate 21.
Fig. 2 shows the base, which includes: a bottom plate 1 and a limiter 2;
the geometric shape of the base middle bottom plate 1 is hexagonal, and the base middle bottom plate is composed of three equal long sides and three equal short sides, wherein every two of the long sides and the short sides are adjacent, and hole sites for installing a circuit board, a speed reduction motor fixing plate 3 and an encoder fixing plate 15 are provided on the plane of the base bottom plate 1; the middle points of the three long sides of the bottom plate 1 are provided with rectangular grooves fixed by the limiters 2, and threaded holes for fixing are arranged in the grooves;
the geometrical shape of the position limiter 2 is similar to that of an English letter F, the lower end of the position limiter 2 can be matched with the rectangular groove of the bottom plate, and the highest point of the position limiter 2 is the lowest height which can be reached when the regular hexagonal flat plate 21 moves after the position limiter 2 is fixed with the bottom plate 1.
The installation mode is as follows: the lower right-angle edges of the three limiters 2 in the base are matched with the rectangular groove of the bottom plate 1 and fixedly connected by using screws;
fig. 3 shows the driving system, which includes: the device comprises a speed reducing motor fixing plate 3, a planetary speed reducing motor 4, a plum blossom coupling (motor end) 5, a trapezoidal lead screw 6, a linear optical axis 7, a circular flange lead screw nut 8, a flange linear bearing 9, a sliding block 10, two flank connecting plates 11, a flange bearing 12, a shaft sleeve 13, a photoelectric rotary encoder 14, an encoder fixing plate 15 and a plum blossom coupling (encoder end) 16;
the speed reducing motor fixing plate 3 in the driving system is provided with through holes for mounting the planetary speed reducing motor 4, wherein one large-diameter through hole is provided, four small-diameter through holes are provided, a pair of counter bores are formed in the plate and are symmetrical relative to the large through hole, and three threaded holes are formed in the lower end of the plate;
the diameter of a rotating shaft of the planetary gear motor 4 is 8mm, and is the same as the outer diameter of the trapezoidal screw 6;
the diameters of center holes at the two ends of the plum blossom coupling (motor end) 5 are 8mm, and the plum blossom coupling can be connected with a rotating shaft of the planetary gear motor 4 and the trapezoidal lead screw 6 in series;
the length of the trapezoidal lead screw 6 is 250mm, the lead is 2mm, and the two plum couplings are arranged behind the trapezoidal lead screw 6 to provide the maximum translation distance of 213mm for the sliding block;
the diameter of the linear optical axis 7 is 8mm, and the installation height of the linear optical axis is the same as that of the trapezoidal screw 6;
the slider 10 is rectangular cuboid in geometric shape, a circular multi-groove for mounting the circular flange lead screw nut 8 is arranged in the center of the slider, the circular multi-groove is divided into a large groove and a small groove, the diameter of the large groove is the same as that of a flange plate of the trapezoidal lead screw nut 8, and the diameter of the small groove is the same as that of the outer diameter of the circular flange lead screw nut 8; the left end and the right end of the round multi-groove of the sliding block 10 are respectively provided with a double-edge-cutting oval groove for mounting the flange linear bearing 12, and the left side and the right side of the sliding block 10 are respectively provided with a pair of threaded holes for fixing the side wing connecting plate 11;
the geometrical shape of the side wing connecting plate 11 is a letter L, five through holes with the interval of 20mm are arranged on the side wing connecting plate, the through holes are used for adjusting the fixed position of the A-shaped rod 17, and two through holes are also arranged on the side wing connecting plate and are used for connecting the sliding block 10;
the flange bearing 12 is arranged in a through hole of the side wing connecting plate 11; the diameter of the rotating shaft of the photoelectric rotary encoder 14 is 4 mm;
the geometric shape of the encoder fixing plate 15 is approximately the same as that of the speed reducing motor fixing plate 3, a central through hole is formed for mounting the photoelectric rotary encoder 14, the two counter bores are symmetrical relative to the central through hole, and three threaded holes are formed in the lower end of the two counter bores; the diameter of a central hole at one end of the plum blossom coupling (encoder end) 16 is 8mm, the diameter of the other end of the plum blossom coupling is 4mm, and the plum blossom coupling can be connected with the trapezoidal screw 6 and a rotating shaft of the photoelectric rotary encoder 14 in series;
the installation mode is as follows: the speed reducing motor fixing plate 3 is fixedly connected with the bottom plate 1 through screws; the rotating shaft of the planetary gear motor 4 is fixedly connected with the central through hole of the gear motor fixing plate 3 through a screw after being matched and placed; similarly, the installation modes of the photoelectric rotary encoder 14 and the encoder fixing plate 15 are the same as those of the photoelectric rotary encoder and are not described again; the circular flange lead screw nut 8 and the flange linear bearing 9 are fixedly connected with the sliding block, then the trapezoidal lead screw 6 is manually rotated to enter the trapezoidal lead screw nut 8, and one end of the linear optical axis 7 is aligned with the hole of the flange linear bearing 9 and is slowly inserted; the side wing connecting plate 11 is fixedly connected with the sliding block 10 through a screw; the flange bearing 12 is fixedly connected with the through hole of the side wing connecting plate 11; the shaft sleeve 13 is coaxially connected with the flange bearing 12, wherein two bearings positioned at the outer side need to be provided with the shaft sleeve; the plum coupling (motor end) 5 and the plum coupling (encoder end) 16 are connected in series to form the planetary gear motor 4, the trapezoidal lead screw 6 and the photoelectric rotary encoder 14, and play a coaxial role.
Fig. 4 shows the ball joint connecting rod, which comprises: an A-shaped rod 17, a table 18, a table base 19 and an outer frame 20;
the A-shaped rod 17 in the ball head adapter rod is named by the geometric shape thereof, the forked end of the A-shaped rod is connected with the flank connecting plate 11, and the upper end of the A-shaped rod is provided with a threaded rod;
the diameters of the two bottoms of the ball table 18 are the same, and a threaded hole penetrates through the ball table 18 at the center of the bottom circle;
the arc-shaped groove on the table base 19 is used for placing the table 18;
the rectangular groove at one end of the outer frame 20 is used for providing a required placing space for the upper end of the A-shaped rod 17 when the regular hexagonal flat plate 21 moves to the lowest height; the outer frame 20 and the table base 19 are fixed to form a capsule-shaped space so that the table 18 can rotate inside;
the parts in the ball head adapter rod except the A-shaped rod 17 are all made of POM materials, and the materials have the advantages of self-lubricating property, wear resistance, high tensile strength and the like, and are completely suitable for the design requirements of the invention;
the table 18, the table base 19 and the outer frame 20 are fixedly connected; the threaded rod at the upper end of the A-shaped rod 17 is fixedly connected with the ball table 18 through a threaded hole, and the through hole at the forked end is coaxial with the shaft sleeve 13 and then fixedly connected with the shaft sleeve through a screw;
in conclusion, the invention has the advantages of simple structure, easy installation, lower cost, long service life and high precision; most parts are made of 7075 aluminum alloy, so that the strength is high and the weight is light; the connecting shaft is made of 45# steel, so that the loading capacity and the overall strength of the platform are improved; the invention adopts a direct-current permanent magnet brushless planetary gear reduction motor to drive a trapezoidal screw rod to rotate so as to drive a trapezoidal screw rod nut, and a sliding block is guided to move in a translation manner through a linear optical axis; the trapezoidal screw is controlled to rotate and stop by the speed reducing motor to achieve the self-locking effect, and the positioning precision can reach 0.02 mm; the lifting speed and the space angle of the regular hexagon plate can be adjusted by respectively controlling the rotating speeds of the three speed reducing motors, and the maximum pitch angle is 25 degrees and the maximum lifting height is 290mm through motion simulation; three speed reducing motors in the driving system act synergistically, so that the control capability and the reaction speed of the platform under the condition of large load are greatly improved; the invention can be used in other fields besides being used as a lifting platform and a containing device of an unmanned aerial vehicle, such as: shock absorption in the transportation of small fragile objects and the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents. Therefore, any simple modification and other operations of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention, unless the technical requirement of the present invention is departed.
Claims (5)
1. The utility model provides a three degree of freedom on-vehicle unmanned aerial vehicle storage device which characterized in that includes: the device comprises a set of base, three driving systems, three sets of ball head adapter rods and a regular hexagon flat plate; the base is fixedly connected with the driving system; the ball head adapter rod is fixedly connected with the driving system; the regular hexagon flat plate is fixedly connected with the ball head adapter rod;
the base comprises a bottom plate and a limiter; the driving system comprises a planetary gear motor fixing plate, a planetary gear motor, a plum blossom coupling at the end of the planetary gear motor, a trapezoidal lead screw, a linear optical axis, a circular flange lead screw nut, a flange linear bearing, a sliding block, a flank connecting plate, a flange bearing, a shaft sleeve, a photoelectric rotary encoder fixing plate and a plum blossom coupling at the end of the photoelectric rotary encoder; the ball head adapter rod comprises an A-shaped rod, a ball table base and an outer frame;
the A-shaped rod in the ball head adapter rod is named according to the geometric shape of the A-shaped rod, the branched end of the A-shaped rod is connected with the flank connecting plate, and the upper end of the A-shaped rod is provided with a threaded rod; the geometrical shape of the side wing connecting plate is a letter L, five through holes with the interval of 20mm are arranged on the side wing connecting plate in pairs, and the lifting height stroke of the regular hexagonal flat plate or the space angle of the regular hexagonal flat plate required in the actual use process can be adjusted by changing the installation position of the A-shaped rod on the side wing connecting plate; obtaining that the maximum pitch angle of the regular hexagon flat plate is 25 degrees and the maximum lifting height is 290mm through motion simulation;
the table, the table base and the outer frame are fixedly connected; the diameters of the two bottoms of the ball table are the same, and a threaded hole penetrates through the ball table at the center of a bottom circle; the arc-shaped groove on the table base is used for placing the table; the threaded rod at the upper end of the A-shaped rod is fixedly connected with the ball table through a threaded hole, and the through hole at the forked end of the A-shaped rod is coaxially and fixedly connected with the shaft sleeve; the rectangular groove at one end of the outer frame is used for providing a placing space required by the upper end of the A-shaped rod when the regular hexagonal flat plate moves to the lowest height; the outer frame and the ball table base are fixed to form a capsule-shaped space, so that the ball table can rotate in the capsule-shaped space.
2. The three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device as claimed in claim 1, wherein the base middle stopper is fixedly connected with the bottom plate.
3. The three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device of claim 1,
the planetary gear motor fixing plate is fixedly connected with the bottom plate; the planetary gear motor is fixedly connected with the planetary gear motor fixing plate; the plum coupling at the end of the planetary reduction motor is respectively and fixedly connected with the planetary reduction motor and the trapezoidal lead screw in a coaxial manner; the quincuncial coupler at the end of the photoelectric rotary encoder is respectively and fixedly connected with the photoelectric rotary encoder and the trapezoidal lead screw in a coaxial manner; the linear optical axis is fixedly connected with the planetary gear motor fixing plate and the photoelectric rotary encoder fixing plate; the trapezoidal screw nut and the flange linear bearing are fixedly connected with the sliding block; the sliding block is coaxially connected with the trapezoidal screw rod and the linear optical axis through central holes of a mounted circular flange screw nut and a flange linear bearing; the side wing connecting plate is fixedly connected with the sliding block; the photoelectric rotary encoder is fixedly connected with the photoelectric rotary encoder fixing plate; the photoelectric rotary encoder fixing plate is fixedly connected with the bottom plate.
4. The three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device of claim 1,
the ball head adapter rod is equivalent to a linear rod end bearing, the ball table is placed at the bottom of the outer frame firstly, and then the ball table base is fixedly connected with the outer frame; the A-shaped rod is fixedly connected with the ball table; the table base is fixedly connected with the regular hexagon flat plate.
5. The three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device of claim 1, wherein the three driving systems and the three sets of ball head adapter rods are matched to control the regular hexagonal panel to have functions of horizontal lifting, inclination angle lifting and panel angle instant adjustment; when the aircraft lands, the angle of the regular hexagonal flat plate can be adjusted according to the attitude of the aircraft to play the damping function of the aircraft, and when the aircraft takes off, the elevation angle of the regular hexagonal flat plate can be changed to assist in taking off.
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| CN202010699478.3A CN111634224B (en) | 2020-07-20 | 2020-07-20 | Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device |
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| CN111634224B true CN111634224B (en) | 2021-03-05 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111634224B (en) * | 2020-07-20 | 2021-03-05 | 吉林工程技术师范学院 | Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device |
| CN113443161B (en) * | 2021-06-10 | 2023-01-03 | 西安电子科技大学 | Unmanned aerial vehicle recovery method, system, control terminal and processing terminal |
| CN114084372B (en) * | 2021-12-02 | 2023-05-12 | 中国船舶工业系统工程研究院 | Unmanned aerial vehicle multitasking load bears bracket |
| CN114084371B (en) * | 2021-12-02 | 2023-05-16 | 中国船舶工业系统工程研究院 | Flexible interface seat and unmanned aerial vehicle carrying bracket applied to same |
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Effective date of registration: 20221109 Address after: Room 420, Scientific Research Building, No. 3000, Beiyuanda Street, Beihu Science and Technology Development Zone, Changchun City, 130000 Jilin Province Patentee after: Jilin Fulai UAV Technology Co.,Ltd. Address before: 130052, 52 triumph Road, Jilin, Changchun Patentee before: JILIN TEACHERS' INSTITUTE OF ENGINEERING & TECHNOLOGY |