CN111661337B - Agricultural unmanned aerial vehicle mounting device - Google Patents
Agricultural unmanned aerial vehicle mounting device Download PDFInfo
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- CN111661337B CN111661337B CN202010575789.9A CN202010575789A CN111661337B CN 111661337 B CN111661337 B CN 111661337B CN 202010575789 A CN202010575789 A CN 202010575789A CN 111661337 B CN111661337 B CN 111661337B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
- B64D9/003—Devices for retaining pallets or freight containers
Abstract
The invention discloses an agricultural unmanned aerial vehicle mounting device which comprises an undercarriage fixed on an unmanned aerial vehicle, wherein four groups of positioning mechanisms are arranged on the undercarriage, one side of each positioning mechanism is fixedly connected with a sliding inner cylinder, a fixed outer plate is fixedly connected between two groups of sliding outer cylinders, a fixed inner plate is fixedly connected between the other two groups of sliding outer cylinders, a mounting mechanism is arranged on the lower end surface of a supporting bottom plate, and four groups of auxiliary balancing mechanisms which are symmetrically arranged are arranged on the upper end surface of the supporting bottom plate. According to the agricultural unmanned aerial vehicle mounting device, the positioning mechanism, the fixing outer plate and the fixing inner plate are matched for use, the device can be mounted on unmanned aerial vehicle landing gears with different sizes, the up-down movement of a mounted object is not influenced, the balance of the mounting device can be improved through the matching use of the auxiliary balance mechanism and the mounting mechanism, the stable operation process of the unmanned aerial vehicle is ensured, and the practical use is met.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an agricultural unmanned aerial vehicle mounting device.
Background
At present "unmanned aerial vehicle" is widely used in agriculture because of its good performance, the war industry, the traffic, news media, industry and civilian etc, through with article carry on unmanned aerial vehicle, utilize unmanned aerial vehicle to carry article and remove, thereby can solve many problems, if take photo by plane through unmanned aerial vehicle, unmanned aerial vehicle agricultural sprays, unmanned aerial vehicle agricultural investigation and unmanned aerial vehicle agricultural transportation etc. all can accomplish corresponding operation through unmanned aerial vehicle, accomplish different functions through unmanned aerial vehicle and all need use the carry device, wherein the carry device can have obvious difference on structural design according to the function of difference, at present regardless of civilian at civilian, trades such as industry and agriculture, carry out the operation of transporting through unmanned aerial vehicle carry article and most commonly.
Present agricultural unmanned aerial vehicle carry device is not convenient for adjust, can only install it at specific unmanned aerial vehicle, can not install it on the unmanned aerial vehicle of variation in size, bring inconvenience for in-service use, and present agricultural unmanned aerial vehicle carry device poor stability, especially after carrying the article, influence the equilibrium of carry device easily, cause unmanned aerial vehicle flight unstability, and then increased the degree of difficulty of article transportation, bring inconvenience for in-service use, for this reason, we propose an agricultural unmanned aerial vehicle carry device.
Disclosure of Invention
The invention mainly aims to provide an agricultural unmanned aerial vehicle mounting device, which mainly solves the following technical problems:
present agricultural unmanned aerial vehicle carry device is not convenient for adjust, can only install it at specific unmanned aerial vehicle, can not install it on the unmanned aerial vehicle of variation in size, bring inconvenience for in-service use, and present agricultural unmanned aerial vehicle carry device poor stability, especially after carrying the article, influence the equilibrium of carry device easily, cause unmanned aerial vehicle flight unstability, and then increased the degree of difficulty of article transportation, bring inconvenience for in-service use, for this reason, we propose an agricultural unmanned aerial vehicle carry device.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides an agricultural unmanned aerial vehicle carry device, is including fixing the undercarriage on unmanned aerial vehicle, be provided with four positioning mechanism of group on the undercarriage, every group the equal fixedly connected with slip inner tube in one side of positioning mechanism, the outside slip cover of slip inner tube is equipped with the slip urceolus, and is two sets of fixedly connected with fixed planking between the slip urceolus, another two sets of fixedly connected with fixed inner panel between the slip urceolus, fixed inner panel suit is in the inside of fixed planking, hoist mechanism is installed to the up end of fixed planking, two sets of joint support columns of lower terminal surface fixedly connected with of fixed planking, it is two sets of joint support column's lower extreme fixedly connected with supporting baseplate, the lower terminal surface of supporting baseplate is provided with carry mechanism, the up end of supporting baseplate is provided with the auxiliary balance mechanism that four groups of symmetries set up.
Furthermore, positioning mechanism includes locating component, lower locating component, articulated connecting piece, No. two articulated connecting pieces, connecting plate and fixed riser, go up locating component and lower locating component and all include locating piece and fixed block, all seted up the bolt hole on locating piece and the fixed block.
Further, one side of fixed block is provided with an articulated connecting piece, an articulated connecting piece internal connection has the connecting plate, the one end of connecting plate is connected with No. two articulated connecting pieces, No. two articulated connecting pieces and fixed riser fixed connection, fixed riser and slip inner tube fixed connection.
Further, the one end of fixed inner panel is provided with the stopper, the mounting groove has been seted up to the inside of fixed planking, the stopper is located the inside of mounting groove, the inside of mounting groove is provided with the spring, the one end and the fixed inner panel of spring are connected, keep away from the inside of the fixed planking of spring is provided with spacing fixed block.
Further, hoist mechanism includes mounting panel, lower mounting panel, unable adjustment base, pneumatic cylinder, hydraulic telescoping rod, vertical urceolus and vertical inner tube, the lower terminal surface of going up the mounting panel is provided with the pneumatic cylinder, the output of pneumatic cylinder is connected with hydraulic telescoping rod, the up end fixedly connected with unable adjustment base of lower mounting panel, hydraulic telescoping rod's lower extreme and unable adjustment base fixed connection are located two sets of vertical urceolus of up end fixedly connected with of mounting panel under the unable adjustment base both sides are located two sets of vertical inner tubes of lower terminal surface fixedly connected with of mounting panel on the pneumatic cylinder both sides, the lower extreme of vertical inner tube is located the inside of vertical urceolus, vertical urceolus and vertical inner tube sliding connection, the upper end at fixed planking is fixed to the mounting panel down.
Further, the mounting mechanism comprises a mounting seat, a driving motor, supporting plates, a threaded rod, a first threaded sleeve, a second threaded sleeve, a first connecting rod, a mechanical claw, a second connecting rod and a mounting ring, the mounting seat is fixedly connected to one side of the lower end of the supporting base plate, the driving motor is mounted on one side of the mounting seat, the output end of the driving motor is connected with a driving gear, two groups of supporting plates are fixedly connected to the lower end of the supporting base plate, the threaded rod is rotatably connected between the two groups of supporting plates, one end of the threaded rod penetrates through one group of supporting plates and is connected with a driven gear, the driving gear is meshed with the driven gear, the first threaded sleeve and the second threaded sleeve are sleeved on the threaded rod in a threaded manner, the thread directions inside the first threaded sleeve and the second threaded sleeve are opposite, the lower end of the first threaded sleeve is connected with the first connecting rod, the lower extreme of first connecting rod is provided with the gripper, the lower extreme of second thread bush is connected with the second connecting rod, the lower extreme of second connecting rod is provided with the carry ring, the lower terminal surface of supporting baseplate still is provided with and is connected with the control box, the inside of control box is provided with controller and power.
Furthermore, the auxiliary balance mechanism comprises an installation base, an air cylinder and a load block, the installation base is fixed on the upper end face of the supporting base plate, the air cylinder is installed on the upper end face of the installation base, and the output end of the air cylinder is connected with the load block.
A use method of an agricultural unmanned aerial vehicle mounting device comprises the following steps:
a: firstly, fixing an upper mounting plate in a lifting mechanism at the bottom of an unmanned aerial vehicle, then respectively mounting an upper positioning assembly and a lower positioning assembly in four groups of positioning mechanisms on an undercarriage of the unmanned aerial vehicle, aligning and clamping positioning blocks and fixing blocks of each group on the undercarriage, respectively mounting bolts on bolt holes, and after mounting the bolts, not screwing and fixing the bolts, so that the positioning mechanisms can slide along the undercarriage;
b: after the step A is finished, when the positioning mechanism is installed and the mounted object needs to be lifted upwards after the mounted object is mounted on the mounting device, the hydraulic cylinder is started to enable the hydraulic telescopic rod to pull the fixing base to move upwards so as to drive the mounted object to be lifted upwards, the two groups of vertical outer cylinders and the vertical inner cylinders which are arranged at the same time are matched for use, the upper mounting plate and the lower mounting plate can be limited, the lower mounting plate can only move in the vertical direction relative to the upper mounting plate, the deviation in the horizontal direction is avoided, because the landing gear of the unmanned aerial vehicle is not vertical and has a certain inclination angle, and the fixed block, the connecting plate and the fixed vertical plate are hinged, the upper positioning assembly and the lower positioning assembly can not move in the vertical direction in the moving process, the fixed outer plate, the fixed inner plate and the spring are matched, and the spring has a certain tensile force for fixing the inner plate, the fixed outer plate and the fixed inner plate have a tendency of moving upwards relative to the undercarriage, at the moment, after the object is mounted on the mounting device, the pulling force of pulling the fixed outer plate downwards by the object can be reduced to a certain extent, and similarly, when the object on the mounting device needs to be put down, the hydraulic cylinder is started, so that the hydraulic telescopic rod pulls the fixed base to move downwards, the mounted object is driven to move downwards, and the mounted object is convenient to take down;
c: after the step B is finished, when the mounted object needs to be mounted, the mechanical claw is controlled to automatically grab the mounted object, when the mounted object is not convenient to automatically grab, the mounted object is manually hung on the hanging ring, a plurality of different hanging modes are matched for use, the applicability is further enhanced, after the object is hung on the mechanical claw and the hanging ring, the driving motor is started, the driving gear and the driven gear are meshed for rotation, the threaded rod is further driven to rotate, the first threaded sleeve and the second threaded sleeve are further driven to move towards the middle part of the threaded rod from two sides, the mounted object is further driven to move towards the middle part, the balance of the mounting device is improved, four groups of auxiliary balance mechanisms are matched for use, the balance of the mounting device is further improved, and meanwhile, the stability of the unmanned aerial vehicle in the operation process is also prevented from being influenced, when one side of supporting baseplate is heavier to take place the slope, start the cylinder on the supporting baseplate of slope one side, make the weight piece of carrying on the supporting baseplate of slope one side remove to the intermediate position, another group of cylinder opposite to slope one side is restarted, make another group of weight piece keep away from the middle part of supporting baseplate, through the supplementary balance mechanism and the first thread bush that set up, the second thread bush uses with the threaded rod cooperation, play the effect of adjusting the carry device equilibrium jointly at the upper and lower both ends of supporting baseplate, ensure that unmanned aerial vehicle can the steady operation process, satisfy in-service use.
Compared with the prior art, the device can be mounted on unmanned aerial vehicle undercarriages with different sizes by matching the positioning mechanism, the fixed outer plate and the fixed inner plate, the up-down movement of a mounted object is not influenced, the upper positioning assembly, the lower positioning assembly, the connecting plate and the fixed vertical plate are matched for use, even if the unmanned aerial vehicle undercarriages are bent to a certain degree, the positioning mechanism is not influenced to move on the unmanned aerial vehicle undercarriages, the mounted object is convenient to lift and fall, and meanwhile, the pulling force of the object for pulling the fixed outer plate downwards can be reduced to a certain degree by matching the fixed outer plate and the fixed inner plate, so that the device is convenient to use.
Compared with the prior art, the auxiliary balancing mechanism and the mounting mechanism are matched for use, the balance of the mounting device can be improved, the device can be further enhanced in applicability, the threaded rod drives the first threaded sleeve and the second threaded sleeve to move from two sides to the middle of the threaded rod, the mounting object is driven to move towards the middle, the balance of the mounting device is adjusted at the lower end of the supporting bottom plate, the balance of the mounting device is adjusted at the upper end of the supporting bottom plate by moving the position of the load adjusting weight, and therefore the balance of the mounting device is adjusted at the upper end and the lower end of the supporting bottom plate together, the unmanned aerial vehicle can stably run, and practical use is met.
The parts of the mechanism not involved are the same as or can be implemented using existing technology.
Drawings
Fig. 1 is a schematic view of the overall structure of an agricultural unmanned aerial vehicle mounting device.
Fig. 2 is an enlarged view of a part a in fig. 1 of the agricultural unmanned aerial vehicle mounting device of the present invention.
Fig. 3 is an enlarged view of a fixed outer plate and a fixed inner plate of the agricultural unmanned aerial vehicle mounting device of the invention.
Fig. 4 is a cross-sectional view of a fixed outer plate and a fixed inner plate of the agricultural unmanned aerial vehicle mounting device of the invention.
Fig. 5 is an enlarged view of B in fig. 1 of a pipe plug mechanism of the agricultural unmanned aerial vehicle mounting device.
Fig. 6 is a side view of a mounting mechanism of a cleaning mechanism of an agricultural unmanned aerial vehicle mounting device.
Fig. 7 is an enlarged view of an auxiliary balance mechanism of the agricultural unmanned aerial vehicle mounting device.
In the figure: 1. a landing gear; 2. a positioning mechanism; 3. sliding the inner cylinder; 4. sliding the outer cylinder; 5. fixing the outer plate; 6. fixing the inner plate; 7. a lifting mechanism; 8. connecting the supporting columns; 9. a support base plate; 10. a mounting mechanism; 11. an auxiliary balancing mechanism; 12. an upper positioning assembly; 13. a lower positioning assembly; 14. positioning blocks; 15. a fixed block; 16. bolt holes; 17. a first hinge connector; 18. a connecting plate; 19. fixing a vertical plate; 20. a limiting block; 21. mounting grooves; 22. a spring; 23. a limit fixing block; 24. an upper mounting plate; 25. a lower mounting plate; 26. a fixed base; 27. a hydraulic cylinder; 28. a hydraulic telescopic rod; 29. a mounting seat; 30. a drive motor; 31. a driving gear; 32. a support plate; 33. a threaded rod; 34. a driven gear; 35. a first threaded sleeve; 36. a second threaded sleeve; 37. a first connecting rod; 38. a gripper; 39. a second connecting rod; 40. mounting a ring; 41. a control box; 42. installing a base; 43. a cylinder; 44. a weight carrier; 45. a vertical outer cylinder; 46. and (5) an inner vertical cylinder.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Example 1
As shown in figures 1-7, an agricultural unmanned aerial vehicle mounting device comprises an undercarriage (1) fixed on an unmanned aerial vehicle, wherein four groups of positioning mechanisms (2) are arranged on the undercarriage (1), one side of each group of positioning mechanisms (2) is fixedly connected with a sliding inner cylinder (3), the outer part of the sliding inner cylinder (3) is slidably sleeved with a sliding outer cylinder (4), a fixed outer plate (5) is fixedly connected between two groups of sliding outer cylinders (4), a fixed inner plate (6) is fixedly connected between the other two groups of sliding outer cylinders (4), the fixed inner plate (6) is sleeved inside the fixed outer plate (5), a lifting mechanism (7) is arranged on the upper end surface of the fixed outer plate (5), two groups of connecting support columns (8) are fixedly connected on the lower end surface of the fixed outer plate (5), a support bottom plate (9) is fixedly connected on the lower end surface of the two groups of connecting support columns (8), and a mounting mechanism (10) is arranged on the lower end surface of the support bottom plate (9), four groups of auxiliary balance mechanisms (11) which are symmetrically arranged are arranged on the upper end surface of the supporting bottom plate (9).
The positioning mechanism (2) comprises an upper positioning component (12), a lower positioning component (13), a first hinged connecting piece (17), a second hinged connecting piece, a connecting plate (18) and a fixed vertical plate (19), the upper positioning component (12) and the lower positioning component (13) respectively comprise a positioning block (14) and a fixed block (15), and bolt holes (16) are respectively formed in the positioning block (14) and the fixed block (15).
One side of fixed block (15) is provided with articulated connecting piece (17) No. one, and articulated connecting piece (17) internal connection has connecting plate (18) No. one, and the one end of connecting plate (18) is connected with articulated connecting piece No. two, No. two articulated connecting piece and fixed riser (19) fixed connection, fixed riser (19) and slip inner tube (3) fixed connection.
One end of the fixed inner plate (6) is provided with a limiting block (20), a mounting groove (21) is formed in the fixed outer plate (5), the limiting block (20) is located in the mounting groove (21), a spring (22) is arranged in the mounting groove (21), one end of the spring (22) is connected with the fixed inner plate (6), and a limiting fixing block (23) is arranged in the fixed outer plate (5) far away from the spring (22).
The lifting mechanism (7) comprises an upper mounting plate (24), a lower mounting plate (25), a fixed base (26), a hydraulic cylinder (27), a hydraulic telescopic rod (28), a vertical outer cylinder (45) and a vertical inner cylinder (46), wherein the lower end face of the upper mounting plate (24) is provided with the hydraulic cylinder (27), the output end of the hydraulic cylinder (27) is connected with the hydraulic telescopic rod (28), the upper end face of the lower mounting plate (25) is fixedly connected with the fixed base (26), the lower end of the hydraulic telescopic rod (28) is fixedly connected with the fixed base (26), the upper end faces of the lower mounting plates (25) positioned at two sides of the fixed base (26) are fixedly connected with two groups of vertical outer cylinders (45), the lower end faces of the upper mounting plates (24) positioned at two sides of the hydraulic cylinder (27) are fixedly connected with two groups of vertical inner cylinders (46), the lower ends of the vertical inner cylinders (46) are positioned in the vertical outer cylinders (45), the vertical outer cylinders (45) are in sliding connection with the vertical inner cylinders (46), the lower mounting plate (25) is fixed on the upper end of the fixed outer plate (5).
By adopting the technical scheme: according to the invention, the positioning mechanism (2) and the fixed outer plate (5) are matched with the fixed inner plate (6) for use, so that the device can be mounted on unmanned aerial vehicle undercarriages (1) with different sizes, and the up-down movement of a mounted object is not influenced, the upper positioning assembly (12), the lower positioning assembly (13), the connecting plate (18) and the fixed vertical plate (19) are matched for use, so that the positioning mechanism (2) is not influenced to move on the unmanned aerial vehicle undercarriages (1) even if the unmanned aerial vehicle undercarriages (1) are bent to a certain degree, the mounted object is convenient to lift and fall, and the pulling force of the object for pulling the fixed outer plate (5) downwards can be reduced to a certain extent by matching the fixed outer plate (5) and the fixed inner plate (6) which are arranged simultaneously, and the use is convenient.
Example 2
As shown in figures 1-7, an agricultural unmanned aerial vehicle mounting device comprises an undercarriage (1) fixed on an unmanned aerial vehicle, wherein four groups of positioning mechanisms (2) are arranged on the undercarriage (1), one side of each group of positioning mechanisms (2) is fixedly connected with a sliding inner cylinder (3), the outer part of the sliding inner cylinder (3) is slidably sleeved with a sliding outer cylinder (4), a fixed outer plate (5) is fixedly connected between two groups of sliding outer cylinders (4), a fixed inner plate (6) is fixedly connected between the other two groups of sliding outer cylinders (4), the fixed inner plate (6) is sleeved inside the fixed outer plate (5), a lifting mechanism (7) is arranged on the upper end surface of the fixed outer plate (5), two groups of connecting support columns (8) are fixedly connected on the lower end surface of the fixed outer plate (5), a support bottom plate (9) is fixedly connected on the lower end surface of the two groups of connecting support columns (8), and a mounting mechanism (10) is arranged on the lower end surface of the support bottom plate (9), four groups of auxiliary balance mechanisms (11) which are symmetrically arranged are arranged on the upper end surface of the supporting bottom plate (9).
The positioning mechanism (2) comprises an upper positioning component (12), a lower positioning component (13), a first hinged connecting piece (17), a second hinged connecting piece, a connecting plate (18) and a fixed vertical plate (19), the upper positioning component (12) and the lower positioning component (13) respectively comprise a positioning block (14) and a fixed block (15), and bolt holes (16) are respectively formed in the positioning block (14) and the fixed block (15).
The hanging and loading mechanism (10) comprises a mounting seat (29), a driving motor (30), supporting plates (32), a threaded rod (33), a first threaded sleeve (35), a second threaded sleeve (36), a first connecting rod (37), a mechanical claw (38), a second connecting rod (39) and a hanging and loading ring (40), wherein the mounting seat (29) is fixedly connected to one side of the lower end of a supporting bottom plate (9), the driving motor (30) is installed on one side of the mounting seat (29), the output end of the driving motor (30) is connected with a driving gear (31), two groups of supporting plates (32) are fixedly connected to the lower end of the supporting bottom plate (9), the threaded rod (33) is rotatably connected between the two groups of supporting plates (32), one end of the threaded rod (33) penetrates through one group of the supporting plates (32) and is connected with a driven gear (34), the driving gear (31) is meshed with the driven gear (34), the first threaded sleeve (35) and the second threaded sleeve (36) are sleeved on the threaded rod (33), the thread directions in the first thread bush (35) and the second thread bush (36) are opposite, the lower end of the first thread bush (35) is connected with a first connecting rod (37), the lower end of the first connecting rod (37) is provided with a mechanical claw (38), the lower end of the second thread bush (36) is connected with a second connecting rod (39), the lower end of the second connecting rod (39) is provided with a hanging ring (40), the lower end face of the supporting base plate (9) is further provided with a control box (41), and a controller and a power supply are arranged in the control box (41).
The auxiliary balance mechanism (11) comprises an installation base (42), an air cylinder (43) and a load block (44), the installation base (42) is fixed on the upper end face of the supporting base plate (9), the air cylinder (43) is installed on the upper end face of the installation base (42), and the output end of the air cylinder (43) is connected with the load block (44).
A use method of an agricultural unmanned aerial vehicle mounting device comprises the following use steps:
a: firstly, fixing an upper mounting plate (24) in a lifting mechanism (7) at the bottom of an unmanned aerial vehicle, then respectively mounting an upper positioning assembly (12) and a lower positioning assembly (13) in four groups of positioning mechanisms (2) on an undercarriage (1) of the unmanned aerial vehicle, mutually aligning and clamping a positioning block (14) and a fixing block (15) of each group on the undercarriage (1), respectively mounting bolts on bolt holes (16), and not screwing and fixing the bolts after mounting the bolts so that the positioning mechanisms (2) can slide along the undercarriage (1);
b: after the step A is finished, when the positioning mechanism (2) is installed, and the mounted object needs to be lifted upwards after the mounted object is mounted on the mounting device, the hydraulic cylinder (27) is started, so that the hydraulic telescopic rod (28) pulls the fixing base (26) to move upwards, the mounted object is driven to be lifted upwards, meanwhile, two groups of vertical outer cylinders (45) and vertical inner cylinders (46) are arranged to be matched for use, the upper mounting plate (24) and the lower mounting plate (25) can be limited, the lower mounting plate (25) can only move in the vertical direction relative to the upper mounting plate (24), and the deviation in the horizontal direction is avoided, because the unmanned aerial vehicle undercarriage (1) is not vertical and has a certain inclination angle, and the fixed block (15), the connecting plate (18) and the fixed vertical plate (19) are hinged, so that the upper positioning assembly (12) and the lower positioning assembly (13) can not be in the vertical direction in the moving process, the fixed outer plate (5), the fixed inner plate (6) and the spring (22) are matched, and the spring (22) has certain tension on the fixed inner plate (6), so that the fixed outer plate (5) and the fixed inner plate (6) have a tendency of moving upwards relative to the undercarriage (1), at the moment, after the object is hung on the hanging device, the tension of the object pulling the fixed outer plate (5) downwards can be reduced to a certain extent, and similarly, when the object on the hanging device needs to be put down, the hydraulic cylinder (27) is started, so that the hydraulic telescopic rod (28) pulls the fixed base (26) to move downwards, further the hung object is driven to move downwards, and the hung object is convenient to take down;
c: after the step B is finished, when the mounted object needs to be mounted, the mounted object can be automatically grabbed by controlling the mechanical claw (38), when the mounted object is not convenient to be automatically grabbed, the mounted object is manually mounted on the mounting ring (40) at the moment, various different mounting modes are matched for use, the applicability is further enhanced, after the object is mounted on the mechanical claw (38) and the mounting ring (40), the driving motor (30) is started, the driving gear (31) and the driven gear (34) are meshed for rotation, the threaded rod (33) is further driven to rotate, the first threaded sleeve (35) and the second threaded sleeve (36) are further driven to move towards the middle of the threaded rod (33) from two sides, the mounted object is further driven to move towards the middle, the balance of the mounting device is increased, and four groups of auxiliary balance mechanisms (11) are arranged in a matched manner for use, further increased the equilibrium of carry device, also avoid simultaneously influencing unmanned aerial vehicle stability at the operation in-process, when one side of supporting baseplate (9) is heavier when taking place the slope, cylinder (43) on start slope one side supporting baseplate (9), make weight piece (44) on slope one side supporting baseplate (9) remove to the intermediate position, another group cylinder (43) opposite on restart slope one side, make the intermediate position of supporting baseplate (9) keep away from in another group weight piece (44), through supplementary balance mechanism (11) and first thread bush (35) that set up, second thread bush (36) and threaded rod (33) cooperation are used, play the effect of adjusting carry device equilibrium jointly at the upper and lower both ends of supporting baseplate (9), ensure that unmanned aerial vehicle can the steady operation process, satisfy in-service use.
By adopting the technical scheme: the invention uses the auxiliary balance mechanism (11) and the mounting mechanism (10) in a matching way, can increase the balance of the mounting device, can further enhance the applicability of the device by matching various mounting modes, the first threaded sleeve (35) and the second threaded sleeve (36) are driven by the threaded rod (33) to move from two sides to the middle part of the threaded rod (33), thereby realizing the purpose of driving the hanging object to move towards the middle part, thereby playing the role of adjusting the balance of the hanging device at the lower end of the supporting bottom plate (9), the position of the weight block (44) is adjusted through movement, so that the balance of the hanging device is adjusted at the upper end of the supporting base plate (9), consequently, play the effect of adjusting the carry device equilibrium jointly at the upper and lower both ends of supporting baseplate (9), ensure that unmanned aerial vehicle can the steady operation process, satisfy in-service use.
The agricultural unmanned aerial vehicle mounting device comprises an upper mounting plate (24) in a lifting mechanism (7) fixed at the bottom of an unmanned aerial vehicle, an upper positioning assembly (12) and a lower positioning assembly (13) in four groups of positioning mechanisms (2) respectively mounted on an undercarriage (1) of the unmanned aerial vehicle, positioning blocks (14) and fixing blocks (15) of each group are aligned with each other and clamped on the undercarriage (1), bolts are respectively mounted on bolt holes (16), the bolts are not required to be screwed and fixed after being mounted, the positioning mechanisms (2) can slide along the undercarriage (1), when the positioning mechanisms (2) are mounted, and a hydraulic cylinder (27) is started to enable a hydraulic telescopic rod (28) to pull a fixing base (26) to move upwards when a mounted article needs to be lifted after the mounting device mounts the article, and then drive the elevating system article and upwards promote, two sets of vertical urceolus (45) and vertical inner tube (46) cooperation that set up simultaneously are used, can be to going up mounting panel (24) and lower mounting panel (25) to spacing, make down mounting panel (25) can only carry out the removal of vertical direction for last mounting panel (24), avoid taking place the skew on the horizontal direction, because unmanned aerial vehicle undercarriage (1) is not vertical have certain inclination, and fixed block (15) that sets up, all be articulated connection between connecting plate (18) and the fixed riser (19), make last locating component (12) and lower locating component (13) can not be in a vertical direction at the removal in-process, fixed planking (5) that deuterogamies the setting, fixed inner panel (6) and spring (22), and spring (22) have certain pulling force to fixed inner panel (6), make fixed planking (5) and fixed inner panel (6) have an upward movement's trend relative undercarriage (1) At the moment, when the object is hung on the hanging device, the pulling force of the object pulling the fixed outer plate (5) downwards can be reduced to a certain degree, similarly, when the object on the hanging device needs to be put down, the hydraulic cylinder (27) is started, so that the hydraulic telescopic rod (28) pulls the fixed base (26) to move downwards, and further the hung object is driven to move downwards, the hung object is convenient to take down, the device can be hung on unmanned aerial vehicle undercarriages (1) with different sizes by matching the arranged positioning mechanism (2) and the fixed outer plate (5) with the fixed inner plate (6), meanwhile, the up-down movement of the hung object is not influenced, and the upper positioning component (12), the lower positioning component (13), the connecting plate (18) and the fixed vertical plate (19) are matched for use, even if the unmanned aerial vehicle undercarriages (1) have certain bending, the positioning mechanism (2) is not influenced to move on the unmanned aerial vehicle undercarriages (1), the hanging object can be conveniently lifted and dropped, the pulling force of the object for pulling the fixed outer plate (5) downwards can be reduced to a certain extent by using the fixed outer plate (5) and the fixed inner plate (6) in a matched mode, when the hanging object needs to be hung, the hanging object can be automatically grabbed by controlling the mechanical claw (38), when the hanging object is not automatically grabbed, the hanging object is manually hung on the hanging ring (40), various hanging modes are matched for use, the applicability is further enhanced, after the object is hung on the mechanical claw (38) and the hanging ring (40), the driving motor (30) is started, the driving gear (31) and the driven gear (34) are meshed for rotation, the threaded rod (33) is driven to rotate, the first threaded sleeve (35) and the second threaded sleeve (36) are further driven to move towards the middle of the threaded rod (33) from two sides, further realize driving the object to be carried to move to the middle part, thereby increasing the balance of the carrying device, and then using four groups of auxiliary balance mechanisms (11) which are arranged in a matching way, further increasing the balance of the carrying device, and simultaneously avoiding influencing the stability of the unmanned aerial vehicle in the operation process, when one side of the supporting bottom plate (9) is heavier and inclines, starting the cylinder (43) on the supporting bottom plate (9) at the inclined side, making the load weight block (44) on the supporting bottom plate (9) at the inclined side move to the middle position, and then starting the other group of cylinder (43) opposite to the inclined side, making the other group of load weight block (44) far away from the middle part of the supporting bottom plate (9), and through the arranged auxiliary balance mechanisms (11), the first thread sleeve (35), the second thread sleeve (36) and the threaded rod (33) which are used in a matching way, the upper end and the lower end of the supporting bottom plate (9) jointly play a role of adjusting the balance of the carrying device, the stable operation process of the unmanned aerial vehicle is ensured, the auxiliary balance mechanism (11) and the mounting mechanism (10) are matched for use, the balance of the mounting device can be increased, the device can be matched for use in different mounting modes, the applicability of the device can be further enhanced, the threaded rod (33) drives the first threaded sleeve (35) and the second threaded sleeve (36) to move from two sides to the middle part of the threaded rod (33), and further the mounted object is driven to move to the middle part, so that the lower end of the supporting bottom plate (9) has the effect of adjusting the balance of the mounting device, the position of the load adjusting weight block (44) is moved to realize the effect of adjusting the balance of the mounting device at the upper end of the supporting bottom plate (9), therefore, the upper end and the lower end of the supporting bottom plate (9) have the effect of adjusting the balance of the mounting device together, and the stable operation process of the unmanned aerial vehicle is ensured, the practical use is satisfied.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an agricultural unmanned aerial vehicle carry device, is including fixing the undercarriage on unmanned aerial vehicle, its characterized in that: the undercarriage is provided with four groups of positioning mechanisms, each group the equal fixedly connected with in one side of positioning mechanism slides the inner tube, the outside slip cover of slip inner tube is equipped with the slip urceolus, and is two sets of the fixed planking of fixedly connected with between the slip urceolus, another two sets of the fixed inner panel of fixedly connected with between the slip urceolus, fixed inner panel suit is in the inside of fixed planking, hoist mechanism is installed to the up end of fixed planking, two sets of joint support columns of lower terminal surface fixedly connected with of fixed planking, two sets of the lower extreme fixedly connected with supporting baseplate of joint support column, the lower terminal surface of supporting baseplate is provided with the carry mechanism, the up end of supporting baseplate is provided with the supplementary balance mechanism of four groups symmetry settings.
2. The agricultural unmanned aerial vehicle mounting device of claim 1, wherein: positioning mechanism includes locating component, lower locating component, articulated connecting piece, No. two articulated connecting pieces, connecting plate and fixed riser, it all includes locating piece and fixed block to go up locating component and lower locating component, all seted up the bolt hole on locating piece and the fixed block.
3. The agricultural unmanned aerial vehicle mounting device of claim 2, wherein: one side of fixed block is provided with an articulated connecting piece, an articulated connecting piece internal connection has the connecting plate, the one end of connecting plate is connected with No. two articulated connecting pieces, No. two articulated connecting piece and fixed riser fixed connection, fixed riser and slip inner tube fixed connection.
4. The agricultural unmanned aerial vehicle mounting device of claim 1, wherein: the one end of fixed inner panel is provided with the stopper, the mounting groove has been seted up to the inside of fixed planking, the stopper is located the inside of mounting groove, the inside of mounting groove is provided with the spring, the one end and the fixed inner panel of spring are connected, keep away from the inside of the fixed planking of spring is provided with spacing fixed block.
5. The agricultural unmanned aerial vehicle mounting device of claim 1, wherein: hoist mechanism includes mounting panel, lower mounting panel, unable adjustment base, pneumatic cylinder, hydraulic telescoping rod, vertical urceolus and vertical inner tube, the lower terminal surface of going up the mounting panel is provided with the pneumatic cylinder, the output of pneumatic cylinder is connected with hydraulic telescoping rod, the up end fixedly connected with unable adjustment base of lower mounting panel, hydraulic telescoping rod's lower extreme and unable adjustment base fixed connection are located two sets of vertical urceolus of up end fixedly connected with of mounting panel are located under the unable adjustment base both sides two sets of vertical inner tubes of lower terminal surface fixedly connected with of mounting panel are located on the pneumatic cylinder both sides, the lower extreme of vertical inner tube is located the inside of vertical urceolus, vertical urceolus and vertical inner tube sliding connection, the upper end at fixed planking is fixed to the mounting panel down.
6. The agricultural unmanned aerial vehicle mounting device of claim 1, wherein: the hanging mechanism comprises a mounting seat, a driving motor, supporting plates, a threaded rod, a first threaded sleeve, a second threaded sleeve, a first connecting rod, a mechanical claw, a second connecting rod and a hanging ring, wherein the mounting seat is fixedly connected to one side of the lower end of the supporting bottom plate, the driving motor is installed on one side of the mounting seat, the driving gear is connected to the output end of the driving motor, two groups of supporting plates are fixedly connected to the lower end of the supporting bottom plate, the threaded rod is rotatably connected between the two groups of supporting plates, one end of the threaded rod penetrates through one group of supporting plates and is connected with a driven gear, the driving gear is meshed with the driven gear, the first threaded sleeve and the second threaded sleeve are sleeved on the threaded rod in a threaded manner, the thread directions inside the first threaded sleeve and the second threaded sleeve are opposite, the first connecting rod is connected to the lower end of the first threaded sleeve, and the mechanical claw is arranged at the lower end of the first connecting rod, the lower extreme of second thread bush is connected with the second connecting rod, the lower extreme of second connecting rod is provided with the carry ring, the lower terminal surface of supporting baseplate still is provided with and is connected with the control box, the inside of control box is provided with controller and power.
7. The agricultural unmanned aerial vehicle mounting device of claim 1, wherein: the auxiliary balance mechanism comprises an installation base, an air cylinder and a load-carrying block, the installation base is fixed on the upper end face of the supporting base plate, the air cylinder is installed on the upper end face of the installation base, and the output end of the air cylinder is connected with the load-carrying block.
8. Use method of an agricultural drone mounting device according to any one of claims 1 to 7, characterised in that: the using method comprises the following steps:
a: firstly, fixing an upper mounting plate in a lifting mechanism at the bottom of an unmanned aerial vehicle, then respectively mounting an upper positioning assembly and a lower positioning assembly in four groups of positioning mechanisms on an undercarriage of the unmanned aerial vehicle, aligning and clamping positioning blocks and fixing blocks of each group on the undercarriage, respectively mounting bolts on bolt holes, and after mounting the bolts, not screwing and fixing the bolts, so that the positioning mechanisms slide along the undercarriage;
b: after the step A is finished, when the positioning mechanism is installed and the mounted object needs to be lifted upwards after the mounted object is mounted on the mounting device, the hydraulic cylinder is started to enable the hydraulic telescopic rod to pull the fixing base to move upwards so as to drive the mounted object to be lifted upwards, the two groups of vertical outer cylinders and the vertical inner cylinders which are arranged at the same time are matched for use to limit the upper mounting plate and the lower mounting plate, so that the lower mounting plate can only move in the vertical direction relative to the upper mounting plate, and the deviation in the horizontal direction is avoided, because the unmanned aerial vehicle undercarriage is not vertical and has a certain inclination angle, and the fixed block, the connecting plate and the fixed vertical plate are hinged, so that the upper positioning assembly and the lower positioning assembly are not in the vertical direction in the moving process, the fixed outer plate, the fixed inner plate and the spring are matched, and the spring has a certain tensile force to the fixed inner plate, the fixed outer plate and the fixed inner plate have a tendency of moving upwards relative to the undercarriage, at the moment, after the object is mounted on the mounting device, the pulling force of pulling the fixed outer plate downwards by the object is reduced, and similarly, when the object on the mounting device needs to be put down, the hydraulic cylinder is started, so that the hydraulic telescopic rod pulls the fixed base to move downwards, the mounted object is driven to move downwards, and the mounted object is convenient to take down;
c: after the step B is finished, when the mounted object needs to be mounted, the mechanical claw is controlled to automatically grab the mounted object, when the mounted object is not convenient to automatically grab, the mounted object is manually hung on the hanging ring, a plurality of different hanging modes are matched for use, the applicability is further enhanced, after the object is hung on the mechanical claw and the hanging ring, the driving motor is started, the driving gear and the driven gear are meshed for rotation, the threaded rod is further driven to rotate, the first threaded sleeve and the second threaded sleeve are further driven to move towards the middle part of the threaded rod from two sides, the mounted object is further driven to move towards the middle part, the balance of the mounting device is improved, four groups of auxiliary balance mechanisms are matched for use, the balance of the mounting device is further improved, and meanwhile, the stability of the unmanned aerial vehicle in the operation process is also prevented from being influenced, when one side of supporting baseplate is heavier to take place the slope, start the cylinder on the supporting baseplate of slope one side, make the weight piece of carrying on the supporting baseplate of slope one side remove to the intermediate position, another group of cylinder opposite to slope one side is restarted, make another group of weight piece keep away from the middle part of supporting baseplate, through the supplementary balance mechanism and the first thread bush that set up, the second thread bush uses with the threaded rod cooperation, play the effect of adjusting the carry device equilibrium jointly at the upper and lower both ends of supporting baseplate, ensure unmanned aerial vehicle steady operation process.
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| CN202010575789.9A CN111661337B (en) | 2020-06-22 | 2020-06-22 | Agricultural unmanned aerial vehicle mounting device |
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| CN111661337B true CN111661337B (en) | 2021-08-06 |
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| CN113148200B (en) * | 2021-05-06 | 2023-08-18 | 吉林工程技术师范学院 | Suspended type object carrying unmanned aerial vehicle and control method thereof |
| CN114408199A (en) * | 2022-01-28 | 2022-04-29 | 广东皓耘科技有限公司 | Unmanned aerial vehicle positioning and correcting mechanism and undercarriage positioning auxiliary device |
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| KR20170083380A (en) * | 2016-01-08 | 2017-07-18 | 한화테크윈 주식회사 | A moving apparatus |
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| CN110667867A (en) * | 2019-08-30 | 2020-01-10 | 南京精微迅智能科技有限公司 | Agricultural unmanned aerial vehicle mounting device |
| CN111186575A (en) * | 2020-02-11 | 2020-05-22 | 辽宁科技大学 | Unmanned aerial vehicle transportation transfer device |
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| GB1471608A (en) * | 1973-08-14 | 1977-04-27 | Messerschmitt Boelkow Blohm | Apparatus in combination with an aircraft for use in the loading and unloading thereof |
| KR20170083380A (en) * | 2016-01-08 | 2017-07-18 | 한화테크윈 주식회사 | A moving apparatus |
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