CN111977011A - Throwing device for multi-rotor aircraft and control method thereof - Google Patents
Throwing device for multi-rotor aircraft and control method thereof Download PDFInfo
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- CN111977011A CN111977011A CN202010919552.8A CN202010919552A CN111977011A CN 111977011 A CN111977011 A CN 111977011A CN 202010919552 A CN202010919552 A CN 202010919552A CN 111977011 A CN111977011 A CN 111977011A
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 11
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- 239000002184 metal Substances 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 210000002421 cell wall Anatomy 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910000859 α-Fe Inorganic materials 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 108010066278 cabin-4 Proteins 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
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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
- 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
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention discloses a throwing device for a multi-rotor aircraft and a control method thereof, and the throwing device comprises a connecting seat and a control device, wherein the connecting seat is provided with more than one guide rail, the guide rails are distributed in an annular array and form a launching bin matched with the multi-rotor unmanned aerial vehicle, the guide rail is provided with a self-driven sliding block assembly used for conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin, the self-driven sliding block assembly is provided with a dovetail, the guide rail is provided with a vertical guide groove matched with the dovetail, the front surface of the self-driven sliding block assembly is provided with an ejection device used for ejecting the multi-rotor unmanned aerial vehicle, and the ejection device is provided with an adsorption mechanism used for adsorbing the multi-rotor unmanned aerial vehicle in conveying; this a put in device for many rotor crafts can put in a plurality of unmanned aerial vehicles in proper order, in the occasion that needs a plurality of many rotor unmanned aerial vehicles, can reduce the demand to the place of taking off, reduces and puts the time.
Description
Technical Field
The invention relates to a throwing device for a multi-rotor aircraft and a control method thereof.
Background
A multi-rotor unmanned aerial vehicle is a special unmanned helicopter with three or more rotor shafts. It is rotated by a motor on each shaft, driving the rotor, thereby generating lift. The collective pitch of the rotors is fixed and not variable as in a typical helicopter. Through changing the relative speed between the different rotors, the size of unipolar propulsive force can be changed to the orbit of control aircraft. The device has strong controllability, can vertically take off, land and hover, and is mainly suitable for low-altitude, low-speed tasks with vertical take off, land and hover requirements.
At present often need put unmanned aerial vehicle when a plurality of many rotor unmanned aerial vehicle linkage work, lead to having great demand to the place, consequently, it is necessary to provide a throwing device for many rotor crafts to in order to reduce the demand to the place of taking off, reduce and put the time.
Disclosure of Invention
The invention aims to provide a throwing device for a multi-rotor aircraft, which can sequentially throw a plurality of unmanned aerial vehicles, and can reduce the requirement on a takeoff place and the putting time in occasions requiring a plurality of multi-rotor unmanned aerial vehicles.
In order to solve the problems, the invention adopts the following technical scheme:
a throwing device for a multi-rotor aircraft comprises a connecting seat and a control device, wherein a guide rail is arranged on the connecting seat, more than one guide rail is arranged on the guide rail, the guide rail is distributed in an annular array and is provided with a launching bin matched with the multi-rotor unmanned aerial vehicle, the guide rail is fixedly connected with the connecting seat, a self-driving slider assembly used for conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin is arranged on the guide rail, a dovetail is arranged on the self-driving slider assembly, a vertical guide groove matched with the dovetail is arranged on the guide rail, the self-driving slider assembly is in sliding connection with the guide rail through the vertical guide groove, more than one self-driving slider assembly is arranged on the guide rail, ejection devices used for ejecting the multi-rotor unmanned aerial vehicle are arranged on the front surfaces of the self-driving slider assemblies, the ejection devices are positioned in the launching bin, and adsorption mechanisms used for adsorbing the multi-, the self-driven sliding block assembly, the ejection device and the adsorption mechanism are all electrically connected with the control device.
Preferably, a first connecting ring and a second connecting ring are arranged above the connecting seat, the first connecting ring and the second connecting ring are both fixedly connected with the guide rail, a retaining ring is arranged on the self-driven sliding block assembly, the self-driven sliding block assembly is fixedly connected with the retaining ring, a buffer rubber ring is arranged on the retaining ring, the stability of the guide rail can be further improved by configuring the first connecting ring and the second connecting ring, the guide rail is prevented from displacement, meanwhile, the retaining ring is arranged in a matching manner, the self-driven sliding block assemblies on the same level can be kept in a consistent height, and the operation is more stable.
As preferred, it has infrared emission pipe and infrared ray receiver tube to inlay on the interior anchor ring of first connecting ring, infrared ray receiver tube and controlling means electric connection, controlling means and first connecting ring fixed connection, through disposing infrared emission pipe and infrared ray receiver tube, in case the infrared ray is sheltered from by many rotor unmanned aerial vehicle, the infrared ray receiver tube feeds back information to controlling means, can effectual promotion degree of automation for the operation is more intelligent.
Preferably, the outer annular surface of the second connecting ring is provided with a first hinge joint, a second hinge joint and a third hinge joint, the first hinge joint, the second hinge joint and the third hinge joint are all fixedly connected with the second connecting ring, the first hinge joint, the second hinge joint and the third hinge joint are all provided with connecting pins, the first hinge joint, the second hinge joint and the third hinge joint are all rotatably connected with the connecting pins on the first hinge joint, the connecting pins and the second connecting ring form a tripod structure, a bottom plate is arranged below the connecting seat, a connecting column is arranged on the bottom plate, a connecting ball is arranged at the top end of the connecting column, a rotating hole matched with the connecting ball is arranged on the connecting seat, the connecting column and the connecting seat are rotatably connected through the connecting ball and the rotating hole, a rotatable structure is adopted, and the direction of the launching cabin can be changed according to actual requirements, the great promotion flexibility, the ratio has the structure of tripod simultaneously, can provide good support effect, stability when can effectual assurance function.
Preferably, the self-driven sliding block assembly comprises a sliding block body and a rack, the dovetail and the sliding block body are arranged in an integrated manner, the dovetail is provided with a mounting groove, two mounting grooves and a shaft hole, the mounting groove and the mounting groove are communicated through the shaft hole, the mounting grooves are provided with two brushless motors, the brushless motors are arranged in the mounting grooves in a horizontally opposite manner, the mounting grooves are internally provided with driving gears matched with the rack, the tail end of an output shaft of each brushless motor penetrates through the shaft hole and is fixedly connected with the driving gears in the mounting grooves, the rack is tightly attached to the groove bottom of the vertical guide groove and is connected with the guide rail bolt, the brushless motors are electrically connected with the control device, a gear transmission mode is adopted, good stability is achieved, meanwhile, the brushless motors are installed in a horizontally opposite manner, and good gravity parallelism can be guaranteed, meanwhile, good power can be provided, and meanwhile, the self-driving sliding block assemblies of different levels have little mutual influence due to the independent driving structure.
Preferably, the dovetail and the vertical guide groove are in clearance fit, a needle bar is arranged between the vertical guide groove and the dovetail, the needle bar is fixedly connected with the guide rail, the dovetail is tightly attached to the needle bar, turntable bearings are arranged on two sides of the drive gear, one side of each turntable bearing is fixedly connected with the drive gear, the other side of each turntable bearing is fixedly connected with the groove wall of the placement groove, an air inlet is formed in the side face of the guide rail, more than one air inlet is formed in each air inlet, the air inlets are distributed at equal intervals and are communicated with the vertical guide groove, friction force during working can be effectively reduced by configuring the needle bar, the turntable bearings are configured at the same time, stability of gear operation can be guaranteed, the situation that the gears shake is reduced, conveying work can be more stable, and external air can be pressed into the vertical guide groove by configuring the air inlets when the self-driven sliding block assembly operates at high speed upwards And cooling the brushless motor in the groove.
Preferably, the ejection device comprises a support plate, a metal connecting sheet and a connecting rope body, the metal connecting sheet is embedded in the support plate, an insertion groove matched with the support plate is formed in the sliding block body, the support plate is rotatably connected with the sliding block body, a first electromagnet is embedded at the bottom of the insertion groove, a second electromagnet, a third electromagnet and a fourth electromagnet are arranged between the first electromagnet and the metal connecting sheet, the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are fixedly connected with the connecting rope body and form fan-shaped distribution, the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are electrically connected with a control device, buffering silica gel layers are coated on the outer surfaces of the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet, and meanwhile, the multi-rotor unmanned aerial vehicle is ejected by adopting a plurality of electromagnets, the ejection device has simple structure and small occupied space.
Preferably, the adsorption mechanism comprises an air pump and a sealing rubber ring, a negative pressure cavity is formed in the carrier plate in a hollow mode, an air suction nozzle of the air pump is communicated with the negative pressure cavity, an air port is formed in one end of the carrier plate, the sealing rubber ring is fixedly connected with the carrier plate and surrounds the air port, the air pump is electrically connected with the control device, a rubber sleeve wraps the outer side of the air pump, the adsorption mechanism is simple in structure and convenient to maintain, and meanwhile the rubber sleeve wraps the outer side of the air pump, so that the air pump can be effectively prevented from being damaged due to severe impact.
Preferably, the magnet body is embedded in the back surface of the rack, the driving gear is a ferrite stainless steel gear, and the magnet body is embedded in the back surface of the rack, so that the driving gear can be adsorbed, and a certain positioning effect on the self-driven slider assembly can be achieved.
The invention also provides a control method of the throwing device for the multi-rotor aircraft, which comprises the following steps:
1) sequentially placing the multi-rotor unmanned aerial vehicle on a sealing rubber ring of a carrier plate;
2) the control device starts the air suction pump to pump the negative pressure cavity into a negative pressure state, so that the multi-rotor unmanned aerial vehicle is adsorbed;
3) starting the brushless motor through the control device, and rapidly conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin;
4) in case the infrared ray is sheltered from by many rotor unmanned aerial vehicle, the infrared ray receiver tube feeds back information to controlling means, and controlling means stops brushless motor and the work of air pump afterwards to start fourth electro-magnet, third electro-magnet, second electro-magnet and first electro-magnet in proper order, start the interval in proper order and be 0.25s, make the support plate imbed into in the embedded groove fast, lead to many rotor unmanned aerial vehicle to be thrown out the transmission storehouse, accomplish an unmanned aerial vehicle's input.
The invention has the beneficial effects that: can stack a plurality of unmanned aerial vehicle of many rotors in proper order on the self-driven sliding block assembly of different ranks, use controlling means to control a plurality of unmanned aerial vehicle and put in proper order, in the occasion that needs a plurality of many rotor unmanned aerial vehicle, can reduce the demand to taking off the place, reduce and put the time.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of a delivery device for a multi-rotor aircraft according to the present invention.
Fig. 2 is a schematic partial structure view of a delivery device for a multi-rotor aircraft according to the present invention.
Figure 3 is a perspective view of a self-propelled slider assembly of a delivery device for a multi-rotor aircraft according to the present invention.
Figure 4 is a cross-sectional view of a self-driving slider assembly of a delivery device for a multi-rotor aircraft according to the present invention.
In the figure:
1. a connecting seat; 2. a control device; 3. a guide rail; 4. a launch bin; 5. a self-driving slider assembly; 6. dovetail joints; 7. a vertical guide groove; 8. an ejection device; 9. a first connecting ring; 10. a second connection ring; 11. a retaining ring; 12. an infrared receiving tube; 13. a first hinge joint; 14. a second hinge joint; 15. a connecting pin; 16. a base plate; 17. connecting columns; 18. a connecting ball; 19. a slider body; 20. a rack; 21. a placing groove; 22. mounting grooves; 23. a brushless motor; 24. a drive gear; 25. needle rolling rows; 26. a turntable bearing; 27. an air inlet; 28. a carrier plate; 29. a metal connecting sheet; 30. connecting a rope body; 31. inserting the groove; 32. a first electromagnet; 33. a first electromagnet; 34. a third electromagnet; 35. a fourth electromagnet; 36. an air pump; 37. sealing the rubber ring; 38. a magnet body.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right", "left", "above", "back", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present embodiment, if the connection or fixing manner between the components is not specifically described, the connection or fixing manner may be a conventional manner such as bolt fixing, pin shaft connecting, adhesive fixing, or rivet fixing, which is commonly used in the prior art, and therefore, the detailed description thereof will not be provided in the examples.
Examples
As shown in fig. 1-4, a throwing device for a multi-rotor aircraft comprises a connecting seat 1 and a control device 2, wherein a guide rail 3 is arranged on the connecting seat 1, more than one guide rail 3 is arranged on the guide rail 3, the guide rail 3 is distributed in an annular array and forms a launching bin 4 matched with the multi-rotor unmanned aerial vehicle, the guide rail 3 is fixedly connected with the connecting seat 1, a self-driven slider assembly 5 for conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin 4 is arranged on the guide rail 3, a dovetail 6 is arranged on the self-driven slider assembly 5, a vertical guide groove 7 matched with the dovetail 6 is arranged on the guide rail 3, the self-driven slider assembly 5 is in sliding connection with the guide rail 3 through the vertical guide groove 7, more than one self-driven slider assembly 5 is arranged, an ejection device 8 for ejecting the multi-rotor unmanned aerial vehicle is arranged on the front side of the self-driven slider, ejection device 8 is located launch cabin 4, be provided with the adsorption equipment who is arranged in adsorbing the many rotor unmanned aerial vehicle of carrying on ejection device 8 and construct, self-driven sliding block set spare 5, ejection device 8 and adsorption equipment construct all with controlling means 2 electric connection.
In this embodiment, a first connection ring 9 and a second connection ring 10 are disposed above the connection seat 1, the first connection ring 9 and the second connection ring 10 are both fixedly connected to the guide rail 3, a retaining ring 11 is disposed on the self-driving slider assembly 5, the self-driving slider assembly 5 is fixedly connected to the retaining ring 11, a cushion rubber ring (not shown) is disposed on the retaining ring 11, and the first connection ring 9 and the second connection ring 10 are configured to further improve the stability of the guide rail 3 and prevent the guide rail 3 from shifting, and meanwhile, the retaining ring 11 is provided for matching, so that the self-driving slider assemblies 5 in the same level can be kept in a consistent height, and the operation is more stable.
In this embodiment, inlay on the interior anchor ring of first connecting ring 9 and have infrared emission pipe (not shown) and infrared ray receiver tube 12, infrared ray receiver tube 12 and 2 electric connection of controlling means, controlling means 2 and first connecting ring 9 fixed connection are through disposing infrared emission pipe and infrared ray receiver tube 12, and in case the infrared ray is sheltered from by many rotor unmanned aerial vehicle, infrared ray receiver tube 12 feeds back information to controlling means 2, can effectual promotion degree of automation for the operation is more intelligent.
In this embodiment, the outer annular surface of the second connection ring 10 is provided with a first hinge joint 13, a second hinge joint 14 and a third hinge joint (not shown), the first hinge joint 13, the second hinge joint 14 and the third hinge joint are all fixedly connected with the second connection ring 10, the first hinge joint 13, the second hinge joint 14 and the third hinge joint are all provided with connection feet 15, the first hinge joint 13, the second hinge joint 15 and the third hinge joint are all rotatably connected with the connection feet 15 on the respective hinge joints, the connection feet 15 and the second connection ring 10 form a tripod structure, a bottom plate 16 is arranged below the connection seat 1, a connection column 17 is arranged on the bottom plate 16, a connection ball 18 is arranged at the top end of the connection column 17, a rotation hole (not shown) matched with the connection ball 18 is arranged on the connection seat 1, the connection column 17 and the connection seat 1 are rotatably connected through the connection ball 18 and the rotation hole, the rotatable structure is adopted, the direction of the launching bin can be changed according to actual requirements, the flexibility is greatly improved, meanwhile, the structure of the tripod is matched, a good supporting effect can be provided, and the stability during operation can be effectively guaranteed.
In this embodiment, the self-driven slider assembly 5 includes a slider body 19 and a rack 20, the dovetail 6 and the slider body 19 are integrally disposed, the dovetail 6 is provided with a mounting groove 21, a mounting groove 22 and a shaft hole (not shown), the mounting groove 21 and the mounting groove 22 are communicated through the shaft hole, two mounting grooves 22 are provided, the mounting grooves 22 are respectively provided with a brushless motor 23, the brushless motors 23 are horizontally disposed in opposite directions, a driving gear 24 is disposed in the mounting groove 21 and is matched with the rack 20, an output shaft end of the brushless motor 22 penetrates through the shaft hole and is fixedly connected with the driving gear 24 in the mounting groove 21, the rack 20 is tightly attached to the groove bottom of the vertical guide groove 7 and is connected with the guide rail 3 by a bolt, the brushless motor 23 is electrically connected with the control device 2, and has good stability due to the adoption of a gear transmission manner, the brushless motor is installed in a horizontally-opposite mode, so that good gravity parallelism can be guaranteed, good power can be provided, and the self-driving sliding block assemblies on different levels have little influence on each other due to the independent driving structure.
In the embodiment, the dovetail block 6 is in clearance fit with the vertical guide groove 7, a needle row 25 is arranged between the vertical guide groove 7 and the dovetail block 6, the needle row 25 is fixedly connected with the guide rail 3, the dovetail joint 6 is tightly attached to the needle row 25, both sides of the driving gear 24 are provided with turntable bearings 26, one side of each turntable bearing 26 is fixedly connected with the driving gear 24, the other surface of the turntable bearing 26 is fixedly connected with the groove wall of the placing groove, the side surface of the guide rail 3 is provided with an air inlet 27, more than one air inlet 27 is arranged, the air inlets are distributed at equal intervals, the air inlets 27 are communicated with the vertical guide groove 7, the friction force during working can be effectively reduced by configuring the needle roller row 25, and meanwhile, the turntable bearing 26 is arranged, so that the stability of the operation of the gear can be ensured, the condition of the shaking of the gear is reduced, and the conveying work can be more stable.
In this embodiment, the ejection device 8 includes a carrier plate 28, a metal connecting sheet 29 and a connecting rope 30, the metal connecting sheet 29 is embedded in the carrier plate 28, the slider 19 is provided with an insertion slot 31 matching with the carrier plate 28, the carrier plate 28 is rotatably connected with the slider 19, a first electromagnet 32 is embedded on the bottom of the insertion slot 31, a second electromagnet 33, a third electromagnet 34 and a fourth electromagnet 35 are arranged between the first electromagnet 32 and the metal connecting sheet 29, the first electromagnet 32, the second electromagnet 33, the third electromagnet 34 and the fourth electromagnet 35 are all fixedly connected with the connecting rope 30 and form a fan-shaped distribution, the first electromagnet 32, the second electromagnet 33, the third electromagnet 34 and the fourth electromagnet 35 are all electrically connected with the control device 2, the outer surfaces of the first electromagnet 32, the second electromagnet 33, the third electromagnet 34 and the fourth electromagnet 35 are all coated with a silica gel buffer layer (not shown), meanwhile, the multi-rotor unmanned aerial vehicle is thrown out by adopting a plurality of electromagnets, and the ejection device is simple in structure and small in occupied space.
In this embodiment, the adsorption mechanism includes aspiration pump 36 and sealing rubber circle 37, support plate 28 is inside to be the cavity setting and is formed with negative pressure chamber (not shown), aspiration mouth and the negative pressure chamber of aspiration pump 36 are linked together, support plate 28 one end is provided with gas port (not shown), sealing rubber circle 37 and support plate 28 fixed connection and surround the gas port setting, aspiration pump 36 and controlling means electric connection, the parcel has rubber sleeve (not shown) outside aspiration pump 36, and adsorption mechanism simple structure, maintenance is convenient, and it has the rubber sleeve to wrap up outside the aspiration pump simultaneously, can effectually avoid the aspiration pump to receive violent striking and lead to damaging.
In this embodiment, the magnet 38 is embedded in the back surface of the rack 20, the driving gear is a ferrite stainless steel gear, and the magnet is embedded in the back surface of the rack, so that the driving gear can be adsorbed, and a certain positioning effect can be achieved on the self-driven slider assembly.
The invention also provides a control method of the throwing device for the multi-rotor aircraft, which comprises the following steps:
1) sequentially placing the multi-rotor unmanned aerial vehicle on a sealing rubber ring of a carrier plate;
2) the control device starts the air suction pump to pump the negative pressure cavity into a negative pressure state, so that the multi-rotor unmanned aerial vehicle is adsorbed;
3) starting the brushless motor through the control device, and rapidly conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin;
4) in case the infrared ray is sheltered from by many rotor unmanned aerial vehicle, the infrared ray receiver tube feeds back information to controlling means, and controlling means stops brushless motor and the work of air pump afterwards to start fourth electro-magnet, third electro-magnet, second electro-magnet and first electro-magnet in proper order, start the interval in proper order and be 0.25s, make the support plate imbed into in the embedded groove fast, lead to many rotor unmanned aerial vehicle to be thrown out the transmission storehouse, accomplish an unmanned aerial vehicle's input.
The invention has the beneficial effects that: can stack a plurality of unmanned aerial vehicle of many rotors in proper order on the self-driven sliding block assembly of different ranks, use controlling means to control a plurality of unmanned aerial vehicle and put in proper order, in the occasion that needs a plurality of many rotor unmanned aerial vehicle, can reduce the demand to taking off the place, reduce and put the time.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention.
Claims (9)
1. A put in device for many rotor crafts which characterized in that: the self-driven unmanned aerial vehicle launching device comprises a connecting seat and a control device, wherein a guide rail is arranged on the connecting seat, more than one guide rail is arranged on the guide rail, the guide rail is distributed in an annular array and is provided with a launching bin matched with a multi-rotor unmanned aerial vehicle, the guide rail is fixedly connected with the connecting seat, a self-driven sliding block assembly used for conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin is arranged on the guide rail, a dovetail is arranged on the self-driven sliding block assembly, a vertical guide groove matched with the dovetail is arranged on the guide rail, the self-driven sliding block assembly is in sliding connection with the guide rail through the vertical guide groove, more than one self-driven sliding block assembly is arranged, ejection devices used for ejecting the multi-rotor unmanned aerial vehicle are arranged on the front surfaces of the self-driven sliding block assemblies, the ejection devices are positioned in the launching, the self-driven sliding block assembly, the ejection device and the adsorption mechanism are all electrically connected with the control device.
2. A launch device for a multi-rotor aerial vehicle according to claim 1, wherein: the self-driven sliding block assembly is characterized in that a first connecting ring and a second connecting ring are arranged above the connecting seat, the first connecting ring and the second connecting ring are both fixedly connected with the guide rail, a retaining ring is arranged on the self-driven sliding block assembly, the self-driven sliding block assembly is fixedly connected with the retaining ring, and a buffer rubber ring is arranged on the retaining ring.
3. A launch device for a multi-rotor aerial vehicle according to claim 2, wherein: inlay on the interior anchor ring of first connecting ring and have infrared emission pipe and infrared ray receiver tube, infrared ray receiver tube and controlling means electric connection, controlling means and first connecting ring fixed connection.
4. A launch device for a multi-rotor aerial vehicle according to claim 3, wherein: the outer anchor ring of second go-between is provided with first articulated joint, second articulated joint and third articulated joint, first articulated joint, second articulated joint and third articulated joint all with second go-between fixed connection, all be provided with on first articulated joint, second articulated joint and the third articulated joint and connect the foot, first articulated joint, second articulated joint and third articulated joint all rotate rather than the connection foot on separately and be connected, connect foot and second go-between constitution tripod structure, the connecting seat below is provided with the bottom plate, be provided with the spliced pole on the bottom plate, the spliced pole top is provided with the connecting ball, be provided with on the connecting seat and connect ball matched with rotation hole, spliced pole and connecting seat rotate the connection through connecting ball and rotation hole.
5. A launch device for a multi-rotor aircraft according to claim 4, wherein: self-driven sliding block set spare includes the slider body and rack, dovetail and the setting of slider body formula as an organic whole, it has resettlement groove, mounting groove and shaft hole to open on the dovetail, resettlement groove and mounting groove are linked together through the shaft hole, the mounting groove is provided with two, all be provided with brushless motor in the mounting groove, brushless motor is the level opposition setting, the resettlement inslot is provided with the drive gear that pairs with the rack, brushless motor's output shaft end wear out the shaft hole and with the resettlement inslot drive gear fixed connection, the rack is hugged closely and is connected with guide rail bolt with the tank bottom of vertical guide way, brushless motor and controlling means electric connection.
6. A launch device for a multi-rotor aircraft according to claim 5, wherein: dovetail and vertical guide way clearance fit, be provided with the needle bar between vertical guide way and the dovetail, the needle bar is with guide rail fixed connection, the dovetail is hugged closely with the needle bar, the drive gear both sides all are provided with the carousel bearing, carousel bearing one side and drive gear fixed connection, the cell wall fixed connection of carousel bearing another side and resettlement groove, the guide rail side is provided with the air inlet, the inlet port is provided with more than one, the inlet port is equidistant distribution, the inlet port communicates with vertical guide way mutually.
7. A launch device for a multi-rotor aerial vehicle according to claim 6, wherein: the ejection device comprises a support plate, a metal connecting sheet and a connecting rope body, wherein the metal connecting sheet is embedded into the support plate, an insertion groove matched with the support plate is formed in the sliding block body, the support plate is rotatably connected with the sliding block body, a first electromagnet is embedded into the groove bottom of the insertion groove, a second electromagnet, a third electromagnet and a fourth electromagnet are arranged between the first electromagnet and the metal connecting sheet, the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are fixedly connected with the connecting rope body and form fan-shaped distribution, the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are electrically connected with a control device, and the outer surfaces of the first electromagnet, the second electromagnet, the third electromagnet and the fourth electromagnet are coated with a buffering silica gel layer.
8. A launch device for a multi-rotor aircraft according to claim 7, wherein: the adsorption mechanism comprises an air suction pump and a sealing rubber ring, a negative pressure cavity is formed in the support plate in a hollow mode, an air suction nozzle of the air suction pump is communicated with the negative pressure cavity, an air port is formed in one end of the support plate, the sealing rubber ring is fixedly connected with the support plate and surrounds the air port, the air suction pump is electrically connected with a control device, and a rubber sleeve wraps the outer side surface of the air suction pump.
9. A method for controlling a launch device for a multi-rotor aircraft, comprising the steps of:
1) sequentially placing the multi-rotor unmanned aerial vehicle on a sealing rubber ring of a carrier plate;
2) the control device starts the air suction pump to pump the negative pressure cavity into a negative pressure state, so that the multi-rotor unmanned aerial vehicle is adsorbed;
3) starting the brushless motor through the control device, and rapidly conveying the multi-rotor unmanned aerial vehicle to the top end of the launching bin;
4) in case the infrared ray is sheltered from by many rotor unmanned aerial vehicle, the infrared ray receiver tube feeds back information to controlling means, and controlling means stops brushless motor and the work of air pump afterwards to start fourth electro-magnet, third electro-magnet, second electro-magnet and first electro-magnet in proper order, start the interval in proper order and be 0.25s, make the support plate imbed into in the embedded groove fast, lead to many rotor unmanned aerial vehicle to be thrown out the transmission storehouse, accomplish an unmanned aerial vehicle's input.
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