CN112298594B - Device for inertial projection of unmanned aerial vehicle - Google Patents
Device for inertial projection of unmanned aerial vehicle Download PDFInfo
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- CN112298594B CN112298594B CN202011258656.5A CN202011258656A CN112298594B CN 112298594 B CN112298594 B CN 112298594B CN 202011258656 A CN202011258656 A CN 202011258656A CN 112298594 B CN112298594 B CN 112298594B
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Abstract
The utility model provides a device for unmanned aerial vehicle inertia is thrown, includes launching height and angle adjustment mechanism, inertia actuating mechanism, unmanned aerial vehicle's inertia rotation and installation fixed establishment, unmanned aerial vehicle's trigger release mechanism and controller. The launching height and angle adjusting mechanism is used for adjusting the initial launching height and launching angle of the unmanned aerial vehicle. Inertia actuating mechanism is used for providing power, and drive unmanned aerial vehicle's inertia is rotatory and installation fixed establishment's rotation, and then provides inertia throwing power for unmanned aerial vehicle. The invention controls the fixed height, angle and unlocking time of the unmanned aerial vehicle by the launching height and angle adjusting mechanism, the unmanned aerial vehicle triggering unlocking mechanism and the controller, so that the unmanned aerial vehicle obtains the required initial casting angle and speed. The invention can control the inertial ejection speed of the unmanned aerial vehicle and realize the ejection of the unmanned aerial vehicle with different loads. The invention has the advantages of reasonable structural design, simple control mode, convenient energy supply, strong launching flexibility and strong continuous launching capability.
Description
Technical Field
The invention relates to the technical field of aircraft launching, in particular to a device for inertial ejection of an unmanned aerial vehicle.
Background
At present, modes such as manual ejection, mother machine/ejection and the like are mainly adopted for launching the unmanned aerial vehicle, and the ejection is divided into elastic element ejection, gas/hydraulic ejection, electromagnetic ejection, gas ejection and the like.
For the various transmission modes described above: the manual casting is adopted, and only a small and light unmanned aerial vehicle can be cast, so that the operation object of the unmanned aerial vehicle in the launching mode is very limited; the elastic element is adopted for ejection, the service life of the ejection device is limited, and the initial speed of the unmanned aerial vehicle is low; although the air/hydraulic ejection system can enable the unmanned aerial vehicle to obtain higher initial speed, the structure of the air/hydraulic ejection system is complex, and energy source supplement is inconvenient; the electromagnetic ejection needs to use a longer track, and the ejection technology is more complex, so the electromagnetic ejection is limited by a power supply, a motor and a control technology, and the use popularization degree is lower; the gas ejection and ejection casing technology is complex, and unsafe factors such as fire, noise and the like exist; the mother aircraft/bomb launching mode requires a relatively complex mother aircraft takeoff condition or mother bomb launching condition, and the launching cost is high.
Disclosure of Invention
In conclusion, how to provide an unmanned aerial vehicle launcher which has a simple structure and is convenient to use and can enable an unmanned aerial vehicle to obtain a higher initial speed becomes a problem to be solved urgently by technical personnel in the field.
In order to achieve the above purpose, the invention provides the following technical scheme:
a device for unmanned aerial vehicle inertia is thrown, this device for unmanned aerial vehicle inertia is thrown includes:
the inertial rotating platform can perform rotating motion and is used for transmitting the throwing force to the unmanned aerial vehicle;
the unmanned aerial vehicle mounting and fixing platform is used for mounting an unmanned aerial vehicle, is arranged on the inertial rotating platform and can be driven by the inertial rotating platform to rotate;
the trigger unlocking mechanism is used for locking the unmanned aerial vehicle on the unmanned aerial vehicle mounting and fixing platform and controllably releasing the unmanned aerial vehicle;
and the controller is used for controlling the rotating speed of the inertial rotating platform and triggering the unlocking mechanism to release the unmanned aerial vehicle.
Preferably, in the device for inertial ejection of unmanned aerial vehicle provided by the invention, further comprising: a tripod, the tripod being height adjustable; the tripod head seat is arranged on the tripod; the cloud platform adapter plate is arranged on the cloud platform base, the cloud platform adapter plate can adjust the inclination angle relative to the cloud platform base, and the inertia rotating platform can be rotatably arranged on the cloud platform adapter plate.
Preferably, in the device for inertial projection of unmanned aerial vehicle provided by the invention, the tripod comprises: a tripod rod; the tripod joint is characterized in that one end of the tripod joint is provided with a joint jack, the end part of the tripod rod is inserted into the joint jack, and the other end of the tripod joint is provided with a joint clamping groove; the tripod comprises a tripod body, a tripod stand and a cloud stand, wherein the tripod body is provided with a tripod base, the tripod base is provided with a tripod base, and the tripod base is provided with a tripod base; the cloud platform base comprises a cloud platform base, the cloud platform base is fixedly connected with the stand main body, and a cloud platform base support is arranged on the upper side face of the cloud platform base; the cloud platform keysets including the keysets bottom plate, in the downside of keysets bottom plate is provided with the cloud platform frame that two intervals set up, cloud platform seat pillar clamp is in two between the cloud platform frame, cloud platform seat pillar with connect through setting up cloud platform lock nut between the cloud platform frame, and, the keysets bottom plate passes through the cloud platform frame can wind on the cloud platform seat pillar cloud platform lock nut rotates and carries out the inclination and adjusts.
Preferably, in the device for inertial projection of an unmanned aerial vehicle provided by the invention, an arc-shaped adjusting hole is formed in the cloud platform frame and near the lower end of the cloud platform frame, a through hole corresponding to the adjusting hole is formed in the cradle head support post, a cradle head adjusting nut is arranged through the adjusting hole and the through hole, and the cradle head adjusting nut is used for guiding and fixing and locking the cradle head adapter plate relative to the tilt angle adjustment of the cradle head base.
Preferably, in the device for inertial projection of an unmanned aerial vehicle provided by the invention, an inertial driving mechanism for providing torque is fixedly arranged on the upper side surface of the adapter plate bottom plate, and the position of the center of mass of the inertial rotating platform is fixedly connected with a power output shaft of the inertial driving mechanism.
Preferably, in the device for inertial projection of an unmanned aerial vehicle provided by the invention, the inertial driving mechanism is a motor, and the power output shaft is a motor shaft of the motor; the inertial rotating platform comprises a disc-shaped central platform and an outer ring which is positioned in the same plane with the central platform and is concentric with the central platform, at least two unmanned aerial vehicle mounting and fixing platforms are arranged, all the unmanned aerial vehicle mounting and fixing platforms are arranged on the outer ring at equal intervals, and the power output shaft is fixedly connected with the centroid position of the central platform; the center platform is fixedly connected with the outer ring through radiation rods, and the number of the radiation rods is at least three, and all the radiation rods are arranged at equal intervals.
Preferably, in the device for inertial ejection of an unmanned aerial vehicle provided by the invention, the unmanned aerial vehicle mounting and fixing platform comprises a platform bedplate, the platform bedplate is fixedly arranged on the outer circular ring, and an ejection upright rod which can abut against the unmanned aerial vehicle and is used for transmitting thrust to the unmanned aerial vehicle is arranged on the upper side surface of the platform bedplate; the projection vertical rod is arranged at the rear end of the platform plate along the rotation direction of the inertial rotation platform when the unmanned aerial vehicle is projected, and a lock hole is formed in the platform plate and close to the front end of the platform plate; the trigger unlocking mechanism comprises a lock catch, a connecting rod support and a trigger motor, the lock catch is provided with a plurality of lock catches and corresponds to the platform platen, the lock catches are hinged in the lock holes and used for hooking the unmanned aerial vehicle to fix the unmanned aerial vehicle on the platform platen, the connecting rod support is fixedly arranged relative to the inertia driving mechanism, the connecting rod support is arranged below the outer circular ring, the trigger motor is fixedly arranged on the connecting rod support and is a linear motor, the trigger motor comprises a telescopic motor shaft, the telescopic motor shaft can collide with the lock catch and drive the lock catch to act and release the unmanned aerial vehicle, and the controller is in control connection with the trigger motor.
Preferably, in the device for inertial projection of an unmanned aerial vehicle provided by the invention, the trigger unlocking mechanism includes a plurality of latches, a trigger connecting rod, a connecting rod support and a trigger motor, the latches are arranged corresponding to the platform plate, the latches are hinged in the locking holes and used for hooking the unmanned aerial vehicle to fix the unmanned aerial vehicle on the platform plate, the trigger motor is a rotating motor, the connecting rod support is fixedly arranged relative to the inertial driving mechanism, the connecting rod support is arranged below the outer circular ring, the trigger motor is fixedly arranged on the connecting rod support, the trigger connecting rod is movably arranged on the connecting rod support, the trigger motor is in power connection with the trigger connecting rod and used for driving the trigger connecting rod to move, and the trigger connecting rod can collide with the latches and drive the latches to move, And the controller is in control connection with the trigger motor.
Preferably, in the device for inertial projectile of unmanned aerial vehicle provided by the invention, a speed sensor is used for acquiring the rotating speed of the outer ring, and the speed sensor is in signal connection with the controller and is used for sending the rotating speed information of the outer ring to the controller.
Preferably, in the device for inertial projection of an unmanned aerial vehicle provided by the invention, the inertial rotating platform is detachably connected with the inertial driving mechanism; the inertia rotary platform is provided with a plurality of, and each inertia rotary platform's outer ring's diameter is different.
Preferably, in the device for inertial projection of an unmanned aerial vehicle provided by the invention, a foot pad is arranged at the other end of the tripod rod.
The invention provides a device for inertial projection of an unmanned aerial vehicle, which comprises a launching height and angle adjusting mechanism, an inertial driving mechanism, an inertial rotating and mounting and fixing mechanism of the unmanned aerial vehicle, a triggering unlocking mechanism of the unmanned aerial vehicle and a controller. The launching height and angle adjusting mechanism is used for adjusting the initial launching height and launching angle of the unmanned aerial vehicle. Inertia actuating mechanism is used for providing power, and drive unmanned aerial vehicle's inertia is rotatory and installation fixed establishment's rotation, and then provides inertia throwing power for unmanned aerial vehicle. Unmanned aerial vehicle's inertial rotation and installation fixed establishment install on inertial drive mechanism, can set up a plurality of unmanned aerial vehicle installation fixed platforms by central symmetry arrangement mode on unmanned aerial vehicle's inertial rotation and installation fixed establishment, and each unmanned aerial vehicle installation fixed platform can install a fixed unmanned aerial vehicle to realize unmanned aerial vehicle's continuous transmission. The trigger unlocking mechanism of the unmanned aerial vehicle is installed on the inertia driving mechanism and used for fixing and unlocking the unmanned aerial vehicle. The controller is connected with inertial drive mechanism, trigger motor and speed inductor through the data line, and the controller can receive speed inductor's signal (rotational speed signal) and control trigger motor's start-up, and then accomplishes unmanned aerial vehicle's the unblock that triggers, realizes unmanned aerial vehicle's inertia and casts. The invention controls the fixed height, angle and unlocking time of the unmanned aerial vehicle by the launching height and angle adjusting mechanism, the unmanned aerial vehicle triggering unlocking mechanism and the controller, so that the unmanned aerial vehicle obtains the required initial casting angle and speed. In addition, the invention can control the inertial ejection speed of the unmanned aerial vehicle by replacing inertial rotating platforms with different sizes and specifications and/or changing the rotating speed of the inertial driving machine, thereby realizing the ejection of the unmanned aerial vehicle with different loads. The invention has the advantages of reasonable structural design, simple control mode, convenient energy supply, strong launching flexibility and strong continuous launching capability.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:
fig. 1 is a schematic overall structural diagram of a device for inertial projectile of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a partial structure of a launching height and angle adjustment mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an inertial drive mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic partial view of an inertial rotation and mounting fixture according to an embodiment of the present invention;
FIG. 5 is a schematic partial structural view of a trigger unlocking mechanism according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a controller according to an embodiment of the present invention.
In fig. 1 to 6, the correspondence between the part names and the reference numerals is:
the device comprises a launching height and angle adjusting mechanism 1, a triangular frame rod 1.1, a pad foot 1.11, a tripod joint 1.2, a tripod stand 1.3, a stand main body 1.31, stand foot 1.32, a tripod head seat 1.4, a tripod head adjusting nut 1.5, a tripod head locking nut 1.6, a tripod head frame 1.7 and a tripod head adapter plate 1.8;
an inertial drive mechanism 2;
an inertial rotating and mounting fixing mechanism 3 of the unmanned aerial vehicle, an inertial rotating platform 3.1, a center platform 3.11, an outer circular ring 3.12, a radiation rod 3.13, an unmanned aerial vehicle mounting and fixing platform 3.2, a platform bedplate 3.21, a projecting upright rod 3.22 and a lock catch 3.3;
the unmanned aerial vehicle comprises a trigger unlocking mechanism 4, a trigger motor 4.1, a trigger connecting rod 4.2, a speed sensor 4.3 and a connecting rod support 4.4;
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
Referring to fig. 1 to 6, fig. 1 is a schematic view of an overall structure of a device for inertial projectile of an unmanned aerial vehicle according to an embodiment of the present invention; FIG. 2 is a schematic view of a partial structure of a launching height and angle adjustment mechanism according to an embodiment of the present invention; FIG. 3 is a schematic structural diagram of an inertial drive mechanism according to an embodiment of the present invention; FIG. 4 is a schematic partial view of an inertial rotation and mounting fixture according to an embodiment of the present invention; FIG. 5 is a schematic partial structural view of a trigger unlocking mechanism according to an embodiment of the present invention; fig. 6 is a schematic structural diagram of a controller according to an embodiment of the present invention.
The invention provides a device for inertial projection of an unmanned aerial vehicle, which is used for realizing the inertial projection of the unmanned aerial vehicle, and particularly relates to a device capable of driving the unmanned aerial vehicle to rotate and projecting the unmanned aerial vehicle directionally under the rotation inertia, so that the unmanned aerial vehicle obtains higher initial speed.
This a device for unmanned aerial vehicle inertia is thrown specifically includes following component parts:
1. launching height and angle adjusting mechanism 1
The emission height and angle adjusting mechanism 1 comprises the following parts: tripod, cloud platform seat 1.4, cloud platform keysets 1.8. The tripod comprises a tripod rod 1.1, a tripod joint 1.2 and a tripod stand 1.3. Cloud platform seat 1.4 includes cloud platform seat base and cloud platform seat pillar. Cloud platform keysets 1.8 includes keysets bottom plate and cloud platform frame 1.7.
The tripod arm 1.1 is made of hard material, and it has the supporting effect to other spare parts of this invention and unmanned aerial vehicle, and tripod arm 1.1 preferentially adopts metal pole, for example stainless steel pole (pipe) or aluminium alloy pole (pipe) etc.. The triangular frame rod 1.1 can adopt a first-stage rod (with fixed length) and also can adopt a multi-stage rod (with multiple rods sleeved to realize length adjustment). Triangle hack lever 1.1's one end is connected with tripod joint 1.2, and place on ground or other launching platform (for example unmanned aerial vehicle launch vehicle) the other end of triangle hack lever 1.1, has set up pad foot 1.11 on the other end of triangle hack lever 1.1, and pad foot 1.11 can adopt plastics to make, mainly is to increase the area of contact between triangle hack lever 1.1 and ground or other launching platform to improve the stability that the tripod was placed. The initial launch height when adjusting unmanned aerial vehicle inertia and throwing through the inclination of adjusting tripod pole, can further raise the launch height when unmanned aerial vehicle inertia throws through supporting up tripod pole on moving trailer moreover. Simultaneously to some large-scale unmanned aerial vehicles, can also directly with cloud pedestal 1.4 direct mount in mobile trailer lift device's bearing capacity.
Tripod platform 1.3 is the part that is used for installing triangle hack lever 1.1, also is the major structure of tripod, and tripod platform 1.3 is including platform main part 1.31, and platform main part 1.31 wholly adopts a structure that is similar to the dish shape, and of course, according to the quantity that sets up of triangle hack lever 1.1, also can design into triangle-shaped, regular polygon etc.. Set up stand stabilizer blade 1.32 on the outer fringe of stand main part 1.31, stand stabilizer blade 1.32 is for the outside convex setting of stand main part 1.31, further outside convex and the downward bending setting to the installation of triangle hack lever 1.1 is convenient for. In order to improve the structural strength of the tripod stand 1.3, the tripod stand 1.3 of the present invention adopts an integrated structure design, that is, the stand legs 1.32 and the stand body 1.31 are integrally formed. In other embodiments of the present invention, the stand legs 1.32 and the stand body 1.31 may also adopt a split structure, and the stand legs 1.32 are fixedly disposed on the stand body 1.31 by a bolt connection manner. The tripod base 1.3 is preferably made of metal material, but may also be made of rigid plastic.
Tripod joint 1.2 is the joint part who realizes triangle hack lever 1.1 installation on tripod platform 1.3, tripod joint 1.2 is whole to be a structure that is similar to the drum shape, a joint jack has been seted up according to triangle hack lever 1.1's tip shape to tripod joint 1.2's one end, so that the tip of triangle hack lever 1.1 inserts, tripod joint 1.2's the other end has set up joint draw-in groove according to the structural shape of platform stabilizer blade 1.32, platform stabilizer blade 1.32 just can the cartridge in joint draw-in groove like this, then realize the articulated connection between platform stabilizer blade 1.32 and tripod joint 1.2 through modes such as bolts. Through setting up tripod joint 1.2, can realize the articulated between triangle hack lever 1.1 and the tripod stand platform 1.3, adjust the contained angle between triangle hack lever 1.1 and the tripod stand platform 1.3, just can adjust stand main part 1.31 (tripod stand platform 1.3) and ground or other launching platform for the height to the realization is to the regulation of unmanned aerial vehicle launching height.
Preferably, the tripod joint 1.2 is made of plastic, and the tripod joint 1.2 is of a one-piece construction. In order to further increase the structural strength of the tripod joint 1.2, the tripod joint 1.2 may also be made of a metal material.
Cloud platform seat 1.4 and cloud platform keysets 1.8 are a set of subassembly for realize the installation of inertia rotary platform 3.1 on the tripod and be used for realizing the regulation at the inclination on the tripod of inertia rotary platform 3.1.
Specifically, cloud platform seat 1.4 offsets with stand main part 1.31's the side of going up including cloud platform seat base and cloud platform seat pillar, the downside of cloud platform seat base, passes stand main part 1.31 and is provided with the bolt, stand main part 1.31 passes through the bolt to be connected with cloud platform seat base to this fixed mounting of realization cloud platform seat 1.4 on the tripod. The upper side surface of the cloud platform base is provided with the cloud platform base support column, the cloud platform base support column can be integrally formed with the cloud platform base, and can also be arranged on the cloud platform base in a bolt connection mode, and further, in order to improve the firmness degree of the installation of the cloud platform base support column on the cloud platform base, a reinforcing rib structure can be arranged between the cloud platform base and the cloud platform base support column. In the present invention, the cradle head base is preferably made of a metal material, and the cradle head base support is preferably made of a metal material, for example, the cradle head base and the cradle head base support are both made of an aluminum profile, so that the overall cradle head base 1.4 has a relatively light weight while having a relatively high structural strength.
Cloud platform keysets 1.8 is including the keysets bottom plate and set up cloud platform frame 1.7 on the keysets bottom plate, and the keysets bottom plate adopts plum blossom shape structure, and cloud platform frame 1.7 is fixed to be set up on the downside of keysets bottom plate. Preferably, the adapter plate bottom plate and the cloud platform frame 1.7 are made of metal materials, and the cloud platform frame 1.7 can be arranged on the adapter plate bottom plate in a bolt connection mode, a welding mode, an integrated forming mode and the like. The cloud platform seat pillar adopts the rectangular cylinder structure, and cloud platform frame 1.7 is provided with two, sets for the interval between two cloud platform frames 1.7 according to the thickness of cloud platform seat pillar to make cloud platform seat pillar can just cartridge between two cloud platform frames 1.7. Under the user state (when the tripod is vertical to be set up promptly), a through-hole has been seted up to the upper end of cloud platform seat pillar, and a through-hole has been seted up to the lower extreme, has seted up a through-hole corresponding to the last through-hole of cloud platform seat pillar on cloud platform frame 1.7, has seted up curved regulation hole corresponding to the lower through-hole of cloud platform seat pillar, and the last through-hole that passes cloud platform seat pillar is provided with cloud platform lock nut 1.6, and the lower through-hole and the regulation hole that pass cloud platform seat pillar are provided with cloud platform adjusting nut 1.5. The cloud platform frame 1.7 rotates around the cloud platform locking nut 1.6 by taking the cloud platform locking nut 1.6 as a rotation center so as to realize the inclination angle adjustment of the cloud platform adapter plate 1.8 relative to the cloud platform frame 1.4, meanwhile, the cloud platform adjusting nut 1.5 is further arranged, the cloud platform adjusting nut 1.5 is matched with the adjusting hole, and the cloud platform frame 1.7 (the cloud platform frame 1.7) can be guided and limited when the inclination angle adjustment is carried out on the cloud platform frame 1.7. Further, cloud platform adjusting nut 1.5 still has the locking effect to cloud platform frame 1.7, and its purpose is in order to improve the firm degree of locking after cloud platform frame 1.7 adjusts, and cloud platform adjusting nut 1.5 cooperates with cloud platform locking nut 1.6, can strengthen the fastening after cloud platform keysets 1.8 (cloud platform frame 1.7) inclination adjusts.
After the angle adjustment of the cradle head adapter plate 1.8 is completed, the cradle head locking nut 1.6 is screwed down, so that the cradle head support column is clamped by the cradle head frame 1.7 to fix the cradle head adapter plate 1.8 on the cradle head support column, and the posture is kept unchanged. When the angle of the cradle head adapter plate 1.8 needs to be adjusted, the cradle head locking nut 1.6 is loosened. Set up cloud platform adjusting nut 1.5 then can increase the tight effort of cloud platform frame 1.7 clamp to cloud platform seat pillar to improve the stability that cloud platform keysets 1.8 set up on cloud platform seat pillar.
Specifically, the structure of the holder locking nut 1.6 is as follows: including a columnar threaded rod that has the external screw thread, cloud platform frame 1.7 and cloud platform seat pillar can be passed to the one end of threaded rod, its tip can set up one with screw-thread fit's part (for example a traditional nut), the other end of this threaded rod has set up a knob, through rotating the knob, just can adjust knob (or with threaded rod complex traditional nut) to cloud platform frame 1.7's the effort that compresses tightly, when loosening cloud platform lock nut 1.6, this effort that compresses tightly reduces or disappears, just can adjust cloud platform keysets 1.8's angle, when screwing up cloud platform lock nut 1.6, this effort that compresses tightly increases, thereby realize cloud platform keysets 1.8's fixed. The structure of the tripod head adjusting nut 1.5 is similar to that of the tripod head locking nut 1.6. It should be noted that, in the present invention, the upper through hole and the lower through hole that can be arranged on the cradle head seat pillar can both adopt a threaded hole structure, so that the cradle head locking nut 1.6 and the cradle head adjusting nut 1.5 can be directly in threaded fit with the cradle head seat pillar, and the use of the above-mentioned conventional nut is omitted.
Further, cloud platform adjusting nut 1.5 and cloud platform lock nut 1.6 are established respectively in the both sides of cloud platform seat pillar, and cloud platform adjusting nut 1.5 and cloud platform lock nut 1.6 can be followed the both sides of cloud platform seat pillar and exert the fastening effort to cloud platform seat pillar and cloud platform frame 1.7 support, and its effort is more balanced, and the structure is more stable.
2. Inertial drive mechanism 2
The inertia driving mechanism 2 is a power device of the invention, and is mainly used for driving the inertia rotating platform 3.1 to rotate and outputting torque to the inertia rotating platform 3.1, so as to drive the unmanned aerial vehicle to rotate to enable the unmanned aerial vehicle to obtain a higher rotating speed (when the unmanned aerial vehicle is thrown, the higher the rotating speed is, the higher the throwing initial speed is).
In the invention, the inertia driving mechanism 2 is a motor, the inertia driving mechanism 2 comprises a power output shaft (a motor shaft) and a shell, the inertia driving mechanism 2 is vertically arranged in a use state, the power output shaft is vertically arranged upwards, a plurality of connecting lugs are arranged on the outer side surface of the shell and close to the bottom surface of the shell, the connecting lugs are arranged on the shell of the inertia driving mechanism 2 and are matched with the outline shape of a cradle head adapter plate 1.8 (a quincunx structure), and each connecting lug is fixedly connected with the cradle head adapter plate 1.8 through a bolt, so that the reliable installation of the inertia driving mechanism 2 on the cradle head adapter plate 1.8 can be ensured.
Unmanned aerial vehicle is fixed through the installation of unmanned aerial vehicle installation fixed platform 3.2 to it is rotatory to drive inertia rotary platform 3.1 by inertia actuating mechanism 2, and then provides inertia casting speed for unmanned aerial vehicle's transmission. Meanwhile, the inertia ejection speed of the unmanned aerial vehicle can be adjusted by replacing the inertia rotating platform 3.1 with different sizes (specifically, different diameters) and/or changing the rotating speed of the inertia driving mechanism 2.
3. Inertial rotation and mounting fixing mechanism 3 of unmanned aerial vehicle
The inertial rotation and installation fixing mechanism 3 of the unmanned aerial vehicle comprises an inertial rotation platform 3.1 and an unmanned aerial vehicle installation fixing platform 3.2.
In particular, the inertial rotating platform 3.1 comprises a central platform 3.11 with a regular shape, in a preferred embodiment of the invention, the central platform 3.11 is of a disc-shaped configuration, the central platform 3.11 is of a regular shape, and the centroid of the central platform 3.11 is coaxial with the centroid, so as to maintain the stability of the central platform 3.11 during rotation. An outer ring 3.12 is arranged in the same plane with the central platform 3.11, the outer ring 3.12 is preferably of a circular ring structure, the outer ring 3.12 and the central platform 3.11 are coaxially arranged, at least three radiation rods 3.13 are arranged between the outer ring 3.12 and the central platform 3.11, and the number of the radiation rods 3.13 is at least three, preferably three, so that the stable connection between the outer ring 3.12 and the central platform 3.11 is ensured, and the whole mass of the inertial rotating platform 3.1 can be kept at a low level.
In a preferred embodiment of the present invention, the radiation rods 3.13 and the center platform 3.11 are integrally formed, and the radiation rods 3.13 and the outer ring 3.12 are connected together by detachable structures such as bolts, etc. to facilitate the replacement of the outer ring 3.12. Of course, the present invention may provide a plurality of replacement holes on the radiant bar 3.13 along the length direction thereof to achieve the installation of the outer rings 3.12 with different diameters.
The inertia rotary platform 3.1 is arranged on the inertia driving mechanism 2, and the inertia driving mechanism 2 provides torque to drive the inertia rotary platform 3.1 (with the unmanned aerial vehicle) to rotate. Specifically, the center stage 3.11 of the inertial rotating platform 3.1 may be fixedly connected with the power output shaft of the inertial driving mechanism 2 by adopting a key connection, a claw disc (chuck) and other structures.
The unmanned aerial vehicle mounting and fixing platform 3.2 comprises a platform plate 3.21 and a projecting upright rod 3.22, and the platform plate 3.21 is preferably a rectangular flat plate structure. One unmanned aerial vehicle mounting and fixing platform 3.2 is used for placing one unmanned aerial vehicle, so in order to increase the ejection efficiency of the unmanned aerial vehicle and ensure the overall stability of the inertial rotating platform 3.1 during rotation, at least two unmanned aerial vehicle mounting and fixing platforms 3.2 (four in a preferred embodiment of the invention) are arranged on the outer ring 3.12, all the unmanned aerial vehicle mounting and fixing platforms 3.2 are arranged on the outer ring 3.12 at equal intervals, and the unmanned aerial vehicles mounted on each unmanned aerial vehicle mounting and fixing platform 3.2 can be ejected from the same direction only if the directions of the unmanned aerial vehicle mounting and fixing platforms 3.2 arranged on the outer ring 3.12 are consistent (or clockwise arranged on the outer ring 3.12 or anticlockwise arranged on the outer ring 3.12). The vertical setting of pole setting 3.22 of throwing is on platform platen 3.21 for offset with unmanned aerial vehicle, thereby to unmanned aerial vehicle transmission thrust, make unmanned aerial vehicle can rotate along with platform platen 3.21.
In the invention, the platform plate 3.21 and the projecting upright 3.22 should be made of hard materials.
4. Unmanned aerial vehicle's trigger release mechanism 4
The trigger unlocking mechanism 4 of the unmanned aerial vehicle is an assembly for locking and releasing the unmanned aerial vehicle on the unmanned aerial vehicle installation and fixing platform 3.2.
In the invention, the trigger unlocking mechanism 4 of the unmanned aerial vehicle has two structural forms according to the type of the trigger motor 4.1: the first structure, unmanned aerial vehicle's trigger release mechanism 4 includes hasp 3.3, connecting rod support 4.4 and trigger motor 4.1, and trigger motor 4.1 is linear electric motor, and trigger motor 4.1 is including a flexible motor shaft, and flexible motor shaft can carry out sharp (flexible) motion along its axis direction, and flexible motor shaft can stretch out for trigger motor 4.1's body promptly, also can descend for trigger motor 4.1's body. The connecting rod support 4.4 is of a long handle type structure, one end of the connecting rod support 4.4 is fixedly connected with the shell of the inertia driving mechanism 2, the other end of the connecting rod support 4.4 is a trigger motor mounting platform, the trigger motor 4.1 is mounted on the connecting rod support 4.4, and a telescopic motor shaft of the trigger motor 4.1 extends out and can be touched with the lock catch 3.3, so that the posture of the lock catch 3.3 is changed to release the unmanned aerial vehicle; the second structure, unmanned aerial vehicle's trigger release mechanism 4 includes hasp 3.3, triggers connecting rod 4.2, connecting rod support 4.4 and trigger motor 4.1. The trigger motor 4.1 is a rotating motor. The connecting rod support 4.4 is preferably made of metal materials, the connecting rod support 4.4 is of a long handle type structure, one end of the connecting rod support 4.4 is fixedly connected with the shell of the inertia driving mechanism 2, the other end of the connecting rod support 4.4 is a trigger connecting rod mounting platform, the trigger connecting rod 4.2 is a metal rod body, the trigger connecting rod 4.2 can be movably mounted on the trigger connecting rod mounting platform up and down, and the trigger motor 4.1 is in power connection with the trigger connecting rod 4.2 and used for driving the trigger connecting rod 4.2 to act (extend upwards or retract downwards). The lock catch 3.3 is a part for mounting on the platform deck 3.21, and a lock hole is arranged on the platform deck 3.21, and the lock catch 3.3 is hinged in the lock hole. The specific structure of hasp 3.3 does: including hasp 3.3 main part and hasp 3.3 hook, hasp 3.3 main part is located the lockhole and articulates with platform platen 3.21, hasp 3.3 hook can upwards overturn the protrusion for hanging unmanned aerial vehicle for platform platen 3.21, realize the fixing of unmanned aerial vehicle on platform platen 3.21, when acting force (in the invention, this acting force is provided by trigger connecting rod 4.2, it collides with hasp 3.3 main part promptly to trigger connecting rod 4.2 after stretching out, make hasp 3.3 main part atress upset, realize hasp 3.3 hook and unmanned aerial vehicle's separation) and apply in hasp 3.3 main part, whole hasp 3.3 can overturn, thereby make hasp 3.3 hook break away from unmanned aerial vehicle and realize unmanned aerial vehicle's release. In particular, the length of the link support 4.4 is adjustable, which allows the position of the trigger link 4.2 mounting platform relative to the outer ring 3.12 (latch 3.3) to be adjusted so that the trigger link 4.2 can extend to collide with the latch 3.3.
The lock catch 3.3 comprises a long handle structure, one end of the long handle structure passes through the lock hole and extends out relative to the platform plate 3.21, and a hook structure is arranged at the end part of the long handle structure; the other end of the long handle structure is located below the platform deck 3.21 and is used for touching the trigger link 4.2 to change the posture of the lock catch 3.3. Hasp 3.3's hook structure is a hook shape, when unmanned aerial vehicle placed on platform platen 3.21, unmanned aerial vehicle's tire can be hooked to this hook structure, when unmanned aerial vehicle rotated along with inertia rotary platform 3.1, unmanned aerial vehicle's inertial action can exert an effort (for example unmanned aerial vehicle's inertia and lifting power when rotatory can make the tire withstand the hook on the direction in the slant) to hook structure through the tire, thereby it is fixed to make hasp 3.3 keep the gesture, guarantee that unmanned aerial vehicle is by firm pinning. When hasp 3.3 touched with trigger connecting rod 4.2, hook structure on the hasp 3.3 can also be followed unmanned aerial vehicle's tire surface slip and unmanned aerial vehicle's tire separation, and it makes swing motion to realize unmanned aerial vehicle's release. Hasp 3.3 articulates in the lockhole of platform platen, specifically, be provided with the articulated shaft in the lockhole of platform platen, the hinge hole has been seted up on the hasp 3.3, be provided with damping sleeve (rubber sleeve) in the hinge hole, hasp 3.3 is installed on the articulated shaft through the damping sleeve, thereby realize the articulated of hasp 3.3 damping formula in the lockhole, can keep this gesture after hasp 3.3 swings and releases unmanned aerial vehicle, avoid hasp 3.3 reverse swing to collide with trigger connecting rod 4.2 once more.
The design of the hook structure specific shape on the catch 3.3 is based on being able to hook the tires of the drone and release the drone.
5. Controller 5
The controller 5 is the control core of the present invention.
In the invention, the controller 5 is provided with a display screen 5.1, a power switch 5.2, a control panel 5.3, an adjusting knob 5.4 and the like, the controller 5 is connected with the inertial driving mechanism 2, the trigger motor 4.1 and the speed sensor 4.3 through a data line 5.5, the speed sensor 4.3 is a component for detecting the rotating speed of the outer ring 3.12 (the unmanned aerial vehicle mounting and fixing platform 3.2) in the invention, a rotating speed signal acquired by the speed sensor 4.3 is transmitted to the controller 5 through the data line 5.5 and then displayed on the display screen 5.1, and the control of the rotating speed of the outer ring 3.12 and whether the unmanned aerial vehicle is released or not can be realized through the control panel 5.3 and the adjustment of an adjusting button.
After sensing unmanned aerial vehicle and reaching the initial velocity when inertia casts when speed inductor 4.3, give controller 5 with signal transmission, start trigger motor 4.1 by controller 5 control again, and then touch hasp 3.3 that fixed unmanned aerial vehicle used to accomplish unmanned aerial vehicle's the unblock that triggers, realize unmanned aerial vehicle's inertia casts.
Through the structural design, the unmanned aerial vehicle can control the fixed height, the shooting angle and the unlocking time of the unmanned aerial vehicle, so that the unmanned aerial vehicle can obtain the required initial shooting speed and angle. The invention can control the inertial ejection speed of the unmanned aerial vehicle by replacing the inertial rotating platform 3.1 with different sizes and specifications and/or changing the rotating speed of the inertial driving machine, thereby realizing the ejection of the unmanned aerial vehicle with different loads. The invention has the advantages of reasonable structural design, simple control mode, convenient energy supply, strong launching flexibility and strong continuous launching capability.
The invention provides a device for inertial projection of an unmanned aerial vehicle, which consists of a launching height and angle adjusting mechanism 1, an inertial driving mechanism 2, an inertial rotating and mounting and fixing mechanism 3 of the unmanned aerial vehicle, a triggering unlocking mechanism 4 of the unmanned aerial vehicle and a controller 5. Wherein, launching height and angle adjustment mechanism 1 are used for adjusting unmanned aerial vehicle's initial launch height and launch angle, and under general condition, launching height and angle adjustment mechanism 1 prop up on ground or moving the trailer. Inertia actuating mechanism 2 is used for providing power, and drive unmanned aerial vehicle's inertia is rotatory and installation fixed establishment 3's rotation, and then provides inertia throwing power for unmanned aerial vehicle, inertia actuating mechanism 2 and launching height and 1 fixed connection of angle adjustment mechanism. Unmanned aerial vehicle's inertial rotation and installation fixed establishment 3 install on inertial drive mechanism 2, can set up a plurality of unmanned aerial vehicle installation fixed platform 3.2 by central symmetry arrangement mode on unmanned aerial vehicle's inertial rotation and installation fixed establishment 3, and each unmanned aerial vehicle installation fixed platform 3.2 can install a fixed unmanned aerial vehicle to realize unmanned aerial vehicle's continuous transmission. The trigger unlocking mechanism 4 of the unmanned aerial vehicle is installed on the inertia driving mechanism 2 and used for fixing and unlocking the unmanned aerial vehicle. Controller 5 is connected with inertial drive mechanism 2, trigger motor 4.1 and speed inductor 4.3 through data line 5.5, and the start-up of trigger motor 4.1 is controlled to signal (rotational speed signal) that controller 5 can receive speed inductor 4.3, and then accomplishes unmanned aerial vehicle's the unblock that triggers, realizes unmanned aerial vehicle's inertia and casts.
Compared with the prior art, the device for the inertial ejection of the unmanned aerial vehicle has the following beneficial effects:
1. the invention can control the fixed height, angle and unlocking time of the unmanned aerial vehicle by the launching height and angle adjusting mechanism 1, the unmanned aerial vehicle triggering unlocking mechanism and the controller 5, so that the unmanned aerial vehicle can obtain the required initial casting angle and speed;
2. meanwhile, for some large unmanned aerial vehicles, the cradle head seat 1.4 can be directly arranged on the mobile trailer to improve the bearing capacity of the unmanned aerial vehicle;
3. the invention can control the inertial ejection speed of the unmanned aerial vehicle by replacing the inertial rotating platform 3.1 with different sizes and specifications and/or changing the rotating speed of the inertial driving machine, thereby realizing the ejection of the unmanned aerial vehicle with different loads;
4. according to the invention, a plurality of unmanned aerial vehicles can be arranged on the inertial rotating platform 3.1 in a centrosymmetric arrangement manner, so that the continuous launching of the unmanned aerial vehicles is realized;
5. the invention has the advantages of reasonable structural design, simple control mode, convenient energy supply, strong launching flexibility and strong continuous launching capability.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A device for unmanned aerial vehicle inertia is thrown, its characterized in that includes:
the inertial rotating platform can perform rotating motion and is used for transmitting the throwing force to the unmanned aerial vehicle;
the unmanned aerial vehicle mounting and fixing platform is used for mounting an unmanned aerial vehicle, is arranged on the inertial rotating platform and can be driven by the inertial rotating platform to rotate;
the trigger unlocking mechanism is used for locking the unmanned aerial vehicle on the unmanned aerial vehicle mounting and fixing platform and controllably releasing the unmanned aerial vehicle;
the controller is used for controlling the rotating speed of the inertial rotating platform and triggering the unlocking mechanism to release the unmanned aerial vehicle; further comprising:
a tripod, the tripod being height adjustable;
the tripod head seat is arranged on the tripod;
the cloud platform adapter plate is arranged on the cloud platform base, the cloud platform adapter plate can adjust the inclination angle relative to the cloud platform base, and the inertial rotating platform is rotatably arranged on the cloud platform adapter plate;
the tripod includes:
a tripod rod;
the tripod joint is characterized in that one end of the tripod joint is provided with a joint jack, the end part of the tripod rod is inserted into the joint jack, and the other end of the tripod joint is provided with a joint clamping groove;
the tripod comprises a tripod body, a tripod stand and a cloud stand, wherein the tripod body is provided with a tripod base, the tripod base is provided with a tripod base, and the tripod base is provided with a tripod base;
the cloud platform base comprises a cloud platform base, the cloud platform base is fixedly connected with the stand main body, and a cloud platform base support is arranged on the upper side face of the cloud platform base;
the cloud platform keysets including the keysets bottom plate, in the downside of keysets bottom plate is provided with the cloud platform frame that two intervals set up, cloud platform seat pillar clamp is in two between the cloud platform frame, cloud platform seat pillar with connect through setting up cloud platform lock nut between the cloud platform frame, and, the keysets bottom plate passes through the cloud platform frame can wind on the cloud platform seat pillar cloud platform lock nut rotates and carries out the inclination and adjusts.
2. Device for inertial projectile of unmanned aerial vehicle according to claim 1,
the cloud platform comprises a cloud platform support, wherein the cloud platform support is provided with a cloud platform base, the cloud platform support is provided with a plurality of through holes, the cloud platform support is provided with a plurality of arc-shaped adjusting holes, the lower end part of the cloud platform support is close to the cloud platform base, the cloud platform base support is provided with through holes corresponding to the adjusting holes, and the cloud platform base support penetrates through the adjusting holes and the through holes and is provided with cloud platform adjusting nuts which are used for guiding and fixing and locking the cloud platform adapter plate relative to the adjustment of the inclination angle of the cloud platform base.
3. Device for inertial projectile of unmanned aerial vehicle according to claim 1,
an inertia driving mechanism used for providing torque is fixedly arranged on the upper side face of the adapter plate base plate, and the mass center position of the inertia rotating platform is fixedly connected with a power output shaft of the inertia driving mechanism.
4. Device for inertial projectile of unmanned aerial vehicle according to claim 3,
the inertia driving mechanism is a motor, and the power output shaft is a motor shaft of the motor;
the inertial rotating platform comprises a disc-shaped central platform and an outer ring which is positioned in the same plane with the central platform and is concentric with the central platform, at least two unmanned aerial vehicle mounting and fixing platforms are arranged, all the unmanned aerial vehicle mounting and fixing platforms are arranged on the outer ring at equal intervals, and the power output shaft is fixedly connected with the centroid position of the central platform;
the center platform is fixedly connected with the outer ring through radiation rods, and the number of the radiation rods is at least three, and all the radiation rods are arranged at equal intervals.
5. Device for inertial projectile of unmanned aerial vehicle according to claim 4,
the unmanned aerial vehicle mounting and fixing platform comprises a platform bedplate which is fixedly arranged on the outer circular ring, and a projecting vertical rod which can be abutted against the unmanned aerial vehicle and is used for transmitting thrust to the unmanned aerial vehicle is arranged on the upper side surface of the platform bedplate;
the projection vertical rod is arranged at the rear end of the platform plate along the rotation direction of the inertial rotation platform when the unmanned aerial vehicle is projected, and a lock hole is formed in the platform plate and close to the front end of the platform plate;
the trigger unlocking mechanism comprises a plurality of latches, a connecting rod support and a trigger motor, the latches are arranged and correspond to the platform platen, the latches are hinged in the lock holes and used for hooking the unmanned aerial vehicle to fix the unmanned aerial vehicle on the platform platen, the connecting rod support is fixedly arranged relative to the inertia driving mechanism, the connecting rod support is arranged below the outer circular ring, the trigger motor is fixedly arranged on the connecting rod support, the trigger motor is a linear motor and comprises a telescopic motor shaft, the telescopic motor shaft can collide with the latches and drive the latches to act for releasing the unmanned aerial vehicle, and the controller is in control connection with the trigger motor;
or the like, or, alternatively,
the trigger unlocking mechanism comprises a plurality of latches, a trigger connecting rod, a connecting rod bracket and a trigger motor, the latches are arranged corresponding to the platform plate, the lock catch is hinged in the lock hole and used for hooking the unmanned aerial vehicle to fix the unmanned aerial vehicle on the platform plate, the trigger motor is a rotating motor, the connecting rod bracket is fixedly arranged relative to the inertia driving mechanism, the connecting rod bracket is arranged below the outer ring, the trigger motor is fixedly arranged on the connecting rod bracket, the trigger connecting rod is movably arranged on the connecting rod bracket, the trigger motor is in power connection with the trigger connecting rod and is used for driving the trigger connecting rod to act, the trigger connecting rod can collide with the lock catch and drive the lock catch to act and be used for releasing the unmanned aerial vehicle, and the controller is in control connection with the trigger motor.
6. The device for unmanned aerial vehicle inertial projection of claim 5, further comprising:
and the speed sensor is used for acquiring the rotating speed of the outer ring, is in signal connection with the controller and is used for sending rotating speed information of the outer ring to the controller.
7. Device for inertial projectile of unmanned aerial vehicle according to claim 4,
the inertial rotating platform is detachably connected with the inertial driving mechanism;
the inertia rotary platform is provided with a plurality of, and each inertia rotary platform's outer ring's diameter is different.
8. Device for inertial projection of unmanned aerial vehicle according to any of claims 1 to 7,
and a foot pad is arranged at the other end of the tripod rod.
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| US8453966B2 (en) * | 2009-02-12 | 2013-06-04 | Aerovel Corporation | Method and apparatus for automated launch, retrieval, and servicing of a hovering aircraft |
| US8573536B2 (en) * | 2010-03-26 | 2013-11-05 | Aerovel Corporation | Method and apparatus for automated launch, retrieval, and servicing of a hovering aircraft |
| CN102328752B (en) * | 2011-07-14 | 2013-12-25 | 西北工业大学 | Rotating ejection device for small and medium unmanned aerial vehicle |
| CN108557106B (en) * | 2018-04-26 | 2021-02-05 | 东北大学 | Unmanned aerial vehicle cluster transmission recovery unit with store and supply function |
| CN110239706A (en) * | 2019-07-08 | 2019-09-17 | 张朝林 | A kind of movable type takes off landing method and mobile undercarriage |
| CN111196375B (en) * | 2019-12-11 | 2021-11-26 | 青岛中科方舟航空科技有限公司 | Thrust line measuring suspender, device and unmanned aerial vehicle thrust line measuring system |
| CN110920925A (en) * | 2019-12-28 | 2020-03-27 | 北京工业大学 | Pneumatic auxiliary ejection device of unmanned aerial vehicle |
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