CN112389667B

CN112389667B - Stretch-draw integral unmanned aerial vehicle recovery unit

Info

Publication number: CN112389667B
Application number: CN202011317775.3A
Authority: CN
Inventors: 罗阿妮; 孟富强; 刘贺平
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2022-01-14
Anticipated expiration: 2040-11-23
Also published as: CN112389667A

Abstract

The invention provides a tensioning integral type unmanned aerial vehicle recovery device, which is required to be provided with an unmanned aerial vehicle recovery device with a buffering function in order to protect the safe and rapid landing of an unmanned aerial vehicle. This patent will provide a novel integral unmanned aerial vehicle recovery unit of stretch-draw, and its major structure comprises six pole stretch-draw overall structure, and this kind of novel structure possesses the good properties such as lightweight, low energy consumption, shock resistance, expansion reliability height. The aircraft can be with certain speed striking at the wire side, and the impact force makes wire side and six pole stretch-draw whole produce certain deformation to partly impact force of dissipation, the impact force also can make six pole stretch-draw overall structure produce the motion backward simultaneously, makes the motion act on the attenuator, thereby further dissipation impact force. When unmanned aerial vehicle recovery unit was in fold condition, overall structure's volume would reduce greatly, is convenient for transport and carries.

Description

Stretch-draw integral unmanned aerial vehicle recovery unit

Technical Field

The invention relates to a stretch-draw integral type unmanned aerial vehicle recovery device, which is applied to the field of unmanned aerial vehicle landing recovery and belongs to the technical field of aviation.

Background

When the unmanned aerial vehicle lands, can strike on the landing surface with certain speed, the unmanned aerial vehicle bears great impact load in the moment of assaulting. For the safe and fast landing of the unmanned aerial vehicle, an unmanned aerial vehicle recovery device with a buffering function needs to be arranged. This patent will provide a neotype unmanned aerial vehicle recovery unit, and its major structure comprises six pole stretch-draw overall structures, and stretch-draw overall structure is the novel structure that comprises the pole component that bears tensile cable component and bearing pressure, and its special structure makes it possess good performance such as lightweight, low energy consumption, shock resistance, expansion reliability height. The buffering wire side that stretch-draw overall structure in figure 2 and figure 3 constitutes supports, when guaranteeing unmanned aerial vehicle recovery unit bulk rigidity, also can provide certain buffering ability of warping. When unmanned aerial vehicle strikes to buffering wire side, the support that stretch-draw overall structure formed can guarantee that the buffering wire side is in the tensioning state, also can play the effect of shock attenuation buffering through the deformation of self structure simultaneously, so can be applied to stretch-draw overall structure in the unmanned aerial vehicle landing recovery field.

Disclosure of Invention

The invention aims to provide a tensioning integral type unmanned aerial vehicle recovery device.

The purpose of the invention is realized as follows: the novel traction rope comprises a fixed platform, an integral stretching structure B arranged on the fixed platform through universal joints, and a buffering net surface arranged at the large end of the integral stretching structure, wherein the fixed platform comprises a rack, guide rails symmetrically arranged on the rack, a pair of sliding blocks arranged on each guide rail, a convex bottom plate fixedly connected with one sliding block in each pair of sliding blocks, a concave bottom plate fixedly connected with the other sliding block in each pair of sliding blocks, front end wing plates arranged on two sides of the end part of the convex bottom plate through hinges, rear end wing plates arranged on two sides of the end part of the concave bottom plate through hinges, a pulley and a damper arranged at the front end of the rack, one end of a traction rope is connected with the middle position of the front end wing plate, the other end of the traction rope is connected with the damper after bypassing the pulley, the convex bottom plate is matched with the concave bottom plate, and the large end of the integral stretching structure is connected with the front end wing plate and the rear end wing plate through four universal joints.

The invention also includes such structural features:

1. the integral tension structure is a structure which is composed of 6 rods and 18 ropes and is large in one end and small in one end, end points of the lower ends of the 6 rods form a regular hexagon and are n to n respectively, end points of the upper ends of the 6 rods form a regular hexagon and are n to n respectively, n and n are rods 1 to 6 respectively, the end points n and n, n and n are provided with the ropes respectively, and the buffer mesh surface is positioned on the plane where the end points n and n, n and n are positioned.

The nodes n1 and n6 of the 2.1-pole and 6-pole members, and the nodes n10 and n11 of the 4-pole and 5-pole members are connected to the front and rear end wing plates, respectively, by universal joints.

Compared with the prior art, the invention has the beneficial effects that: the mechanism of work is that the aircraft can strike on wire side 2 with certain speed, and the impact force makes wire side 2 and six pole stretch-draw whole produce certain deformation to dissipate some impact force, and the impact force also can make six pole stretch-draw integrated configuration produce the motion backward simultaneously, and six pole stretch-draw integrated configuration drive bottom plate 7 on the

guide rail slider

8, 9 are whole to be removed backward along guide rail 10, and haulage rope 21 who fixes on bottom plate 7 makes the motion act on attenuator 16 through the switching-over of pulley 20, thereby further dissipates the impact force. When unmanned aerial vehicle recovery unit is in fold condition, unsmooth bottom plate 7, 9 separates along guide rail 10 front and back respectively on the guide rail slider 8, simultaneously with

pterygoid lamina

6, 23 around 5 upwards rotations that close up, six pole stretch-draw whole will be in compression state, and overall structure's volume will reduce greatly, is convenient for transport and carries.

Drawings

Fig. 1 is a schematic overall view of an unmanned aerial vehicle recovery device;

FIG. 2 shows a buffering mesh surface and a six-bar tension and tension integrated structure;

FIG. 3 is a bottom view of a buffering mesh surface and a six-bar stretch-draw integral structure;

FIG. 4 is a schematic view of a stationary platform;

fig. 5 is a front view of a recovery device of the drone;

fig. 6 a side view of a recovery device of an unmanned aerial vehicle;

FIG. 7 is a top view of the mounting platform;

fig. 8 is a partially enlarged view of the stationary platen.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

With reference to fig. 1 to 8, the structural components of the present invention include: six pole stretch-draw overall structure: a hollow bar member 1 and a cable member 3 having elasticity; mesh surface: a net surface 2 formed by a plurality of rope members; a bottom plate: the structure comprises a concave bottom plate 9, a convex bottom plate 7, a front end wing plate 6, a rear end wing plate 23 and hinges 5 and 22; a fixing mechanism: a universal joint 4; guide rail: a guide rail 10, a guide rail slider 8; a frame: a standard section bar 11 and a plurality of groups of right-angle seats 14; a damping mechanism: the pulley support 18, the bearing 19, the pulley 20, the shaft 21, the traction rope 17, the damper 16 and the damping support form a component 15.

Six pole stretch-draw overall structure: the six-rod tensioning integral structure consists of 6 rod components and 18 cable components, the rod components and the cable components of the structure are distributed according to a certain rule to form a stable structure, the large front end and the small rear end of the structure are ensured, and the whole structure is of a frustum pyramid structure.

Mesh surface: the net surface is of 1 rope net structure and is arranged at the large end of the six-rod tensioning whole body.

A bottom plate: the structure comprises 1 concave bottom plate, 1 convex bottom plate, 2 front end wing plates and 2 rear end wing plates. When the landing recovery device is in a folded state, the concave-convex bottom plate can be separated from the front and the back along the guide rail, and the wing plates can rotate upwards around connecting lines with the concave-convex bottom plate; when the landing recovery device is in an unfolded state, the concave-convex bottom plate is combined, and the wing plate and the concave-convex bottom plate are in the same plane.

The fixing structure comprises: the fixing structure is composed of 4 universal joints, is positioned on the four wing plates and is used for connecting the bottom plate and the six-rod tensioning integral structure.

A guide rail mechanism: the guide rail mechanism is composed of 2 guide rails, 4 guide rail sliding blocks and 4 guide rail brackets. The 2 guide rails are positioned on the 4 guide rail brackets, and the 4 guide rail sliding blocks are positioned on the 2 guide rails and connected with the concave-convex bottom plate. When the landing recovery device is in a working state, the aircraft impacts the net surface to drive the six-rod tensioning whole to move on the guide rail; when the landing recovery device is in a folded state, the guide rail sliding block drives the concave-convex bottom plate to separate.

A frame: the frame constitute by 5 standard section bars, these section bars are connected by right angle seat, fix 6 supports respectively on the frame, be 4 guide rail support, 1 pulley support and 1 damping support respectively.

A damping mechanism: the damping mechanism comprises 1 pulley support, 1 pulley, 1 bearing, 1 axle, 1 haulage rope, 1 attenuator and 1 damping support. One end of the hauling rope is connected with the bottom plate and is connected with the damper after being reversed by the pulley.

The integral tension structure is a novel structure consisting of a cable component bearing tension and a rod component bearing pressure, and the special structure of the integral tension structure enables the integral tension structure to have excellent performances of light weight, low energy consumption, impact resistance, high expansion reliability and the like. Unmanned aerial vehicle recovery unit's overall structure includes: the hollow rod component 1, the elastic cable component 3, the net surface 2 formed by a plurality of cable components, the concave bottom plate 9, the convex bottom plate 7, the front end wing plate 6, the rear end wing plate 23, the hinge 22, the universal joint 4, the guide rail 10, the guide rail slide block 8, the standard section bar 11, a plurality of groups of right-angle seats 14, the pulley support 18, the pulley 20, the traction rope 21, the damper 16 and the damping support assembly 15.

The connection mode is as follows:

(1) the rod and cable connection mode is as follows: the rod-cable connection mode refers to a connection mode of a six-rod tensioning integral rod member-cable member in the landing recovery device, and the connection mode is mainly concentrated in the buffering net surface and the support thereof in fig. 2. The joints of the rod members and the cable members are defined as nodes, and the total number of the nodes is 12, and the nodes are denoted by n1, n2.. The nodes n1 to n6 and n7 to n12 are respectively distributed at the vertexes of two regular hexagons, and the planes of the two regular hexagons are parallel to each other, as shown in fig. 3. In fig. 2, the end points of the rod member and the cable member are all located at the nodes, and the specific distribution conditions of the rod member are as follows: n1 and n7, n2 and n8, n3 and n9, n4 and n10, n5 and n11, n6 and n 12; the cord elements may be subdivided into 3 categories, the first category at the bottom end being, for example: n1 and n2, n2 and n3, n3 and n4, n4 and n5, n5 and n6, n6 and n 1; second type cable members at the top, such as n7 and n8, n8 and n9, n9 and n10, n10 and n11, n11 and n12, n12 and n 7; a third type of cable member located between the top and bottom ends, such as n1 and n12, n2 and n7, n3 and n8, n4 and n9, n5 and n10, n6 and n 11; the buffering mesh surface is positioned on the regular hexagon formed by the first type of cable members, as shown in fig. 3, the concrete connection mode is that six sides of the regular hexagon formed by the first type of cable members are equally divided, equally divided points on the corresponding sides are sequentially connected by the cable members, and after the equally divided points are connected, a buffering mesh surface is formed. The specific connection mode of the cable member and the rod member is that the end point of the rod member is perforated, and the cable member is bound through the hole on the rod.

(2) The structure is connected: nodes n1, n6, n10 and n11 in fig. 2 are located in the same plane, and then nodes n1 and n6 of the No. 1 and No. 6 rod members in fig. 5, and nodes n10 and n11 of the No. 4 and No. 5 rod members, respectively, are fixed to the front and rear end wing plates by universal joints 4. When the landing recovery device is in an unfolded state, the concave-convex surfaces of the convex bottom plate 7 and the concave bottom plate 9 are combined, and the

wing plates

6 or 23 are parallel to the concave-convex bottom plates, wherein the wing plates are connected with the concave-convex bottom plates through hinges 5. The concave-convex bottom plate is fixed on the guide rail sliding block 8 through a screw 24, and the guide rail 10 is fixed on the section bar 11 through a guide rail bracket 12. The section bar 11 is fixedly connected through a right-angle bracket 14 to form a machine frame, and the section bar 11 and the right-angle bracket 14 are connected through a bolt 13. The pull rope 21 is connected to the bottom plate 7 directly at one end and connected to the damper 16 at the other end by passing over the pulley 20, wherein the pulley 20 is connected to the frame through the pulley support 18, and the damper 16 is fixed to the frame through the damper support 15.

When unmanned aerial vehicle recovery unit is in operating condition, unsmooth bottom plate 7, 9 the unsmooth face of combining and connecting bottom plate and

pterygoid lamina

6, 23 expand, unmanned aerial vehicle can be with certain speed striking on wire side 2, the impact force makes wire side 2 and six pole stretch-draw overall structure produce certain deformation, thereby dissipate some impact force, the impact force also can make six pole stretch-draw overall structure produce backward motion simultaneously, six pole stretch-draw overall structure drive bottom plate 7 on the

guide rail slider

8, 9 is whole to remove backward along guide rail 10, the haulage rope 17 of fixing on convex bottom plate 7 makes the motion act on attenuator 16 backward through pulley 20 change, thereby further dissipate the impact force. When unmanned aerial vehicle recovery unit is in fold condition, unsmooth bottom plate 7 on the

guide rail slider

8, 9 separate along guide rail 10 back and forth respectively, simultaneously with

pterygoid lamina

6, 23 around 5 upwards rotations of closing page or leaf, third class cable component atress becomes long, and first second class cable component shrink shortens, and the pole component will assemble into compacter spatial structure, and overall structure's volume will reduce greatly, be convenient for transport and carry.

Claims

1. Stretch-draw integral unmanned aerial vehicle recovery unit, its characterized in that: the novel damping device comprises a fixed platform, an integral stretching structure arranged on the fixed platform through universal joints, and a buffering net surface arranged at the large end of the integral stretching structure, wherein the fixed platform comprises a rack, guide rails symmetrically arranged on the rack, a pair of sliding blocks arranged on each guide rail, a convex bottom plate fixedly connected with one sliding block in each pair of sliding blocks, a concave bottom plate fixedly connected with the other sliding block in each pair of sliding blocks, front end wing plates arranged on two sides of the end part of the convex bottom plate through hinges, rear end wing plates arranged on two sides of the end part of the concave bottom plate through hinges, pulleys and dampers arranged at the front end of the rack, one end of a traction rope is connected with the middle position of the front end wing plate, the other end of the traction rope is connected with the dampers after bypassing the pulleys, the convex bottom plate is matched with the concave bottom plate, and the large end of the integral stretching structure is connected with the front end wing plates and the rear end wing plates through four universal joints.

2. A tensioned integral unmanned aerial vehicle recovery device according to claim 1, wherein: the integral tension structure is a structure which is composed of 6 rods and 18 ropes and is large in one end and small in one end, end points of the lower ends of the 6 rods form a regular hexagon and are n to n respectively, end points of the upper ends of the 6 rods form a regular hexagon and are n to n respectively, n and n are rods 1 to 6 respectively, the end points n and n, n and n are provided with the ropes respectively, and the buffer mesh surface is positioned on the plane where the end points n and n, n and n are positioned.

3. A tensioned integral unmanned aerial vehicle recovery device according to claim 2, wherein: the nodes n1 and n6 of the No. 1 and No. 6 rod members, and the nodes n10 and n11 of the No. 4 and No. 5 rod members are connected to the front and rear end wing plates, respectively, through universal joints.