CN112706941A - Full-automatic synchronous folding paddle folding and positioning device and folding method - Google Patents
Full-automatic synchronous folding paddle folding and positioning device and folding method Download PDFInfo
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- CN112706941A CN112706941A CN202110106022.6A CN202110106022A CN112706941A CN 112706941 A CN112706941 A CN 112706941A CN 202110106022 A CN202110106022 A CN 202110106022A CN 112706941 A CN112706941 A CN 112706941A
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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
- B64F1/02—Arresting gear; Liquid barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C3/00—Wings
- B64C3/38—Adjustment of complete wings or parts thereof
- B64C3/56—Folding or collapsing to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
Abstract
The embodiment of the invention discloses a full-automatic synchronous folding paddle folding and positioning device and a folding method, and the device comprises a parking platform, a paddle folding device, a lifting platform and a driving device, wherein the paddle folding device comprises a lower paddle folding seat, an upper paddle folding seat, a long paddle folding rod and a short paddle folding rod, the driving device comprises a rotating motor, a power belt wheel, a synchronous belt wheel and a synchronous belt, the height of the paddle folding device is controlled by the lifting platform, the long paddle folding rod is higher than the folding paddle, when the short paddle folding rod is lower than the folding paddle, the driving device drives the paddle folding device to rotate for paddle shifting, and when the short paddle folding rod is higher than the folding paddle, the driving device drives the paddle folding device to rotate for paddle folding. According to the invention, the folding propellers of the unmanned aerial vehicle are pushed and gathered under the action of the rotation of the propeller retracting seat by the propeller retracting rod, so that the folding propellers of the unmanned aerial vehicle are automatically folded, a plurality of folding propellers of the unmanned aerial vehicle are synchronously folded and positioned, and the unmanned aerial vehicle folding device is simple and convenient in structure.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a full-automatic synchronous folding paddle folding and positioning device and a folding method.
Background
With the high-speed progress of the unmanned aerial vehicle technology, the foldable propeller is widely applied due to the advantages of being foldable and automatically unfolded. Meanwhile, unmanned aerial vehicle unmanned airports are rapidly developed along with wide application of unmanned aerial vehicles, and in the unmanned aerial vehicle airports, a series of operations such as battery replacement for unmanned aerial vehicles are all performed to realize high automation. When descending because of unmanned aerial vehicle, the position that the screw stopped is completely random to the screw expandes the back, and the space that occupies is great, and this is next step automation mechanized operation and brings certain degree of difficulty.
Disclosure of Invention
Therefore, the embodiment of the invention provides a full-automatic synchronous folding propeller folding and positioning device and a folding method, and aims to solve the problem that a folding propeller of an unmanned aerial vehicle is inconvenient to fold after being stopped in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of an embodiment of the present invention, a fully automatic synchronous folding paddle folding and positioning device includes:
the platform surface of the parking platform is used for the unmanned aerial vehicle to park and fix;
the device comprises a propeller retracting device and a parking platform, wherein the propeller retracting device comprises a lower propeller retracting seat, an upper propeller retracting seat, a long propeller retracting rod and a short propeller retracting rod, the upper propeller retracting seat is fixed at the top of the lower propeller retracting seat, the long propeller retracting rod and the short propeller retracting rod are arranged in parallel and are vertically connected to the top of the upper propeller retracting seat, a space for placing a folding propeller blade is formed between the long propeller retracting rod and the short propeller retracting rod, a plurality of groups of propeller retracting devices are arranged on the parking platform, and each group of propeller retracting devices respectively correspond to the folding propeller of the unmanned aerial vehicle;
the paddle collecting device is arranged on the lifting platform, and a first through hole for lifting the paddle collecting device is formed in the parking platform;
a driving device, which comprises a rotating motor, a power belt wheel, a synchronous belt wheel and a synchronous belt, the power belt wheels are rotatably arranged on the table board of the lifting platform, the synchronous belt wheels are arranged below the paddle collecting device and rotatably arranged on the table board of the lifting platform, and a plurality of synchronous belt wheels are arranged, the synchronous belt wheels are in one-to-one correspondence with the propeller retracting devices, the synchronous belts are sleeved on the synchronous belt wheels and the power belt wheels, so as to form a belt transmission structure, the rotating motor is arranged at the bottom of the lifting platform, the output end of the rotating motor is connected with the power belt wheel, wherein the synchronous belt wheel is connected with the lower paddle-retracting seat through a vertically arranged paddle-retracting shaft, the bottom end of the paddle-retracting shaft is connected with the synchronous belt wheel through a bearing, after the oar retracting device is driven by the driving device, the long oar retracting rod and the short oar retracting rod rotate and retract the oar.
Further, lift platform includes platform frame and synchronous lift, platform frame erects subaerial, synchronous lift installs on platform frame, and synchronous lift's lift end links firmly through the screw with lift platform's mesa bottom, with lift platform's mesa is gone up and down after receiving synchronous lift drive.
Further, be equipped with the platform grudging post of vertical setting between berth platform and the platform frame, the bottom rigid coupling of platform grudging post is on the top of platform frame, the top rigid coupling of platform grudging post is in the bottom of berth platform, just set up the second through-hole that supplies the platform grudging post to pass on lift platform's the mesa.
Furthermore, the bottom of the parking platform is connected with a horizontally arranged parking bottom plate, the parking bottom plate is fixedly connected with the parking platform through screws, and the top of the platform upright frame is fixedly connected to the bottom of the parking bottom plate through screws.
Furthermore, the docking platform is a square table board, the oar collecting device is respectively arranged at four corners of the docking platform in a group, the corresponding first through holes on the docking platform are long holes, and the hole length directions of the four first through holes are anticlockwise along the perimeter direction of the docking platform.
Further, a paddle position returning cover is arranged above the upper paddle retracting seat, an inserting rod is arranged at the bottom of the paddle position returning cover, the inserting rod penetrates through the upper paddle retracting seat and is connected in the lower paddle retracting seat in a sliding mode, the upper paddle retracting seat forms a downward stopping position of the paddle position returning cover, and a pressure spring is arranged at the bottom end of the inserting rod in the lower paddle retracting seat.
Furthermore, a through hole for the short oar-retracting rod to vertically and upwards pass through is formed in the oar position returning cover.
Furthermore, a rotating block is arranged between the upper oar collecting seat and the long oar collecting rod, the rotating block is rotatably connected to the upper oar collecting seat, a sliding hole for the long oar collecting rod to vertically penetrate upwards and rotate to one side to leave the oar position collecting cover is formed in the oar position collecting cover, and a torsion spring is arranged between the rotating block and the upper oar collecting seat for connection.
Furthermore, the top ends of the long and short oar retracting rods are fixedly and integrally formed into a spherical structure.
According to a second aspect of the embodiment of the present invention, a folding method using the full-automatic synchronous folding paddle folding and positioning device of the embodiment includes the following steps:
s1, controlling the unmanned aerial vehicle to stop on the parking platform, starting to control the lifting platform to move upwards, and driving the propeller retracting device to ascend synchronously;
s2, controlling the height of the paddle retracting device to enable the long paddle retracting rod to be higher than the folding paddle and the short paddle retracting rod to be lower than the folding paddle, and stopping the lifting platform from rising;
s3, starting paddle shifting movement, controlling a rotating motor to start, and enabling a synchronous belt wheel to synchronously rotate along with a power belt wheel under the action of belt transmission based on the belt transmission of a synchronous belt, wherein the paddle retracting device synchronously rotates at the moment;
when the paddle retracting device rotates for more than half a circle and the central axis of the folding paddle, the axis of the long paddle retracting rod and the axis of the short paddle retracting rod are positioned on the same plane, the rotating motor is stopped;
s4, starting to move the paddles, controlling the lifting platform to continue to move upwards until the short retracting paddle rod is higher than the folding paddle, and then controlling the rotating motor to start;
when the paddle retracting device rotates for less than one circle and the width between the axis of the long paddle retracting rod and the axis of the short paddle retracting rod is just slightly larger than the width of the folded paddle, stopping to finish the synchronous paddle retracting movement of the folded paddle;
s5, returning the paddle collecting device, controlling the lifting platform to move downwards, synchronously descending the paddle collecting device until the long paddle collecting rod is lower than the folding paddle and the paddle collecting device is higher than the parking platform and stops, and then controlling the rotating motor to start to synchronously rotate the paddle collecting device until the paddle collecting device rotates to the initial position and stops;
and S6, controlling the lifting platform to move downwards continuously, enabling the oar collecting device to descend synchronously until the long oar collecting rod is lower than the parking platform, and stopping, wherein the oar position is covered under the action of a pressure spring and is tightly pressed at the bottom of the parking bottom plate.
The embodiment of the invention has the following advantages: through setting up the berth platform, receive the oar device, lift platform and drive arrangement, it goes up and down to receive the oar device to drive by lift platform, and receive the rotation of oar device through the drive arrangement drive, utilize the long oar pole and the short oar pole of receiving the oar device, under the effect of receipts oar seat pivoted, dial the oar and hold together the oar to unmanned aerial vehicle's folding oar, in order to realize the automatic folding to unmanned aerial vehicle's folding oar, thereby in order to provide full automatic folding device, realize the synchronous folding location of a plurality of screws of unmanned aerial vehicle, its simple structure is convenient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope of the present invention.
Fig. 1 is a schematic view of an overall structure of a full-automatic synchronous folding paddle folding and positioning device according to an embodiment of the present invention;
fig. 2 is a front view of a paddle retracting device of the full-automatic synchronous folding paddle retracting and positioning device according to the embodiment of the present invention;
fig. 3 is an oblique side view of a paddle retracting device of the full-automatic synchronous folding paddle retracting and positioning device according to the embodiment of the present invention;
fig. 4 is a schematic diagram of a state of a folding paddle of the fully automatic synchronous folding paddle folding and positioning device according to the embodiment of the present invention;
fig. 5 is a schematic view of a folding paddle state of the fully automatic synchronous folding paddle folding and positioning device according to an embodiment of the present invention;
fig. 6 is a schematic view of a folding paddle folding state of the full-automatic folding paddle synchronous folding and positioning device according to the embodiment of the present invention.
In the figure: 1. a docking platform; 2. a paddle collecting device; 21. a lower oar retracting seat; 22. an upper oar retracting seat; 23. a long oar retracting rod; 24. a short retracting paddle lever; 25. a propeller shaft is retracted; 251. a bearing; 26. the oar position is covered; 261. inserting a rod; 27. rotating the block; 3. a lifting platform; 31. a platform frame; 32. a synchronous lifter; 33. a platform vertical frame; 4. a drive device; 41. a rotating electric machine; 42. a power pulley; 43. a synchronous pulley; 44. a synchronous belt; 5. and (5) stopping the machine.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a full-automatic folding paddle synchronous folding positioning device, which includes a parking platform 1, a paddle folding device 2, a lifting platform 3, and a driving device 4, and is specifically configured as follows:
the mesa of docking platform 1 supplies unmanned aerial vehicle to stop to fall fixedly to be connected with the shut down bottom plate 5 that the level set up in the bottom of docking platform 1, shut down bottom plate 5 and docking platform 1 and link firmly through the screw, so that shut down bottom plate 5 constitutes stable support to docking platform 1.
As shown in fig. 2 and 3, the oar retracting device 2 includes a lower oar retracting seat 21, an upper oar retracting seat 22, a long oar retracting rod 23 and a short oar retracting rod 24. Go up and receive oar seat 22 and fix the top of receiving oar seat 21 down, long receipts oar pole 23 and short receipts oar pole 24 are parallel arrangement, and equal vertical connection is at the top of last receipts oar seat 22, and long receipts oar pole 23 and short receipts oar pole 24 between be formed with the interval that supplies folding oar paddle blade to put into, wherein, has arranged multiunit on the platform 1 of berthhing, and every group receives oar device 2 and corresponds with unmanned aerial vehicle's folding oar respectively. Preferably, the docking platform 1 is a square table, the paddle collecting devices 2 are respectively arranged at four corners of the docking platform 1 in a group, and the top ends of the long paddle collecting rods 23 and the short paddle collecting rods 24 are integrally formed into a spherical structure.
The table-board of the lifting platform 3 is horizontally arranged below the parking platform 1. The lifting platform 3 comprises a platform frame 31 and a synchronous lifter 32, the platform frame 31 is erected on the ground, the synchronous lifter 32 is installed on the platform frame 31, and the lifting end of the synchronous lifter 32 is fixedly connected with the bottom of the table top of the lifting platform 3 through a screw, so that the table top of the lifting platform 3 is driven by the synchronous lifter 32 to lift. Wherein, be equipped with the platform stile 33 of vertical setting between docking platform 1 and platform frame 31, the bottom rigid coupling of platform stile 33 is on the top of platform frame 31, and the top of platform stile 33 links firmly in the bottom of shutting down bottom plate 5 through the screw to set up the second through-hole that supplies platform stile 33 to pass on lift platform 1's mesa.
As described above, the oar collecting device 2 is installed on the lifting platform 3 through the driving device 4, and the first through hole for the oar collecting device 2 to lift is provided on the parking platform 1, and preferably, the first through hole corresponding to the square parking platform 1 is a long hole, and the hole length directions of the four first through holes are counterclockwise along the circumference direction of the parking platform 1. Drive arrangement 4 includes rotating electrical machines 41, power pulley 42, synchronous pulley 43 and hold-in range 44, and power pulley 42 rotates and installs on lift platform 3's mesa, and synchronous pulley 43 sets up in the below of receiving oar device 2 to rotate and install on lift platform 3's mesa, and synchronous pulley 43 is provided with a plurality ofly, so that synchronous pulley 43 and receipts oar device 2 one-to-one. Synchronous belt 44 cup joints on power pulley 42 and a plurality of synchronous pulley 43 to constitute belt drive structure, rotating electrical machines 41 are installed in the bottom of lift platform 3, and rotating electrical machines 41's output and power pulley 42 are connected, wherein, synchronous pulley 43 is connected through the receipts oar axle 25 of vertical setting with receiving down between the oar seat 21, and the bottom of receiving the oar axle 25 is connected with synchronous pulley 43 through bearing 251, so that receive oar device 2 and receive the back by drive arrangement 4, long receipts oar pole 23 and short receipts oar pole 24 rotate and close the oar, and utilize bearing 251 can avoid receiving the up-and-down drunkenness when oar axle 25 rotates.
Another preferred embodiment is: the oar position returning cover 26 is arranged above the upper oar withdrawing seat 22, the inserting rod 261 is arranged at the bottom of the oar position returning cover 26, the inserting rod 261 penetrates through the upper oar withdrawing seat 22 and is connected in the lower oar withdrawing seat 21 in a sliding mode, so that the oar position returning cover 26 can slide up and down above the lower oar withdrawing seat 21, and the upper oar withdrawing seat 22 forms a downward stop position of the oar position returning cover 26, wherein a pressure spring is arranged at the bottom end of the inserting rod 261 in the lower oar withdrawing seat 21, so that the oar position returning cover 26 can reset conveniently, the oar position returning cover 26 is arranged, so that the oar withdrawing device 2 can be pressed at the bottom of the stopping bottom plate 5 under the action of the pressure spring when the long oar withdrawing rod 23 is lower than the stopping platform 1, and the oar position returning cover 26 forms stable support for the stopping platform 1.
As described above, the paddle position return cover 26 is provided with a through hole through which the short paddle retracting lever 24 vertically passes. And be equipped with rotatory piece 27 between last receipts oar seat 22 and long receipts oar pole 23, rotatory piece 27 rotates and connects on last receipts oar seat 22 to set up on oar position return lid 26 and supply long receipts oar pole 23 to pass vertically upwards, and can rotate the slide opening that covers 26 from oar position return to one side, make long receipts oar pole 23 in the receipts oar process, along with folding the drawing in of folding oar paddle and rotate by a small margin, can avoid the paddle damage of folding oar, improve the security. And a torsion spring is arranged between the rotating block 27 and the upper oar collecting seat 22 so as to facilitate the resetting of the long oar collecting rod 23.
Another preferred embodiment is to provide a folding method, where the automatic synchronous folding paddle folding and positioning device according to this embodiment includes the following steps:
s1, controlling the unmanned aerial vehicle to stop on the parking platform 1, starting to control the lifting platform 3 to move upwards, and driving the propeller retracting device 2 to ascend synchronously;
s2, controlling the height of the oar collecting device 2 to make the long oar collecting rod 23 higher than the folding oar and the short oar collecting rod 24 lower than the folding oar, and at this time, stopping the lifting platform 3 from rising (refer to fig. 4);
s3, starting paddle shifting movement, controlling the rotating motor 41 to start, and enabling the synchronous belt wheel 43 to synchronously rotate along with the power belt wheel 42 under the action of belt transmission based on the belt transmission of the synchronous belt 44, wherein the paddle retracting device 2 synchronously rotates at the moment;
and when the oar collecting device 2 rotates for more than half a circle and the central axis of the folding oar, the axis of the long oar collecting rod 23 and the axis of the short oar collecting rod 24 are positioned on the same plane, the rotating motor 41 is stopped;
s4, starting to move to close the paddles, controlling the lifting platform 3 to move upwards continuously until the short paddle retracting rod 24 is higher than the folding paddles, and then controlling the rotating motor 41 to start (refer to fig. 5);
when the oar retracting device 2 rotates for less than one circle and the width between the axial line of the long oar retracting rod 23 and the axial line of the short oar retracting rod 24 is just slightly larger than the width of the folded oar, stopping to complete the synchronous oar retracting movement of the folded oar (refer to fig. 6);
s5, returning the oar collecting device, controlling the lifting platform 3 to move downwards, synchronously descending the oar collecting device 2 until the long oar collecting rod 23 is lower than the folding oar and the oar collecting device 2 is higher than the parking platform 1, stopping, controlling the rotating motor 41 to start, synchronously rotating the oar collecting device 2, and stopping until the oar collecting device 2 rotates to the initial position;
and S6, controlling the lifting platform 3 to move downwards continuously, so that the oar collecting device 2 descends synchronously until the long oar collecting rod 23 is lower than the parking platform 1, and the oar position return cover 26 is pressed at the bottom of the parking bottom plate 5 under the action of the pressure spring.
According to the embodiment of the invention, the parking platform 1, the oar collecting device 2, the lifting platform 3 and the driving device 4 are arranged, the oar collecting device 2 is driven to lift by the lifting platform 3, the oar collecting device 2 is driven to rotate by the driving device 4, and the long oar collecting rod 23 and the short oar collecting rod 24 of the oar collecting device 2 are utilized to carry out oar stirring and oar collecting on the folding oar of the unmanned aerial vehicle under the rotating action of the oar collecting seat so as to realize automatic folding of the folding oar of the unmanned aerial vehicle, so that a full-automatic folding device is provided, synchronous folding and positioning of a plurality of propellers of the unmanned aerial vehicle are realized, and the structure is simple and convenient.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides a full-automatic folding oar draws in positioner in step which characterized in that, full-automatic folding propeller draws in positioner in step includes:
the platform surface of the parking platform is used for the unmanned aerial vehicle to park and fix;
the device comprises a propeller retracting device and a parking platform, wherein the propeller retracting device comprises a lower propeller retracting seat, an upper propeller retracting seat, a long propeller retracting rod and a short propeller retracting rod, the upper propeller retracting seat is fixed at the top of the lower propeller retracting seat, the long propeller retracting rod and the short propeller retracting rod are arranged in parallel and are vertically connected to the top of the upper propeller retracting seat, a space for placing a folding propeller blade is formed between the long propeller retracting rod and the short propeller retracting rod, a plurality of groups of propeller retracting devices are arranged on the parking platform, and each group of propeller retracting devices respectively correspond to the folding propeller of the unmanned aerial vehicle;
the paddle collecting device is arranged on the lifting platform, and a first through hole for lifting the paddle collecting device is formed in the parking platform;
a driving device, which comprises a rotating motor, a power belt wheel, a synchronous belt wheel and a synchronous belt, the power belt wheels are rotatably arranged on the table board of the lifting platform, the synchronous belt wheels are arranged below the paddle collecting device and rotatably arranged on the table board of the lifting platform, and a plurality of synchronous belt wheels are arranged, the synchronous belt wheels are in one-to-one correspondence with the propeller retracting devices, the synchronous belts are sleeved on the synchronous belt wheels and the power belt wheels, so as to form a belt transmission structure, the rotating motor is arranged at the bottom of the lifting platform, the output end of the rotating motor is connected with the power belt wheel, wherein the synchronous belt wheel is connected with the lower paddle-retracting seat through a vertically arranged paddle-retracting shaft, the bottom end of the paddle-retracting shaft is connected with the synchronous belt wheel through a bearing, after the oar retracting device is driven by the driving device, the long oar retracting rod and the short oar retracting rod rotate and retract the oar.
2. The fully automatic synchronous folding paddle folding and positioning device as claimed in claim 1, wherein: the lifting platform comprises a platform frame and a synchronous lifter, the platform frame is erected on the ground, the synchronous lifter is installed on the platform frame, and the lifting end of the synchronous lifter is fixedly connected with the bottom of the table board of the lifting platform through a screw, so that the table board of the lifting platform is driven by the synchronous lifter to lift.
3. The fully automatic synchronous folding paddle folding and positioning device as claimed in claim 2, wherein: the platform that is equipped with vertical setting between berth platform and the platform frame founds the frame, the bottom rigid coupling of platform founds the frame is on the top of platform frame, the top rigid coupling of platform founds the frame is in the bottom of berth platform, just set up the second through-hole that supplies the platform to found the frame and pass on lift platform's the mesa.
4. The full-automatic synchronous folding paddle folding and positioning device as claimed in claim 3, wherein: the bottom of the parking platform is connected with a horizontally arranged parking bottom plate, the parking bottom plate is fixedly connected with the parking platform through screws, and the top of the platform upright frame is fixedly connected to the bottom of the parking bottom plate through screws.
5. The fully automatic synchronous folding paddle folding and positioning device as claimed in claim 1, wherein: the utility model discloses a docking platform, including docking platform, oar device, docking platform, hole length direction, docking platform, it is square mesa to receive the platform, receive the oar device and set up a set ofly respectively in four corners of docking platform, the first through-hole that corresponds on the docking platform is long type hole, and the hole length direction of four first through-holes is anticlockwise trend along the girth direction of docking platform.
6. The fully automatic synchronous folding paddle folding and positioning device as claimed in claim 1, wherein: the upper part of the upper oar retracting seat is provided with an oar position retracting cover, the bottom of the oar position retracting cover is provided with an inserted rod, the inserted rod penetrates through the upper oar retracting seat and is connected in the lower oar retracting seat in a sliding manner, the upper oar retracting seat forms a downward stopping position of the oar position retracting cover, and a pressure spring is arranged at the bottom end of the inserted rod in the lower oar retracting seat.
7. The full-automatic synchronous folding paddle folding and positioning device as claimed in claim 6, wherein: and a through hole for the short oar-retracting rod to vertically and upwards pass through is formed in the oar position returning cover.
8. The full-automatic synchronous folding paddle folding and positioning device as claimed in claim 6, wherein: the rotating block is rotatably connected to the upper oar collecting seat, the oar position returning cover is provided with a sliding hole through which the long oar collecting rod vertically and upwards passes and can rotate to one side to leave the oar position returning cover, and the rotating block is connected with the upper oar collecting seat through a torsion spring.
9. The fully automatic synchronous folding paddle folding and positioning device as claimed in claim 1, wherein: the top ends of the long and short oar retracting rods are fixedly and integrally formed into a spherical structure.
10. A folding method, which uses a fully automatic folding paddle synchronous folding positioning device as claimed in any one of claims 1 to 9, and is characterized in that the folding method comprises the following steps:
s1, controlling the unmanned aerial vehicle to stop on the parking platform, starting to control the lifting platform to move upwards, and driving the propeller retracting device to ascend synchronously;
s2, controlling the height of the paddle retracting device to enable the long paddle retracting rod to be higher than the folding paddle and the short paddle retracting rod to be lower than the folding paddle, and stopping the lifting platform from rising;
s3, starting paddle shifting movement, controlling a rotating motor to start, and enabling a synchronous belt wheel to synchronously rotate along with a power belt wheel under the action of belt transmission based on the belt transmission of a synchronous belt, wherein the paddle retracting device synchronously rotates at the moment;
when the paddle retracting device rotates for more than half a circle and the central axis of the folding paddle, the axis of the long paddle retracting rod and the axis of the short paddle retracting rod are positioned on the same plane, the rotating motor is stopped;
s4, starting to move the paddles, controlling the lifting platform to continue to move upwards until the short retracting paddle rod is higher than the folding paddle, and then controlling the rotating motor to start;
when the paddle retracting device rotates for less than one circle and the width between the axis of the long paddle retracting rod and the axis of the short paddle retracting rod is just slightly larger than the width of the folded paddle, stopping to finish the synchronous paddle retracting movement of the folded paddle;
s5, returning the paddle collecting device, controlling the lifting platform to move downwards, synchronously descending the paddle collecting device until the long paddle collecting rod is lower than the folding paddle and the paddle collecting device is higher than the parking platform and stops, and then controlling the rotating motor to start to synchronously rotate the paddle collecting device until the paddle collecting device rotates to the initial position and stops;
and S6, controlling the lifting platform to move downwards continuously, enabling the oar collecting device to descend synchronously until the long oar collecting rod is lower than the parking platform, and stopping, wherein the oar position is covered under the action of a pressure spring and is tightly pressed at the bottom of the parking bottom plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110106022.6A CN112706941A (en) | 2021-01-26 | 2021-01-26 | Full-automatic synchronous folding paddle folding and positioning device and folding method |
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| CN202110106022.6A CN112706941A (en) | 2021-01-26 | 2021-01-26 | Full-automatic synchronous folding paddle folding and positioning device and folding method |
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| CN112706941A true CN112706941A (en) | 2021-04-27 |
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| CN202110106022.6A Pending CN112706941A (en) | 2021-01-26 | 2021-01-26 | Full-automatic synchronous folding paddle folding and positioning device and folding method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113183859A (en) * | 2021-05-27 | 2021-07-30 | 广州市华科尔科技股份有限公司 | Vehicle-mounted unmanned aerial vehicle mobile companion aircraft nest and control method thereof |
| CN116834998A (en) * | 2023-06-29 | 2023-10-03 | 珠海市双捷科技有限公司 | Automatic pitch-taking device, rotor unmanned aerial vehicle, parking apron and pitch-taking method |
-
2021
- 2021-01-26 CN CN202110106022.6A patent/CN112706941A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113183859A (en) * | 2021-05-27 | 2021-07-30 | 广州市华科尔科技股份有限公司 | Vehicle-mounted unmanned aerial vehicle mobile companion aircraft nest and control method thereof |
| CN116834998A (en) * | 2023-06-29 | 2023-10-03 | 珠海市双捷科技有限公司 | Automatic pitch-taking device, rotor unmanned aerial vehicle, parking apron and pitch-taking method |
| CN116834998B (en) * | 2023-06-29 | 2023-11-28 | 珠海市双捷科技有限公司 | Automatic pitch-taking device, rotor unmanned aerial vehicle, parking apron and pitch-taking method |
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