CN112758342A

CN112758342A - Automatic recovery, release and charging device and method for multi-rotor unmanned aerial vehicle

Info

Publication number: CN112758342A
Application number: CN202011601652.2A
Authority: CN
Inventors: 刘鹏; 马永杰; 邓伟; 蒋庆林; 温京亚; 张天鹏; 褚东志
Original assignee: Oceanographic Instrumentation Research Institute Shandong Academy of Sciences
Current assignee: Oceanographic Instrumentation Research Institute Shandong Academy of Sciences
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-05-07
Anticipated expiration: 2040-12-30
Also published as: CN112758342B

Abstract

The invention discloses an automatic recovery, release and charging device and method for a multi-rotor unmanned aerial vehicle, wherein the device comprises a retraction rod fixed at the top of the multi-rotor unmanned aerial vehicle and a retraction device fixed on a recovery platform; a charging contact is arranged on the rod body of the take-up and pay-off rod, an elastic cushion layer is sleeved on the rod body outside the charging contact, and a hole corresponding to the charging contact is formed in the elastic cushion layer; the collecting and releasing device comprises a mounting frame, a net body part, a power transmission part and a controller, wherein the mounting frame is connected with the recovery platform; a first clamping charging head is arranged at the corner of the front end of each grid of the upper net body, and a second clamping charging head is arranged at the corner of the rear end of each grid of the lower net body; the power transmission part comprises a motor, a self-locking transmission device, a driving gear, a driven gear and a lead screw nut. The device and the method disclosed by the invention have the advantages of simple structure, rapid and reliable clamping and releasing actions, low requirement on positioning precision of the unmanned aerial vehicle, and capability of automatically charging the unmanned aerial vehicle while firmly clamping.

Description

Automatic recovery, release and charging device and method for multi-rotor unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicle recovery and release, in particular to an automatic recovery, release and charging device and method for a multi-rotor unmanned aerial vehicle.

Background

In recent years, multi-rotor unmanned aerial vehicles are rapidly developed and widely applied to civil fields such as entertainment, logistics, monitoring and rescue and military fields. Moreover, for fixed wing unmanned aerial vehicle, many rotor unmanned aerial vehicle have more outstanding advantage, for example small, the noise is little, disguise is good, release and retrieve and require the place little, and functional module is abundant, controls simply, the sexual valence relative altitude, and easy large-scale team formation etc.. Especially, under the background that the current 5G technology is gradually applied, the application of a large-scale unmanned aerial vehicle group becomes an unblocked trend, and becomes a new trend for the development of multi-rotor unmanned aerial vehicles. However, large-scale unmanned aerial vehicle groups cannot release, charge and recover one by one in a manual mode, and development and application of an automatic unmanned aerial vehicle recovery, charge and release technology are urgently needed.

Although limited by the inherent conditions, the multi-rotor unmanned aerial vehicle has great defects in the aspects of flight speed, load capacity, endurance mileage and the like, the defects can be easily overcome by combining the multi-rotor unmanned aerial vehicle with a mobile platform (such as a vehicle or a helicopter, and the like, which can be used as a communication transfer station or a command center), and the application scene is greatly expanded. However, the unmanned aerial vehicle can be released and recovered smoothly through the mobile platform and can be carried to move through a device. In addition, because the displacement uncertainty of the mobile platform and the flight state of the multi-rotor unmanned aerial vehicle in a complex environment are not easy to accurately position, the device also has to have sufficient recovery fault-tolerant capability.

Disclosure of Invention

In order to solve the technical problems, the invention provides an automatic recovery, release and charging device and method for a multi-rotor unmanned aerial vehicle, so that the purposes of simple structure, rapid and reliable clamping and release actions, low requirement on positioning accuracy of the unmanned aerial vehicle, capability of being integrally assembled and disassembled as a module, and capability of automatically charging the unmanned aerial vehicle while firmly clamping are achieved.

In order to achieve the purpose, the technical scheme of the invention is as follows:

an automatic recovery, release and charging device for a multi-rotor unmanned aerial vehicle comprises a retraction rod fixed at the top of the multi-rotor unmanned aerial vehicle and a retraction device fixed on a recovery platform; a charging contact is arranged on the rod body of the take-up and pay-off rod, an elastic cushion layer is sleeved on the rod body outside the charging contact, and a hole corresponding to the charging contact is formed in the elastic cushion layer;

the collecting and releasing device comprises a mounting frame, a net body part, a power transmission part and a controller, wherein the mounting frame is connected with the recovery platform; the lower net body is connected with the mounting frame through a support rod, the front end of the lower net body is fixedly connected with the rear pressing plate, and the rear end of the lower net body is connected with the guide rod; the ball screw penetrates through the rear pressing plate, and the guide rod penetrates through the guide hole; a first clamping charging head is arranged at the corner of the front end of each grid of the upper net body, and a second clamping charging head is arranged at the corner of the rear end of each grid of the lower net body;

the power transmission part comprises a motor, a self-locking transmission device, a driving gear, a driven gear and a lead screw nut, the motor is connected with the driving gear through the self-locking transmission device, the driving gear is meshed with the driven gear, the driven gear is fixedly connected with the lead screw nut, the lead screw nut is positioned on a ball screw, a front thrust bearing and a rear thrust bearing are respectively arranged on the front side and the rear side of the lead screw nut, the front thrust bearing is connected with a front pressing plate, the rear thrust bearing is connected with a rear pressing plate, and the front pressing plate is fixedly connected with the rear pressing plate through bolts;

the folding and unfolding rod is of a hollow structure, a conical boss is arranged at the top of the folding and unfolding rod, a base connected with the multi-rotor unmanned aerial vehicle is arranged at the bottom of the folding and unfolding rod, and a charging connection point is arranged on the base; the rear end of the limiting plate is provided with a strip hole, and a supporting rod positioned at the rear end of the lower net body is positioned in the strip hole.

In the above scheme, the self-locking transmission device is a one-way self-locking transmission device or a two-way self-locking transmission device.

Furthermore, the bidirectional self-locking transmission device comprises a driving shaft, a driven shaft and a fixing ring, the driving shaft is connected with the motor shaft, the driven shaft is connected with the driving gear, and the fixing ring is fixed on the mounting frame through a mounting seat; a driving shaft bearing is arranged between the driving shaft and the fixing ring, a driven shaft bearing is arranged between the driven shaft and the fixing ring, and a torsion spring is connected between the driving shaft and the driven shaft;

the driving shaft comprises an input end and an active matching end matched with the driven shaft, the active matching end is provided with a hollow cavity, two fan-shaped blocks are oppositely arranged in the hollow cavity along the radial direction, and two first shaft pins are arranged between the fan-shaped blocks on the end surface of one side in the hollow cavity;

the driven shaft comprises an output end and a driven matching end matched with the driving shaft, a cylindrical blind hole used for accommodating the driving matching end is formed in the end face of the driven matching end, a pair of square holes I communicated with the cylindrical blind hole are formed in the side face of the driven matching end, and a pair of wedge-shaped grooves communicated with the square holes I are further formed in the opening end face of the cylindrical blind hole;

a stop rod is movably arranged in each square hole I, a compression spring is connected between the two stop rods, a second pin shaft is arranged on each stop rod, a connecting part is arranged between the adjacent first pin shaft and the adjacent second pin shaft, and the stop rods, the compression springs and the connecting parts are all positioned in the hollow cavities and the cylindrical blind holes;

a plurality of square holes II are formed in the ring surface of the fixing ring, and one end of the stop rod can be inserted into the square holes II.

In the above scheme, the top of the rear pressure plate is fixedly arranged on the mounting frame.

In the above scheme, the controller is mounted on the mounting frame.

In the above scheme, the upper net body, the lower net body and the supporting rod are both hollow structures, and the charging circuit is arranged inside and connected with the controller.

The automatic recovery, release and charging device for the multi-rotor unmanned aerial vehicle comprises a recovery charging process and a release process, wherein meshes of an upper net body and meshes of a lower net body are aligned before the multi-rotor unmanned aerial vehicle is recovered; the recycling charging process is as follows:

when the multi-rotor unmanned aerial vehicle flies below a lower net body, the multi-rotor unmanned aerial vehicle automatically moves upwards to enable the retractable rods to be inserted into the net holes, after the tops of the retractable rods touch a limiting plate, a signal is sent to the controller, the motor is started to rotate in the forward direction, the driving gear, the driven gear and the screw nut are driven to rotate through the self-locking transmission device, and the ball screw and the upper net body horizontally move backwards due to the fact that the position of the screw nut is fixed;

the upper net body moves backwards and horizontally to enable the mesh where the retractable rod is located to be reduced, so that the retractable rod is clamped, the elastic cushion layer on the retractable rod is compressed, the charging contact is exposed and is in contact with the first clamping charging head and the second clamping charging head on the upper net body and the lower net body, the mesh is further reduced, the elastic cushion layer is compressed to the minimum, the charging contact is in close contact with the clamping charging heads, and at the moment, the upper net body reaches a preset position, and the retractable rod is clamped;

after the controller receives a signal that the upper net body reaches a preset position, the power supply of the motor is cut off, the self-locking transmission device acts to ensure that the upper net body and the lower net body cannot release the clamping of the winding and unwinding rod, then the self-locking transmission device sends a signal that the clamping is firm to the controller, and the controller informs the unmanned aerial vehicle to stop;

the release process is as follows:

when many rotor unmanned aerial vehicle of needs release, the controller at first notifies many rotor unmanned aerial vehicle of centre gripping to start, then control motor antiport, through auto-lock transmission, drive the driving gear, driven gear and screw nut are rotatory, screw nut rigidity, the event ball drives the body of surfing the net and moves forward, make the mesh at receipts and release pole place enlarge, the elasticity bed course on the pole that receive and releases this moment recovers the shape under the elastic action, when the body of surfing the net moves foremost, to the controller signals, the controller cuts off the motor power, at last many rotor unmanned aerial vehicle fly out downwards, break away from receiving and releasing device.

In the scheme, in the recycling and charging process, the motor rotates forwards, the motor shaft drives the driving shaft of the bidirectional self-locking transmission device to rotate, the driving shaft drives the stop rod to pull back through the connecting rod, and then the driven shaft is driven to rotate together; after the retractable rod is clamped, the power supply of the motor is cut off, the compression spring of the bidirectional self-locking transmission device pushes the stop rod outwards, and the upper net body slightly moves forwards under the action of the expansion force of the elastic cushion layer of the retractable rod and external vibration, so that the stop rod of the bidirectional stopper is immediately clamped into the nearest hole of the fixing ring, and the clamping of the retractable rod by the upper net body and the lower net body is ensured not to be released; in the releasing process, the motor rotates reversely, the motor shaft drives the driving shaft of the bidirectional self-locking transmission device to rotate reversely to pull the stop rod back, and then the driven shaft is continuously driven to rotate reversely.

Through the technical scheme, the automatic recovery, release and charging device and method for the multi-rotor unmanned aerial vehicle have the following beneficial effects:

1. the recovery, release and charging device can be integrally assembled and disassembled as a module, so that the recovery and charging of the multi-rotor unmanned aerial vehicle can be realized, and the multi-rotor unmanned aerial vehicle can be flexibly released for multiple times.

2. The device is suitable for recovering and releasing the multi-rotor unmanned aerial vehicle on the fixed platform and is also suitable for recovering and releasing the multi-rotor unmanned aerial vehicle on the aerial mobile platform.

3. The device provided by the invention has the advantages that the clamping and loosening of the charging heads clamped on the mesh holes to the retractable rods are realized by adopting the relative motion of the upper mesh body and the lower mesh body, so that the multi-rotor unmanned aerial vehicle is recovered and released, the structure is simple, the size is small, meanwhile, the space of the mesh holes is large, the requirement on the positioning precision of the multi-rotor unmanned aerial vehicle in a flying state is low, and the device is particularly suitable for recovering the multi-rotor unmanned aerial vehicle on an aerial mobile platform.

4. The invention adopts the self-locking transmission device to realize the self-locking function, ensures that the torque can only be transmitted from the driving shaft to the driven shaft, and ensures that the retractable rod cannot fall off from the device.

5. The conical boss is arranged at the top of the retractable rod and can hook the mesh, so that the retractable rod of the multi-rotor unmanned aerial vehicle can be further ensured not to fall off from the device, and the conical boss is conical at the top end and can be conveniently inserted into the mesh of the upper net body and the lower net body.

6. The elastic cushion layer on the retractable rod can increase friction force during clamping so as to facilitate clamping, and can automatically push the conical boss away from the upper net body and the lower net body during releasing so as to prevent the conical boss from hooking meshes, and in addition, the charging contact can be protected.

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.

FIG. 1 is an assembly view of a bi-directional self-locking transmission device according to an embodiment of the present invention;

FIG. 2 is an exploded view of a bi-directional self-locking actuator according to an embodiment of the present invention;

FIG. 3a is a schematic view of the structure of the driving shaft;

FIG. 3b is a cross-sectional view of the hollow cavity of the driving shaft;

FIG. 4a is a first schematic structural view of a driven shaft;

FIG. 4b is a second schematic structural view of the driven shaft;

FIG. 5a is a schematic view of a retaining ring structure;

FIG. 5b is a radial cross-sectional view of the retaining ring;

FIG. 6a is a view of a retaining ring plus a flange plate;

FIG. 6b is a view of the structure of the fixing ring and the mounting seat;

FIG. 7 is a schematic view of a torsion spring;

FIG. 8 is a schematic view of a stopper rod;

FIG. 9 is a schematic view of a link structure;

FIG. 10 is a schematic view of the transmission assembly with the retaining ring removed;

FIG. 11 is a schematic view of the connection of the driving shaft and the driven shaft;

FIG. 12 is a schematic view showing the connection relationship between the inside of the driving shaft;

FIG. 13 is a schematic view in section and in a viewing manner;

FIG. 14 is a cutaway schematic view of FIG. 13;

FIG. 15a is a plan view of the bi-directional self-locking transmission device in a self-locking state;

FIG. 15b is a perspective sectional view of the bi-directional self-locking transmission device in a self-locking state;

FIG. 16a is a plan view of the bi-directional self-locking actuator in an unlocked state;

FIG. 16b is a perspective sectional view of the bi-directional self-locking actuator in an unlocked state;

FIG. 17a is a plan view of the bi-directional self-locking actuator in a normal rotation state;

FIG. 17b is a perspective sectional view of the bi-directional self-locking actuator in a normal rotation state;

fig. 18 is an overall schematic view of a multi-rotor drone and a retraction device;

FIG. 19 is a schematic view of the retracting device;

figure 20 is a schematic view of a multi-rotor drone;

FIG. 21 is a schematic view of the retractable rod in a disassembled configuration;

FIG. 22 is a first schematic view of a partial structure of the upper net body;

fig. 23 is a schematic view of a partial structure of the upper net body;

FIG. 24 is a schematic view of a lower mesh portion;

FIG. 25 is a schematic view of the power transmission portion;

FIG. 26 is a partial schematic view of the mounting bracket and motor;

fig. 27 is a schematic view showing a state where the retractable lever is clamped (a hidden stopper plate).

In the figure, 1, a driving shaft; 2. a drive shaft bearing; 3. a first bearing retainer ring; 4. a torsion spring; 5. a fixing ring; 6. a driven shaft; 7. a driven shaft bearing; 8. a second bearing retainer ring; 9. a compression spring; 10. a stopper rod; 11. a connecting rod; 12. an input end; 13. An active mating end; 14. a hollow cavity; 15. a sector block; 16. a sector; 17. a first pin shaft; 18. a first shaft shoulder; 19. a first retaining ring groove; 20. an output end; 21. a driven mating end; 22. a cylindrical blind hole; 23. a first square hole; 24. a wedge-shaped groove; 25. a second shaft shoulder; 26. a second retainer groove; 27. a fixed shaft; 28. a second pin shaft; 29. a first mounting hole; 30. a second mounting hole; 31. a third mounting hole; 32. a second square hole; 33. a shaft shoulder III; 34. a shaft shoulder IV; 35. a flange plate; 36. a mounting seat; 37. a multi-rotor unmanned aerial vehicle; 38. a retracting device; 39. a rod is retracted and released; 40. a charging contact; 41. an elastic cushion layer; 42. opening a hole; 43. a conical boss; 44. a mounting frame; 45. a controller; 46. a net body is arranged; 47. a lower net body; 48. a connecting rod; 49. a limiting plate; 50. a ball screw; 51. a guide hole; 52. a support bar; 53. a rear pressing plate; 54. a guide bar; 55. a strip hole; 56. clamping the charging head I; 57. clamping a second charging head; 58. a motor; 59. a bidirectional self-locking transmission device; 60. a driving gear; 61. a driven gear; 62. a lead screw nut; 63. a front thrust bearing; 64. a rear thrust bearing; 65. a front platen; 66. a bolt; 67. a base; 68. a charging connection point; 69. and (5) reinforcing ribs.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The invention provides an automatic recovery, release and charging device for a multi-rotor unmanned aerial vehicle, which comprises a retractable rod 39 fixed at the top of a multi-rotor unmanned aerial vehicle 37 shown in fig. 20 and a retractable device 38 fixed on a recovery platform, as shown in fig. 18.

As shown in fig. 21, a charging contact 40 is disposed on the rod body of the retraction rod 39, an elastic cushion 41 is sleeved on the rod body outside the charging contact 40, an opening 42 corresponding to the charging contact 40 is formed in the elastic cushion 41, and when the elastic cushion 41 is squeezed, the charging contact 40 is exposed to contact with the first clamping charging head 56 and the second clamping charging head 57 on the upper net body 46 and the lower net body 47 for charging. Receive and release pole 39 and be hollow structure, the top sets up toper boss 43, and toper boss 43 can catch on the mesh, can further guarantee that many rotor unmanned aerial vehicle 37's receive and release pole 39 can not drop from the device. Receive and release pole 39 bottom and be equipped with the base 67 of being connected with many rotor unmanned aerial vehicle 37, set up charging connection point 68 on the base 67, still set up strengthening rib 69 on the base.

As shown in fig. 19, the retraction mechanism 38 includes a mounting bracket 44 connected to the recovery platform, a net body portion, a power transmission portion and a controller 45. The net body part comprises an upper net body 46 and a lower net body 47, as shown in fig. 22 and 23, the upper net body 46 is connected with an upper limit plate 49 through a connecting rod 48, the front end of the upper net body 46 is fixedly connected with a ball screw 50, and the rear end is provided with a guide hole 51. As shown in fig. 24, the lower net body 47 is connected to the mounting frame 44 through a support rod 52, the front end of the lower net body 47 is fixedly connected to a rear pressing plate 53, and the rear end is connected to a guide rod 54; the ball screw 50 passes through the rear platen 53, and the guide rod 54 passes through the guide hole 51; the rear end of the limit plate 49 is provided with a long hole 55, and a support rod 52 positioned at the rear end of the lower net body 47 is positioned in the long hole 55.

The front end corner of each grid of the upper net body 46 is provided with a first clamping charging head 56, the rear end corner of each grid of the lower net body 47 is provided with a second clamping charging head 57, the space of the grids can be changed in the front-back moving process of the upper net body 46, and the first clamping charging head 56 and the second clamping charging head 57 are used for clamping charging or releasing the retractable rod 39.

As shown in fig. 25, the power transmission portion includes a motor 58, a self-locking transmission device, a driving gear 60, a driven gear 61 and a screw nut 62, the motor 58 is connected with the driving gear 60 through the self-locking transmission device, the driving gear 60 is engaged with the driven gear 61, the driven gear 61 is fixedly connected with the screw nut 62, the screw nut 62 is located on the ball screw 50, a front thrust bearing 63 and a rear thrust bearing 64 are respectively installed on the front side and the rear side of the screw nut 62, the front thrust bearing 63 is connected with a front pressing plate 65, the rear thrust bearing 64 is connected with a rear pressing plate 53, and the front pressing plate 65 is fixedly connected with the rear pressing plate 53 through. The top of the rear pressing plate 53 is fixedly mounted on the mounting bracket 44 and serves as a supporting rod of the mounting bracket 44. With the above structure, when the driven gear 61 drives the screw nut 62 to rotate, the screw nut 62 is fixed by the front thrust bearing 63, the rear thrust bearing 64, the front pressure plate 65 and the rear pressure plate 53, and can only rotate but can not translate, so the ball screw 50 drives the upper net body 46 to move back and forth.

As shown in fig. 26, the mounting bracket 44 is formed by welding channel steel into a cross shape, and the retractable device is fixed and quickly detachable with a fixed platform or a mobile platform (such as an airplane) through the mounting bracket 44. . The controller 45 is fixed below the mounting rack 44, integrates a power interface and a signal interface, is connected with the motor 58 and various sensors, and can be quickly connected with an external power supply and a signal processing device.

In this embodiment, the frames of the upper net body 46 and the lower net body 47 and the support rod 52 are all hollow structures, and the charging lines are arranged inside the hollow structures and connected with the controller 45.

The self-locking transmission device can be a one-way self-locking transmission device or a two-way self-locking transmission device.

In the embodiment, a bidirectional self-locking transmission device is adopted, as shown in fig. 1 and 2, and comprises a driving shaft 1, a driving shaft bearing 2, a first bearing retainer 3, a torsion spring 4, a fixing ring 5, a driven shaft 6, a driven shaft bearing 7, a second bearing retainer 8, a compression spring 9, a stop rod 10 and a connecting rod 11. As shown in fig. 10, a driving shaft bearing 2 is provided between the driving shaft 1 and the fixed ring 5, and a driven shaft bearing 7 is provided between the driven shaft 6 and the fixed ring 5, and as shown in fig. 11, a torsion spring 4 is connected between the driving shaft 1 and the driven shaft 6.

As shown in fig. 3a and 3b, the driving shaft 1 includes an input end 12 and a driving mating end 13 that mates with the driven shaft 6, the driving mating end 13 is provided with a hollow cavity 14, the hollow cavity 14 is enclosed by two sides in the axial direction and two upper and lower segments 15, as shown in fig. 12, two stop rods 10, two connecting rods 11 and one compression spring 9 can be accommodated therein to move; the two rectangular surfaces of the segments 15 can be brought into close contact with the lateral surfaces of the locking lever 10 and transmit the torque to the output shaft 6 via the locking lever 10.

A concave sector 16 is arranged on the end face of one side in the hollow cavity 14, a first pin 17 is arranged on each sector 16, the first pin 17 can be hinged with a third mounting hole 31 at one end of the connecting rod 11, and the concave sector 16 provides a space for the connecting rod 11 to rotate within a certain angle range.

Set up shoulder 18 between input 12 of driving shaft 1 and the initiative cooperation end 13, input 12 of driving shaft 1 sets up retainer groove 19, the embedded retaining ring 3 that has of retainer groove 19, driving shaft bearing 2 installs on driving shaft 1, lie in between retaining ring 3 and shoulder 18, the inner circle of driving shaft bearing 2 passes through retaining ring 3 and shoulder 18 is fixed, the outer circle passes through the shoulder three 33 of solid fixed ring 5 and fixes for solid fixed ring 5 and the relative rotary motion of driving shaft 1.

As shown in fig. 4a and 4b, the driven shaft 6 includes an output end 20 and a driven mating end 21 that mates with the driving shaft 1, a cylindrical blind hole 22 is formed on an end surface of the driven mating end 21, the cylindrical blind hole 22 is used for accommodating the driving mating end 13 of the driving shaft 1 to rotate therein, a pair of square holes one 23 that are communicated with the cylindrical blind hole 22 is formed on a side surface of the driven mating end 21, and the square holes one 23 is used for accommodating the stop rods 10 to slide in a telescopic manner along a radial direction therein. The open end face of the cylindrical blind hole 22 is also provided with a pair of wedge-shaped grooves 24 communicated with the first square hole 23, and the wedge-shaped grooves 24 are used for accommodating the connecting rod 11 to swing in the wedge-shaped grooves.

Set up shaft shoulder two 25 between output 20 of driven shaft 6 and the driven cooperation end 21, second 26 of retaining ring groove is seted up to output 20 of driven shaft 6, second 26 of retaining ring groove is embedded to have bearing retainer ring two 8, driven shaft bearing 7 installs on driven shaft 6, lies in between bearing retainer ring two 8 and shaft shoulder two 25, and the inner circle of driven shaft bearing 7 passes through bearing retainer ring two 8 and shaft shoulder two 25 is fixed, and the outer lane is fixed through the shaft shoulder four 34 of solid fixed ring 5 for solid fixed ring 5 and driven shaft 6's relative rotary motion.

A first mounting hole 29 is formed in one side surface of the first shaft shoulder 18 facing the driving mating end 13, a second mounting hole 30 is formed in the end surface of the driven mating end 21, and two ends of the torsion spring 4 shown in fig. 7 are respectively embedded in the first mounting hole 29 and the second mounting hole 30.

And a stop rod 10 is movably arranged in each square hole I23, as shown in fig. 8, a fixed shaft 27 is arranged at the bottom of each stop rod 10, and two ends of the compression spring 9 are respectively sleeved on the fixed shafts 27 of the two stop rods 10 to push the two stop rods 10 outwards. The middle part of the stop rod 10 is provided with a second pin 28, a connecting rod is arranged between the first pin 17 and the second pin 28, and as shown in fig. 9, two ends of the connecting rod 11 are respectively provided with a third mounting hole 31 hinged with the first pin 17 and the second pin 28. The stop rod 10, the compression spring 9 and the connecting rod are all located within the hollow cavity 14 and the cylindrical blind bore 22. Alternatively, the link 11 may be replaced with a strong string.

As shown in fig. 5a and 5b, the ring surface of the fixing ring 5 is provided with a plurality of second square holes 32, and one end of the stopping rod 10 can be inserted into the second square holes 32. The inner surface of the fixed ring 5 is provided with a third shoulder 33 and a fourth shoulder 34 for fixing the driving shaft bearing 2 and the driven shaft bearing 7, respectively. As shown in fig. 6a and 6b, the fixing ring 5 is externally provided with a flange 35 or a mounting seat 36 to facilitate fixing thereof to the base of other equipment.

To better illustrate the movement of the internal components of the device during use, the device is cut away leaving only one side and showing one side of the section, as shown in figures 13 and 14.

First, assuming that the initial state of the device is a self-locking state, as shown in fig. 15a and 15b, there is no input torque to the driving shaft 1, no relative rotational displacement between the driving shaft 1 and the driven shaft 6, no deformation of the torsion spring 4, and two stopper rods 10 are pushed out of the driven shaft 6 by the compression spring 9 and extend into the square holes of the stopper rings, respectively.

When a torque in any direction is input to the driveshaft 1 (here, a clockwise torque is assumed), the driveshaft 1 will rotate with the torque. The driving shaft 1 first pulls the two stopper rods 10 inwardly against the resistance of the compression spring 9 by the link 11 to be separated from the second square holes 32 of the fixed ring 5, and releases the locking of the driven shaft 6, as shown in fig. 16a and 16 b. At this time, the driving shaft 1 rotates for a certain angular displacement relative to the driven shaft 6, and the torsion spring 4 is deformed accordingly.

Then, the driving shaft 1 continues to rotate, one side surface of each of the two segments 15 in the hollow cavity 14 is attached to one side surface of one of the stop rods 10, and the torque is transmitted to the driven shaft 6 through the stop rods 10, so that the driven shaft 6 is driven to rotate, as shown in fig. 17a and 17 b. Under the action of the rotation resistance of the driven shaft 6 and other loads, the compression spring 9 and the torsion spring 4 are always in a deformation state of unlocking, and the angular displacement of the driving shaft 1 and the driven shaft 6 is also kept unchanged, so that the stop rod 10 cannot slide outwards and extend into the second square hole 32 of the fixing ring 5, and the normal rotation of the device cannot be influenced.

When the torque of the driving shaft 1 disappears, the torsion spring 4 firstly overcomes the rotation inertia, the rotation resistance and the like of the driving shaft 1 to drive the driving shaft 1 to rotate reversely relative to the driven shaft 6 until the angular displacement of the driving shaft 1 and the driven shaft 6 disappears, and the torsion spring 4 restores to the original state. At the same time, the compression spring 9 urges the stopper rod 10 to project outward in the radial direction of the driven shaft 6. At this time, the stopper rod 10 may be pressed against the inner circular ring side of the fixed ring 5 instead of being directly inserted into the second square hole 32 of the fixed ring 5, but as long as the driven shaft 6 has a slight rotation in any direction (e.g., a reverse rotation under a load), the stopper rod 10 will be immediately inserted into the nearest second square hole 32 of the fixed ring 5, thereby returning to the self-locking state.

In the self-locking state, if the driving shaft 1 has no input torque, the stop rod 10 is simultaneously clamped in the driven shaft 6 and the second square hole 32 of the fixing ring 5, so that the driven shaft 6 cannot rotate no matter what direction the load is applied to the driven shaft 6, and the driven shaft 6 is locked to realize the preset function of the device.

In addition, due to the limitation of size and structural strength, the number of the second square holes 32 of the fixing ring 5 is limited, the device cannot realize instant self-locking at any position, but the influence of self-locking idle stroke on load positioning can be greatly reduced by adding a gear pair with a large transmission ratio in transmission (such as between the driving shaft 1 and the motor 58 or between the driven shaft 6 and a load), and the precision of the locking position of the device is improved.

The recovery, release and charging method of the multi-rotor unmanned aerial vehicle 37 comprises a recovery charging process and a release process, wherein before the multi-rotor unmanned aerial vehicle 37 is recovered, meshes of an upper net body 46 and a lower net body 47 are in an aligned state; the recycling and charging process is as follows:

after the multi-rotor unmanned aerial vehicle 37 flies below the lower net body 47 (the relative position of the unmanned aerial vehicle and the device can be determined through visual identification or other modes), the multi-rotor unmanned aerial vehicle moves upwards automatically to enable the retraction rod 39 to be inserted into the net hole, after the top of the retraction rod 39 touches the limiting plate 49, a signal is sent to the controller 45, the motor 58 is started to rotate in the forward direction, the motor 58 drives the driving shaft of the bidirectional self-locking transmission device 59 to rotate, the driving shaft drives the stop rod to pull back through the connecting rod, then the driven shaft rotates together, so that the driving gear 60, the driven gear 61 and the lead screw nut 62 are driven to rotate, and the position of the lead screw nut 62 is fixed, so that the ball screw 50 and the upper net body 46 move horizontally;

the upper net body 46 moves backwards and horizontally to enable the mesh of the retraction rod 39 to be reduced, so that the retraction rod 39 is clamped, the elastic cushion layer 41 on the retraction rod 39 is compressed, the charging contact 40 is exposed, the elastic cushion layer is contacted with the clamping charging head I56 and the clamping charging head II 57 on the upper net body 46 and the lower net body 47, the mesh is further reduced, the elastic cushion layer 41 is compressed to the minimum, the charging contact 40 is also tightly contacted with the clamping charging head I, at the moment, the upper net body 46 reaches a preset position, and the retraction rod 39 is clamped, as shown in fig. 27;

after the controller 45 receives the signal that the upper net body 46 reaches the preset position, the power supply of the motor 58 is cut off, the compression spring of the bidirectional self-locking transmission device 59 pushes the stop rod outwards, the upper net body 46 moves forwards slightly under the expansion force of the elastic cushion 41 of the retractable rod 39 and the external vibration effect, the stop rod of the bidirectional stopper is immediately clamped into the nearest hole of the fixing ring, the clamping of the retractable rod 39 by the upper net body 46 and the lower net body 47 is guaranteed not to be released, then the self-locking transmission device sends a signal that the clamping is firm to the controller 45, and the controller 45 informs the unmanned aerial vehicle of stopping.

The release process is as follows:

when the multi-rotor unmanned aerial vehicle 37 needs to be released, the controller 45 firstly informs the clamped multi-rotor unmanned aerial vehicle 37 to start, then the motor 58 is controlled to rotate reversely, the shaft of the motor 58 drives the driving shaft of the bidirectional self-locking transmission device 59 to rotate reversely to pull back the stop rod, then the shaft continues to drive the driven shaft to rotate reversely together, further the driving gear 60, the driven gear 61 and the screw nut 62 are driven to rotate, the screw nut 62 is fixed in position, therefore, the ball screw 50 drives the upper net body 46 to move forwards, the mesh where the retractable rod 39 is located is amplified, the elastic cushion 41 on the retractable rod 39 recovers the shape under the elastic action, when the upper net body 46 moves to the forefront end, a signal is sent to the controller 45, the power supply of the motor 58 is cut off by the controller 45, and finally the multi-rotor unmanned aerial vehicle 37 flies.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic recovery, release and charging device for a multi-rotor unmanned aerial vehicle is characterized by comprising a retraction rod fixed at the top of the multi-rotor unmanned aerial vehicle and a retraction device fixed on a recovery platform; a charging contact is arranged on the rod body of the take-up and pay-off rod, an elastic cushion layer is sleeved on the rod body outside the charging contact, and a hole corresponding to the charging contact is formed in the elastic cushion layer;

2. The automatic retrieving, releasing and charging device for multi-rotor unmanned aerial vehicle of claim 1, wherein the self-locking transmission device is a one-way self-locking transmission device or a two-way self-locking transmission device.

3. The automatic recycling, releasing and charging device for the multi-rotor unmanned aerial vehicle as claimed in claim 2, wherein the bidirectional self-locking transmission device comprises a driving shaft, a driven shaft and a fixing ring, the driving shaft is connected with the motor shaft, the driven shaft is connected with the driving gear, and the fixing ring is fixed on the mounting frame through a mounting seat; a driving shaft bearing is arranged between the driving shaft and the fixing ring, a driven shaft bearing is arranged between the driven shaft and the fixing ring, and a torsion spring is connected between the driving shaft and the driven shaft;

4. The automatic recovery, release and charging device of many rotor unmanned aerial vehicle of claim 1, characterized in that, back clamp plate top fixed mounting is in on the mounting bracket.

5. The automatic retrieving, releasing and charging device for multi-rotor unmanned aerial vehicle of claim 1, wherein the controller is mounted on the mounting bracket.

6. The automatic recovery, release and charging device of many rotor unmanned aerial vehicle of claim 1, characterized in that, the frame and the bracing piece of going up the dictyosome, lower dictyosome are hollow structure, and the inside charging circuit that lays links to each other with the controller.

7. A multi-rotor unmanned aerial vehicle recovery, release and charging method, which adopts the multi-rotor unmanned aerial vehicle automatic recovery, release and charging device of claim 3, and comprises a recovery charging process and a release process, wherein before the multi-rotor unmanned aerial vehicle is recovered, the meshes of an upper net body and a lower net body are in an aligned state; the recycling charging process is as follows:

the release process is as follows:

8. The recovery, release and charging method for the multi-rotor unmanned aerial vehicle according to claim 7, wherein in the recovery and charging process, the motor rotates forwards, the motor shaft drives the driving shaft of the bidirectional self-locking transmission device to rotate, the driving shaft drives the stop rod to pull back through the connecting rod, and then drives the driven shaft to rotate together; after the retractable rod is clamped, the power supply of the motor is cut off, the compression spring of the bidirectional self-locking transmission device pushes the stop rod outwards, and the upper net body slightly moves forwards under the action of the expansion force of the elastic cushion layer of the retractable rod and external vibration, so that the stop rod of the bidirectional stopper is immediately clamped into the nearest hole of the fixing ring, and the clamping of the retractable rod by the upper net body and the lower net body is ensured not to be released; in the releasing process, the motor rotates reversely, the motor shaft drives the driving shaft of the bidirectional self-locking transmission device to rotate reversely to pull the stop rod back, and then the driven shaft is continuously driven to rotate reversely.