CN113716040B - Unmanned aerial vehicle perching device and perching method - Google Patents
Unmanned aerial vehicle perching device and perching method Download PDFInfo
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- CN113716040B CN113716040B CN202111055163.6A CN202111055163A CN113716040B CN 113716040 B CN113716040 B CN 113716040B CN 202111055163 A CN202111055163 A CN 202111055163A CN 113716040 B CN113716040 B CN 113716040B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/68—Arrester hooks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention discloses an unmanned aerial vehicle stopping device and a stopping method, comprising a frame, a first clamping rod, a second clamping rod, a pressure rod, two flexible pipes and a pushing mechanism, wherein the frame is fixedly arranged on an unmanned aerial vehicle; the unmanned aerial vehicle flies to prop the strip or the bulk object below, and unmanned aerial vehicle upwards flies to prop the roof of messenger's depression bar and prop the object, and the flexible pipe resumes to the extension state to realize that first clamping lever and second clamping lever close, the clamping jaw centre gripping hangs and detects on strip or bulk object. Compared with the prior art, the invention realizes that the unmanned aerial vehicle clamps the object after propping up the strip-shaped or block-shaped object upwards, thereby realizing long-time stay. The first clamping rod and the second clamping rod can flexibly select a perching place according to the field condition of a investigation region, and are convenient to assemble and disassemble, better adapt to battlefield environments, difficult to expose targets and improve battlefield capacity.
Description
Technical Field
The invention relates to the technical field of military, in particular to an unmanned aerial vehicle stopping device and a stopping method.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle operated by radio remote control equipment and a self-provided program control device, has the advantages of wide application, low cost, higher efficiency, no casualties, good maneuvering performance, convenient use, small volume, low requirements on the battle environment, stronger battlefield viability and the like, has extremely important roles in modern war, and is widely applied to military tasks. At present, an unmanned plane carries out reconnaissance on a fixed area, usually flies according to a certain planned route or hovers at a fixed position, and by adopting the two modes, the unmanned plane cannot carry out reconnaissance for a long time due to the limitation of the duration of the unmanned plane, targets are easy to expose, and specific requirements are not met.
The existing aerial parking device of the unmanned aerial vehicle is shown as a Chinese patent CN205952315U, a hook is arranged at the top of the unmanned aerial vehicle, a parking rod in the air is specially arranged, and the hook can be hung on the parking rod. However, this method requires the stay bar to be set in advance, and the stay bar cannot be set in a strange or combat environment. And the hanger can not be stopped and hung on a strip-shaped or block-shaped object.
In view of this, the applicant has made intensive studies on the above-mentioned defects in the prior art.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle stopping device and a stopping method, which have the characteristics of stopping on a strip-shaped or block-shaped object for long-time reconnaissance, are not easy to expose targets, and can meet the requirements of specific reconnaissance.
In order to achieve the above object, the solution of the present invention is:
the unmanned aerial vehicle stopping device comprises a frame, a first clamping rod, a second clamping rod, a compression rod, two flexible pipes and a pushing mechanism, wherein the frame can be fixedly arranged on an unmanned aerial vehicle, the first clamping rod and the second clamping rod are respectively connected to two sides of the frame in a rotating mode, and clamping jaws are arranged at the upper ends of the first clamping rod and the second clamping rod; the compression bar is arranged between the first hack lever and the second clamping lever and is positioned below the clamping jaw, a propping plate is arranged at the top of the compression bar, one ends of the two flexible pipes are connected to the compression bar below the propping plate, and one ends of the two flexible pipes, which are far away from the compression bar, are respectively connected with the first clamping lever and the second clamping lever; the pushing mechanism is arranged below the pressure rod and can drive the pressure rod to move upwards, the pushing mechanism is reset downwards after driving the pressure rod to be in place, at the moment, the flexible pipe is deformed and arched, and clamping jaws on the first clamping rod and the second clamping rod are kept in an open state; the unmanned aerial vehicle flies to prop the strip or the lower part of the block-shaped object, the unmanned aerial vehicle flies upwards below the object to enable the propping top plate of the compression bar to prop against the object, and the flexible pipe is restored to an extension state, so that the first clamping rod and the second clamping rod are closed, and the clamping jaw is clamped and hung on the strip or the block-shaped object for investigation.
Further, first clamping lever and second clamping lever are all including being the first centre gripping arm and the second centre gripping arm that the V-arrangement set up, first centre gripping arm middle part rotates to be connected in the frame, the clamping jaw rotates to be connected on the free end of second centre gripping arm, be provided with the torsional spring between clamping jaw and the second centre gripping arm, the torsional spring center pin sets up with the axis of rotation of clamping jaw is coaxial.
Further, a rotating groove is formed on the first clamping arm, and the upper end of the frame is accommodated in the rotating groove and is rotationally connected with the first clamping arm.
Further, the flexible pipe is a hollow pipe, and two ends of the flexible pipe are respectively connected with the compression bar and the clamping bar in an interference mode.
Further, pushing mechanism includes steering wheel, wire rope and push rod, be provided with the mount pad in the frame, steering wheel fixed mounting is in on the mount pad, be provided with the installation pole on the mount pad, the push rod middle part rotates to be connected the installation pole upper end, wire rope winds to establish on the steering wheel, wire rope's free end with the one end of push rod is connected, wire rope's one end can be held in the support to the one end of push rod.
Further, the push rod is provided with a pushing seat far away from one end of the steel wire rope, an accommodating groove is formed in the pushing seat, the lower end face of the pressure rod can be accommodated in the accommodating groove, and the push rod pushes against the lower end face of the pressure rod through the pushing seat.
Further, two mounting plates are formed at the lower end of the frame, and strip-shaped mounting holes are formed in the mounting plates.
Further, teeth are arranged on the opposite surfaces of the two clamping jaws.
Further, the top supporting plate is a first top supporting strip and a second top supporting strip which are arranged in a T shape, the length direction of the first top supporting strip is parallel to the plane where the first clamping rod and the second clamping rod are located, and the length direction of the second top supporting strip is perpendicular to the length direction of the first top supporting strip.
The unmanned aerial vehicle perching method comprises the steps of using the unmanned aerial vehicle perching device, and further comprises the following steps:
(1) the unmanned aerial vehicle is characterized in that the amphibious stopping device is arranged on the unmanned aerial vehicle, the steering engine rotates to pull the steel wire rope, the push rod is enabled to be prized upwards, the compression rod is pushed upwards to enable the flexible pipe to be deformed and arched, and the first clamping rod and the second clamping rod drive the clamping jaw to be kept open;
(2) controlling the unmanned aerial vehicle to move to a target area by operating the ground station, and searching for a strip-shaped or block-shaped object near the target area;
(3) the unmanned aerial vehicle flies upwards under the object to enable the compression bar to prop against the object, so that the clamping jaw is closed, the object is clamped or hung under the strip-shaped object, the power is closed, and the clamping jaw firmly clamps the object and is hung under the strip-shaped object due to the action of the torsion spring to perform long-time reconnaissance;
(4) after reconnaissance is finished, the steering engine rotates and pulls the steel wire rope, so that the push rod is prized upwards, the compression rod is pushed upwards, the flexible pipe is deformed and arched, the clamping jaw is opened, and the unmanned aerial vehicle flies away from the reconnaissance position.
After the structure is adopted, the unmanned aerial vehicle stopping device and the stopping method have the following beneficial effects:
1. the unmanned aerial vehicle is at rest the device and installs on unmanned aerial vehicle, initially, pushing away the depression bar with pushing away by pushing away the mechanism, along with the rising of depression bar, flexible pipe takes place elastic deformation, and the depression bar rises and flexible pipe deformation in-process, and first clamping lever and second clamping lever rotate round the articulated shaft in the frame to open the clamping jaw. At this time, the two ends of the flexible pipe are propped against the clamping rod and the pressure rod to be in a stable state, even if the pushing mechanism is reset downwards, the position of the pressure rod is kept unchanged, the pressure rod cannot descend along with the downward reset, and the first clamping rod and the second clamping rod are kept in an open state.
2. The fighter fixes the stopping device on the unmanned plane through the mounting plate, controls the unmanned plane to move to the target area through operating the ground station, and searches for a strip-shaped or block-shaped object near the target area; the unmanned aerial vehicle makes the depression bar jack-up object under the object and flies upwards, triggers the flexible pipe and kick-backs to realize that first clamping jaw and second clamping jaw close, first clamping jaw and second clamping jaw clip the object or hang below the strip object, power is closed afterwards, because the effect of torsional spring, clamping jaw firmly clip the object and hang below the strip object, unmanned aerial vehicle carries out long-time reconnaissance.
3. After reconnaissance is finished, the pushing mechanism pushes the pressure bar upwards, the pushing mechanism can adopt the steering engine to rotate and pull the steel wire rope, the mode that the push bar pushes the pressure bar upwards is realized, the flexible pipe is deformed and arched by the upward pressure bar, and therefore the clamping jaw is opened, and the unmanned aerial vehicle flies away from the reconnaissance position.
Compared with the prior art, the invention adopts a unique combination mode of the first clamping rod, the second clamping rod, the compression rod and the two flexible pipes, so that the first clamping rod and the second clamping rod can firmly clamp the objects after the unmanned aerial vehicle upwards abuts against the strip-shaped or block-shaped objects, and long-time stay is realized. The first clamping rod and the second clamping rod can flexibly select a perching place according to the field condition of a investigation region, and are convenient to assemble and disassemble, better adapt to battlefield environments, difficult to expose targets and improve battlefield capacity.
Drawings
Fig. 1 is a schematic perspective view of an unmanned aerial vehicle stopping device.
Fig. 2 is a schematic diagram of the front structure of the present invention.
Fig. 3 is a schematic side view of the present invention.
Fig. 4 is a schematic perspective view of another angle of the present invention.
Fig. 5 is a schematic view of the structure with the jaws held open.
Fig. 6 is a schematic view of the structure with the jaws held closed.
In the figure:
a frame 1; a mounting base 11; a mounting bar 12; a mounting plate 13; a bar-shaped mounting hole 131;
a first clamping bar 21; a second clamping bar 22; a first clamp arm 231; a second clamping arm 232; a rotating groove 233; a jaw 24; a tooth 241; a torsion spring 242;
a compression bar 3; a top abutment plate 31; the first abutting strip 311; a second abutment bar 312;
a flexible tube 4;
a pushing mechanism 5; steering engine 51; a wire rope 52; a push rod 53; pushing the base 531; accommodating groove 532.
Detailed Description
In order to further explain the technical scheme of the invention, the invention is explained in detail by specific examples.
As shown in fig. 1 to 6, the invention relates to an unmanned aerial vehicle stopping device, which comprises a frame 1, a first clamping rod 21, a second clamping rod 22, a compression rod 3, two flexible pipes 4 and a pushing mechanism 5, wherein the frame 1 can be fixedly arranged on an unmanned aerial vehicle, the first clamping rod 21 and the second clamping rod 22 are respectively and rotatably connected to two sides of the frame 1, clamping jaws 24 are respectively arranged at the upper ends of the first clamping rod 21 and the second clamping rod 22, and further, teeth 241 are arranged on opposite surfaces of the two clamping jaws 24, so that the friction force during clamping is improved; the compression bar 3 is arranged between the first hack lever and the second clamping lever 22 and is positioned below the clamping jaw 24, a propping plate 31 is arranged at the top of the compression bar 3, one ends of the two flexible pipes 4 are connected to the compression bar 3 below the propping plate 31, and one ends of the two flexible pipes 4, which are far away from the compression bar 3, are respectively connected with the first clamping lever 21 and the second clamping lever 22; the pushing mechanism 5 is arranged below the pressure rod 3 and can drive the pressure rod 3 to move upwards, after driving the pressure rod 3 to be in place, the pushing mechanism 5 is reset downwards, at the moment, the flexible pipe 4 is deformed and arched, and the clamping jaws 24 on the first clamping rod 21 and the second clamping rod 22 are kept in an open state; the unmanned aerial vehicle flies to prop under the strip-shaped or block-shaped object, the unmanned aerial vehicle upwards flies under the object to prop against the object by the prop plate 31 of the compression bar 3, the flexible pipe 4 is restored to the extension state, and therefore the first clamping rod 21 and the second clamping rod 22 are closed, and the clamping jaw 24 is clamped and hung on the strip-shaped or block-shaped object for detection.
Preferably, the pushing mechanism 5 comprises a steering engine 51, a steel wire rope 52 and a push rod 53, the rack 1 is provided with a mounting seat 11, the steering engine 51 is fixedly mounted on the mounting seat 11, the mounting seat 11 is provided with a mounting rod 12, the middle part of the push rod 53 is rotationally connected with the upper end of the mounting rod 12, the steel wire rope 52 is wound on the steering engine 51, the free end of the steel wire rope 52 is connected with one end of the push rod 53, and one end of the push rod 53 far away from the steel wire rope 52 can be propped against the lower end face of the compression rod 3. The pushing mechanism 5 adopts a steering engine 51, a steel wire rope 52 and a push rod 53, so that the weight distribution of the unmanned aerial vehicle stopping device is more uniform, and the unmanned aerial vehicle stopping device is more suitable for miniaturized unmanned aerial vehicle equipment.
Thus, according to the unmanned aerial vehicle perching device and perching method of the present invention, the unmanned aerial vehicle perching device is mounted on the unmanned aerial vehicle, initially, the pushing mechanism 5 pushes the compression bar 3 upwards, the flexible tube 4 is elastically deformed along with the rising of the compression bar 3, and the first clamping bar 21 and the second clamping bar 22 rotate around the hinge shaft on the frame 1 during the rising of the compression bar 3 and the deformation of the flexible tube 4, so as to open the clamping jaw 24. At this time, the two ends of the flexible tube 4 are propped against the clamping rod and the pressing rod 3 to be in a stable state, even if the pushing mechanism 5 is reset downwards, the position of the pressing rod 3 is kept unchanged, the flexible tube cannot descend along with the pushing mechanism, and the first clamping rod 21 and the second clamping rod 22 are kept in an open state.
The fighter fixes the stopping device on the unmanned aerial vehicle through the mounting plate 13, controls the unmanned aerial vehicle to move to a target area through operating the ground station, and searches for a strip-shaped or block-shaped object near the target area; the unmanned aerial vehicle flies upward under the object to enable the compression bar 3 to prop against the object, and the flexible pipe 4 is triggered to rebound, so that the first clamping jaw 24 and the second clamping jaw 24 are closed, the first clamping jaw 24 and the second clamping jaw 24 clamp the object or are hung under the strip-shaped object, then the unmanned aerial vehicle is closed dynamically, and the clamping jaw 24 firmly clamps the object and is hung under the strip-shaped object due to the action of the torsion spring 242, so that the unmanned aerial vehicle performs long-time reconnaissance. After the reconnaissance is finished, the pushing mechanism 5 pushes the compression bar 3 upwards, the pushing mechanism 5 can adopt the steering engine 51 to rotate and pull the steel wire rope 52, the mode that the push bar 53 pushes the compression bar 3 upwards is realized, the flexible pipe 4 is deformed and arched by the upward compression bar 3, the clamping jaw 24 is opened, and the unmanned aerial vehicle flies away from the reconnaissance position. The strip-shaped or block-shaped object can be an object which is suspended in the air, such as an electric wire, a branch or a stone block.
Preferably, the first clamping bar 21 and the second clamping bar 22 each include a first clamping arm 231 and a second clamping arm 232 disposed in a V-shape, and one ends of the first clamping arm 231 and the second clamping arm 232 are connected to each other. The middle part of the first clamping arm 231 is rotatably connected to the frame 1, the clamping jaw 24 is rotatably connected to the free end of the second clamping arm 232, a torsion spring 242 is arranged between the clamping jaw 24 and the second clamping arm 232, and the central axis of the torsion spring 242 is coaxially arranged with the rotation axis of the clamping jaw 24. The first clamping arm 231 rotates on the frame 1, and the second clamping arm 232 is arranged at one end of the first clamping arm 231 far away from the flexible pipe 4, so that the opening distance of the clamping jaw 24 on the second clamping arm 232 is enlarged, and the device has better adaptability to strip-shaped or block-shaped objects with different widths in a battlefield environment. Through setting up torsional spring 242 for jaw 24 can better laminating article surface, be provided with the spacing hole that supplies torsional spring 242 one end male on the second clamping arm 232, the second clamping arm 232 with can also set up the stop gear who restricts jaw 24 rotation scope between the jaw 24, avoid jaw 24 too big in natural state angle, and be unfavorable for the grip face and the object contact of jaw 24.
Preferably, a rotation groove 233 is formed on the first clamping arm 231, and the upper end of the frame 1 is accommodated in the rotation groove 233 and is rotatably connected to the first clamping arm 231. Like this, the frame 1 is provided with the rotating portion of the first clamping arm 231 in the rotating groove 233, the rotating groove 233 limits the deflection of the first clamping arm 231, and only rotates around the set rotation axis, so that the structural design of the whole mechanism is more reasonable, and the failure rate of the mechanism is reduced.
Preferably, the flexible tube 4 is a hollow tube, and two ends of the flexible tube 4 are respectively connected with the compression bar 3 and the clamping bar in an interference manner. The wall thickness of the flexible pipe 4 is smaller, the flexible pipe is easy to deform under pressure, the rebound resilience is better, and the two ends of the flexible pipe 4 are fixedly connected with the compression bar 3 and the clamping bar in an interference sleeve manner; the flexible tube 4 is made of a polymer material, such as a rubber material, and of course, may be made of other materials with better resilience due to compression deformation.
Preferably, one end of the push rod 53 far away from the wire rope 52 is provided with a pushing seat 531, an accommodating groove 532 is formed on the pushing seat 531, the lower end surface of the compression rod 3 can be accommodated in the accommodating groove 532, and the push rod 53 pushes against the lower end surface of the compression rod 3 through the pushing seat 531. The lateral wall of the accommodating groove 532 limits the lateral offset of the lower end of the compression bar 3 to a certain extent, so that the compression bar 3 is prevented from slipping with the pushing seat 531; with the rising of the pushing seat 531, the lower end surface of the pressing lever 3 slides in the accommodating groove 532 in a small range. When the push rod 53 returns, the accommodating groove 532 is separated from the lower end of the push rod 3.
Preferably, two mounting plates 13 are formed at the lower end of the frame 1, and strip-shaped mounting holes 131 are formed in the mounting plates 13. The frame 1 is detachably and fixedly installed on the unmanned aerial vehicle through the mounting plate 13 and the strip-shaped mounting holes 131.
Preferably, the top supporting plate 31 is a T-shaped first supporting strip 311 and a second supporting strip 312, the length direction of the first supporting strip 311 is parallel to the plane of the first clamping rod 21 and the second clamping rod 22, and the length direction of the second supporting strip 312 is perpendicular to the length direction of the first supporting strip 311. By providing the first abutting strip 311 and the second abutting strip 312, the abutting effective area of the abutting plate 31 is increased, so that the abutting can be performed more stably when an object abuts against the abutting plate 31.
The invention also provides an unmanned aerial vehicle stopping method, which comprises the following steps of using the unmanned aerial vehicle stopping device:
(1) the unmanned aerial vehicle amphibious stopping device is arranged on the unmanned aerial vehicle, the steering engine 51 rotates to pull the steel wire rope 52, the push rod 53 is prized upwards, the compression rod 3 is pushed upwards to enable the flexible pipe 4 to be deformed and arched, and the first clamping rod 21 and the second clamping rod 22 drive the clamping jaw 24 to be kept open;
(2) controlling the unmanned aerial vehicle to move to a target area by operating the ground station, and searching for a strip-shaped or block-shaped object near the target area;
(3) the unmanned aerial vehicle flies upwards below the object to enable the compression bar 3 to prop against the object, so that the clamping jaw 24 is closed to clamp the object or is hung below the strip-shaped object, the power is closed, and the clamping jaw 24 firmly clamps the object and is hung below the strip-shaped object due to the action of the torsion spring 242 to perform long-time reconnaissance;
(4) after the reconnaissance is finished, the steering engine 51 rotates and pulls the steel wire rope 52 to enable the push rod 53 to be prized upwards, the compression rod 3 is pushed upwards to enable the flexible pipe 4 to be deformed and arched, the clamping jaw 24 is opened, and the unmanned aerial vehicle flies away from the reconnaissance position.
Compared with the prior art, the invention adopts a unique combination mode of the first clamping rod 21, the second clamping rod 22, the compression rod 3 and the two flexible pipes 4, and realizes that the first clamping rod 21 and the second clamping rod 22 can firmly clamp an object after the unmanned plane upwards abuts against a strip-shaped or block-shaped object, thereby realizing long-time stay. The first clamping rod 21 and the second clamping rod 22 can flexibly select a perching place according to the field condition of a investigation region, are convenient to assemble and disassemble, can better adapt to battlefield environments, are not easy to expose targets, and improve battlefield capabilities.
The above examples and drawings are not intended to limit the form or form of the present invention, and any suitable variations or modifications thereof by those skilled in the art should be construed as not departing from the scope of the present invention.
Claims (9)
1. The unmanned aerial vehicle stopping device is characterized by comprising a frame, a first clamping rod, a second clamping rod, a compression rod, two flexible pipes and a pushing mechanism, wherein the frame can be fixedly arranged on an unmanned aerial vehicle, the first clamping rod and the second clamping rod are respectively connected to two sides of the frame in a rotating way, and clamping jaws are arranged at the upper ends of the first clamping rod and the second clamping rod; the compression bar is arranged between the first clamping bar and the second clamping bar and is positioned below the clamping jaw, the top of the compression bar is provided with a propping plate, one ends of the two flexible tubes are connected to the compression bar below the propping plate, and one ends of the two flexible tubes, which are far away from the compression bar, are respectively connected with the first clamping bar and the second clamping bar; the pushing mechanism is arranged below the pressure rod and can drive the pressure rod to move upwards, the pushing mechanism is reset downwards after driving the pressure rod to be in place, at the moment, the flexible pipe is deformed and arched, and clamping jaws on the first clamping rod and the second clamping rod are kept in an open state; the unmanned aerial vehicle flies to prop the lower part of the strip-shaped or block-shaped object, the unmanned aerial vehicle flies upwards below the object to enable the prop top plate of the compression bar to prop against the object, and the flexible pipe is restored to an extension state, so that the first clamping rod and the second clamping rod are closed, and the clamping jaw is clamped and hung on the strip-shaped or block-shaped object for investigation;
the pushing mechanism comprises a steering engine, a steel wire rope and a push rod, wherein an installation seat is arranged on the frame, the steering engine is fixedly installed on the installation seat, an installation rod is arranged on the installation seat, the middle part of the push rod is rotationally connected with the upper end of the installation rod, the steel wire rope is wound on the steering engine, the free end of the steel wire rope is connected with one end of the push rod, and one end, far away from the steel wire rope, of the push rod can be propped against the lower end face of the push rod.
2. The unmanned aerial vehicle stopping device according to claim 1, wherein the first clamping rod and the second clamping rod comprise a first clamping arm and a second clamping arm which are arranged in a V shape, the middle part of the first clamping arm is rotationally connected to the frame, the clamping jaw is rotationally connected to the free end of the second clamping arm, a torsion spring is arranged between the clamping jaw and the second clamping arm, and the central shaft of the torsion spring is coaxially arranged with the rotating shaft of the clamping jaw.
3. The unmanned aerial vehicle stopping device according to claim 2, wherein the first clamping arm is provided with a rotating groove, and the upper end of the frame is accommodated in the rotating groove and is rotatably connected with the first clamping arm.
4. The unmanned aerial vehicle stopping device according to claim 1, wherein the flexible pipe is a hollow pipe, and two ends of the flexible pipe are respectively connected with the compression bar and the clamping bar in an interference mode.
5. The unmanned aerial vehicle stopping device according to claim 1, wherein a pushing seat is arranged at one end, far away from the steel wire rope, of the push rod, a containing groove is formed in the pushing seat, the lower end face of the push rod can be contained in the containing groove, and the push rod abuts against the lower end face of the push rod through the pushing seat.
6. The unmanned aerial vehicle stopping device of claim 1, wherein the lower end of the frame is formed with two mounting plates, and the mounting plates are formed with strip-shaped mounting holes.
7. A drone perch according to claim 1 wherein the opposed faces of the jaws are provided with teeth.
8. The unmanned aerial vehicle stopping device according to claim 1, wherein the top supporting plate is a first supporting strip and a second supporting strip which are arranged in a T shape, the length direction of the first supporting strip is parallel to the plane where the first clamping rod and the second clamping rod are located, and the length direction of the second supporting strip is perpendicular to the length direction of the first supporting strip.
9. A method of unmanned aerial vehicle stun comprising the use of an unmanned aerial vehicle stun device according to claim 2 or 3, further comprising the steps of:
(1) the unmanned aerial vehicle is characterized in that the amphibious stopping device is arranged on the unmanned aerial vehicle, the steering engine rotates to pull the steel wire rope, the push rod is enabled to be prized upwards, the compression rod is pushed upwards to enable the flexible pipe to be deformed and arched, and the first clamping rod and the second clamping rod drive the clamping jaw to be kept open;
(2) controlling the unmanned aerial vehicle to move to a target area by operating the ground station, and searching for a strip-shaped or block-shaped object near the target area;
(3) the unmanned aerial vehicle flies upwards under the object to enable the compression bar to prop against the object, so that the clamping jaw is closed, the object is clamped or hung under the strip-shaped object, the power is closed, and the clamping jaw firmly clamps the object and is hung under the strip-shaped object due to the action of the torsion spring to perform long-time reconnaissance;
(4) after reconnaissance is finished, the steering engine rotates and pulls the steel wire rope, so that the push rod is prized upwards, the compression rod is pushed upwards, the flexible pipe is deformed and arched, the clamping jaw is opened, and the unmanned aerial vehicle flies away from the reconnaissance position.
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| CN117104563B (en) * | 2023-10-21 | 2023-12-19 | 山西中创天达科技有限公司 | Unmanned aerial vehicle is at stop device |
| CN118431969A (en) * | 2024-07-05 | 2024-08-02 | 国网江苏省电力有限公司南京供电分公司 | Unmanned aerial vehicle with electric wire perching capability and perching method |
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| US8167234B1 (en) * | 2010-03-21 | 2012-05-01 | Michael Moore | Insect-like micro air vehicle having perching, energy scavenging, crawling, and offensive payload capabilities |
| CN204248878U (en) * | 2014-11-14 | 2015-04-08 | 福建省泉州市第七中学 | A kind of robot with flexible arm |
| US10836484B2 (en) * | 2016-04-17 | 2020-11-17 | Lucio Volpi | Unmanned aerial robotic vehicle with mounting mechanism |
| CN107081750A (en) * | 2017-06-23 | 2017-08-22 | 常州信息职业技术学院 | A kind of unidirectional self-lock formula manipulator |
| CN110900521A (en) * | 2019-12-16 | 2020-03-24 | 刘省根 | Storage type flexible bulb replacer |
| CN111483605B (en) * | 2020-04-26 | 2023-09-08 | 重庆大学 | Grabbing device suitable for flight is at and is attached robot |
| CN112061383A (en) * | 2020-10-13 | 2020-12-11 | 西北工业大学 | Flexible clamping mechanism of cage-shaped unmanned aerial vehicle |
| CN112550682B (en) * | 2020-12-16 | 2022-04-22 | 南京航空航天大学 | Negative surface landing mechanism, rotor unmanned aerial vehicle and landing and takeoff method thereof |
| CN112811307A (en) * | 2021-02-03 | 2021-05-18 | 方桂梅 | Hydraulic cylinder stone tongs |
| CN113238569B (en) * | 2021-05-21 | 2024-09-24 | 重庆大学 | Novel flight perching robot and autonomous perching system thereof |
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