CN113788140A - Rotor unmanned aerial vehicle and transmission recovery unit thereof - Google Patents
Rotor unmanned aerial vehicle and transmission recovery unit thereof Download PDFInfo
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- CN113788140A CN113788140A CN202110986726.7A CN202110986726A CN113788140A CN 113788140 A CN113788140 A CN 113788140A CN 202110986726 A CN202110986726 A CN 202110986726A CN 113788140 A CN113788140 A CN 113788140A
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- 238000011084 recovery Methods 0.000 title claims abstract description 34
- 230000005540 biological transmission Effects 0.000 title abstract description 5
- 230000001681 protective effect Effects 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 7
- 238000010146 3D printing Methods 0.000 claims description 3
- 238000001746 injection moulding Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 3
- 239000000243 solution Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 229920006351 engineering plastic Polymers 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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
- B64F1/007—Helicopter portable landing pads
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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
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
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Abstract
The invention discloses a rotor unmanned aerial vehicle and a launching and recovering device thereof. This transmission recovery unit is including accomodating drum and platform of taking off and land, it comprises drum main part and bevel, the internal diameter of drum main part is greater than the external diameter of protective housing, the bevel is wide conical opening down, the platform of taking off and land includes platform upper plate and platform bottom plate, the scissors link mechanism of setting between platform upper plate and platform bottom plate, connect in scissors link mechanism's connecting rod actuating mechanism, rotor unmanned aerial vehicle is placed and is supported to the platform upper plate, the platform bottom plate is placed on the bottom surface of accomodating the drum, support scissors link mechanism. The rotor unmanned aerial vehicle and the launching and recovering device thereof can realize rapid launching, storage, fixed-point recovery and automatic centering of the rotor unmanned aerial vehicle, and improve the overall maneuverability and rapid response capability of an unmanned aerial vehicle cluster.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a rotor unmanned aerial vehicle and an emission and recovery device thereof.
Background
With the rapid development of the unmanned aerial vehicle technology, the application of unmanned aerial vehicle clusters and bee colonies in military reconnaissance, battle, civil detection, inspection, plant protection and other fields is becoming more and more extensive. At present, the endurance of unmanned aerial vehicles is always the bottleneck restricting the rotor unmanned aerial vehicles from carrying out outdoor operation in a large range and long endurance. The mode of cooperative work of a plurality of machine clusters is adopted, and the short-time large-range coverage of the unmanned aerial vehicle in a working area is facilitated.
In the prior art, the unmanned gyroplane is longer in launching and recycling time, so that the corresponding operation efficiency is reduced; the high-frequency take-off and landing of the rotor unmanned aerial vehicle cause the load of the launching and recovery facility to be larger, so that the reliability of the launching and recovery facility is reduced; it retrieves to be difficult to realize the fixed point after rotor unmanned aerial vehicle launches, often needs the manual work to search to retrieve, appears the possibility that rotor unmanned aerial vehicle lost even.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art by designing a rotor unmanned aerial vehicle and an emission and recovery device thereof.
In one aspect of the invention, a rotor unmanned aerial vehicle is provided, which comprises a battery, a flight control system, a positioning and navigation system, a rotor bracket, a plurality of propellers fixed on the rotor bracket, and a rotor motor arranged on the propellers in a matching manner, and further comprises a protective outer cover, wherein the rotor bracket, the battery mounted on the rotor bracket, the flight control system, the positioning and navigation system, the propellers, and the rotor motor are all accommodated in the protective outer cover; the protective outer cover is made into a disc shape, the upper top surface and the lower bottom surface are planes, and a plurality of guide wheels are arranged on the outer circumferential surface of the protective outer cover; the positioning and navigation system is a carrier phase difference subsystem.
Further, in above-mentioned rotor unmanned aerial vehicle, link up on the last top surface of protection dustcoat and the bottom surface down and seted up a plurality of through-holes, the position and the size of through-hole match in the screw.
Further, in above-mentioned rotor unmanned aerial vehicle, the protection dustcoat and the through-hole make into integrated into one piece structure through 3D printing or injection moulding.
Further, in above-mentioned rotor unmanned aerial vehicle, the leading wheel passes through mounting bracket and minor axis and installs on the outer periphery of protection dustcoat.
Further, in above-mentioned rotor unmanned aerial vehicle, the leading wheel is made by engineering plastics.
In another aspect of the present invention, there is provided a rotary wing drone launching and recovery device, comprising a storage cylinder and a take-off and landing platform mounted within the storage cylinder, wherein:
the accommodating cylinder is composed of a cylinder main body part and a taper opening, the bottom of the cylinder main body part is closed, the upper part of the cylinder main body part is open, the inner diameter of the cylinder main body part is larger than the outer diameter of a protective outer cover of the rotor unmanned aerial vehicle, the taper opening is formed in the upper part of the cylinder main body part, the taper opening is a conical opening with a wide upper part and a narrow lower part, the diameter of the lower edge of the taper opening is consistent with that of the cylinder main body part, and the diameter of the upper edge of the taper opening is larger than that of the cylinder main body part;
the take-off and landing platform comprises a platform upper plate, a platform bottom plate, a scissor linkage mechanism and a connecting rod driving mechanism, wherein the scissor linkage mechanism is arranged between the platform upper plate and the platform bottom plate, the connecting rod driving mechanism is connected with the scissor linkage mechanism, the platform upper plate is used for placing and supporting the rotor unmanned aerial vehicle, and the platform bottom plate is used for placing on the bottom surface of the containing cylinder and supporting the scissor linkage mechanism.
Further, in the above unmanned rotorcraft launcher/collector, the scissor linkage mechanism includes a pair of fixed rods connected to the upper plate of the platform and a pair of fixed rods connected to the bottom plate of the platform, a fixed pivot connected between the fixed rods on one side of each pair of fixed rods, a sliding pivot connected between the fixed rods on the other side of each pair of fixed rods, and a plurality of links connected to each other in a scissor manner via pivots, wherein the lowermost link is connected to the pair of fixed rods located at the lower portion via the fixed pivot and the sliding pivot, respectively, the uppermost link is connected to the pair of fixed rods located at the upper portion via the fixed pivot and the sliding pivot, respectively, each pair of fixed rods is provided with a slide groove, and the sliding pivot is capable of sliding within the slide groove of the fixed rod, and a pair of rotating shafts coplanar in the horizontal direction in the rotating shafts are provided with threaded holes.
Further, in above-mentioned rotor unmanned aerial vehicle launches recovery unit, link drive mechanism include driving motor and connect in driving motor's threaded spindle, the threaded spindle cooperation connect in the threaded hole of a pair of pivot coplanar in the horizontal direction.
Further, in above-mentioned rotor unmanned aerial vehicle launches recovery unit, the internal diameter of drum main part equals by installing the diameter of the circumference that encloses by a plurality of leading wheels on the outer periphery of protective housing.
Further, in above-mentioned rotor unmanned aerial vehicle launches recovery unit, the platform upper plate and the platform bottom plate of platform of taking off and land are circular dull and stereotyped, the diameter of circular dull and stereotyped is less than accomodate the internal diameter of the drum main part of drum, and circular dull and stereotyped with accomodate the drum concentric setting.
Further, in above-mentioned rotor unmanned aerial vehicle launches recovery unit, the diameter of circular dull and stereotyped is greater than the external diameter of protection dustcoat.
Further, in above-mentioned rotor unmanned aerial vehicle launches recovery unit, be located the upper portion the pair of dead lever with be located the lower part the pair of dead lever is fixed in through countersunk head bolt respectively the platform upper plate with the platform bottom plate.
Compared with the prior art, the rotor unmanned aerial vehicle and the launching and recovering device thereof have the following advantages and beneficial effects:
the unmanned aerial vehicle cluster has the advantages that the unmanned aerial vehicle can be rapidly launched and stored, the overall maneuverability and the rapid response capability of the unmanned aerial vehicle cluster are greatly improved, and important support is provided for practical application of the unmanned aerial vehicle cluster;
the main structure of the launching and recovering device adopts a scissor linkage mechanism, so that the structural stability and reliability are high;
the rotor unmanned aerial vehicle is positioned based on RTK, the positioning precision can reach centimeter level, fixed-point recovery can be realized, manual recovery is not needed, and loss is avoided;
due to the design of the conical opening of the storage cylinder in the launching and recovery device, the tolerance of the landing error of the rotor unmanned aerial vehicle is effectively expanded, and the rotor unmanned aerial vehicle can be automatically returned;
the design of the protective outer cover of the rotor unmanned aerial vehicle enables the rotor unmanned aerial vehicles to be stacked and placed, and the rotor unmanned aerial vehicles can be conveniently stored in the storage cylinder in a high density manner;
the setting of rotor unmanned aerial vehicle protective housing outer periphery leading wheel can accomodate the drum to rotor unmanned aerial vehicle business turn over and play the guide effect, can prevent rotor unmanned aerial vehicle and accomodate drum wall scraping when rotor unmanned aerial vehicle takes off and descends simultaneously, avoids rotor unmanned aerial vehicle impaired and takes off and descend the trouble.
Drawings
In order to more clearly illustrate embodiments of the present invention or 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 is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a front perspective schematic view of a rotary-wing drone of the present invention;
fig. 2 is a bottom perspective view of a rotorcraft of the present invention;
fig. 3 is an enlarged side schematic view of a rotorcraft of the present invention, showing the leading wheels of the rotorcraft;
fig. 4 is a schematic structural view of a launch recovery device for a rotorcraft according to the present invention;
fig. 5 is a schematic structural view of a take-off and landing platform in the launch and recovery device of a rotary-wing drone of the present invention;
figure 6 is the state schematic diagram of utilizing rotor unmanned aerial vehicle transmission recovery unit transmission and retrieving rotor unmanned aerial vehicle.
Description of reference numerals:
1-rotor wing bracket, 2-propeller, 3-rotor wing motor, 4-protective outer cover, 5-through hole, 6-mounting bracket, 7-short shaft and 8-guide wheel;
9-receiving cylinder, 91-cylinder body, 92-cone;
10-lifting platform, 101-platform upper plate, 102-platform bottom plate, 103-fixed rod, 104-fixed rotating shaft, 105-sliding rotating shaft, 106-rotating shaft, 107-connecting rod, 108-countersunk head bolt, 109-driving motor and 110-threaded shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, 2 and 3, the rotor unmanned aerial vehicle of the present invention includes a battery, a flight control system, a positioning and navigation system, a rotor bracket 1, and a plurality of propellers 2 fixed to the rotor bracket 1, wherein each propeller 2 is provided with a rotor motor 3 in a matching manner, and the battery, the flight control system, and the positioning and navigation system are mounted on the rotor bracket 1. This rotor unmanned aerial vehicle still includes protective housing 1, rotor support 1 and install battery, flight control system, location and navigation, screw 2 and rotor motor 3 on rotor support 1 and all hold in protective housing 4.
The protective casing 4 is shaped like a disc, the upper and lower top and bottom surfaces are flat, and preferably a plurality of through holes 5 are perforated on the upper and lower top and bottom surfaces, the positions and sizes of the through holes being matched to the propeller 2 so as to facilitate the flow of the air flow passage out of the propeller 2.
The outer circumferential surface of the shield case 4 is mounted with a plurality of guide wheels 8 through a mounting bracket 6 and a stub shaft 7. The guide wheel 8 may be made of engineering plastic.
Preferably, the protective outer cover 4 and the through holes 5 provided thereon are made into an integrally formed structure by 3D printing or injection molding.
Preferably, the positioning and navigation system is a carrier-phase differential (RTK) system, the positioning accuracy of which can reach centimeter level.
As shown in fig. 4 and 5, the launching and recovery device for the unmanned rotorcraft comprises a storage cylinder 9 and a take-off and landing platform 10 installed in the storage cylinder 9, wherein the storage cylinder 9 provides a storage space for the unmanned rotorcraft, the main structure of the take-off and landing platform 10 is a scissor linkage mechanism, and the unmanned rotorcraft is pushed out, launched and landed and recovered by lifting through the scissor linkage mechanism.
The housing cylinder 9 is composed of a cylinder body 91 and a tapered opening 92. Cylinder main part 91 is closed bottom, and the upper portion is open, and the internal diameter of cylinder main part 91 is greater than the external diameter of rotor unmanned aerial vehicle's protective housing 4, and is preferably equal to the diameter of the circumference enclosed by a plurality of leading wheels 8 installed on protective housing 4 outer periphery. The tapered opening 92 is formed in the upper portion of the cylindrical body 91, the tapered opening 92 is a conical opening having a wide upper portion and a narrow lower portion, the diameter of the lower edge of the tapered opening 92 is equal to the diameter of the cylindrical body 91, and the diameter of the upper edge of the tapered opening 92 is larger than the diameter of the cylindrical body 91. The wide conical structure of narrow down in this kind of last of taper 92 has effectively enlarged rotor unmanned aerial vehicle and has descended the tolerance of error to can realize rotor unmanned aerial vehicle's automation through the interior conical surface of taper 92 and return to the centre.
The lifting platform 10 comprises a platform upper plate 101, a platform bottom plate 102, a scissors linkage mechanism arranged between the platform upper plate 101 and the platform bottom plate 102, and a connecting rod driving mechanism connected to the scissors linkage mechanism. Platform upper plate 101 of platform 10 takes off and land is used for placing and supporting rotor unmanned aerial vehicle, and platform bottom plate 102 of platform 10 takes off and land is placed on the bottom surface of accomodating drum 9 for support and cut fork link mechanism.
Preferably, the deck upper plate 101 and the deck bottom plate 102 of the take-off and landing deck 10 are each a circular flat plate having a diameter smaller than the inner diameter of the cylinder main body portion 91 of the storage cylinder 9 and disposed concentrically with the storage cylinder 9. Furthermore, it is more preferable that the diameter of the circular flat plate is larger than the outer diameter of the protective housing 4 of the unmanned rotary wing aircraft, thereby supporting the unmanned rotary wing aircraft more stably.
The scissors linkage comprises a pair of fixing bars 103 connected to the upper plate 101 of the platform and a pair of fixing bars 103 connected to the lower plate 102 of the platform, a fixing shaft 104 connected between the fixing bars 103 at one side of each pair of fixing bars 103, a sliding shaft 105 connected between the fixing bars 103 at the other side of each pair of fixing bars 103, and a plurality of links 107 connected to each other in a scissors fashion by a shaft 106, the lowermost link 107 being connected to the pair of fixing bars 103 located at the lower portion by the fixing shaft 104 and the sliding shaft 105, respectively, and similarly, the uppermost link 107 being connected to the pair of fixing bars 103 located at the upper portion by the fixing shaft 104 and the sliding shaft 105, respectively, wherein, each pair of fixed rods 103 is provided with a sliding groove, the sliding rotating shaft 105 can slide in the sliding groove of the fixed rod 103, and a pair of rotating shafts 106 coplanar in the horizontal direction among the rotating shafts 106 are provided with screw holes.
Preferably, the pair of fixing bars 103 located at the upper portion and the pair of fixing bars 103 located at the lower portion are fixed to the platform upper plate 101 and the platform bottom plate 102 by means of countersunk bolts 108, respectively.
The link driving mechanism includes a driving motor 109 and a screw shaft 110 connected to the driving motor 109, and the screw shaft 110 is fittingly connected in the screw holes of the pair of rotating shafts 106 coplanar in the horizontal direction. By controlling the forward and reverse rotation of the driving motor 109, the pair of rotating shafts 106 coplanar in the horizontal direction can be moved closer to or away from each other, thereby realizing the control of the lifting motion of the lifting platform 10.
As shown in fig. 6, the process of launching and recovering the unmanned rotorcraft by using the launch and recovery device of the unmanned rotorcraft of the present invention is as follows:
when the rotor unmanned aerial vehicle is in standby, the lifting platform 10 descends to the lowest position, and a plurality of rotor unmanned aerial vehicles are stacked up and down and stored in the storage cylinder 9;
when the rotor unmanned aerial vehicle cluster takes off, the driving motor 109 is controlled to rotate to lift the lifting platform 10, so that the rotor unmanned aerial vehicles are pushed out of the containing cylinders 9 in batches, and the rotor unmanned aerial vehicles take off sequentially from top to bottom;
when rotor unmanned aerial vehicle launches recovery, rotor unmanned aerial vehicle flies back to the position of taking off through its location and navigation and carries out independently descending, when first rotor unmanned aerial vehicle descends, lift platform 10's platform upper plate 101 and take in drum 9's bevel 92 lower edge parallel and level, provide the descending plane for first rotor unmanned aerial vehicle, first rotor unmanned aerial vehicle descends the back that finishes, control driving motor 109 rotates lift platform 10 decline, rotor unmanned aerial vehicle will return to in with automatic through the internal cone face of bevel 92, lift platform 10 descends distance control for highly equals with rotor unmanned aerial vehicle's protective housing 4, make first rotor unmanned aerial vehicle's top surface and take in drum 9's bevel 92 lower edge parallel and level from this, act as second rotor unmanned aerial vehicle's descending plane. Follow-up rotor unmanned aerial vehicle all retrieves according to above-mentioned process in proper order, accomplishes the descending until whole rotor unmanned aerial vehicle to pile up the recovery from top to bottom with many rotor unmanned aerial vehicles and accomodate drum 9.
In conclusion, the rotor unmanned aerial vehicle and the launching and recovering device thereof can realize the rapid launching and the rapid storage of the rotor unmanned aerial vehicle, the launching and the storage time of a single rotor unmanned aerial vehicle is less than 5 seconds, the overall maneuverability and the rapid response capability of an unmanned aerial vehicle cluster are greatly improved, and important support is provided for the practical application of the unmanned aerial vehicle cluster; the main structure of the launching and recovering device adopts a scissor linkage mechanism, so that the structural stability and reliability are high; the rotor unmanned aerial vehicle is positioned based on RTK, the positioning precision can reach centimeter level, fixed-point recovery can be realized, manual recovery is not needed, and loss is avoided; due to the design of the conical opening of the storage cylinder in the launching and recovery device, the tolerance of the landing error of the rotor unmanned aerial vehicle is effectively expanded, and the rotor unmanned aerial vehicle can be automatically returned; the design of the protective outer cover of the rotor unmanned aerial vehicle enables the rotor unmanned aerial vehicles to be stacked and placed, and the rotor unmanned aerial vehicles can be conveniently stored in the storage cylinder in a high density manner; the setting of rotor unmanned aerial vehicle protective housing outer periphery leading wheel can accomodate the drum to rotor unmanned aerial vehicle business turn over and play the guide effect, can prevent rotor unmanned aerial vehicle and accomodate drum wall scraping when rotor unmanned aerial vehicle takes off and descends simultaneously, avoids rotor unmanned aerial vehicle impaired and takes off and descend the trouble.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Meanwhile, the term "connected" and the like as used herein should be broadly interpreted as referring to a fixed connection, a detachable connection, a direct connection, or an indirect connection through intermediate components. In addition, "front", "rear", "left", "right", "upper", "lower", "inner", "outer", "top", "bottom", and the like herein are referred to as the state of being placed as shown in the drawings.
It should be further noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and are not limited thereto; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or alterations do not depart from the spirit of the invention.
Claims (10)
1. A rotor unmanned aerial vehicle comprises a battery, a flight control system, a positioning and navigation system, a rotor bracket, a plurality of propellers fixed on the rotor bracket, and a rotor motor matched with the propellers, and is characterized in that the rotor unmanned aerial vehicle also comprises a protective outer cover, and the rotor bracket, the battery, the flight control system, the positioning and navigation system, the propellers and the rotor motor which are arranged on the rotor bracket are all accommodated in the protective outer cover; the protective outer cover is made into a disc shape, the upper top surface and the lower bottom surface are planes, and a plurality of guide wheels are arranged on the outer circumferential surface of the protective outer cover; the positioning and navigation system is a carrier phase difference subsystem.
2. The rotary-wing unmanned aerial vehicle of claim 1, wherein a plurality of through holes are formed through the upper top surface and the lower bottom surface of the protective outer cover, and the positions and sizes of the through holes are matched with those of the propellers.
3. The rotary-wing drone of claim 2, wherein the protective enclosure and the through-hole are made as an integrally formed structure by 3D printing or injection molding.
4. The rotary-wing drone of claim 1, wherein the guide wheels are mounted on an outer circumferential surface of the protective housing by mounting brackets and stub shafts.
5. A rotary wing drone launch recovery device, the rotary wing drone being according to any one of claims 1 to 4, characterized in that the rotary wing drone launch recovery device comprises a storage cylinder and a take-off and landing platform mounted inside the storage cylinder, wherein:
the accommodating cylinder is composed of a cylinder main body part and a taper opening, the bottom of the cylinder main body part is closed, the upper part of the cylinder main body part is open, the inner diameter of the cylinder main body part is larger than the outer diameter of a protective outer cover of the rotor unmanned aerial vehicle, the taper opening is formed in the upper part of the cylinder main body part, the taper opening is a conical opening with a wide upper part and a narrow lower part, the diameter of the lower edge of the taper opening is consistent with that of the cylinder main body part, and the diameter of the upper edge of the taper opening is larger than that of the cylinder main body part;
the take-off and landing platform comprises a platform upper plate, a platform bottom plate, a scissor linkage mechanism and a connecting rod driving mechanism, wherein the scissor linkage mechanism is arranged between the platform upper plate and the platform bottom plate, the connecting rod driving mechanism is connected with the scissor linkage mechanism, the platform upper plate is used for placing and supporting the rotor unmanned aerial vehicle, and the platform bottom plate is used for placing on the bottom surface of the containing cylinder and supporting the scissor linkage mechanism.
6. The unmanned rotorcraft launch and recovery device of claim 5, wherein the scissor linkage includes a pair of fixed links connected to the platform upper plate and a pair of fixed links connected to the platform floor, a fixed pivot connected between the fixed links on one side of each pair of fixed links, a sliding pivot connected between the fixed links on the other side of each pair of fixed links, and a plurality of links connected to each other in a scissor fashion by pivots, wherein the lowermost link is connected to the pair of fixed links at the lower portion through the fixed pivot and the sliding pivot, respectively, and the uppermost link is connected to the pair of fixed links at the upper portion through the fixed pivot and the sliding pivot, respectively, each pair of fixed links being provided with a slide groove, the sliding pivot being slidable within the slide groove of the fixed link, and a pair of rotating shafts coplanar in the horizontal direction in the rotating shafts are provided with threaded holes.
7. The unmanned rotorcraft launch recovery device of claim 5, wherein the link drive mechanism includes a drive motor and a threaded shaft connected to the drive motor, the threaded shaft being matingly connected within threaded bores of the pair of shafts that are coplanar in the horizontal direction.
8. The unmanned rotorcraft launch recovery device of claim 5, wherein an inner diameter of the cylinder body portion is equal to a diameter of a circumference enclosed by a plurality of guide wheels mounted on an outer circumferential surface of the protective housing.
9. The unmanned rotorcraft launch recovery device of claim 5, wherein the platform upper plate and the platform bottom plate of the take-off and landing platform are both circular flat plates, the diameter of the circular flat plates is smaller than the inner diameter of the cylinder body portion of the receiving cylinder, and the circular flat plates are disposed concentrically with the receiving cylinder.
10. The unmanned rotorcraft launch recovery device of claim 9, wherein the circular plate has a diameter greater than an outer diameter of the protective outer cover.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110986726.7A CN113788140A (en) | 2021-08-26 | 2021-08-26 | Rotor unmanned aerial vehicle and transmission recovery unit thereof |
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| CN202110986726.7A CN113788140A (en) | 2021-08-26 | 2021-08-26 | Rotor unmanned aerial vehicle and transmission recovery unit thereof |
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| JP2015193358A (en) * | 2014-03-26 | 2015-11-05 | 有限会社フジカ | tsunami countermeasure device |
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