CN114084365A - Mechanism and method for centering aircraft nest of unmanned aerial vehicle - Google Patents
Mechanism and method for centering aircraft nest of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN114084365A CN114084365A CN202111591658.0A CN202111591658A CN114084365A CN 114084365 A CN114084365 A CN 114084365A CN 202111591658 A CN202111591658 A CN 202111591658A CN 114084365 A CN114084365 A CN 114084365A
- Authority
- CN
- China
- Prior art keywords
- push rod
- unmanned aerial
- aerial vehicle
- transmission
- landing surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 136
- 230000001360 synchronised effect Effects 0.000 claims description 44
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 208000035473 Communicable disease Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and provides a homing mechanism and a homing method for a nest of an unmanned aerial vehicle. The invention solves the problem of centering of the unmanned aerial vehicle during return voyage, reduces the structural complexity of the mechanism for centering the aircraft nest, has low mass proportion, reduces the cost of the mechanism for centering the aircraft nest, realizes the advantages of high efficiency, reliability, light weight, safe and stable structure, easy production, installation and maintenance of the mechanism for centering the aircraft nest, and provides safety guarantee for the return voyage of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a mechanism and a method for centering a nest of an unmanned aerial vehicle.
Background
Unmanned aerial vehicles, also known as drones, are unmanned aircraft that are operated by radio remote control devices and self-contained program control devices. With the continuous development of the unmanned aerial vehicle technology and the wide application in various industries, the application scenes of the unmanned aerial vehicle are more and more. Such as in the fields of aerial photography, agriculture, plant protection, self-timer miniature, express transportation, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reports, power routing inspection, disaster relief, movie and television photography, romance manufacturing, and the like.
When present unmanned aerial vehicle is returning a voyage, often need control the accurate descending of unmanned aerial vehicle in appointed place, and the unmanned aerial vehicle nest is one kind and is used for the long-range accurate platform of taking off and landing of unmanned aerial vehicle. And unmanned aerial vehicle receives the influence in aspects such as the degree of accuracy of airspeed, energy consumption and location, and when unmanned aerial vehicle takes off and land, unmanned aerial vehicle self positioning accuracy receives the influence, leads to unmanned aerial vehicle can't reach the purpose of accurate descending. If the unmanned aerial vehicle position that descends to the nest deviates from the central point of flight platform and puts, will lead to unmanned aerial vehicle to take off and produce unpredictable change with the gesture of descending in-process, the serious person can cause unmanned aerial vehicle's slope and turnover, increases the potential safety hazard that unmanned aerial vehicle used.
In order to guarantee that unmanned aerial vehicle's position in the nest is placed in the middle, synchronous motor screw rod device commonly used in current unmanned aerial vehicle, the structure is complicated, and the quality is heavier, and the cost is higher, is difficult to satisfy the simple, lightweight low-cost actual demand of unmanned aerial vehicle nest.
Disclosure of Invention
The invention provides a mechanism and a method for centering a drone nest, aiming at the problems that the existing synchronous motor screw rod device adopted for centering the position of the drone during take-off and landing is complex in structure, heavier in mass and higher in cost, and the requirement of lightweight and low cost of the drone nest is difficult to meet.
In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:
in a first aspect, in an embodiment provided by the present invention, there is provided an unmanned aerial vehicle nest centering mechanism, including a flight platform, further including:
the push rod assembly is arranged on the landing surface of the flight platform and comprises a plurality of push rod bodies, and the push rod bodies are distributed around the center of the landing surface of the flight platform;
the guide rail assembly comprises a rail body distributed along the periphery of a landing surface of the flight platform, and the push rod body slides along the rail body; and
the transmission mechanism is connected with the push rod body and is positioned at one end of the push rod body, and a driving mechanism connected with the transmission mechanism is arranged on the back of the landing surface of the flight platform.
When unmanned vehicles descended, if the central point that unmanned vehicles fell the face of the flight platform that the position deviates from the nest puts, this moment, actuating mechanism starts, switch-on drive mechanism drives push rod assembly and slides along guide rail set spare, distribute in the central point that flight platform fell the face and put this realization of push rod all around and will be located the unmanned vehicles of face off-centre position of falling and return, the push rod body of mechanism of returning in promotes to fall the face unmanned vehicles and moves towards flight platform central point, high-efficient reliable lightweight, solve the problem of returning in the unmanned vehicles returns to the air, return to the air for unmanned vehicles and provide the safety guarantee.
In some optional embodiments, the push rod assembly includes a plurality of push rod bodies that are parallel to each other two by two, the plurality of push rod bodies located around the center position of the landing surface of the flight platform are distributed in a cross shape, and the push rod bodies that are parallel to each other two by two move relatively or in opposite directions.
Before the operation of returning the unmanned aerial vehicle to the center, the push rod bodies which are parallel to each other in pairs move in opposite directions to move to the periphery of the landing surface of the central position of the flight platform, so that the central position of the flight platform is ensured to reserve enough landing space. The position of the unmanned aerial vehicle, which is landed to the nest, deviates from the central position of the flight platform. Therefore, after the operation of returning the unmanned aerial vehicle to the center, the push rod bodies which are parallel to each other move relatively, the push rod bodies which are distributed in a shape like a Chinese character jing move synchronously and move towards the center position of the flight platform, and the unmanned aerial vehicle which deviates from the center position of the flight platform moves towards the center position of the flight platform, so that the returning of the unmanned aerial vehicle is realized, and the returning problem of the unmanned aerial vehicle in returning is solved.
In some optional embodiments, the guide rail assembly includes at least four rail bodies distributed along the periphery of the landing surface of the flying platform, the rail bodies are distributed in a rectangular shape, the rail bodies are provided with rail grooves, and the push rod body is provided with balls moving along the rail grooves.
The existence of guide rail assembly makes the push rod body keep the steady of removal when relative or remove in opposite directions, and two push rod bodies that are parallel to each other do not take place to deflect when removing, drive the motion of push rod body through drive mechanism, and the ball on the push rod body moves on the track groove of the track body of rigidity, and the track groove is spacing when leading push rod body, and then is favorable to returning to the centre to unmanned vehicles.
In some optional embodiments, the transmission mechanism comprises:
the push rod body is fixedly connected with any position on the transmission belt;
the synchronous belt wheel is used for driving the transmission belt to rotate, and the transmission belt is wound on the synchronous belt wheel;
the transmission shaft is positioned on the back of the landing surface of the flying platform and is connected with the driving mechanism, and the synchronous belt wheel is arranged on the transmission shaft.
In some optional embodiments, the transmission mechanism further comprises:
the tensioning wheels are rotatably arranged on the side faces of the flying platform, and the transmission belt bypasses the tensioning wheels and is wound on the synchronous belt wheel.
The transmission mechanism drives the transmission shaft to rotate under the driving of the driving mechanism, the transmission shaft drives the synchronous belt wheel to rotate, and then drives the transmission belt wound on the synchronous belt wheel to rotate, the push rod body fixedly connected with the transmission belt moves along the track body, and the unmanned aerial vehicle which deviates from the central position of the flight platform moves towards the central position of the flight platform, so that the centering of the unmanned aerial vehicle is realized, and the centering problem in the return voyage of the unmanned aerial vehicle is solved.
In some optional embodiments, the transmission belt is a transmission rope, the push rod body is provided with a fixing member fixedly connected with any position on the transmission belt, two ends of each push rod body of the push rod assembly are respectively connected with one transmission belt, the transmission belts at two ends of the push rod body synchronously rotate under the drive of the same transmission shaft, and the transmission belts at the same end of every two mutually parallel push rod bodies are wound on the same synchronous belt wheel.
Under actuating mechanism drive, same root transmission shaft rotates, drives the synchronous pulley synchronous revolution at both ends, and two drive belts that are located two liang of push rod bodies that are parallel to each other and same end are synchronous revolution under same synchronous pulley drive, and then drive two liang of push rod body synchronous motion that are parallel to each other, and two liang of push rod bodies that are parallel to each other are relative or move in opposite directions, and then move the unmanned vehicles of the central point of the skew flight platform of position towards flight platform central point and put, realize the returning to the middle of unmanned vehicles.
This application utilizes the driving rope to drive the push rod body, for traditional motor screw device, has reduced the structure complexity, has high-efficient reliable lightweight advantage, satisfies the simple, lightweight low-cost actual demand of unmanned aerial vehicle nest for mechanism safety and stability, easily production, installation and maintenance are convenient in the nest of returning to the center.
In some optional embodiments, at least two tension pulleys are wound on the same transmission belt, the rotation directions of the two transmission belts on the same synchronous pulley are opposite, and two push rod bodies which are parallel to each other and connected with the two transmission belts on the same synchronous pulley move synchronously relative to each other or oppositely, so that the unmanned aerial vehicle with the deviated pushing position can be conveniently pushed to be centered.
In some optional embodiments, two sets of transmission shafts are arranged on the back of the landing surface of the flight platform, the two sets of transmission shafts are distributed in a cross manner, each set of transmission shafts is connected with one driving mechanism, when the unmanned aerial vehicle is centered, the two sets of transmission shafts are driven to rotate through the two driving mechanisms respectively, and then every two push rod bodies which are parallel to each other and are in a shape like a Chinese character 'jing' on the landing surface of the flight platform are driven to move respectively, and centering operation of the unmanned aerial vehicle in the transverse direction and the longitudinal direction is completed.
In some alternative embodiments, the drive mechanism comprises:
the motor is arranged on the back of the landing surface of the flying platform;
the driving gear is arranged on a motor shaft of the motor; and
and the driven gear is fixed on the transmission shaft and is in meshed connection with the driving gear.
When two sets of transmission shafts are driven to rotate through the two driving mechanisms respectively, the motor of each driving mechanism can drive the driving gear to rotate after being electrified, the corresponding transmission shaft is driven to rotate through the meshed driven gear, the push rod body of the landing surface of the flight platform is driven to move under the motion of the transmission belt of the driving mechanism, and the unmanned aerial vehicle is returned to the center for operation.
In a first aspect, in one embodiment provided by the present invention, there is provided a centering method for an unmanned aerial vehicle nest centering mechanism, the method comprising the steps of:
step one, when the landing position of the unmanned aerial vehicle deviates from the central position of the landing surface of the flight platform, the flight platform inclines;
when the flight platform inclines, starting the driving mechanism to be electrified to start working, and driving the transmission mechanism to move;
driving a push rod body of a push rod assembly connected with the transmission mechanism to move relatively along the guide rail assembly, and pushing the deviated unmanned aerial vehicle to move towards the center of the flight platform by the push rod bodies distributed around the center of the landing surface of the flight platform to finish the centering of the unmanned aerial vehicle;
the centering method of the unmanned aerial vehicle nest centering mechanism further comprises the following steps:
before the pilotless aircraft takes off, the driving mechanism drives the push rod bodies of the push rod assemblies to move oppositely through the transmission mechanism to return, the push rod bodies move to the periphery of the center position of the landing surface of the flight platform, and the pilotless aircraft takes off and leaves the aircraft nest after being detected to be far away from the push rod bodies before taking off.
Compared with the prior art, the invention has the beneficial effects that:
compared with the centering structure of a conventional synchronous motor screw rod device, the unmanned aerial vehicle homing mechanism disclosed in the embodiment of the invention ingeniously utilizes the light-weight transmission mechanism to drive the push rod bodies distributed around the center position of the landing surface of the flight platform to synchronously move relatively or oppositely, pushes the unmanned aerial vehicle deviated from the center position of the landing surface and moves towards the center position of the flight platform, solves the centering problem of the unmanned aerial vehicle in the return voyage, reduces the structural complexity of the unmanned aerial vehicle homing mechanism, has low mass proportion, reduces the cost of the unmanned aerial vehicle homing mechanism, realizes the advantages of high efficiency, reliability, light weight, safe and stable structure, easiness in production, installation and maintenance of the unmanned aerial vehicle homing mechanism, and provides safety guarantee for the return voyage of the unmanned aerial vehicle.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a landing surface of a mechanism in a nest homing of an unmanned aerial vehicle.
Fig. 2 is a schematic structural diagram of the back of the landing surface of the mechanism in the nest centering of the unmanned aerial vehicle.
Fig. 3 is a schematic structural view of the connection between the push rod body and the rail body of the unmanned aerial vehicle nest centering mechanism of the invention.
Fig. 4 is a schematic structural diagram of a transmission belt on one side of a transmission shaft of the unmanned aerial vehicle nest centering mechanism.
Fig. 5 is a schematic structural diagram of transmission belts on two sides of a transmission shaft of the unmanned aerial vehicle nest centering mechanism.
Description of reference numerals:
1-a flying platform;
2-a push rod assembly; 21-a push rod body; 22-a ball bearing; 23-a fixing member;
3-a guide rail assembly; 31-a rail body; 32-a track groove;
4-a transmission mechanism; 41-a tensioning wheel; 42-a transmission belt; 43-a synchronous pulley; 44-a drive shaft;
5-a drive mechanism; 51-a motor; 52-a drive gear; 53-driven gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The inventor of the application finds that the common synchronous motor screw rod device of the existing unmanned aerial vehicle nest centering mechanism performs centering operation, the synchronous motor screw rod device is complex in structure, heavier in quality and higher in cost, and is difficult to meet the actual requirements of simple unmanned aerial vehicle nest and light-weight low cost.
In order to solve the problems, the centering mechanism for the aircraft nest provided by the embodiment of the invention is applied to centering of the unmanned aircraft during return flight by using the high-efficiency, reliable and lightweight centering mechanism, and provides safety guarantee for the return flight of the unmanned aircraft.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Fig. 1 shows a schematic structural view of a landing surface of a mechanism for centering a drone aircraft nest according to the invention, and fig. 2 shows a schematic structural view of a back surface of the landing surface of the mechanism for centering a drone aircraft nest according to the invention.
As shown in fig. 1 and 2, in a first embodiment of the present invention, the mechanism for homing the unmanned aerial vehicle comprises a flying platform 1, a push rod assembly 2, a guide rail assembly 3, a transmission mechanism 4 and a driving mechanism 5.
In the embodiment of the invention, the flying platform 1 is used as a bearing platform for the takeoff or landing of the unmanned aerial vehicle, and a landing surface is formed in the middle of the top of the flying platform 1. Wherein, push rod assembly 2 installs in the landing face of flying platform 1, push rod assembly 2 includes a plurality of push rod bodies 21, and push rod body 21 is located all around along the central point of flying platform 1 landing face and is distributed.
In an embodiment of the present invention, the push rod assembly 2 includes a plurality of push rod bodies 21 parallel to each other two by two, the plurality of push rod bodies 21 located around the center position of the landing surface of the flying platform 1 are distributed in a # -shape, and the push rod bodies 21 parallel to each other two by two move relatively or oppositely.
Before the operation of returning the unmanned aerial vehicle to the center, the push rod bodies 21 which are parallel to each other in pairs move in opposite directions to move to the periphery of the landing surface at the central position of the flight platform 1, so that enough landing space is reserved at the central position of the flight platform 1. The position of the unmanned aerial vehicle, which is landed to the nest, deviates from the central position of the flight platform 1. Therefore, after the operation of returning the unmanned aerial vehicle to the center, the push rod bodies 21 which are parallel to each other in pairs move relatively, the push rod bodies 21 which are distributed in a shape like a Chinese character jing move synchronously and move towards the central position of the flight platform 1, and the unmanned aerial vehicle which deviates from the central position of the flight platform 1 moves towards the central position of the flight platform 1, so that the returning of the unmanned aerial vehicle is realized, and the returning problem of the unmanned aerial vehicle in the return voyage is solved.
Referring to fig. 1 and 2, the guide rail assembly 3 includes a rail body 31 distributed along the periphery of the landing surface of the flying platform 1, and the push rod body 21 slides along the rail body 31. The guide rail assembly 3 comprises at least four rail bodies 31 distributed along the periphery of the landing surface of the flying platform 1. In an embodiment of the present invention, referring to fig. 1, the guide rail assembly 3 includes four rail bodies 31 distributed along the periphery of the landing surface of the flying platform 1, the four rail bodies 31 are distributed in a rectangular shape, referring to fig. 3, the rail body 31 is provided with a rail groove 32, and the pushrod body 21 is provided with a ball 22 moving along the rail groove 32.
The guide rail assembly 3 installed on the landing surface of the flight platform 1 enables the push rod bodies 21 to keep moving stably when moving relatively or in opposite directions, two push rod bodies 21 which are parallel to each other do not deflect when moving, the push rod bodies 21 are driven to move through the transmission mechanism 4, the balls 22 on the push rod bodies 21 move on the track grooves 32 of the track bodies 31 with fixed positions, the track grooves 32 are limited when guiding the push rod bodies 21, and the unmanned aerial vehicle is favorably returned.
Referring to fig. 1, 2, 4 and 5, the transmission mechanism 4 is connected to the push rod body 21 and located at one end of the push rod body 21, and the driving mechanism 5 connected to the transmission mechanism 4 is disposed on the back of the landing surface of the flying platform 1.
When unmanned vehicles lands, if the landing position of unmanned vehicles deviates from the central position of the landing surface of the flying platform 1 of the aircraft nest, at the moment, the driving mechanism 5 is started, the switch-on transmission mechanism 4 drives the push rod assembly 2 to slide along the guide rail assembly 3, the push rod bodies 21 distributed around the central position of the landing surface of the flying platform 1 can return the unmanned vehicles located at the eccentric position of the landing surface, the push rod bodies 21 of the return mechanism push the landing surface unmanned vehicles to move towards the central position of the flying platform 1, the high-efficiency, reliable and light weight are achieved, the return problem in the return of the unmanned vehicles is solved, and safety guarantee is provided for the return of the unmanned vehicles.
Referring to fig. 4, the transmission mechanism 4 includes a transmission belt 42, a timing pulley 43, a transmission shaft 44, and a plurality of tension pulleys 41. The push rod body 21 is fixedly connected with any position on the transmission belt 42, and the push rod body 2 of the push rod body 21 is provided with a fixing piece 23 fixedly connected with any position on the transmission belt 42. In an embodiment of the present invention, the fixing member 23 is a rubber or silicon rubber plug provided at a middle portion thereof for the transmission belt 42 to pass through and fixedly connected with the transmission belt 42, in order to ensure stability of connection between the fixing member 23 and the transmission belt 42, the surface of the transmission belt 42 is provided with anti-skid protrusions or anti-skid lines to increase friction between the fixing member 23 and the transmission belt 42, and when the friction is greater than resistance between the two, the fixing member 23 and the transmission belt 42 do not move relatively.
In an embodiment of the present invention, the fixing member 23 and the transmission belt 42 may be fixed by adhesion such as glue, so as to ensure that the fixing member 23 and the transmission belt 42 are not moved relatively after being connected.
Referring to fig. 4 and 5, the synchronous pulley 43 is used for driving the transmission belt 42 to rotate, the transmission belt 42 is wound on the synchronous pulley 43, the transmission shaft 44 is located on the back of the landing surface of the flying platform 1 and connected with the driving mechanism 5, and the synchronous pulley 43 is installed on the transmission shaft 44.
A plurality of tension pulleys 41 are rotatably arranged on the side surface of the flying platform 1, and a transmission belt 42 is wound on a synchronous pulley 43 by bypassing the tension pulleys 41.
In the present invention, the transmission belt 42 is preferably a transmission rope, two ends of each push rod body 21 of the push rod assembly 2 are connected with one transmission belt 42, the transmission belts 42 at two ends of the push rod body 21 are driven by the same transmission shaft 44 to rotate synchronously, and two transmission belts 42 at the same end of the push rod body 21 that are parallel to each other are wound on the same synchronous pulley 43.
The assembly mode of the transmission mechanism 4 is as follows: a certain part in the middle of each transmission rope is fixedly connected with the push rod body 21, and the transmission rope simultaneously bypasses the four tension pulleys 41 and is wound on the synchronous belt pulley 43 for a plurality of circles; the timing pulley 43 is connected to the drive mechanism 5 via a transmission shaft 44.
The transmission mechanism 4 drives the transmission shaft 44 to rotate under the driving of the driving mechanism 5, the transmission shaft 44 drives the synchronous belt wheel 43 to rotate, the transmission belt 42 wound on the synchronous belt wheel 43 is further driven to rotate, the push rod body 21 fixedly connected with the transmission belt 42 moves along the track body 31, and the unmanned aerial vehicle which is deviated from the central position of the flight platform 1 is further moved towards the central position of the flight platform 1, the centering of the unmanned aerial vehicle is realized, and the centering problem in the return journey of the unmanned aerial vehicle is solved.
Under the drive of the driving mechanism 5, the same transmission shaft 44 rotates to drive the synchronous belt pulleys 43 at two ends to synchronously rotate, the two transmission belts 42 at the same end of the push rod bodies 21 which are parallel to each other in pairs synchronously rotate under the drive of the same synchronous belt pulley 43, so that the push rod bodies 21 which are parallel to each other in pairs are driven to synchronously move, the push rod bodies 21 which are parallel to each other in pairs move relatively or oppositely, and then the unmanned aerial vehicle which is deviated from the central position of the flying platform 1 in position moves towards the central position of the flying platform 1, so that the centering of the unmanned aerial vehicle is realized.
This application utilizes the driving rope to drive push rod body 21, for traditional 51 lead screw devices of motor, has reduced the structure complexity, has high-efficient reliable lightweight advantage, satisfies the simple, lightweight low-cost actual demand of unmanned aerial vehicle nest for mechanism safety and stability, easily production, installation and maintenance are convenient in the nest of returning to the middle.
Referring to fig. 1 and 4, at least two tension pulleys 41 are wound on the same transmission belt 42, and preferably, four tension pulleys 41 are wound on the same transmission belt 42 in one embodiment of the present invention. The two transmission belts 42 on the same synchronous pulley 43 rotate in opposite directions, and the two parallel push rod bodies 21 connected with the two transmission belts 42 on the same synchronous pulley 43 move synchronously relatively or oppositely, so that the unmanned aerial vehicle with deviated pushing position can be conveniently returned.
Referring to fig. 2 and 5, two sets of transmission shafts 44 are arranged on the back of the landing surface of the flight platform 1, the two sets of transmission shafts 44 are distributed in a cross manner, each set of transmission shaft 44 is connected with one driving mechanism 5, when the unmanned aerial vehicle is centered, the two sets of transmission shafts 44 are driven to rotate by the two driving mechanisms 5, and then two pairs of mutually parallel push rod bodies 21 in a cross shape on the landing surface of the flight platform 1 are driven to move respectively, so that centering operation of the unmanned aerial vehicle in the transverse direction and the longitudinal direction is completed.
Referring to fig. 2 and 4, the driving mechanism 5 includes a motor 51, a driving gear 52, and a driven gear 53. The motor 51 is arranged on the back of the landing surface of the flying platform 1, the driving gear 52 is arranged on the shaft of the motor 51, the driven gear 53 is fixed on the transmission shaft 44, and the driven gear 53 is meshed with the driving gear 52.
The synchronous pulley 43 is fixedly connected with the driven gear 53 through the transmission shaft 44; the driving gear 52 is fixed on the motor shaft of the motor 51, the track body 31 is fixed on the flying platform 1, the track groove 32 is opened on the track body 31, and the ball 22 is fixed on the push rod body 21.
When the two driving mechanisms 5 drive the two groups of transmission shafts 44 to rotate respectively, the motor 51 of each driving mechanism 5 can drive the driving gear 52 to rotate after being electrified, and drive the corresponding transmission shaft 44 to rotate through the meshed driven gear 53, and the driving belt 42 of the driving mechanism 4 drives the push rod body 21 of the landing surface of the flight platform 1 to move, so that the unmanned aerial vehicle can be returned to the middle.
The working principle of the invention is as follows:
after the motor 51 is electrified to operate, force is transmitted to the driven gear 53 through the driving gear 52, and then the force is transmitted to the transmission shaft 44, the synchronous pulleys 43 on the two sides of the transmission shaft 44 move along with the transmission belt 42 under the action of the tension pulley 41, the winding directions of the two parallel push rod bodies 21 on the synchronous pulleys 43 respectively corresponding to the transmission belt 42 are different, the directions of the transmission belts 42 on the two sides of the transmission shaft 44 move in the same opposite direction or in the opposite direction, the push rod bodies 21 are driven to move through the transmission belt 42, and the balls 22 on the push rod bodies 21 move on the fixed track grooves 32, so that the unmanned aerial vehicle is centered; similarly, another set of motors 51 drives the push rod body 21 in another direction to move.
Therefore, when the unmanned aerial vehicle lands, if the landing position of the unmanned aerial vehicle deviates from the central position of the landing surface of the flight platform 1 of the aircraft nest, the driving mechanism 5 is started, the transmission mechanism 4 is switched on to drive the push rod assembly 2 to slide along the guide rail assembly 3, the push rod bodies 21 distributed around the central position of the landing surface of the flight platform 1 can center the unmanned aerial vehicle at the eccentric position of the landing surface, and the push rod bodies 21 of the centering mechanism push the landing surface unmanned aerial vehicle to move towards the central position of the flight platform 1, so that the centering mechanism is efficient, reliable and light, solves the centering problem of the unmanned aerial vehicle in return flight, and provides safety guarantee for the return flight of the unmanned aerial vehicle.
In a first embodiment provided by the invention, a homing method of an unmanned aerial vehicle nest homing mechanism is further provided, and the method comprises the following steps:
step one, when the landing position of the unmanned aerial vehicle deviates from the central position of the landing surface of the flight platform 1, the flight platform 1 inclines;
step two, when the flying platform 1 inclines, the driving mechanism 5 is started to be electrified to start working, and the transmission mechanism 4 is driven to move;
and step three, the transmission mechanism 4 drives the push rod body 21 of the push rod assembly 2 connected with the transmission mechanism to move relatively along the guide rail assembly 3, and the push rod bodies 21 distributed around the center position of the landing surface of the flight platform 1 push the deviated unmanned aerial vehicle to move towards the center position of the flight platform 1, so that the centering of the unmanned aerial vehicle is completed.
The centering method of the unmanned aerial vehicle nest centering mechanism further comprises the following steps:
before the pilotless aircraft takes off, the driving mechanism 5 drives the push rod body 21 of the push rod assembly 2 to move oppositely and return through the transmission mechanism 4, the push rod body 21 moves to the periphery of the center position of the landing surface of the flight platform 1, and the pilotless aircraft takes off and leaves the aircraft nest after being detected to be far away from the push rod body 21 before taking off.
In the embodiment of the invention, the unmanned aerial vehicle nest centering mechanism is arranged before and after the unmanned aerial vehicle takes off or lands, the driving mechanism 5 drives the push rod body 21 of the push rod assembly 2 to move oppositely through the transmission mechanism 4 to be centered, and the push rod body 21 pushes the landing surface unmanned aerial vehicle to move towards the center of the flight platform 1, so that the centering problem in the return flight of the unmanned aerial vehicle is solved, and the safety guarantee is provided for the return flight of the unmanned aerial vehicle.
In summary, compared with the centering structure of the screw rod device of the conventional synchronous motor 51, the centering mechanism and the centering method for the unmanned aerial vehicle disclosed in the embodiments of the present invention skillfully utilize the lightweight transmission mechanism 4 to drive the push rod bodies 21 distributed around the center position of the landing surface of the flight platform 1 to synchronously move relatively or oppositely, and push the unmanned aerial vehicle deviated from the center position of the landing surface and move toward the center position of the flight platform 1, so as to solve the centering problem of the unmanned aerial vehicle during return navigation, reduce the structural complexity of the centering mechanism for the unmanned aerial vehicle, reduce the mass proportion, reduce the cost of the centering mechanism for the unmanned aerial vehicle, realize the advantages of high efficiency, reliability, light weight, safe and stable structure, easy production, installation and maintenance of the centering mechanism for the unmanned aerial vehicle, and provide safety guarantee for the return navigation of the unmanned aerial vehicle.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a mechanism in unmanned vehicles nest homing, includes flight platform (1), its characterized in that still includes:
the push rod assembly (2) is installed on the landing surface of the flight platform (1), the push rod assembly (2) comprises a plurality of push rod bodies (21), and the push rod bodies (21) are distributed around the center of the landing surface of the flight platform (1);
the guide rail assembly (3) comprises rail bodies (31) distributed along the periphery of a landing surface of the flying platform (1), and the push rod body (21) slides along the rail bodies (31); and
the transmission mechanism (4) is connected with the push rod body (21) and is located at one end of the push rod body (21), and the driving mechanism (5) connected with the transmission mechanism (4) is arranged on the back of the landing surface of the flight platform (1).
2. The unmanned aerial vehicle nest centering mechanism of claim 1, wherein: the push rod assembly (2) comprises a plurality of push rod bodies (21) which are parallel to each other, the plurality of push rod bodies (21) which are arranged on the periphery of the center position of the landing surface of the flying platform (1) are distributed in a shape like a Chinese character jing, and the push rod bodies (21) are parallel to each other in a two-to-two mode and move oppositely or oppositely.
3. The unmanned aerial vehicle nest centering mechanism of claim 2, wherein: the guide rail assembly (3) comprises at least four rail bodies (31) distributed on the periphery of a landing surface of the flying platform (1), the rail bodies (31) are distributed in a rectangular mode, rail grooves (32) are formed in the rail bodies (31), and balls (22) moving along the rail grooves (32) are arranged on the push rod body (21).
4. The unmanned aerial vehicle nest centering mechanism of claim 3, wherein: the transmission mechanism (4) comprises:
the push rod body (21) is fixedly connected with any position on the transmission belt (42);
the synchronous belt wheel (43), the synchronous belt wheel (43) is used for driving the transmission belt (42) to rotate, and the transmission belt (42) is wound on the synchronous belt wheel (43);
the transmission shaft (44) is positioned on the back of the landing surface of the flying platform (1) and connected with the driving mechanism (5), and the synchronous pulley (43) is arranged on the transmission shaft (44).
5. The unmanned aerial vehicle nest centering mechanism of claim 4, wherein: the transmission mechanism (4) further comprises:
the tensioning wheels (41) are rotationally arranged on the side face of the flying platform (1), and the transmission belt (42) winds around the tensioning wheels (41) and is wound on the synchronous belt wheel (43).
6. The unmanned aerial vehicle nest centering mechanism of claim 5, wherein: the transmission belt (42) is a transmission rope, any position on the push rod body (2) is connected with the fixed fixing part (23), two ends of each push rod body (21) of the push rod assembly (2) are connected with the transmission belt (42), the transmission belts (42) at two ends of the push rod body (21) synchronously rotate under the drive of the same transmission shaft (44), and the transmission belts (42) at the same ends of the push rod bodies (21) which are parallel to each other are wound on the same synchronous belt wheel (43).
7. The unmanned aerial vehicle nest centering mechanism of claim 6, wherein: at least two tension pulleys (41) are wound on the same transmission belt (42), the rotating directions of the two transmission belts (42) on the same synchronous pulley (43) are opposite, and two parallel push rod bodies (21) connected with the two transmission belts (42) on the same synchronous pulley (43) move oppositely or synchronously.
8. The unmanned aerial vehicle nest centering mechanism of claim 4, wherein: the back of the landing surface of the flight platform (1) is provided with two groups of transmission shafts (44), the two groups of transmission shafts (44) are distributed in a cross manner, and each group of transmission shafts (44) is connected with a driving mechanism (5).
9. The unmanned aerial vehicle nest centering mechanism of claim 8, wherein: the drive mechanism (5) comprises:
the motor (51), the motor (51) is installed on the back of the landing surface of the flying platform (1);
the driving gear (52), the driving gear (52) is installed on the motor (51) shaft of the motor (51); and
and the driven gear (53) is fixed on the transmission shaft (44), and the driven gear (53) is meshed with the driving gear (52).
10. A homing method of an unmanned aerial vehicle homing mechanism, comprising an unmanned aerial vehicle homing mechanism of any one of claims 1 to 9, wherein: the method comprises the following steps:
s1, when the landing position of the unmanned aerial vehicle deviates from the central position of the landing surface of the flight platform (1), the flight platform (1) inclines;
s2, when the flying platform (1) inclines, starting the driving mechanism (5) to be electrified to start working, and driving the transmission mechanism (4) to move;
s3, the transmission mechanism (4) drives the push rod body (21) of the push rod assembly (2) connected with the transmission mechanism to move relatively along the guide rail assembly (3), and the push rod bodies (21) distributed around the center position of the landing surface of the flight platform (1) push the deviated unmanned aerial vehicle to move towards the center position of the flight platform (1), so that the centering of the unmanned aerial vehicle is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111591658.0A CN114084365A (en) | 2021-12-23 | 2021-12-23 | Mechanism and method for centering aircraft nest of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111591658.0A CN114084365A (en) | 2021-12-23 | 2021-12-23 | Mechanism and method for centering aircraft nest of unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114084365A true CN114084365A (en) | 2022-02-25 |
Family
ID=80307803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111591658.0A Pending CN114084365A (en) | 2021-12-23 | 2021-12-23 | Mechanism and method for centering aircraft nest of unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114084365A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117382947A (en) * | 2023-10-30 | 2024-01-12 | 广州蓝光智能科技有限公司 | Self-service type aerial photographing equipment comprehensive platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450962A (en) * | 2019-08-20 | 2019-11-15 | 深圳市赛为智能股份有限公司 | Oil electric mixed dynamic unmanned plane and its working method |
| CN111791724A (en) * | 2020-06-29 | 2020-10-20 | 宁波华德汽车零部件有限公司 | Portable little door that charges |
| CN111806711A (en) * | 2020-06-30 | 2020-10-23 | 中国人民解放军军事科学院国防科技创新研究院 | Releasing and storing system of cluster rotor unmanned aerial vehicle and control method thereof |
| CN112265645A (en) * | 2020-10-20 | 2021-01-26 | 春禾（深圳）自动化技术有限公司 | Unmanned aerial vehicle logistics cabinet |
| CN213566539U (en) * | 2020-08-11 | 2021-06-29 | 南京钟旭祥科技有限公司 | Unmanned aerial vehicle intelligence hangar suitable for multiple installation demand |
-
2021
- 2021-12-23 CN CN202111591658.0A patent/CN114084365A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450962A (en) * | 2019-08-20 | 2019-11-15 | 深圳市赛为智能股份有限公司 | Oil electric mixed dynamic unmanned plane and its working method |
| CN111791724A (en) * | 2020-06-29 | 2020-10-20 | 宁波华德汽车零部件有限公司 | Portable little door that charges |
| CN111806711A (en) * | 2020-06-30 | 2020-10-23 | 中国人民解放军军事科学院国防科技创新研究院 | Releasing and storing system of cluster rotor unmanned aerial vehicle and control method thereof |
| CN213566539U (en) * | 2020-08-11 | 2021-06-29 | 南京钟旭祥科技有限公司 | Unmanned aerial vehicle intelligence hangar suitable for multiple installation demand |
| CN112265645A (en) * | 2020-10-20 | 2021-01-26 | 春禾（深圳）自动化技术有限公司 | Unmanned aerial vehicle logistics cabinet |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117382947A (en) * | 2023-10-30 | 2024-01-12 | 广州蓝光智能科技有限公司 | Self-service type aerial photographing equipment comprehensive platform |
| CN117382947B (en) * | 2023-10-30 | 2024-04-05 | 广州蓝光智能科技有限公司 | Self-service type aerial photographing equipment comprehensive platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9714090B2 (en) | Aircraft for vertical take-off and landing | |
| JP6896442B2 (en) | Magnetic orientation detent mechanism | |
| EP3290334A1 (en) | Aircraft for vertical take-off and landing | |
| CN103979104B (en) | One can variant X-type wing vertical landing minute vehicle | |
| CN202071985U (en) | Novel plane symmetrical layout type multi-rotor unmanned air vehicle | |
| US20190352004A9 (en) | Modular aircraft assembly for airborne and ground transport | |
| CN108944304B (en) | A kind of amphibious robot having both flight and wall climbing function | |
| EP2803569B1 (en) | Aircraft selectively engageable electric taxi system | |
| CN101687544A (en) | Energy build-up aerodynamic braking method and device | |
| CN108750144B (en) | Three-dimensional coordinated type rope system satellite | |
| CN109436314A (en) | A kind of unmanned vehicle | |
| CN114084365A (en) | Mechanism and method for centering aircraft nest of unmanned aerial vehicle | |
| RU2675769C2 (en) | Drive system for aircraft landing gear | |
| ES2911574T3 (en) | Ground handling assistance system for aircraft | |
| CN104816825A (en) | Telescopic foldable rotor wing | |
| CN204936728U (en) | Three dwell driving | |
| CN206306751U (en) | Hovercar | |
| CN109353176A (en) | A kind of flight experience tricycle | |
| RU147731U1 (en) | AIRCRAFT | |
| CN101870363A (en) | Short-distance takeoff aircraft of energy storing type airplane | |
| CN209617480U (en) | A kind of unmanned vehicle | |
| CN108382582B (en) | Electromechanical device capable of realizing conversion of flapping-fixing wing structure and aircraft | |
| CN2213118Y (en) | Mixed ornithopter | |
| CN216834304U (en) | High continuation of journey formula survey and drawing unmanned aerial vehicle system | |
| CN106114885A (en) | A kind of electric power is reconnoitred flying robot and is stopped charger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |