CN114248944A - Iris centering device of unmanned aerial vehicle parking apron - Google Patents
Iris centering device of unmanned aerial vehicle parking apron Download PDFInfo
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- CN114248944A CN114248944A CN202210037542.0A CN202210037542A CN114248944A CN 114248944 A CN114248944 A CN 114248944A CN 202210037542 A CN202210037542 A CN 202210037542A CN 114248944 A CN114248944 A CN 114248944A
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- 239000007787 solid Substances 0.000 description 8
- 238000009826 distribution Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 240000007643 Phytolacca americana Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
- B64F1/18—Visual or acoustic landing aids
Abstract
The invention discloses an iris centering device of an unmanned aerial vehicle parking apron, which comprises a driving structure, a circular base, a parking platform, a fixing ring and a plurality of iris sheets for pushing the unmanned aerial vehicle. Fixed ring rotationally sets up on the unmanned aerial vehicle parking apron, and the platform of shutting down is located fixed ring's inner ring, and a plurality of iris piece one end rotate respectively with fixed ring to be connected and the position encircles the platform of shutting down, and all iris pieces are located the different height layer respectively in the direction that perpendicular to shut down the platform, are parallel to each other between all iris pieces, and the distance between the iris piece both ends is more than or equal to the distance of the border to its central point position of shutting down the platform. The invention has the effect of multi-direction pushing, can find a shorter centering route and realize accurate centering, does not have the problem of clamping the unmanned aerial vehicle, reduces the control difficulty of centering of the unmanned aerial vehicle, and also has excellent centering effect.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle equipment manufacturing, in particular to an iris centering device of an unmanned aerial vehicle parking apron.
Background
The unmanned aerial vehicle air park is placed in the unmanned aerial vehicle air park and used for providing a platform for the unmanned aerial vehicle to lift. In order to guarantee that unmanned aerial vehicle falls on the central point of unmanned aerial vehicle air park and put, the device that a location was returned to the centre has now often been set up, and the supplementary central point that removes unmanned aerial vehicle to air park puts, avoids the lateral wall of unmanned aerial vehicle and hangar etc. to collide, is convenient for accomodate unmanned aerial vehicle also.
The existing common centering scheme is shown as patent application CN202110671672.5, and a centering shaft is used for propelling towards the middle from the X direction and the Y direction so as to realize centering of the unmanned aerial vehicle. However, the centering scheme has the problem that the direction for driving the unmanned aerial vehicle to move is single during single control, and a better centering route cannot be found. And because the advancing distance of the centering shaft is fixed, the centering shaft on one side and the centering shaft on the opposite side clamp the corner of the unmanned aerial vehicle base. At this moment, in case the dynamics control of returning to the axis is improper, causes the condition that unmanned aerial vehicle deviates from easily, has brought the degree of difficulty for the mechanical control of returning to the axis, also leads to the unmanned aerial vehicle of returning to the center at last not just enough, and the effect of returning to the center is unsatisfactory. Therefore, the existing clamping scheme has high control difficulty and poor centering effect.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a device is returned to in iris of unmanned aerial vehicle air park reduces the control degree of difficulty that unmanned aerial vehicle returned to the center, can also have splendid effect of returning to the center.
In order to solve the problems, the invention adopts the following scheme:
an iris centering device of an unmanned aerial vehicle parking apron comprises a driving structure, a circular base, a parking platform, a fixing ring and a plurality of iris sheets for pushing the unmanned aerial vehicle;
the fixed ring is rotatably arranged on an unmanned aerial vehicle parking apron, the parking platform is positioned in an inner ring of the fixed ring, one ends of the iris membranes are respectively and rotatably connected with the fixed ring, the connection positions of the iris membranes surround the parking platform, all the iris membranes are respectively positioned on different height layers in the direction perpendicular to the parking platform, all the iris membranes are parallel to each other, and the distance between two ends of each iris membrane is greater than or equal to the distance from the edge of the parking platform to the center position of the parking platform;
the driving structure is arranged below the parking platform and used for respectively controlling the iris diaphragm to rotate towards the center of the parking platform, the iris diaphragms are mutually overlapped when rotating to form a polygon which is arranged on the parking platform and gradually reduces along with the rotation of the iris diaphragm, and the circular base is used for being arranged at the bottom of the unmanned aerial vehicle.
In conclusion, the beneficial effects of the invention are as follows: the utility model provides a device is returned to iris on unmanned aerial vehicle air park, it has set up a plurality of iris pieces to encircle on solid fixed ring, every iris piece that adopts the pivoted mode to make all rotates toward the center of shutting down the platform, overlap each other and form one along with the polygon that the rotation of iris piece dwindles gradually, make unmanned aerial vehicle slowly pushed to central point along with polygonal reduction, owing to use the rotation mode, promote unmanned aerial vehicle by a plurality of iris pieces in turn, cooperate with circular base's design, have the effect of multi-direction promotion, can find shorter route of returning to the middle and realize accurate returning to the middle, can not have the problem of cliping unmanned aerial vehicle, reduce the control degree of difficulty that unmanned aerial vehicle returned to the middle, can also have splendid effect of returning to the middle.
Drawings
Fig. 1 is a structural front view of an iris centering device of an unmanned aerial vehicle apron according to an embodiment of the invention;
fig. 2 is a top view of an iris centering device of an unmanned aerial vehicle apron in front of centering according to an embodiment of the present invention;
fig. 3 is a top view of an unmanned aerial vehicle apron iris centering device after centering according to an embodiment of the present invention;
FIG. 4 is an enlarged schematic view at A in FIG. 3;
fig. 5 is a schematic view of the installation positions of a single iris diaphragm, a fixed ring and a rotating ring in an unmanned aerial vehicle apron according to an embodiment of the present invention.
Description of reference numerals:
1. an unmanned aerial vehicle parking apron; 2. a circular base; 3. a shutdown platform; 4. a fixing ring; 5. a iris diaphragm; 6. a rotating device; 7. a drive gear; 8. a guide member; 9. a ring gear; 10. and (6) rotating the ring.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 5, an iris centering device of an unmanned aerial vehicle parking apron comprises a driving structure, a circular base 2, a parking platform 3, a fixing ring 4 and a plurality of iris sheets 5 for pushing the unmanned aerial vehicle;
the fixing ring 4 is rotatably arranged on the unmanned aerial vehicle parking apron 1, the parking platform 3 is positioned in an inner ring of the fixing ring 4, one ends of a plurality of iris membranes 5 are respectively and rotatably connected with the fixing ring 4, the connecting positions of the iris membranes surround the parking platform 3, all the iris membranes 5 are respectively positioned at different height layers in a direction perpendicular to the parking platform 3, all the iris membranes 5 are parallel to each other, and the distance between two ends of each iris membrane 5 is greater than or equal to the distance from the edge of the parking platform 3 to the central position of the iris membrane;
the driving structure is arranged below the parking platform 3 and used for respectively controlling the iris diaphragms 5 to rotate towards the center of the parking platform 3, the iris diaphragms 5 are mutually overlapped when rotating to form a polygon which is arranged on the parking platform and gradually reduced along with the rotation of the iris diaphragms 5, and the circular base 2 is used for being arranged at the bottom of the unmanned aerial vehicle.
From the above description, the beneficial effects of the present invention are: encircle on solid fixed ring 4 and set up a plurality of iris pieces 5, every iris piece 5 that adopts the pivoted mode to make all rotates toward the center of stopping machine platform 3, mutual overlap forms one along with the polygon that the rotation of iris piece 5 dwindled gradually, make unmanned aerial vehicle slowly pushed to central point along with polygonal reduction, owing to use the rotation mode, promote unmanned aerial vehicle by a plurality of iris pieces 5 in turn, cooperate with the design of circular base 2, the effect that has multi-direction promotion, can find short route of returning to the middle and realize accurate returning to the middle, there can not be the problem of carrying unmanned aerial vehicle, reduce the control degree of difficulty that unmanned aerial vehicle returned to the middle, can also have splendid effect of returning to the middle.
Further, the driving structure comprises a rotating device 6, a guide 8 and a rotating ring 10;
the rotating ring 10 is arranged below the fixed ring 4 and forms a laminated structure with the fixed ring 4, and the movable end of the rotating device 6 is in transmission connection with the rotating ring 10;
the plurality of guide members 8 are distributed on the rotating ring 10 and are distributed around the parking platform 3, the guide direction of the guide members 8 faces to or is far away from the center position of the parking platform 3, and one ends of the iris membranes 5, which correspond to the guide members 8 one by one and are far away from the fixing ring 4, are slidably fixed on the guide members 8.
From the above description, rotating ring 10 and solid fixed ring 4 are the stromatolite setting to be used for fixed iris piece 5's both ends respectively, when rotating device 6 drive rotating ring 10 rotates, iris piece 5 rotates around the fixed point of fixing on solid fixed ring 4, and one end is in the rotating ring 10 towards the central point that shuts down platform 3 and puts the slip, thereby realizes whole iris piece 5 toward the effect of sweeping in the middle of shutting down platform 3, promotes unmanned aerial vehicle and is close to shutting down platform 3 center.
Further, the driving structure further comprises a driving gear 7 and a ring gear 9;
the ring gear 9 is fixed on the rotating ring 10 and forms a concentric circle structure with the rotating ring 10, and the driving gear 7 is fixed on the movable end of the rotating device 6 and is meshed with the ring gear 9;
the push rod device is adjacent to the stop platform 3, the movable end of the stop platform faces the rotating piece, and the push rod device is used for pushing the rotating piece to rotate.
As can be seen from the above description, the rotating device 6 drives the rotating ring 10 to rotate through the transmission of the driving gear 7 and the ring gear 9, the transmission structure is simple and stable, the stop along with the rotation can be realized, and the use is convenient.
Further, the guide 8 is a guide groove;
the guide grooves are distributed on the rotating ring 10 and are distributed around the shutdown platform 3, the sliding grooves of the guide grooves face to or are far away from the central position of the shutdown platform 3, and the iris sheets 5 are in one-to-one correspondence with the guide grooves and are slidably arranged in the guide grooves at one end far away from the fixed ring 4.
From the above description, set up iris diaphragm 5's one end slidable in the guide way for rotating ring 10 when rotating, iris diaphragm 5 rotates around the fixed point of fixing on solid fixed ring 4, and one end slides towards the central point that shuts down platform 3 on rotating ring 10, thereby realizes the effect of whole iris diaphragm 5 toward the middle effect of sweeping of shutting down platform 3, promotes unmanned aerial vehicle and is close to shutting down platform 3 center.
Further, the iris diaphragm 5 is arc-shaped;
the side of each iris diaphragm 5 that is concave is located towards the center of the parking platform 3.
From the above description, iris 5 is the arc for different iris 5 forms a nearly circular shape at the center more easily when the overlap, thereby with unmanned aerial vehicle's circular base 2 adaptation more, can shorten unmanned aerial vehicle's route of returning in the middle effectively, make the effect of returning in the middle better.
Further, the curvature of the iris diaphragm 5 is adapted to the edge of the rotary ring 10.
From the above description, the radian of iris 5 and the marginal looks adaptation of rotating ring 10 to when need not putting into the middle, iris 5 can overlap and accomodate on rotating ring 10, can not occupy the space of shutting down platform 3, stops for unmanned aerial vehicle and reserves bigger parking area.
Further, the rotating device 6 is a speed reduction motor, and the driving gear 7 is fixed on the movable end of the speed reduction motor.
According to the description, the speed reduction motor is sensitive to control, the rotating speed of the ring gear 9 can be reasonably controlled, the rhythm of the iris homing is further mastered, and the unmanned aerial vehicle is stably homed.
Further, the annular support platform is circular, and the number of the iris membranes 5 is 12;
one ends of the 12 iris membranes 5 are correspondingly and rotatably arranged on 12 equally divided points of the annular supporting platform.
From the above description, 12 iris 5 symmetric distributions are close to the center of the shutdown platform 3 from 360 all-round when returning to the center for thrust acting on the unmanned aerial vehicle is more and come from different directions, in order to promote the effect of returning to the center of unmanned aerial vehicle.
The iris centering device of the unmanned aerial vehicle parking apron is suitable for an application scene of centering after the unmanned aerial vehicle is parked, and is specifically explained by combining with a specific embodiment as follows:
please refer to fig. 1 to 5. The first embodiment of the invention is as follows:
the utility model provides a device is returned to iris of unmanned aerial vehicle air park, as shown in figure 1, figure 2 and figure 5, including drive structure, circular base 2, shut down platform 3, solid fixed ring 4 and a plurality of iris piece 5 that are used for promoting unmanned aerial vehicle. The fixed ring 4 is rotatably arranged on the unmanned aerial vehicle parking apron 1, the parking platform 3 is positioned in an inner ring of the fixed ring 4, one ends of the iris diaphragms 5 are respectively rotatably connected with the fixed ring 4, the connection positions of the iris diaphragms surround the parking platform 3, all the iris diaphragms 5 are respectively positioned on different height layers in the direction perpendicular to the parking platform 3, all the iris diaphragms 5 are parallel to each other, and the distance between two ends of each iris diaphragm 5 is greater than or equal to the distance from the edge of the parking platform 3 to the central position of the iris diaphragm;
in this embodiment, as shown in fig. 3 and 4, the driving structure is disposed below the parking platform 3, the driving structure is used for respectively controlling the iris diaphragms 5 to rotate towards the center position of the parking platform 3, the plurality of iris diaphragms 5 are overlapped with each other when rotating to form a polygon which is on the parking platform and gradually reduces along with the rotation of the iris diaphragms 5, and the circular base 2 is used for being installed at the bottom of the unmanned aerial vehicle. For better centering, the iris diaphragms 5 are arc-shaped, the concave side of each iris diaphragm 5 being arranged towards the center of the parking platform 3. The annular support base is circular, and the number of iris sheets 5 is 12. One ends of the 12 iris membranes 5 are arranged on 12 equally divided points of the annular supporting platform in a one-to-one correspondence and in a rotatable manner. The curvature of the iris sheet 5 is adapted to the rotation ring 10 so as to receive the iris sheet 5.
In this embodiment, the principle that the device for centering the iris of the unmanned aerial vehicle parking apron realizes centering of the iris is as follows:
as shown in fig. 2 and 3, when the unmanned aerial vehicle with the circular base 2 stops on the stop platform 3, the driving device acts to sequentially make each iris diaphragm 5 poke towards the center of the stop platform 3, under the pushing action of each iris diaphragm 5, the circular base 2 slowly approaches to the center of the stop platform 3 in a curvilinear motion mode, and the directions of the thrust provided by the iris diaphragms 5 are different because the iris diaphragms 5 are located at different positions around the stop platform 3. And, under the condition that the number of iris pieces 5 that rotate is increased, the closed figure that a plurality of iris pieces 5 enclose gradually dwindles to the center of shutting down platform 3, and correspondingly, circular base 2 is taken to the center of shutting down platform 3, accomplishes and centers.
Referring to fig. 3 to 4, a second embodiment of the present invention is:
on the basis of the first embodiment, as shown in fig. 3 to 4, the driving structure comprises a rotating device 6, a guide piece 8 and a rotating ring 10; the rotating ring 10 is arranged below the fixed ring 4 and forms a laminated structure with the fixed ring 4, and the movable end of the rotating device 6 is in transmission connection with the rotating ring 10. A plurality of guides 8 distribute and set up on swivel 10 and the distribution position encircles and shuts down platform 3, and the direction orientation of guides 8 or keep away from the central point that shuts down platform 3 put, and iris 5 and guides 8 one-to-one and keep away from the one end slidable of solid fixed ring 4 and be fixed in on the guides 8.
In the present embodiment, as shown in fig. 4, the driving structure further includes a driving gear 7 and a ring gear 9;
the ring gear 9 is fixed on the rotating ring 10 and forms a concentric circle structure with the rotating ring 10, and the driving gear 7 is fixed on the movable end of the rotating device 6 and is meshed with the ring gear 9. The push rod device is arranged adjacent to the shutdown platform 3, the movable end of the push rod device faces the rotating piece, and the push rod device is used for pushing the rotating piece to rotate.
In the present embodiment, as shown in fig. 5, the guide 8 is a guide groove. A plurality of guide ways distribute and set up on swivel 10 and the distribution position encircles and shuts down platform 3, and the spout direction of guide way is towards or keeps away from the central point that shuts down platform 3 and puts, and iris 5 sets up in the guide way with the guide way one-to-one and keep away from the one end slidable of solid fixed ring 4.
In this embodiment, the driving structure realizes the process of rotating each iris diaphragm 5 separately as follows:
the driving motor starts to operate, so that the driving gear 7 rotates, the ring gear 9 also starts to rotate through the meshing connection between the gears, and the iris diaphragm 5 can swing along with the fixed ring gear as one end of the iris diaphragm 5 is rotatably arranged on the fixed ring gear; when in use, the other end of the iris diaphragm 5 slides towards the center of the stop platform 3 in the guide groove, namely the whole iris diaphragm 5 swings towards the center of the stop platform 3. In the case where a plurality of iris pieces 5 are swung at the same time, finally, as shown in fig. 3, an iris centering effect is achieved.
In addition, in the present embodiment, the rotating device 6 is a speed reduction motor, and the driving gear 7 is fixed to a movable end of the speed reduction motor.
In conclusion, the invention discloses an iris centering device of an unmanned aerial vehicle parking apron, wherein a plurality of iris diaphragms are arranged on a fixing ring in a surrounding manner, each iris diaphragm rotates towards the center of a parking platform in a rotating manner and is mutually overlapped to form a polygon gradually reduced along with the rotation of the iris diaphragms, so that the unmanned aerial vehicle is slowly pushed to the central position along with the reduction of the polygon.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent modifications made by the contents of the present specification and the drawings, or applied to the related technical fields directly or indirectly, are included in the scope of the present invention.
Claims (8)
1. An iris centering device of an unmanned aerial vehicle parking apron is characterized by comprising a driving structure, a circular base, a parking platform, a fixing ring and a plurality of iris sheets for pushing the unmanned aerial vehicle;
the fixed ring is rotatably arranged on an unmanned aerial vehicle parking apron, the parking platform is positioned in an inner ring of the fixed ring, one ends of the iris membranes are respectively and rotatably connected with the fixed ring, the connection positions of the iris membranes surround the parking platform, all the iris membranes are respectively positioned on different height layers in the direction perpendicular to the parking platform, all the iris membranes are parallel to each other, and the distance between two ends of each iris membrane is greater than or equal to the distance from the edge of the parking platform to the center position of the parking platform;
the driving structure is arranged below the parking platform and used for respectively controlling the iris diaphragm to rotate towards the center of the parking platform, the iris diaphragms are mutually overlapped when rotating to form a polygon which is arranged on the parking platform and gradually reduces along with the rotation of the iris diaphragm, and the circular base is used for being arranged at the bottom of the unmanned aerial vehicle.
2. The iris centering device of an unmanned aerial vehicle apron of claim 1, wherein the driving structure comprises a rotating device, a guide member and a rotating ring;
the rotating ring is arranged below the fixed ring and forms a laminated structure with the fixed ring, and the movable end of the rotating device is in transmission connection with the rotating ring;
the guide pieces are distributed on the rotating ring and distributed around the parking platform, the guide direction of the guide pieces faces to or is far away from the center of the parking platform, and the iris pieces are in one-to-one correspondence with the guide pieces, and one ends of the iris pieces, which are far away from the fixing ring, are fixed on the guide pieces in a sliding mode.
3. The iris centering device of the unmanned aerial vehicle apron of claim 2, wherein the driving structure further comprises a driving gear and a ring gear;
the ring gear is fixed on the rotating ring and forms a concentric circle structure with the rotating ring, and the driving gear is fixed on the movable end of the rotating device and is meshed with the ring gear;
the push rod device is adjacent the setting of the stopping platform and the direction of the movable end of the stopping platform to the rotating piece, and the push rod device is used for pushing the rotating piece to rotate.
4. The iris centering device of the unmanned aerial vehicle apron of claim 2, wherein the guide member is a guide groove;
the guide grooves are distributed on the rotating ring and are distributed around the parking platform, the sliding grooves of the guide grooves face to or are far away from the center of the parking platform, and the iris diaphragms are in one-to-one correspondence with the guide grooves and are arranged in the guide grooves in a sliding mode, wherein one ends of the iris diaphragms, far away from the fixing ring, are arranged in the guide grooves.
5. The iris centering device of unmanned aerial vehicle apron of claim 1, characterized in that the iris diaphragm is arc-shaped;
each of the iris diaphragm concave sides is disposed toward the center of the parking platform.
6. An iris centering device of unmanned aerial vehicle apron of claim 5, characterized in that the radian of said iris diaphragm is adapted to the edge of said rotating ring.
7. The iris centering device of an unmanned aerial vehicle apron of claim 3, wherein the rotating device is a speed reduction motor.
8. The iris centering device of an unmanned aerial vehicle apron of claim 1, wherein the fixing ring is circular, and the number of iris sheets is 12;
one end of each of the 12 iris membranes is in one-to-one correspondence and is rotatably arranged on 12 equally divided points of the fixing ring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210037542.0A CN114248944B (en) | 2022-01-13 | 2022-01-13 | Iris centering device of unmanned aerial vehicle apron |
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| CN202210037542.0A CN114248944B (en) | 2022-01-13 | 2022-01-13 | Iris centering device of unmanned aerial vehicle apron |
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| CN114248944B CN114248944B (en) | 2024-02-27 |
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