CN114248944B - Iris centering device of unmanned aerial vehicle apron - Google Patents
Iris centering device of unmanned aerial vehicle apron Download PDFInfo
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- CN114248944B CN114248944B CN202210037542.0A CN202210037542A CN114248944B CN 114248944 B CN114248944 B CN 114248944B CN 202210037542 A CN202210037542 A CN 202210037542A CN 114248944 B CN114248944 B CN 114248944B
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- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 16
- 238000013459 approach Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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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
-
- 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 round base, a stopping platform, a fixed ring and a plurality of iris diaphragms for pushing the unmanned aerial vehicle. The fixed ring is rotatably arranged on the unmanned aerial vehicle parking apron, the parking platform is positioned in the inner ring of the fixed ring, one ends of a plurality of iris diaphragms are respectively connected with the fixed ring in a rotating way and are positioned around the parking platform, all the iris diaphragms are respectively positioned on different height layers in the direction perpendicular to the parking platform, all the iris diaphragms are mutually parallel, and the distance between two ends of each iris diaphragm is greater than or equal to the distance from the edge of the parking platform to the center position of the iris diaphragm. The invention has the effect of multidirectional pushing, can find a shorter centering route and realize accurate centering, can not clamp the unmanned aerial vehicle, reduces the control difficulty of centering 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 parking apron is placed in the unmanned aerial vehicle parking garage and is used for providing a platform for unmanned aerial vehicle lifting. In order to ensure that unmanned aerial vehicle falls in the central point of unmanned aerial vehicle air park, has set up a device in location is put in order always now, and supplementary removal unmanned aerial vehicle is to the central point of air park, avoids collision such as unmanned aerial vehicle and the lateral wall of hangar to take place, also is convenient for accomodate unmanned aerial vehicle.
The conventional centering scheme is as in patent application CN202110671672.5, and the centering shaft is utilized to push the unmanned aerial vehicle from the X direction and the Y direction to the middle so as to realize the centering of the unmanned aerial vehicle. However, the centering scheme has the problem that the direction of driving the unmanned aerial vehicle to move is single during single control, and a better centering route cannot be found. And, because the distance of advancing of the back shaft is fixed, the back shaft of one side and the back shaft opposite to it clip the situation of the edge angle of unmanned aerial vehicle base. At this time, once the dynamics control of returning to the center shaft is improper, causes the condition that unmanned aerial vehicle deviate from easily, has brought the degree of difficulty for returning to the center shaft's mechanical control, also leads to finally returning to the center unmanned aerial vehicle not just enough, returns to the center effect inequality. It can be seen that the existing clamping scheme has high control difficulty and poor centering effect.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the iris centering device for the unmanned aerial vehicle parking apron reduces the control difficulty of unmanned aerial vehicle centering and has an excellent centering effect.
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 round base, a parking platform, a fixed ring and a plurality of iris sheets for pushing the unmanned aerial vehicle;
the fixed ring is rotatably arranged on the unmanned aerial vehicle parking apron, the parking platform is positioned in an inner ring of the fixed ring, one ends of a plurality of iris sheets are respectively connected with the fixed ring in a rotating way, the connecting positions encircle the parking platform, all the iris sheets are respectively positioned on different height layers in the direction perpendicular to the parking platform, all the iris sheets are mutually parallel, and the distance between two ends of the iris sheets is larger than or equal to the distance from the edge of the parking platform to the central position of the parking platform;
the driving structure is arranged below the stopping platform and used for respectively controlling the iris sheets to rotate towards the central position of the stopping platform, the iris sheets mutually overlap when rotating to form a polygon which is arranged on the parking apron table and gradually reduced along with the rotation of the iris sheets, and the circular base is used for being arranged at the bottom of the unmanned aerial vehicle.
In summary, the beneficial effects of the invention are as follows: the utility model provides a device in iris of unmanned aerial vehicle air park is put in returning, has encircleed on solid fixed ring and has set up a plurality of iris diaphragms, adopts the center rotation of pivoted mode messenger every iris diaphragm all toward the shut down platform, and mutual overlap forms one and reduces gradually along with the rotation of iris diaphragm for unmanned aerial vehicle is pushed gradually to central point along with the reduction of polygon, because use the rotation mode, promotes unmanned aerial vehicle in turn by a plurality of iris diaphragms, cooperates with circular base's design, has the effect that multi-direction promoted, can find shorter route of returning and realize accurate returning, can not have the problem of clip unmanned aerial vehicle, reduces the control degree of difficulty in unmanned aerial vehicle returning, can also have splendid effect of returning.
Drawings
Fig. 1 is a front view of the iris centering device of an unmanned aerial vehicle tarmac according to an embodiment of the present invention;
fig. 2 is a top view of an iris centering device of an unmanned aerial vehicle tarmac prior to centering in accordance with an embodiment of the present invention;
fig. 3 is a top view of an iris centering device of an unmanned aerial vehicle tarmac after centering according to an embodiment of the present invention;
FIG. 4 is an enlarged schematic view of FIG. 3 at A;
fig. 5 is a schematic view of the installation positions of a single iris, a fixed ring and a rotating ring in an unmanned aerial vehicle tarmac according to an embodiment of the present invention.
Description of the reference numerals:
1. unmanned aerial vehicle apron; 2. a circular base; 3. a shutdown platform; 4. a fixing ring; 5. iris diaphragm; 6. a rotating device; 7. a drive gear; 8. a guide member; 9. a ring gear; 10. and rotating the ring.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
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 plates 5 for pushing the 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 the inner ring of the fixed ring 4, one end of each iris sheet 5 is respectively and rotatably connected with the fixed ring 4, the connecting position surrounds the parking platform 3, all the iris sheets 5 are respectively positioned on different height layers in the direction perpendicular to the parking platform 3, all the iris sheets 5 are mutually parallel, and the distance between the two ends of each iris sheet 5 is greater than or equal to the distance from the edge of the parking platform 3 to the central position;
the driving structure is arranged below the stopping platform 3 and is used for respectively controlling the iris sheets 5 to rotate towards the central position of the stopping platform 3, a plurality of iris sheets 5 mutually overlap when rotating to form a polygon which is arranged on the parking apron table and gradually reduces along with the rotation of the iris sheets 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 invention are as follows: the fixed ring 4 is provided with a plurality of iris diaphragms 5 in a surrounding mode, each iris diaphragm 5 which is made to rotate towards the center of the stop platform 3 in a rotating mode is overlapped with each other to form a polygon which is gradually reduced along with the rotation of the iris diaphragm 5, so that the unmanned aerial vehicle is slowly pushed to the center along with the reduction of the polygon, and due to the fact that the rotating mode is used, the plurality of iris diaphragms 5 are used for alternately pushing the unmanned aerial vehicle to be matched with the design of the circular base 2, the effect of multidirectional pushing is achieved, a shorter centering route can be found, accurate centering is achieved, the problem of clamping the unmanned aerial vehicle is solved, the control difficulty of centering of the unmanned aerial vehicle is reduced, and the centering effect is excellent.
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 pieces 8 are distributed on the rotating ring 10 and distributed around the stopping platform 3, the guiding direction of the guide pieces 8 faces to or is far away from the central position of the stopping platform 3, and one ends of the iris pieces 5, which correspond to the guide pieces 8 one by one and are far away from the fixing ring 4, are slidably fixed on the guide pieces 8.
As is apparent from the above description, the rotating ring 10 and the fixed ring 4 are arranged in a stacked manner and are respectively used for fixing two ends of the iris diaphragm 5, the iris diaphragm 5 rotates around the fixed point fixed on the fixed ring 4 while the rotating device 6 drives the rotating ring 10 to rotate, and one end slides on the rotating ring 10 towards the center position of the shutdown platform 3, so that the effect that the whole iris diaphragm 5 sweeps towards the middle of the shutdown platform 3 is realized, and the unmanned aerial vehicle is pushed to approach the center of the shutdown platform 3.
Further, the driving structure also 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 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.
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, and the transmission structure is simple and stable, and the rotating ring is convenient to use when rotating.
Further, the guide piece 8 is a guide groove;
the plurality of guide grooves are distributed on the rotating ring 10 and distributed around the stopping platform 3, the sliding groove direction of the guide grooves faces to or is far away from the central position of the stopping platform 3, and the iris sheets 5 are in one-to-one correspondence with the guide grooves and one end far away from the fixed ring 4 is slidably arranged in the guide grooves.
As is apparent from the above description, one end of the iris diaphragm 5 is slidably disposed in the guide groove, so that when the rotary ring 10 rotates, the iris diaphragm 5 rotates around the fixed point fixed on the fixed ring 4, and the other end slides on the rotary ring 10 toward the center of the shutdown platform 3, thereby realizing the effect of sweeping the whole iris diaphragm 5 toward the middle of the shutdown platform 3, and pushing the unmanned aerial vehicle to approach the center of the shutdown platform 3.
Further, the iris sheet 5 is arc-shaped;
one side of each iris piece 5 is concave and is arranged towards the center of the shutdown platform 3.
From the above description, the iris sheets 5 are arc-shaped, so that different iris sheets 5 are easier to form a near circular shape in the center when overlapped, so that the iris sheets are more adaptive to the circular base 2 of the unmanned aerial vehicle, and the centering path of the unmanned aerial vehicle can be effectively shortened, so that the centering effect is better.
Further, the curvature of the iris 5 is adapted to the edge of the rotating ring 10.
From the above description, the radian of the iris sheet 5 is adapted to the edge of the rotating ring 10, so that when no centering is needed, the iris sheet 5 can be overlapped and stored on the rotating ring 10, and the space of the shutdown platform 3 is not occupied, so that a larger shutdown area is reserved for unmanned aerial vehicle berthing.
Further, the rotating device 6 is a gear motor, and the driving gear 7 is fixed on the movable end of the gear motor.
From the above description, the gear motor is sensitive to control, and can reasonably control the rotation speed of the ring gear 9, so as to grasp the rhythm of iris centering and stably centering the unmanned aerial vehicle.
Further, the annular supporting table is circular, and the number of the iris sheets 5 is 12;
one ends of the 12 iris sheets 5 are in one-to-one correspondence and are rotatably arranged on 12 equally divided points of the annular supporting table.
From the above description, the 12 iris sheets 5 are symmetrically distributed, and approach to the center of the shutdown platform 3 from 360 ° in all directions during centering, so that the thrust acting on the unmanned aerial vehicle is more and comes from different directions, thereby improving the centering effect of the 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 stopped, and the iris centering device is specifically described by combining specific embodiments:
please refer to fig. 1 to 5. The first embodiment of the invention is as follows:
an iris centering device of an unmanned aerial vehicle parking apron, as shown in fig. 1, 2 and 5, 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 fixed ring 4 is rotatably arranged on the unmanned aerial vehicle parking apron 1, the parking platform 3 is positioned in the inner ring of the fixed ring 4, one end of each iris diaphragm 5 is respectively and rotatably connected with the fixed ring 4, the connecting position surrounds the parking platform 3, all the iris diaphragms 5 are respectively positioned on different height layers in the direction vertical to the parking platform 3, all the iris diaphragms 5 are mutually parallel, and the distance between the 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 parking platform 3;
in this embodiment, as shown in fig. 3 and 4, a driving structure is disposed below the shutdown platform 3, the driving structure is used for respectively controlling the diaphragms 5 to rotate toward the center of the shutdown platform 3, and the diaphragms 5 overlap each other during rotation to form a polygon on the parking apron platform and gradually shrinking along with the rotation of the diaphragms 5, and the circular base 2 is used for being installed at the bottom of the unmanned aerial vehicle. In order to obtain a better centering effect, the iris sheets 5 are arc-shaped, and one concave side of each iris sheet 5 is arranged towards the center of the shutdown platform 3. The annular support is circular, and the number of iris films 5 is 12. One ends of the 12 iris diaphragms 5 are in one-to-one correspondence and are rotatably arranged on 12 equally dividing points of the annular supporting table. And, the radian of iris diaphragm 5 and swivel ring 10 are adapted so as to receive iris diaphragm 5.
In this embodiment, an iris centering device of an unmanned aerial vehicle parking apron realizes iris centering according to the following principle:
as shown in fig. 2 and 3, when an unmanned aerial vehicle with a circular base 2 is stopped on the stopping platform 3, the driving device acts to sequentially stir each iris diaphragm 5 toward the center of the stopping platform 3, and under the pushing action of each iris diaphragm 5, the circular base 2 slowly approaches to the center of the stopping platform 3 in a curved motion manner, and as the iris diaphragms 5 are located at different positions around the stopping platform 3, the thrust directions provided by the iris diaphragms 5 are also different. In addition, when the number of iris sheets 5 is increased, the closed pattern surrounded by the plurality of iris sheets 5 gradually decreases toward the center of the shutdown platform 3, and accordingly, the circular base 2 is brought to the center of the shutdown platform 3, thereby completing centering.
Referring to fig. 3 to 4, a second embodiment of the present invention is as follows:
in addition to the first embodiment, as shown in fig. 3 to fig. 4, the driving structure includes a rotating device 6, a guide member 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 pieces 8 are distributed on the rotating ring 10 and are distributed at positions surrounding the shutdown platform 3, the guiding direction of the guide pieces 8 faces to or is far away from the center position of the shutdown platform 3, and the iris films 5 are in one-to-one correspondence with the guide pieces 8 and are fixed on the guide pieces 8 in a sliding way at one end far away from the fixed ring 4.
In this 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 this embodiment, as shown in fig. 5, the guide 8 is a guide groove. The plurality of guide grooves are distributed on the rotating ring 10 and are distributed around the shutdown platform 3, the sliding groove direction of the guide grooves faces to or is far away from the center position of the shutdown platform 3, and the iris films 5 are in one-to-one correspondence with the guide grooves and are arranged in the guide grooves in a sliding manner at one end far away from the fixed ring 4.
In this embodiment, the driving structure realizes the process of rotating each iris diaphragm 5 separately:
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 swings along with the rotation of one end of the iris diaphragm 5 which is rotatably arranged on the fixed switch; when in use, the other end of the iris sheet 5 slides in the direction of the guide groove towards the center of the shutdown platform 3, namely, the whole iris sheet 5 swings towards the center of the shutdown platform 3. In the case where a plurality of iris pieces 5 are swung at the same time, finally, as shown in fig. 3, the effect of iris homing is achieved.
In addition, in the present embodiment, the rotating device 6 is a gear motor, and the driving gear 7 is fixed to the movable end of the gear motor.
In summary, the invention discloses an iris centering device of an unmanned aerial vehicle parking apron, a plurality of iris diaphragms are arranged on a fixed ring in a surrounding way, each iris diaphragm is enabled to rotate towards the center of a parking platform in a rotating mode, and the iris diaphragms are mutually overlapped to form a polygon which is gradually reduced along with the rotation of the iris diaphragm, so that the unmanned aerial vehicle is slowly pushed to a central position along with the reduction of the polygon.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant technical field, are included in the scope of the present invention.
Claims (3)
1. The iris centering device of the unmanned aerial vehicle parking apron is characterized by comprising a driving structure, a round base, a parking platform, a fixed ring and a plurality of iris sheets for pushing the unmanned aerial vehicle;
the fixed ring is rotatably arranged on the unmanned aerial vehicle parking apron, the parking platform is positioned in an inner ring of the fixed ring, one ends of a plurality of iris sheets are respectively connected with the fixed ring in a rotating way, the connecting positions encircle the parking platform, all the iris sheets are respectively positioned on different height layers in the direction perpendicular to the parking platform, all the iris sheets are mutually parallel, and the distance between two ends of the iris sheets is larger than or equal to the distance from the edge of the parking platform to the central position of the parking platform;
the driving structure is arranged below the stopping platform and used for respectively controlling the iris sheets to rotate towards the central position of the stopping platform, the iris sheets mutually overlap when rotating to form a polygon which is arranged on the parking apron table and gradually reduces along with the rotation of the iris sheets, and the circular base is used for being arranged at the bottom of the unmanned aerial vehicle;
the iris diaphragm is arc-shaped;
one side of each iris piece concave is arranged towards the center of the shutdown platform;
the radian of the iris diaphragm is matched with the edge of the rotating ring;
the driving structure comprises a rotating device, a guide piece 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 piece is a guide groove;
the plurality of guide grooves are distributed on the rotating ring and distributed around the shutdown platform, the sliding groove direction of the guide grooves faces to or is far away from the central position of the shutdown platform, and the iris films are in one-to-one correspondence with the guide grooves, and one end far away from the fixed ring is slidably arranged in the guide grooves;
the driving structure also 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 arranged adjacent to the shutdown platform, 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.
2. The iris centering device of claim 1, wherein the rotating device is a gear motor.
3. The iris centering device of the unmanned aerial vehicle tarmac according to claim 1, wherein the fixed ring is circular, and the number of the iris diaphragms is 12;
one ends of the 12 iris sheets are in one-to-one correspondence and are rotatably arranged on 12 equally divided points of the fixed ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210037542.0A CN114248944B (en) | 2022-01-13 | 2022-01-13 | Iris centering device of unmanned aerial vehicle apron |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210037542.0A CN114248944B (en) | 2022-01-13 | 2022-01-13 | Iris centering device of unmanned aerial vehicle apron |
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| CN114248944A CN114248944A (en) | 2022-03-29 |
| CN114248944B true CN114248944B (en) | 2024-02-27 |
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