CN205554568U - Unmanned aerial vehicle is from initiative platform auxiliary device that takes off and land - Google Patents
Unmanned aerial vehicle is from initiative platform auxiliary device that takes off and land Download PDFInfo
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- CN205554568U CN205554568U CN201620346501.XU CN201620346501U CN205554568U CN 205554568 U CN205554568 U CN 205554568U CN 201620346501 U CN201620346501 U CN 201620346501U CN 205554568 U CN205554568 U CN 205554568U
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- sleeve
- unmanned plane
- slide block
- steering wheel
- auxiliary device
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Abstract
The utility model belongs to the technical field of unmanned aerial vehicle and the cooperation of unmanned ship, specifically speaking is an unmanned aerial vehicle is from initiative platform auxiliary device that takes off and land. Including connecting plate, steering wheel, steering wheel fixed plate, compression spring, torsional spring, spout, sleeve, pull rod, slider and fish spear mechanism, wherein steering wheel and sleeve pass through the steering wheel fixed plate and install on the unmanned aerial vehicle undercarriage, compression spring with fish spear mechanism from top to bottom in proper order the holding in the sleeve, the one end of pull rod insert locate in the sleeve and the lower extreme pass through the slider with fish spear mechanism connects, the other end of pull rod passes through the screw thread and is connected with the spout, the steering wheel passes through the pull rod drive fish spear mechanism is followed the sleeve stretches out or retracts, fish spear mechanism stretches out certainly, move out under the effect of torsional spring during the sleeve, thereby unmanned aerial vehicle and the anchor of initiative platform are certainly realized to the net that blocks on the unmanned ship. The utility model discloses can make unmanned aerial vehicle descend safely on the unmanned ship, realizes independently descending in being in the disturbance environment of stormy waves.
Description
Technical field
This utility model belongs to unmanned plane and unmanned boat cooperation technology field, and specifically a kind of unmanned plane is certainly
Active platform landing auxiliary device.
Background technology
In robotic equipment develops some problems of being faced, the flying power of unmanned plane and unmanned boat
The narrow visual field hampers further scientific research always.As: unmanned plane then has the more broad visual field,
But its flying power limited (usually 10-20 minute), it is impossible to global information is provided for a long time；Unmanned boat is very
Difficult complicated aquatic environment residing for perception, ability and the sensing range of perception in other words are extremely limited, and this is the most just
The environment sensing ability only relying on self is made to be difficult to make path planning and decision-making.Based on problem above,
Make full use of the overlength flying power of unmanned plane wide visual field and unmanned boat, unmanned plane is combined with unmanned boat
Get up, it is achieved unmanned plane is autonomous landing on unmanned boat, is current problem demanding prompt solution.Therefore, it is badly in need of
One more perfect robot cooperated system.
Utility model content
In order to overcome above-mentioned the deficiencies in the prior art, the purpose of this utility model there are provided a kind of unmanned plane
From active platform landing auxiliary device.
To achieve these goals, this utility model is by the following technical solutions:
A kind of unmanned plane is from active platform landing auxiliary device, including chute, steering wheel, steering wheel fixed plate, pressure
Contracting spring, sleeve, pull bar, slide block and harpoon mechanism, wherein steering wheel and sleeve are installed by steering wheel fixed plate
On unmanned plane undercarriage, described compression spring and described harpoon mechanism are placed in sleeve the most successively,
In one end of described pull bar is inserted in sleeve and end is connected with described harpoon mechanism by slide block, described
The other end of pull bar is connected with chute, and the bearing pin on steering wheel arm can slide in chute；Described steering wheel is by drawing
Bar drives described harpoon mechanism stretched out by described sleeve or retract, when described sleeve stretches out in described harpoon mechanism oneself
Move out, block the mesh being arranged on unmanned boat, thus realize unmanned plane and fixing from active platform.
Described harpoon mechanism includes front fork and spacing linkage, the bottom of described front fork be provided with prevent front fork by
The spacing seam come off in described sleeve, head is provided with the pyramidal structure facilitating insertion into mesh, described slide block with
Front fork is slidably connected, and described spacing linkage is hinged with the head of described front fork and slide block.
Described spacing linkage includes connecting rod, blocking arm and torsion spring, and wherein bearing pin and institute are passed through in one end of blocking arm
The head stating front fork is hinged, described torsion spring set be located on this bearing pin and two ends respectively with described front fork and gear
Arm connects, and the other end of described blocking arm is hinged with one end of connecting rod, the other end of described connecting rod and described slide block
Hinged；When described harpoon mechanism is stretched out by described sleeve, the described spacing linkage elastic force by torsion spring
Effect automatically springs open.
Described spacing linkage is two groups, and described in two groups, spacing linkage is symmetrical arranged and the side of flicking
To on the contrary.
Described front fork is tubular structure, and the both sides of described tubular structure are provided with strip gab, two groups of institutes vertically
State spacing linkage to be ejected by the both sides strip gab of described tubular structure.
Be provided with in described front fork for limit described slide block continue after described harpoon mechanism automatically springs open glide
Slide block confined planes.
The top of described sleeve is provided with end cap, and bottom is provided with harpoon mechanism and stretches out hole, and described end cap is provided with use
In the pilot hole that described pull bar slides.
Described slide block is that middle part has the rectangular structure of notch with through hole, bottom, and one end of described pull bar holds
Realizing axial limiting in being placed in described slide block and by the shaft shoulder, described pull bar and described slide block are by being positioned at
Jump ring on the upside of slide block is fixed.
Described sleeve is fixed in described steering wheel fixed plate by pipe clamp.
Described landing auxiliary device is two sets and is separately mounted on two undercarriages of unmanned plane.
This utility model has the advantages that and advantage:
1. this utility model can be repeated several times use.Pisces in this utility model is pitched mechanism and can be realized unmanned
The repeatedly landing of machine.And the harpoon that Pisces is pitched in mechanism is recoverable in the sleeve more than undercarriage, because of
This can be implemented in the landing in the plane of land.
2. this utility model is light reliably.Pisces fork mechanism is by carbon fiber plate, and the light material such as aluminium alloy is constituted,
Light weight.It has two fish fork devices to constitute, and increases the reliability of landing.
3. this utility model can realize manual and automatic landing.It is by two servo drivings, rudder that Pisces pitches mechanism
Machine is directly connected to fly in control, flies control program then can realize autonomous landing and manual landing by writing amendment.
If program goes wrong can switch to MANUAL CONTROL mode, it is achieved landing.
Accompanying drawing explanation
Fig. 1 is of the present utility model to stretch out view；
Fig. 2 is retracted mode schematic diagram of the present utility model；
Fig. 3 is the structural representation of front fork in this utility model；
Fig. 4 is the side view of Fig. 3；
Fig. 5 is the structural representation of slide block in this utility model；
Fig. 6 is the side view of Fig. 5.
In figure: 1 is steering wheel arm, 2 is chute, and 3 is end cap, and 4 is steering wheel, and 5 is steering wheel fixed plate, and 6 are
Compression spring, 7 is sleeve, and 8 is pipe clamp, and 9 is front fork, and 91 is spacing seam, and 92 is slide block confined planes,
93 is pyramidal structure, and 94 is strip gab, and 10 is jump ring, and 11 is pull bar, and 12 is slide block, and 121 is logical
Hole, 122 is notch, and 123 is connecting hole, and 13 is connecting rod, and 14 is blocking arm, and 15 is torsion spring.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with the accompanying drawings and tool
This utility model is described in detail by body embodiment.
As it is shown in figure 1, a kind of unmanned plane that this utility model provides is from active platform landing auxiliary device, bag
Include chute 2, steering wheel 4, steering wheel fixed plate 5, compression spring 6, sleeve 7, pull bar 11, slide block 12 and fish
Fork mechanism, wherein steering wheel 4 and sleeve 7 are arranged on unmanned plane undercarriage by steering wheel fixed plate 5, described
Compression spring 6 and described harpoon mechanism are placed in sleeve 7 the most successively, one end of described pull bar 11
In being inserted in sleeve 7 and end is connected with described harpoon mechanism by slide block 12, described pull bar 11
The other end is connected with chute 2, and the bearing pin that wherein the steering wheel arm 1 of steering wheel 4 is provided with can slide in chute；
The linear motion that convert rotational motion is pull bar 11 of steering wheel arm 1, pull bar 11 are driven sliding by described chute 2
Block 12 slides up and down.Described steering wheel 4 drives described harpoon mechanism to be stretched out by described sleeve 7 by pull bar 11
Or retract, described harpoon mechanism automatically springs open when stretching out described sleeve 7, blocks the net being arranged on unmanned boat
Hole thus realize fixing with from active platform of unmanned plane.
Described harpoon mechanism includes that front fork 9 and spacing linkage, the bottom of described front fork 9 are provided with before preventing
Fork 9 is by the spacing seam 91 come off in described sleeve 7, and head is pyramidal structure 93, such as Fig. 3, Fig. 4.
This pyramidal structure 93 is easy to front fork 9 and is inserted from the grid on active platform.Described slide block 12 and front fork 9
Being slidably connected, described spacing linkage is hinged with the head of described front fork 9 and described slide block 12.
Described spacing linkage includes connecting rod 13, blocking arm 14 and torsion spring 15, and wherein one end of blocking arm 14 leads to
Crossing bearing pin hinged with the head of described front fork 9, described torsion spring 15 is sheathed on this bearing pin and two ends difference
Being connected with described front fork 9 and blocking arm 14, the other end of described blocking arm 14 is hinged with one end of connecting rod 13, institute
The other end stating connecting rod 13 is hinged with described slide block 12；When described harpoon mechanism is stretched out by described sleeve 7,
Described spacing linkage is automatically springed open by the elastic force effect of torsion spring 15.
Described spacing linkage is two groups, and described in two groups, spacing linkage is symmetrical arranged and the side of flicking
To on the contrary.
Described front fork 9 is tubular structure, and the both sides of described tubular structure are provided with strip gab 94 vertically, two
Organize described spacing linkage to be ejected by the both sides strip gab 94 of described tubular structure.In described front fork 9
It is provided with the slide block confined planes glided for limiting described slide block 12 to continue after described harpoon mechanism automatically springs open
92, as shown in Figure 3, Figure 4.Described slide block 12 is when slide downward, with the slide block confined planes 92 of front fork 9
Contact, prevents it from continuing to move downward.Guaranteeing, connecting rod 13 and blocking arm 14 form an angle (about simultaneously
45 degree) it is easy to when harpoon 9 is regained close, without producing because of connecting rod 13 and blocking arm 14 angle is too small causes
Connecting rod 13 and the nonrecoverable phenomenon of blocking arm 14.
Have the rectangular structure of notch 122 in the middle part of described slide block 12 with through hole 121, lower end, as Fig. 5,
Shown in Fig. 6.Realize axially in one end of described pull bar 11 is placed in described slide block 12 and by the shaft shoulder
Spacing, described pull bar 11 and described slide block 12 are fixed by being positioned at the jump ring 10 of slide block 12 upper end.Described
The lower end of slide block 12 also has the connecting hole 123 vertical with notch 122, and described connecting hole 123 passes through bearing pin
Hinged with connecting rod 13, the upper end of described connecting rod 13 houses and in notch 122.
Described sleeve 7 is fixed in described steering wheel fixed plate 5 by pipe clamp 8.The top of described sleeve 7 sets
Having end cap 3, bottom is provided with harpoon mechanism and stretches out hole, and described end cap 3 is provided with and slides for described pull bar 11
Pilot hole.
Described landing auxiliary device is two sets, and two overlap the described steering wheel fixed plate 5 in described landing auxiliary device
It is fixed on the carbon fibre tube of undercarriage by harpoon carbon fiber plate pipe clamp, each one of left and right.Described steering wheel is fixed
Plate 5 is carbon fiber plate.
Liang Tao harpoon mechanism is used to constitute double harpoon system, it is therefore intended that: one is to increase the reliable of its landing
Property, the Autonomous landing limited precision owing to the platform of landing is less, it may occur that unmanned plane only one of which rises
The frame that falls drops on grid, and the unsuccessful fortuitous event dropped on grid of another one.If only one
Individual harpoon, now unmanned plane possibly cannot be fixed on unmanned boat, causes landing unsuccessfully, topples and fall.
And double harpoon system ensure that, as long as there being a undercarriage to drop to unmanned plane on grid it may happen that incline
Cover but will not fall；Two is that double harpoon system avoids single anchoring mechanism unmanned plane can be made in unmanned boat rolling
Because rocking the phenomenon rotated during pitching.
Describe in detail as a example by autonomous landing on unmanned boat by six rotor wing unmanned aerial vehicles below:
When unmanned plane is near unmanned boat, first have to guarantee that Liang Ge harpoon mechanism is all incorporated in sleeve 7, nothing
Man-machine hover over above unmanned boat, start to be gradually reduced.Position is constantly adjusted to adapt to nothing during decline
The drift on the water surface of people's ship is also gradually landed.When unmanned plane detects on the grid dropping on unmanned boat,
At once by fly to control send instruction control steering wheel 4 mesh that harpoon mechanism stretches into unmanned boat is fixed, descent
Terminate.
The execution process of described harpoon mechanism is:
During landing, when unmanned plane drops on the grid on unmanned boat, described steering wheel 4 is driven by pull bar 11
Slide block 12 moves downward, and described slide block 12 promotes described harpoon mechanism to move downward.Described connecting rod 13 and gear
When arm 14 is in sleeve 7, it is impossible to open, can only jointly move downward with front fork 9, and stretch out sleeve 7.
After front fork 9 stretches out the mesh that sleeve 7 inserts unmanned boat, connecting rod 13 and blocking arm 14 are at the work of torsion spring 15
Open under with, block mesh.Meanwhile, the spacing seam of front fork 9 upper end connects with the confined planes of sleeve 7
Touch, thus cannot move downward.Now, if the force rate departed from is relatively big, connecting rod 13 and blocking arm 14 are at net
Have, under the steel wire extruding in hole, the trend continuing to open, and slide block 12 touch the slide block confined planes in harpoon 9,
Ensure that slide block 12 will not continue to move downward.Therefore, connecting rod 13 and blocking arm 14 are constantly in open configuration,
Front fork 9 cannot depart from, and now unmanned plane is just fixed on unmanned boat, as shown in Figure 1.
When front fork 9 stretches into below mesh, connecting rod 13 and blocking arm 14 automatically spring open, and block mesh.If nothing
People's ship produces pitching or fluctuating under wind wave action, and unmanned plane has the tendency departing from unmanned boat.Now, blocking arm
14 by the extruding force from mesh.Pressure is transferred on front fork 9 by the slide block confined planes in front fork 9,
It is then passed on the sleeve 7 fixing with undercarriage.Therefore, it is not result in making connecting rod because of pressure effect
13 and blocking arm 14 Guan Bi situation occur so that system is relatively reliable.Only drive pull bar 11 at steering wheel 4
Time, connecting rod 13 and blocking arm 14 just can close, and then take in sleeve 7.
When taking off, after unmanned plane receives the takeoff order of unmanned boat, driven pull bar 11 by flying control control steering wheel 4
Make slide block 12 upward sliding, because the rigidity of torsion spring 15 is less than the rigidity of compression spring 6, therefore first pressed
Contracting, connecting rod 13 and blocking arm 14 Guan Bi are incorporated in front fork 9, are rotated further same front fork 9 then as steering wheel 4
Together in income sleeve 7, the most just can take off, as shown in Figure 2.
Described front fork 9 can be taken in sleeve 7 completely, will not be because of harpoon 9 at undercarriage when unmanned plane takes off
Colliding with unmanned boat or grid below causes take-off attitude instability to cause toppling.
Solved essential problem of the present utility model is the platform that unmanned plane landing on moving platform is faced
Irregularly rock produced problem, as during unmanned plane landing with may contact with moving platform generation collision cause
Unmanned plane topples crash.Therefore, it can be arranged on unmanned boat this device or on unmanned vehicle and its
On his moving platform, it is achieved the autonomous landing of unmanned plane.
The foregoing is only embodiment of the present utility model, be not intended to limit protection model of the present utility model
Enclose.All made within spirit of the present utility model and principle any modification, equivalent substitution and improvement, expansion
Exhibitions etc., are all contained in protection domain of the present utility model.
Claims (10)
1. a unmanned plane is from active platform landing auxiliary device, it is characterised in that: include chute (2), rudder
Machine (4), steering wheel fixed plate (5), compression spring (6), sleeve (7), pull bar (11), slide block (12)
And harpoon mechanism, wherein steering wheel (4) and sleeve (7) are arranged on unmanned plane by steering wheel fixed plate (5) and rise
Falling on frame, described compression spring (6) and described harpoon mechanism are placed in sleeve (7) the most successively,
In one end of described pull bar (11) is inserted in sleeve (7) and end is by slide block (12) and described fish
Fork mechanism connects, and the other end of described pull bar (11) is connected with chute (2), the pin on steering wheel arm (1)
Axle can slide in chute (2)；Described steering wheel (4) by pull bar (11) drive described harpoon mechanism by
Described sleeve (7) stretches out or retracts, and described harpoon mechanism automatically springs open when stretching out described sleeve (7), card
Firmly it is arranged on the mesh on unmanned boat, thus realizes unmanned plane and fixing from active platform.
Unmanned plane the most according to claim 1 is from active platform landing auxiliary device, it is characterised in that:
Described harpoon mechanism includes that front fork (9) and spacing linkage, the bottom of described front fork (9) are provided with and prevent
Front fork (9) is by the spacing seam (91) come off in described sleeve (7), and head is provided with and facilitates insertion into mesh
Pyramidal structure (93), described slide block (12) is slidably connected with front fork (9), described spacing linkage with
Head and the slide block (12) of described front fork (9) are hinged.
Unmanned plane the most according to claim 2 is from active platform landing auxiliary device, it is characterised in that:
Described spacing linkage includes connecting rod (13), blocking arm (14) and torsion spring (15), wherein blocking arm (14)
One end hinged with the head of described front fork (9) by bearing pin, described torsion spring (15) is sheathed on this bearing pin,
And two ends are connected with described front fork (9) and blocking arm (14) respectively, the other end of described blocking arm (14) with
One end of connecting rod (13) is hinged, and the other end of described connecting rod (13) is hinged with described slide block (12)；When
When described harpoon mechanism is stretched out by described sleeve (7), the described spacing linkage bullet by torsion spring (15)
Power effect automatically springs open.
Unmanned plane the most according to claim 3 is from active platform landing auxiliary device, it is characterised in that:
Described spacing linkage is two groups, and described in two groups, spacing linkage is symmetrical arranged and flicks direction phase
Instead.
Unmanned plane the most according to claim 4 is from active platform landing auxiliary device, it is characterised in that:
Described front fork (9) is tubular structure, and the both sides of described tubular structure are provided with strip gab (94) vertically,
Spacing linkage described in two groups can be ejected by the both sides strip gab (94) of described tubular structure.
Unmanned plane the most according to claim 2 is from active platform landing auxiliary device, it is characterised in that:
It is provided with in described front fork (9) and continues after described harpoon mechanism automatically springs open for limiting described slide block (12)
The slide block confined planes (92) glided.
Unmanned plane the most according to claim 1 is from active platform landing auxiliary device, it is characterised in that:
The top of described sleeve (7) is provided with end cap (3), and bottom is provided with harpoon mechanism and stretches out hole, described end cap (3)
It is provided with the pilot hole slided for described pull bar (11).
Unmanned plane the most according to claim 1 is from active platform landing auxiliary device, it is characterised in that:
Described slide block (12) is middle part with through hole (121), bottom the rectangular structure of notch (122), institute
State in one end of pull bar (11) is placed in described slide block (12) and realize axial limiting by the shaft shoulder,
Described pull bar (11) and described slide block (12) are fixed by being positioned at the jump ring (10) of slide block (12) upside.
Unmanned plane the most according to claim 1 is from active platform landing auxiliary device, it is characterised in that:
Described sleeve (7) is fixed on described steering wheel fixed plate (5) by pipe clamp (8).
10., according to the unmanned plane described in any one of claim 1-9 from active platform landing auxiliary device, it is special
Levy and be: described landing auxiliary device is two sets and is separately mounted on two undercarriages of unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620346501.XU CN205554568U (en) | 2016-04-22 | 2016-04-22 | Unmanned aerial vehicle is from initiative platform auxiliary device that takes off and land |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620346501.XU CN205554568U (en) | 2016-04-22 | 2016-04-22 | Unmanned aerial vehicle is from initiative platform auxiliary device that takes off and land |
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| Publication Number | Publication Date |
|---|---|
| CN205554568U true CN205554568U (en) | 2016-09-07 |
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| CN201620346501.XU Active CN205554568U (en) | 2016-04-22 | 2016-04-22 | Unmanned aerial vehicle is from initiative platform auxiliary device that takes off and land |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107303947A (en) * | 2016-04-22 | 2017-10-31 | 中国科学院沈阳自动化研究所 | A kind of unmanned plane is from active platform landing servicing unit |
| CN110001935A (en) * | 2019-05-07 | 2019-07-12 | 广州中国科学院沈阳自动化研究所分所 | A kind of unmanned plane is from active platform landing auxiliary device |
| CN110001935B (en) * | 2019-05-07 | 2024-05-17 | 广州中国科学院沈阳自动化研究所分所 | Unmanned aerial vehicle takes off and land auxiliary device from initiative platform |
-
2016
- 2016-04-22 CN CN201620346501.XU patent/CN205554568U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107303947A (en) * | 2016-04-22 | 2017-10-31 | 中国科学院沈阳自动化研究所 | A kind of unmanned plane is from active platform landing servicing unit |
| CN110001935A (en) * | 2019-05-07 | 2019-07-12 | 广州中国科学院沈阳自动化研究所分所 | A kind of unmanned plane is from active platform landing auxiliary device |
| CN110001935B (en) * | 2019-05-07 | 2024-05-17 | 广州中国科学院沈阳自动化研究所分所 | Unmanned aerial vehicle takes off and land auxiliary device from initiative platform |
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