CN207403950U

CN207403950U - Unmanned plane and base station docking system

Info

Publication number: CN207403950U
Application number: CN201721141125.1U
Authority: CN
Inventors: 罗浚溢
Original assignee: Chengdu University
Current assignee: Chengdu University
Priority date: 2017-09-07
Filing date: 2017-09-07
Publication date: 2018-05-25
Anticipated expiration: 2027-09-07

Abstract

The utility model discloses a kind of unmanned plane and base station docking system, unmanned plane docks unit including first with base station docking system and docks unit with second, and the first docking unit docks unit with second can relative separation or docking；First docking unit includes first interface, second docking unit includes second interface and the capture mechanism for capturing the first docking unit, the capture mechanism can be translated and rotated compared with the second interface, and the center of rotation that translation direction rotates is parallel.The unmanned plane of the utility model and base station docking system can realize mechanical splice between unmanned plane and base station with electrically docking, reliable and stable.

Description

Unmanned plane and base station docking system

Technical field

The utility model is related to unmanned plane field, more particularly to a kind of unmanned plane and base station docking system.

Background technology

Multi-rotor unmanned aerial vehicle on current market is required to replace battery manually, can not realize the automatic charging of unmanned plane with It automatically controls, based on this, it is necessary to design a kind of base station for being used for unmanned plane and being charged and/or transmitted data to unmanned plane Between the docking system that docks.

Utility model content

Purpose of utility model：In order to overcome the deficiencies in the prior art, the utility model provides a kind of for nobody The unmanned plane of automatic butt and base station docking system are realized between machine and base station.

Technical solution：To achieve the above object, the unmanned plane of the utility model is docked with base station docking system including first Unit docks unit with second, and the first docking unit docks unit with second can relative separation or docking；First pair of order Member includes first interface, and the second docking unit includes second interface and the capture mechanism for capturing the first docking unit, institute Stating capture mechanism can translate and rotate compared with the second interface, and the center of rotation that translation direction rotates is parallel.

Further, auxiliary docking system is further included, the auxiliary docking system includes multiple independences by scattering device Dispersal unit composition dispersal unit group and individually interactive separate unit can be carried out with each dispersal unit, it is described scattered First is arranged on one of in both unit group and separate unit to dock on unit, another is arranged on the second docking unit On.

Further, the dispersal unit rectangular array distribution.

Further, the dispersal unit circumference array is distributed on multiple concentric circles, when dispersal unit group is mounted on the When in a pair of of order member, first interface is located at the center location of concentric circles, when dispersal unit group is mounted on the second docking unit When, second interface is located at the center location of concentric circles.

Further, the dispersal unit is readable code fetch, and each readable code fetch differs, and the separate unit is reading Take camera.

Further, one of them in both the dispersal unit and separate unit is signal projector, another is letter Number receiver.

Further, the signal projector is infrared lamp, and the signal receiver is infrared sensitive element.

Further, the first docking unit includes cricoid companion flange；The capture mechanism includes capturing stent, On the capture stent circumference array be provided at least three can along capture stent radial direction synchronous translational claw, the claw Including the portion of being slidably matched, along the axially extending axially-extending portion for capturing stent and along capturing extending radially outwardly for stent Radial extension；The movement of claw is driven by driving arm, and the driving arm is under the promotion of the active bracket described The axial lifting of stent is captured, and sets and has elastic component between driving arm and active bracket；Active bracket is equipped with and is used for Push down the flanging flange of the companion flange；Active bracket is driven by the driving device being arranged on the capture stent.

Further, on lifting support, the capture stent can be compared with the liter for capture mechanism integral installation Descending branch frame rotates, and the lifting support can be lifted compared with the second interface.

Advantageous effect：The unmanned plane and base station docking system of the utility model can realize the machinery between unmanned plane and base station Docking is reliable and stable with electrically docking.

Description of the drawings

Attached drawing 1 is the whole structure chart of unmanned plane, base station and docking system three；

Attached drawing 2 is unmanned plane and the structure chart of base station docking system；

Attached drawing 3 is unmanned plane and the sectional view of base station docking system；

Attached drawing 4 is unmanned plane and the partial enlarged view of base station docking system；

Attached drawing 5 is unmanned plane and the structure chart of second of embodiment of base station docking system.

1 first docking unit；2 second docking units；3 auxiliary docking systems；101 companion flanges；102 first interfaces；201 Pedestal；202 second interfaces；203 capture stent；204 claws；205 driving arms；206 active brackets；207 elastic elements；208 Electromagnet；209 armature；210 screws；211 motors；212 first gears；213 second gears；214 lifting supports；215 the 3rd teeth Wheel；216 second motors；217 the 4th gears；218 second screws；219 the 3rd motors；220 feed screw nuts；301 dispersal units； 302 separate units；2041 are slidably matched portion；2042 axially-extending portions；2043 radial extensions；2061 flanging flanges.

Specific embodiment

The utility model is further described below in conjunction with the accompanying drawings.

Unmanned plane as shown in Figure 2-4 and base station docking system dock unit 2 including the first docking unit 1 with second, The first docking unit 1 docks unit 2 with second can relative separation or docking；First docking unit 1 includes first interface 102, the second docking unit 2 includes second interface 202 and the capture mechanism for capturing the first docking unit 1, the capture Mechanism can translate and rotate compared with the second interface 202, and the center of rotation that translation direction rotates is parallel.

Auxiliary docking system 3 is further included, the auxiliary docking system 3 includes multiple independent scattered lists by scattering device The dispersal unit group of member composition and the separate unit 302 that independent interaction can be carried out with each dispersal unit 301, the scattered list Tuple is docked with being arranged on first one of in 302 the two of separate unit on unit 1, another is arranged on second pair of order In member 2.It should be noted that the interaction that the interaction between dispersal unit 301 and separate unit 302 herein can be signal (divides Throwaway member 301 sends signal with one of which in separate unit 302, and another one receives signal) or visual interaction (dispersal unit 301 is with one of which in separate unit 302 comprising visually identifiable information, another one can be read and judge The information).

Specifically, 301 rectangular array of the dispersal unit distribution or circumference array are distributed on multiple concentric circles, this The distribution mode of the latter is used in embodiment, when dispersal unit group is mounted on the first docking unit 1, first interface 102 In the center location of concentric circles, when dispersal unit group is mounted on the second docking unit 2, second interface 202 is located at concentric circles Center location.

In the first embodiment, the separate unit 302 is vision element, and the dispersal unit 301 is Quick Response Code, often A Quick Response Code is respectively provided with uniqueness.Here vision element refers to that camera or other visual sensors, vision element can be read 2 D code information simultaneously passes through control centre and is decoded, and the 2 D code information that control centre can read according to it determines unmanned plane With the relative position of base station, and control unmanned plane carry out position compensation, in order to which unmanned plane is made finally relatively accurately to find base station The center of upper second interface 202 is provided on base station and the heart is marked for what vision element captured, described to be to heart mark Facilitate the cross pictorial symbolization or star graphic mark that vision element captures.

In second of embodiment, the dispersal unit 301 emits with one of them in 302 the two of separate unit for signal Device, another is signal receiver.Signal projector herein is infrared lamp, and signal receiver is infrared sensitive element.This In embodiment, dispersal unit 301 is signal receiver, and separate unit 302 is signal projector, and dispersal unit group is mounted on base On standing, separate unit 302 is mounted on unmanned plane.

The capture mechanism includes capturing stent 203, and circumference array sets at least three claws on the capture stent 203 204, the claw 204 can be along the radial translation of the capture stent 203, and claw 204 includes be slidably matched portion 2041, edge capture The axially extending axially-extending portion 2042 of stent 203 and the radial extension to extend radially outwardly along capture stent 203 2043.The translation of claw 204 is driven by driving arm 205, specifically, corresponding to capture branch described in claw each described 204 It is respectively provided on frame 203 there are one drive link, the drive link middle part is hinged on the capture stent 203, drive link One end connection claw 204 (one end of drive link is stretched into the pit being opened on claw 204, and can have one compared with pit Fixed relative motion), other end connection driving arm 205 (is provided with annular groove, driving branch on the excircle of driving arm 205 The other end of frame 205 is stretched into annular groove), under original state, all claws 204 are gathered in the capture stent 203 Portion, when performing capturing motion, 204 four-way of claw is disperseed in dispersity；The driving arm 205 can be caught compared with described 203 axial translation of stent is caught, and driving arm 205 is mounted on active bracket 206, driving arm 205 is arranged on active bracket 207 (the present embodiment of the second elastic element is provided between 206 and claw 204, and between driving arm 205 and active bracket 206 In be spring).It is provided with to push down the flanging flange 2061 of the companion flange 101 on active bracket 206.

Corresponding to this capture mechanism, the cricoid docking captured for capture unit is correspondingly arranged on the first docking unit 1 Flange 101, capturing mechanism can stretch into companion flange 101, capture the claw 204 of mechanism under the driving of driving arm 205 to The outer scattered inner ring for propping up companion flange 101, can so play the role of center of circle positioning, complete the center of circle of companion flange 101 After positioning, driving arm 205 can not continue to move, and have elastic component due to being set between active bracket 206 and driving arm 205 207, therefore active bracket 206 is unrestricted continues move to close to the direction for capturing stent 203, up to active bracket 206 Prop up companion flange 101 and it is promoted to be axially moved and be pushed to it is axial can not move until, at this time flanging flange 2061 and Radial extension 2043 on claw 204 pushes down the both sides of companion flange 101 respectively, and the axial direction for completing companion flange 101 is determined Position.

The driving of the relative motion between active bracket 206 and capture stent 203 is driven equipped with following two：

First is electronic mode, and driving device includes the screw 210 being mounted on the capture stent 203, active screw The screw thread being used cooperatively with the screw 210 is provided on 210, screw 210 is by being mounted on the motor 211 captured on stent 203 Driving rotates, and specifically, first gear 212 is provided on screw 210, is equipped on the output shaft of motor 211 and first gear The second gear 213 of 212 engagements.

Second is magnetic drive, and as shown in Figure 5, the capture stent 203 is equipped with electromagnet 208, the active branch Frame 206 is equipped with armature 209, and (is in the present embodiment equipped with elastic element 207 between active bracket 206 and capture stent 203 Spring), when leaning on magnetic attraction between electromagnet 208 and armature 209, the claw 204 is in dispersity, when electromagnet 208 It is disengaged with armature 209, active bracket 206 resets under the action of the second elastic element 207, and claw 204, which is in, gathers state.

Capture mechanism unitary rotation is mounted on lifting support 214, and lifting support 214 can be compared with second interface 202 liftings, specific implementation structure are to be fixed with the 3rd gear 215 on the capture stent 203, pacify on the lifting support 214 Equipped with the second motor 216, the 4th tooth engaged with the 3rd gear 215 is installed on the output shaft of second motor 216 Wheel 217.Second docking unit 2 includes pedestal 201, the second screw 218 is provided on the pedestal 201 and for driving second 3rd motor 219 of screw 218 is provided with the feed screw nut being used cooperatively with the second screw 218 on the lifting support 214 220。

Docking calculation based on above-mentioned unmanned plane Yu base station docking system, as shown in Figure 1, the first docking unit exist Random search is carried out in the height with a certain distance from the second docking unit 2 on base station under the action of unmanned plane, when Some dispersal unit 301 generates interaction with the separate unit 302, then can primarily determine that the opposite position between unmanned plane and base station Confidence ceases, and the control system of control unmanned plane movement carries out position compensation according to relative position information, and according to position compensation mistake Interaction in journey between different dispersal units 301 and separate unit 302 constantly determines the relative position of the two, until the first docking Unit 1 is docked between unit 2 with second in the relative position state that can be docked；It captures mechanism and captures the first docking unit 1, so The unmanned plane with the first docking unit 1 that mechanism is caught together with it is captured afterwards integrally to rotate compared with second interface 202 so that First interface 102 and the contact alignment of second interface 202, finally capture mechanism catch single with first interface 102 together with it First docking unit 1 of member is whole close to second interface Unit 202, and first interface 102 is made to be docked with second interface 202.

In order to facilitate the contact alignment of first interface 102 and second interface 202, first interface 102 and second interface 202 it Between be provided with alignment system, alignment system includes being arranged on the light emitting of first interface 102 and second interface 202 on one of them Element, first interface 102 in another one in second interface 202 with being provided with light receiving element, when light receiving element can receive The light (can be visible ray or black light) emitted to photocell, then control system control captures mechanism and stops turning It is dynamic.

The unmanned plane and base station docking system of the utility model can realize the mechanical splice and electricity between unmanned plane and base station Gas docks, and the docking calculation based on the docking system can realize that the first docking unit to float with unmanned plane can be accurately with being mounted on The second docking unit on base station realizes docking, reliable and stable.

The above is only the preferred embodiment of the utility model, it should be pointed out that：For the common skill of the art For art personnel, on the premise of the utility model principle is not departed from, several improvements and modifications can also be made, these improve and Retouching also should be regarded as the scope of protection of the utility model.

Claims

1. unmanned plane and base station docking system, it is characterised in that：Including the first docking unit unit is docked with second, described first Docking unit docks unit with second can relative separation or docking；First docking unit includes first interface, the second docking unit Capture mechanism including second interface and for capturing the first docking unit, the capture mechanism can connect compared with described second Mouth translation and rotation, the center of rotation that translation direction rotates are parallel.

2. unmanned plane described in claim 1 and base station docking system, it is characterised in that：Further include auxiliary docking system, institute State auxiliary docking system include by scattering device the dispersal unit group that forms of multiple independent dispersal units and can with it is each Dispersal unit carries out individually interactive separate unit, is arranged on one of in both the dispersal unit group and separate unit On first docking unit, another is arranged on the second docking unit.

3. unmanned plane according to claim 2 and base station docking system, it is characterised in that：The rectangular battle array of dispersal unit Column distribution.

4. unmanned plane according to claim 3 and base station docking system, it is characterised in that：The dispersal unit circumference array It is distributed on multiple concentric circles, when dispersal unit group is mounted on the first docking unit, first interface is located at the circle of concentric circles Heart position, when dispersal unit group is mounted on the second docking unit, second interface is located at the center location of concentric circles.

5. according to claim 2-4 any one of them unmanned plane and base station docking system, it is characterised in that：The dispersal unit For readable code fetch, each readable code fetch differs, and the separate unit is reading camera.

6. according to claim 2-4 any one of them unmanned plane and base station docking system, it is characterised in that：The dispersal unit It is signal projector with one of them in both separate units, another is signal receiver.

7. unmanned plane according to claim 6 and base station docking system, it is characterised in that：The signal projector is infrared Lamp, the signal receiver are infrared sensitive element.

8. unmanned plane according to claim 1 and base station docking system, it is characterised in that：The first docking unit includes Cricoid companion flange；The capture mechanism includes capturing stent, and circumference array is provided at least three on the capture stent Along the claw for the radial direction synchronous translational for capturing stent, the claw the axially extending of stent can be captured including the portion that is slidably matched, edge Axially-extending portion and along capture stent the radial extension to extend radially outwardly；The movement of claw is driven by driving arm Dynamic, the driving arm lifts under the promotion of active bracket in the axial of capture stent, and driving arm is with actively propping up It sets and has elastic component between frame；Active bracket is equipped with to push down the flanging flange of the companion flange；Active bracket by The driving device driving being arranged on the capture stent.

9. unmanned plane according to claim 8 and base station docking system, it is characterised in that：Capture mechanism integral installation On lifting support, the capture stent can be rotated compared with the lifting support, and the lifting support can be compared with described the Two interfaces lift.