CN208149597U - Air-ground coordination dynamic docking facilities - Google Patents
Air-ground coordination dynamic docking facilities Download PDFInfo
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- CN208149597U CN208149597U CN201820438168.4U CN201820438168U CN208149597U CN 208149597 U CN208149597 U CN 208149597U CN 201820438168 U CN201820438168 U CN 201820438168U CN 208149597 U CN208149597 U CN 208149597U
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- rocker arm
- steering engine
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- elevating rocker
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Abstract
The utility model discloses a kind of air-ground coordination dynamic docking facilities.The apparatus structure is as follows：Airborne device includes electric retractable undercarriage, tension sensor, electric capstan and multi-functional hook lock, multi-functional hook lock is wrapped on electric capstan by traction rope, tension sensor and electric capstan are fixed below airborne device, and tension sensor is used to detect the stress condition of electric capstan；Car-mounted device is in cylindrical body and the top for being set to car body, cylindrical body upper surface opens up a plurality of gap along radius, connected between adjacent gap by limiting cylindrical wall, one group of lift servo mechanism is set in every gap, and every group of lift servo mechanism includes elevating rocker arm, steering engine, sliding block and linear guide；Elevating rocker arm one end is connected by a hinge with taper padlock, the rocker arm of the other end and steering engine is connect, and steering engine is connect with sliding block, and sliding block can move in linear guide；Gap is swung up and down for elevating rocker arm.The utility model is suitable for air-ground unmanned platform, being capable of dynamic quick release and recycling unmanned plane.
Description
Technical field
The utility model relates to unmanned planes, and docking technique field is cooperateed with vehicle, and especially a kind of air-ground coordination dynamic is docked
Device.
Background technique
With the maturation of UAV Flight Control System and enriching for perception means, the application based on unmanned plane has obtained pole
Big expansion, the heterogeneous system that unmanned plane is cooperateed with vehicle have great development potentiality as a novel concept, for
Air-ground dynamic cooperation docks this key technology, and all big enterprises are also attempted constantly.
In New Delhi car exhibition in 2 months in 2014, RJ Reynolds Tobacco Holdings ,Inc. has issued a KWID concept car first, and usually folding and unfolding is in vehicle
Top, by lower button lift-off operation, though only concept level, the importance innovated in this respect have some idea of.CES (world consumption
Electronic product exhibition) 2016 Ford and the expansion of big boundary cooperate, build surface car and unmanned plane and communicate collaborative framework, emphatically
Data and analysis, but feasible stable scheme is not provided with regard to the autonomous landing problem of unmanned plane.In January, 2016, Germany's boat
Visual pursuit QR label and the big net with elasticity are installed on vehicle top by one research team of empty space center, complete to fix
The independent landing of the wing, but be unable to complete and independently take off, there is certain limitation.Geneva Auto Show in 2017, Land Rover release vehicle
Volume production vehicle-discovery SOV editions of unmanned plane is carried, unmanned plane can be completed during quasi-static in the landing of roof, but should
System can not adapt to more complicated operating condition.Coming into operation for UPS unmanned plane express delivery vehicle greatlys save express delivery distribution cost, especially
In rural area, but the only application of unmanned plane on this system stricti jurise, collaboration is not embodied, therefore still have biggish improvement
Space.
Utility model content
The purpose of this utility model is to provide a kind of unitized vehicle-mounted dynamics to recycle/discharge the air-ground of unmanned plane device
Dynamic docking facilities are cooperateed with, solve the problems, such as that vehicle is docked with the dynamic of unmanned plane, reduces and aerial vehicle trajectory control precision is wanted
It asks, promotes the reliability of dynamic docking.
Realize the utility model aim technical solution be：A kind of air-ground coordination dynamic docking facilities, including it is airborne
Device and car-mounted device；
The airborne device includes electric retractable undercarriage, tension sensor, electric capstan and multi-functional hook lock, described
Multi-functional hook lock is wrapped on electric capstan by traction rope, and tension sensor and electric capstan are fixed below airborne device,
Tension sensor is used to detect the stress condition of electric capstan；
The car-mounted device is in cylindrical body and the top for being set to car body, and the cylindrical body upper surface opens up a plurality of along radius
Gap is connected by limiting cylindrical wall between adjacent gap, one group of lift servo mechanism of setting, every group of lifting every gap in
Servo mechanism includes elevating rocker arm, steering engine, sliding block and linear guide；Described elevating rocker arm one end and taper padlock are connected by hinge
It connects, the rocker arm connection of the other end and steering engine, steering engine is connect with sliding block, and sliding block can move in linear guide；It is shaken for lifting in gap
Arm is swung up and down.
Further, angle of the lift servo mechanism circumferentially between array distribution, that is, adjacent slits is equal.
Further, the elevating rocker arm is swung up and down, and the angular range of elevating rocker arm and horizontal plane is ± 60 °.
Further, the seamed edge number of the taper padlock is equal with elevating rocker arm quantity, the bottom edge angle point of taper padlock
It is connect between elevating rocker arm using hinging manner.
Further, at car-mounted device center, it is maximum that body diameter is greater than taper padlock for limit cylindrical wall setting
Outsourcing sphere diameter.
Further, the hook number at least two of the multi-functional hook lock, each multi-functional hook lock include hook with
Steering engine, steering engine are controlled by flight control system；The steering engine is circumferentially arranged in Plane of rotation, and exports rotary shaft outwardly simultaneously
Vertical with rope, hook one end and steering engine rocker arm are connected, and the other end is rotated along the output rotary shaft of steering engine, rotate angle model
Enclose is 180 ° ± 45 °.
Compared with prior art, remarkable advantage is the utility model：(1) equipment is simple, compared to conventional unmanned plane,
It only attached cord lock device and feedback device, system reliability is high, influences very little to unmanned plane cruising ability itself and size；
(2) versatile, it may migrate to different air-ground coordination systems, aircraft includes multi-rotor aerocraft, helicopter, tilting rotor
Aircraft, ground surface platform include the transport facilitys such as naval vessel, tank；(3) difficulty for reducing flight control system track following, has
0.5m3Position error allows space, while aircraft can march into the arena from different directions, and raising is captured as power；(4) guaranteeing
While unmanned plane tracking accuracy, the more violent attitudes vibration of ground surface platform is adapted to.
Detailed description of the invention
Fig. 1 is the overall schematic of the utility model air-ground coordination dynamic docking facilities.
Fig. 2 is that the aircraft of the utility model enters status diagram to be captured.
Fig. 3 is that the aircraft of the utility model and capture are completed to enter line traction state schematic diagram.
Fig. 4 is that the aircraft of the utility model is in recycling status diagram.
Fig. 5 is that the aircraft of the utility model is in release conditions schematic diagram.
Fig. 6 is three kinds of status diagrams of the multi-functional hook lock 7 of the utility model, wherein (a) is trapped state schematic diagram,
(b) it is locking state schematic diagram, (c) is release conditions schematic diagram.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described in further detail the utility model.
A kind of air-ground coordination dynamic docking facilities, including airborne device 1 and car-mounted device 2；
The airborne device 1 includes electric retractable undercarriage 4, tension sensor 5, electric capstan 6 and multi-functional hook lock 7,
The multi-functional hook lock 7 is wrapped on electric capstan 6 by traction rope, and tension sensor 5 is fixed on airborne with electric capstan 6
1 lower section of device, tension sensor 5 are used to detect the stress condition of electric capstan 6；
The car-mounted device 2 is in cylindrical body and the top for being set to car body 3, and the cylindrical body upper surface opens up more along radius
Gap is connected by limiting cylindrical wall 11 between adjacent gap, one group of lift servo mechanism of setting every gap in, and every group
Lift servo mechanism includes elevating rocker arm 10, steering engine 8, sliding block 12 and linear guide 13；Described 10 one end of elevating rocker arm and taper
Padlock 9 is connected by a hinge, the rocker arm of the other end and steering engine 8 connects, and steering engine 8 is connect with sliding block 12, and sliding block 12 can be led in straight line
It is moved on rail 13；Gap is swung up and down for elevating rocker arm 10.
Further, angle of the lift servo mechanism circumferentially between array distribution, that is, adjacent slits is equal.
Further, the elevating rocker arm 10 is swung up and down, and the angular range of elevating rocker arm 10 and horizontal plane is ± 60 °.
Further, the seamed edge number of the taper padlock 9 is equal with 10 quantity of elevating rocker arm, the bottom edge of taper padlock 9
It is connected between angle point and elevating rocker arm 10 using hinging manner.
Further, the limit cylindrical wall 11 setting is greater than taper padlock 9 at 2 center of car-mounted device, body diameter
Maximum outsourcing sphere diameter.
Further, the hook number at least two of the multi-functional hook lock 7, each multi-functional hook lock 7 include hook
With steering engine, steering engine is controlled by flight control system；The steering engine is circumferentially arranged in Plane of rotation, and exports rotary shaft outwardly
And it is vertical with rope, hook one end and steering engine rocker arm are connected, and the other end is rotated along the output rotary shaft of steering engine, rotate angle
Range is 180 ° ± 45 °.
The course of work of above-mentioned air-ground coordination dynamic docking facilities is as follows：
Acquisition phase, unmanned plane are marched into the arena, and send landing request signal to car-mounted device by wireless data sending, car-mounted device is received
Land to unmanned plane and instruct, the steering engine in vehicle-mounted control module control lift servo mechanism is rotated up elevating rocker arm, steering engine
Inwardly gather along guide rail direction, it is in pyramid structure that elevating rocker arm, which rises, and liter is hooked in the multi-functional hook lock trial in airborne device
Rocker arm drops, and tension sensor once detects that pulling force is more than preset threshold, confirms that multi-functional hook lock has hooked elevating rocker arm, draws
Force signal feeds back to flight control system, is pivoted upwardly into locked shape by flight control system control Multifunctional hook locking and hanging hook
State, while appropriate increase aircraft throttle amount, multi-functional hook lock slide to car-mounted device top automatically under the pulling force effect of unmanned plane
At the taper padlock at end, capture is completed.
Recovery stage, the steering engine control elevating rocker arm in car-mounted device rotate down, and steering engine is displaced outwardly along guide rail direction,
Elevating rocker arm drives unmanned plane decline, and the taper padlock in car-mounted device makes the multi-functional hook lock in airborne device not break away outward
It moves, the electric retractable undercarriage in airborne device is put down, and completes recycling.
Release stage, the hook that UAV Flight Control System controls multi-functional hook lock are rotated down into release conditions,
Unmanned plane is detached from car-mounted device and enters execution task status.
With reference to the accompanying drawing and specific embodiment is described in further details the utility model.
Embodiment 1
In conjunction with Fig. 1, a kind of air-ground coordination dynamic docking facilities of the utility model, including car-mounted device 2 and airborne device 1,
Wherein airborne device includes electric retractable undercarriage 4, tension sensor 5, electric capstan 6 and multi-functional hook lock 7, more function
Energy hook lock 7 is wrapped on electric capstan 6 by traction rope, and tension sensor 5 and electric capstan 6 are fixed on 1 lower section of airborne device,
For detecting the stress condition of electric capstan 6；Car-mounted device 2 includes taper padlock 9, elevating rocker arm 10, steering engine 8, sliding block 12, straight
Line guide rail 13 and limit cylindrical wall 11, described 10 one end of elevating rocker arm are connected by a hinge with taper padlock 9, the other end and steering engine
8 rocker arm connection, steering engine 8 are connect with sliding block 12, and sliding block 12 can move in linear guide 13.
The lift servo mechanism that elevating rocker arm 10, steering engine 8, sliding block 12 and the linear guide 13 forms, it is sliding for steering engine
One of rail, lead screw revolute, hydraulic stem.
The utility model is using the coaxial double-oar aircraft for being equipped with protective frame, compared to conventional multi-rotor aerocraft and routine
Helicopter has high-efficient, highly-safe, compact-sized advantage.
In conjunction with Fig. 2, the airborne device 1 in unmanned plane is marched into the arena, and multi-functional hook lock 7 is discharged by electric capstan 6, by difference
GPS and image guidance techniques are close to move vehicle, and electric retractable undercarriage 4 in opened condition, increases the hook lock useful space, nothing
Man-machine to send landing request signal to car-mounted device by wireless data sending, car-mounted device receives unmanned plane landing instruction, controls vehicle
It carries and sets 2 steering engine 8 and rotate upwards, sliding block 12 and steering engine 8 are connected, and the two is gathered along linear guide 13 inwardly together, lifting
It is in pyramid shape that rocker arm 10, which rises, waits Multifunctional hook lock 7 to be captured.
In conjunction with Fig. 3, multi-functional hook lock 7 tangles elevating rocker arm 10, and tension sensor 5 detects signal and passes through data radio station
Flight control system and vehicular platform 2 are fed back to, the hook of multi-functional hook lock 7 is pivoted upwardly into locking state, and unmanned plane flies
Row control system suitably increases unmanned plane lift, and unmanned plane rises, and multi-functional hook lock 7 slides to the taper at 10 top of elevating rocker arm
At padlock 9.
In conjunction with Fig. 4, flight control system control operation of landing gear 4 falls through into landing state, and steering engine 8 is rotated down, with
Sliding block 12 is moved along linear guide 13 outward together, and elevating rocker arm 10 is connect with the taper padlock 9 at the top of it by four hinges,
Therefore, taper padlock 9 arch upward angle will not because of elevating rocker arm 10 movement and change, so that it is guaranteed that multi-functional hook lock 7 is not
It can be slided to the root of elevating rocker arm 10, unmanned plane decline is driven by cable traction.
In conjunction with Fig. 5, elevating rocker arm 10 is down to vehicle-mounted base of frame, and unmanned plane drop to vehicle-mounted frame upper surface, is drawing
Rope is limited on landing platform with unmanned plane under the constraint of undercarriage, so far completes the recycling of unmanned plane.
In removal process, if there are urgent abnormal conditions, multi-functional hook lock 7 skids off taper padlock 9, tension sensor 5
It detects that signal fluctuation is more than preset threshold, feeds back to flight control system at once, multi-functional hook lock 7 is switched into release shape
State, unmanned plane can go around at once, to ensure the safety and reliability of recycling.
In the release stage, the hook that flight control system controls multi-functional hook lock 7, which is rotated down, switches to release conditions, vehicle
It is limit cylindrical wall 11 among mounted mechanism frame, prevents multi-functional hook lock 7 from sliding into sliding block moving track stuck so as to cause release
Failure, rises to appropriate height to unmanned plane, and electric capstan 6 packs up traction rope, and UAV Flight Control System control is risen and fallen
Frame is packed up, and unmanned plane is detached from vehicle and enters execution task status.
Claims (6)
1. a kind of air-ground coordination dynamic docking facilities, which is characterized in that including airborne device (1) and car-mounted device (2)；
The airborne device (1) includes electric retractable undercarriage (4), tension sensor (5), electric capstan (6) and Multifunctional hook
It locks (7), the multi-functional hook lock (7) is wrapped on electric capstan (6) by traction rope, tension sensor (5) and electric mincing
Disk (6) is fixed below airborne device (1), and tension sensor (5) is used to detect the stress condition of electric capstan (6)；
The car-mounted device (2) is in cylindrical body and the top for being set to car body (3), and the cylindrical body upper surface opens up more along radius
Gap is connected by limiting cylindrical wall (11) between adjacent gap, one group of lift servo mechanism of setting every gap in, often
Group lift servo mechanism includes elevating rocker arm (10), steering engine (8), sliding block (12) and linear guide (13)；The elevating rocker arm
(10) one end is connected by a hinge with taper padlock (9), the rocker arm of the other end and steering engine (8) is connect, steering engine (8) and sliding block (12)
Connection, sliding block (12) can move on linear guide (13)；Gap is swung up and down for elevating rocker arm (10).
2. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the lift servo mechanism is in circle
Angle between all array distribution, that is, adjacent slits is equal.
3. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the elevating rocker arm (10) is up and down
It swings, the angular range of elevating rocker arm (10) and horizontal plane is ± 60 °.
4. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the rib of the taper padlock (9)
Number of edges mesh is equal with elevating rocker arm (10) quantity, and hinge is used between the bottom edge angle point and elevating rocker arm (10) of taper padlock (9)
Mode connects.
5. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the limit cylindrical wall (11)
At car-mounted device (2) center, body diameter is greater than taper padlock (9) maximum outsourcing sphere diameter for setting.
6. air-ground coordination dynamic docking facilities according to claim 1, which is characterized in that the multi-functional hook lock (7)
Hook number at least two, each multi-functional hook lock (7) include that hook and steering engine, steering engine are controlled by flight control system；Institute
It states steering engine circumferentially to arrange in Plane of rotation, and output rotary shaft is outwardly and vertical with rope, hook one end and steering engine rocker arm
It is connected, the other end is rotated along the output rotary shaft of steering engine, and rotation angle range is 180 ° ± 45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820438168.4U CN208149597U (en) | 2018-03-29 | 2018-03-29 | Air-ground coordination dynamic docking facilities |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820438168.4U CN208149597U (en) | 2018-03-29 | 2018-03-29 | Air-ground coordination dynamic docking facilities |
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| CN208149597U true CN208149597U (en) | 2018-11-27 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108516080A (en) * | 2018-03-29 | 2018-09-11 | 南京理工大学 | Air-ground coordination dynamic docking facilities |
| CN110143263A (en) * | 2019-06-04 | 2019-08-20 | 河南大域航空科技有限公司 | A kind of sea search and rescue equipment based on unmanned air vehicle technique |
| CN114408203A (en) * | 2022-01-07 | 2022-04-29 | 北京理工大学 | Boosting launching system and method for fixed-wing unmanned aerial vehicle |
| CN114408201A (en) * | 2022-01-07 | 2022-04-29 | 北京理工大学 | Fixed-wing unmanned aerial vehicle recovery system and method |
| CN117193337A (en) * | 2023-09-18 | 2023-12-08 | 清华大学 | Variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system and method under condition of high-speed movement of vehicle |
-
2018
- 2018-03-29 CN CN201820438168.4U patent/CN208149597U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108516080A (en) * | 2018-03-29 | 2018-09-11 | 南京理工大学 | Air-ground coordination dynamic docking facilities |
| CN108516080B (en) * | 2018-03-29 | 2024-01-23 | 南京理工大学 | Ground-air cooperative dynamic docking device |
| CN110143263A (en) * | 2019-06-04 | 2019-08-20 | 河南大域航空科技有限公司 | A kind of sea search and rescue equipment based on unmanned air vehicle technique |
| CN110143263B (en) * | 2019-06-04 | 2020-06-09 | 河南大域航空科技有限公司 | Sea search and rescue equipment based on unmanned aerial vehicle technique |
| CN114408203A (en) * | 2022-01-07 | 2022-04-29 | 北京理工大学 | Boosting launching system and method for fixed-wing unmanned aerial vehicle |
| CN114408201A (en) * | 2022-01-07 | 2022-04-29 | 北京理工大学 | Fixed-wing unmanned aerial vehicle recovery system and method |
| CN114408203B (en) * | 2022-01-07 | 2023-12-01 | 北京理工大学 | Fixed wing unmanned aerial vehicle boosting emission system and method |
| CN114408201B (en) * | 2022-01-07 | 2024-04-19 | 北京理工大学 | Fixed wing unmanned aerial vehicle recycling system and method |
| CN117193337A (en) * | 2023-09-18 | 2023-12-08 | 清华大学 | Variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system and method under condition of high-speed movement of vehicle |
| CN117193337B (en) * | 2023-09-18 | 2024-04-26 | 清华大学 | Variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system and method under condition of high-speed movement of vehicle |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181127 Termination date: 20210329 |
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| CF01 | Termination of patent right due to non-payment of annual fee |