CN209305838U - Multi-rotor unmanned aerial vehicle recyclable device - Google Patents
Multi-rotor unmanned aerial vehicle recyclable device Download PDFInfo
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- CN209305838U CN209305838U CN201822161131.4U CN201822161131U CN209305838U CN 209305838 U CN209305838 U CN 209305838U CN 201822161131 U CN201822161131 U CN 201822161131U CN 209305838 U CN209305838 U CN 209305838U
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Abstract
The utility model belongs to multi-rotor unmanned aerial vehicle technical field, in particular to a kind of multi-rotor unmanned aerial vehicle recyclable device.Including undercarriage, visual identity and positioning system, control system, track-type facilities and crawl disk, wherein undercarriage is set to the bottom of unmanned helicopter；Track-type facilities and visual identity and positioning system are set on undercarriage, and crawl disk is set on track-type facilities, and visual identity and positioning system identify the location information of multi-rotor unmanned aerial vehicle, are sent to control system for acquiring the image of multi-rotor unmanned aerial vehicle；Control system receives the location information of the multi-rotor unmanned aerial vehicle of visual identity and positioning system transmission, and control instruction is generated according to the information received, track-type facilities and crawl disk are sent to, control track-type facilities and crawl disk act the crawl, carrying and dispensing of multi-rotor unmanned aerial vehicle.The utility model is high for the recycling probability of small-sized multi-rotor unmanned aerial vehicle, and structural stability is strong, adaptable for conditions such as high/low temperature, low pressures.
Description
Technical field
The utility model belongs to multi-rotor unmanned aerial vehicle technical field, specifically a kind of multi-rotor unmanned aerial vehicle recycling dress
It sets.
Background technique
The way of recycling of unmanned plane is one of important performance of unmanned plane, way of recycling whether maneuverability, accuracy and
Whether reliability high, whether equipment and operation are simple etc. has become the important indicator of evaluation unmanned plane performance quality.Unmanned plane
Way of recycling is varied, and traditional recycling can substantially be summarized as parachute recycling, the recycling of air bag land, net collision recovery etc., drop
It falls umbrella recycling to be not suitable for being applied on dynamic platform, such as vehicle-mounted, airborne platform.And the land recycling of net collision recovery, air bag has
The rate of recovery is low, the feature of unmanned plane rapid wear, mobility difference.The high machine used with the rapid development and unmanned plane of unmanned air vehicle technique
Mission requirements, the designs and technical application to unmanned plane recovery system such as dynamic property, high reliability, high survival rate also proposed higher
Requirement.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of multi-rotor unmanned aerial vehicle recyclable device, to solve
Existing net collision recovery, air bag land recycling etc. have the problem of the low rate of recovery, unmanned plane rapid wear, mobility difference.
To achieve the goals above, the utility model uses following technical scheme:
A kind of multi-rotor unmanned aerial vehicle recyclable device, comprising:
Undercarriage is set to the bottom of unmanned helicopter；
Visual identity and positioning system, be set to the top of undercarriage and connection control system, for acquire more rotors without
Man-machine image identifies the location information of multi-rotor unmanned aerial vehicle, is sent to control system；
Control system is set on undercarriage, receives the multi-rotor unmanned aerial vehicle of the visual identity and positioning system transmission
Location information, and control instruction is generated according to the information that receives, is sent to track-type facilities and crawl disk, controls track-type facilities
The crawl, carrying and dispensing of multi-rotor unmanned aerial vehicle are acted with crawl disk；
Track-type facilities are set on undercarriage, connect control system, reach crawl disk according to the control instruction received
The specified position of spatial value；
Grab disk, be set on track-type facilities, connect control system, according to the control instruction received to more rotors nobody
Machine grabbed, is carried and dispensing movement.
The crawl disk includes fixed plate, rotating disk, tight latch mechanism, sliding shoe and rotation drive device, wherein fixed plate
It is set to the top of rotating disk and is connect with the track-type facilities, circumferentially arranged with multiple direction centers of circle in the fixed plate
Skewed slot, circumferentially arranged with multiple arcs slot in the rotating disk, the tight latch mechanism includes multiple check lock levers, each check lock lever it is upper
End is connect across corresponding arc groove and skewed slot with a sliding shoe, the rotation drive device is set in the fixed plate,
And output end is connect with the rotating disk, rotation drive device driving rotating disk rotation, thus drive multiple check lock levers to
Center is drawn close, to realize the purpose of crawl.
The rotation drive device is steering engine, and the steering engine is mounted on main connecting plate, and the main connecting plate is located at described
It the top of fixed plate and is fixedly connected with the fixed plate, the main connecting plate is connect with the track-type facilities.
The lower end of the check lock lever is rubber bodies and outer surface has the cambered surface for being convenient for crawl.
The track-type facilities include horizontal axis guide rail, horizontal axis driving mechanism, horizontal axis sliding block, longitudinal axis driving mechanism, longitudinal axis guide rail,
Longitudinal axis sliding block and crawl disk mounting bracket, wherein horizontal axis guide rail is mounted on the undercarriage, and the horizontal axis sliding block is led with horizontal axis
Rail is slidably connected, and the horizontal axis driving mechanism is set on the horizontal axis guide rail and connect with the horizontal axis sliding block, for driving
The horizontal axis sliding block is slided along the horizontal axis guide rail, and the longitudinal axis guide rail connect with the horizontal axis sliding block and leads with the horizontal axis
Rail is vertical, and the longitudinal axis sliding block is slidably connected with the longitudinal axis guide rail, and the longitudinal axis driving mechanism is set to the longitudinal axis guide rail
Above and with the longitudinal axis sliding block it connect, for driving the longitudinal axis sliding block to slide along the longitudinal axis guide rail, the crawl disk installation
Bracket is connect with the longitudinal axis sliding block, and the crawl disk is set in the crawl disk mounting bracket.
The both ends of the horizontal axis guide rail are equipped with horizontal axis contact-making switch, and the both ends of the longitudinal axis guide rail are equipped with longitudinal axis contact and open
It closes.
The horizontal axis driving mechanism includes horizontal axis stepper motor, horizontal axis belt, horizontal axis encoder and two horizontal axis belt pulleys,
Wherein horizontal axis stepper motor is set to one end of the horizontal axis guide rail and output end is connect with a horizontal axis belt pulley, another horizontal axis
Belt pulley is set to the other end of the horizontal axis guide rail, and two horizontal axis belt pulleys are sequentially connected by horizontal axis belt, the horizontal axis
Belt is connect with the horizontal axis sliding block, and the horizontal axis encoder is set on the horizontal axis stepper motor；
The longitudinal axis driving mechanism includes longitudinal axis stepper motor, longitudinal axis belt, longitudinal axis encoder and two longitudinal axis belt pulleys,
Wherein longitudinal axis stepper motor is set to one end of the longitudinal axis guide rail and output shaft is connect with a longitudinal axis belt pulley, another longitudinal axis
Belt pulley is set to the other end of the longitudinal axis guide rail, and two longitudinal axis belt pulleys are sequentially connected by longitudinal axis belt, the longitudinal axis
Sliding block is connect with the longitudinal axis belt, and the longitudinal axis encoder is set on longitudinal axis stepper motor.
The visual identity and positioning system include binocular camera and camera mounting bracket, and wherein camera mounting bracket is arranged
In the top of the undercarriage, the binocular camera is set in the camera mounting bracket and connect with the control system.
The control system includes the right calculating unit and left calculating unit for being set to the undercarriage two sides, wherein
The right control for calculating unit and including right calculating unit mounting plate and being mounted on the right calculating unit mounting plate
Computer, horizontal axis stepper motor driver and longitudinal axis stepper motor driver processed, wherein horizontal axis stepper motor driver and the longitudinal axis
Stepper motor driver is connect with control computer, and the horizontal axis stepper motor driver and longitudinal axis stepper motor driver are used
In driving and control the track-type facilities；
The left view for calculating unit and including left calculating unit mounting plate and being set on the left calculating unit mounting plate
Feel that processing computer, differential GPS device and differential GPS number pass, wherein differential GPS device is connected to control meter by serial ports terminal
Calculation machine, and another serial ports terminal connection differential GPS number for controlling computer is passed to send position coordinates；Visual processes computer
Connect with the visual identity and positioning system and with control computer communicate through a serial port.
The undercarriage includes two support frames disposed in parallel and two skids for being set to support frame lower end, two branch
It is equipped with multiple reinforcing rods between support, the upper end of each support frame as described above sets that there are two for the peace that connect with the unmanned helicopter
Fill column.
The advantages of the utility model and beneficial effect are:
The utility model will not occupy the excessive load weight of unmanned helicopter, guidance and binocular vision by device of checking the mark
Feel to identification point precise positioning, it is high for the recycling probability of small-sized multi-rotor unmanned aerial vehicle.
The utility model structural stability is strong, adaptable for conditions such as high/low temperature, low pressures.Because volume compares
Small, weight is also relatively lighter, and cost is very low, can be with long-term preservation inside warehouse, and use and maintenance cost greatly reduces.
The utility model landing condition and maintenance support requirement are all relatively low, can take off on smaller place, recycle, very
Extremely it can take off and recycle on ship, oil platform.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the track-type facilities of the utility model；
Fig. 3 is the structural schematic diagram of the crawl disk of the utility model；
Fig. 4 is the diagrammatic cross-section of the crawl disk of the utility model；
Fig. 5 is the structural schematic diagram of the undercarriage of the utility model；
Fig. 6 is the schematic view of the mounting position of the right calculating unit of the utility model；
Fig. 7 is the schematic view of the mounting position of the left calculating unit of the utility model；
Fig. 8 is the schematic view of the mounting position of the binocular camera of the utility model；
Fig. 9 is the multi-rotor unmanned aerial vehicle identification point schematic view of the mounting position of the utility model.
Wherein: 1 is track-type facilities, and 101 be horizontal axis stepper motor, and 102 be horizontal axis guide rail, and 103 be horizontal axis belt, and 104 are
Horizontal axis sliding block, 105 be horizontal axis contact-making switch, and 106 be horizontal axis encoder, and 107 be longitudinal axis stepper motor, and 108 be longitudinal axis guide rail,
109 be longitudinal axis belt, and 110 be longitudinal axis sliding block, and 111 be longitudinal axis contact-making switch, and 112 be longitudinal axis encoder, and 113 be crawl disk installation
Bracket, 114 be transverse and longitudinal axis rail connector, and 2 is grab disk, and 201 be main connecting plate, and 202 be fixed plate, and 203 be rotating disk,
204 be tight latch mechanism, and 205 be sliding shoe, and 206 be steering engine, and 207 be skewed slot, and 208 be arc groove, and 3 be visual identity and positioning system
System, 301 be binocular camera, and 302 be camera mounting bracket, and 4 be right calculating unit, and 401 walk for control computer, 402 for horizontal axis
Into motor driver, 403 be longitudinal axis stepper motor driver, and 404 be right calculatings unit mounting plate, and 5 be left calculating unit, 501
It is differential GPS device for visual processes computer, 502,503 pass for differential GPS number, and 504 be left calculating unit mounting plate, and 6 are
Undercarriage, 601 be skid, and 602 be support frame, and 603 be mounting post, and 604 be reinforcing rod, and 7 be multi-rotor unmanned aerial vehicle, and 701 be mark
Know point, 702 be identification point mounting bracket, and 703 be more rotor bodies.
Specific embodiment
In order to keep the purpose of this utility model, technical solution and advantage clearer, with reference to the accompanying drawing and it is embodied
The utility model is described in detail in example.
As shown in Fig. 1, Fig. 9, a kind of multi-rotor unmanned aerial vehicle recyclable device provided by the utility model, comprising: undercarriage 6,
It is set to the bottom of unmanned helicopter；Visual identity and positioning system 3 are set to the top of undercarriage 6 and connection control system
System identifies the location information of multi-rotor unmanned aerial vehicle 7, and be sent to for acquiring 701 image of identification point of multi-rotor unmanned aerial vehicle 7
Control system；Set-up of control system is in the multi-rotor unmanned aerial vehicle 7 on undercarriage 6, receiving visual identity and positioning system transmission
Location information, and control instruction is generated according to the information received, track-type facilities 1 and crawl disk 2 are sent to, track-type facilities are controlled
1 acts the crawl, carrying and dispensing of multi-rotor unmanned aerial vehicle 7 with crawl disk 2；Track-type facilities 1 are set on undercarriage 6, connection
Control system makes crawl disk 2 reach the specified position of spatial value according to the control instruction received；Disk 2 is grabbed, is set to
On track-type facilities 1, control system is connected, multi-rotor unmanned aerial vehicle 7 is grabbed, carried and thrown according to the control instruction received
Put movement.
As shown in Fig. 2, track-type facilities 1 include horizontal axis guide rail 102, horizontal axis driving mechanism, horizontal axis sliding block 104, longitudinal axis driving
Mechanism, longitudinal axis guide rail 108, longitudinal axis sliding block 110 and crawl disk mounting bracket 113, wherein horizontal axis guide rail 102 is mounted on undercarriage 6
On, horizontal axis sliding block 104 is slidably connected with horizontal axis guide rail 102, and horizontal axis driving mechanism is set on horizontal axis guide rail 102 and and horizontal axis
Sliding block 104 connects, for driving horizontal axis sliding block 104 to slide along horizontal axis guide rail 102.Longitudinal axis guide rail 108 passes through with horizontal axis sliding block 104
Transverse and longitudinal axis rail connector 114 connection and it is vertical with horizontal axis guide rail 102, longitudinal axis sliding block 110 is slidably connected with longitudinal axis guide rail 108,
Longitudinal axis driving mechanism is set on longitudinal axis guide rail 108 and connect with longitudinal axis sliding block 110, for driving longitudinal axis sliding block 110 along the longitudinal axis
Guide rail 108 slides, and crawl disk mounting bracket 113 is connect with longitudinal axis sliding block 110, and crawl disk 2 is set to crawl disk mounting bracket 113
On.
The both ends of horizontal axis guide rail 102 are equipped with horizontal axis contact-making switch 105, and the both ends of longitudinal axis guide rail 108 are equipped with longitudinal axis contact and open
Close 111.
Horizontal axis driving mechanism includes horizontal axis stepper motor 101, horizontal axis belt 103, horizontal axis encoder 106 and two horizontal axis skins
Belt wheel, wherein horizontal axis stepper motor 101 is set to one end of horizontal axis guide rail 102 and output end is connect with a horizontal axis belt pulley, separately
One horizontal axis belt pulley is set to the other end of horizontal axis guide rail 102, and two horizontal axis belt pulleys are sequentially connected by horizontal axis belt 103,
Horizontal axis belt 103 is connect with horizontal axis sliding block 104, and horizontal axis encoder 106 is set on horizontal axis stepper motor 101.
Horizontal axis stepper motor 101 drives horizontal axis belt 103 to rotate, to drive the horizontal axis connecting with horizontal axis belt 103 sliding
Block 104 is slided along horizontal axis guide rail 102.Horizontal axis encoder 106 can detecte out horizontal axis sliding block 104 and horizontal axis stepping after calibration
The distance of motor 101, horizontal axis contact-making switch 105 are used to limit range ability of the horizontal axis sliding block 104 on horizontal axis guide rail 102, with
Exempt to damage mechanical structure.
Longitudinal axis driving mechanism includes longitudinal axis stepper motor 107, longitudinal axis belt 109, longitudinal axis encoder 112 and two longitudinal axis skins
Belt wheel, wherein longitudinal axis stepper motor 107 is set to one end of longitudinal axis guide rail 108 and output shaft is connect with a longitudinal axis belt pulley, separately
One longitudinal axis belt pulley is set to the other end of longitudinal axis guide rail 108, and two longitudinal axis belt pulleys are sequentially connected by longitudinal axis belt 109,
Longitudinal axis sliding block 110 is connect with longitudinal axis belt 109, and longitudinal axis encoder 112 is set on longitudinal axis stepper motor 107.
Longitudinal axis stepper motor 107 drives longitudinal axis belt 109 to rotate, to drive longitudinal axis sliding block 110 sliding along longitudinal axis guide rail 108
It is dynamic.Longitudinal axis encoder 112 can detecte out longitudinal axis sliding block 110 at a distance from longitudinal axis stepper motor 107 after calibration, and the longitudinal axis connects
Touching switch 111 is for limiting range ability of the longitudinal axis sliding block 110 on longitudinal axis guide rail 108.
As shown in Figure 3-4, crawl disk 2 includes fixed plate 202, rotating disk 203, tight latch mechanism 204, sliding shoe 205 and rotation
Rotary driving device, wherein fixed plate 202 is set to the top of rotating disk 203 and connect with track-type facilities 1, edge in fixed plate 202
Multiple skewed slots 207 for being directed toward the centers of circle are circumferentially with, circumferentially arranged with multiple arcs slot 208, tight latch mechanism 204 in rotating disk 203
Including multiple check lock levers, the upper end of each check lock lever passes through corresponding arc groove 208 and skewed slot 207 is connect with a sliding shoe 205,
Rotation drive device is set in fixed plate 202 and output end is connect with rotating disk 203, and rotation drive device drives rotating disk
203 rotations, to drive multiple check lock levers to draw close to center, to realize the purpose of crawl.
Rotation drive device is steering engine 206, and steering engine 206 is mounted on main connecting plate 201, and main connecting plate 201, which is located at, to be fixed
It the top of plate 202 and is fixedly connected with fixed plate 202, main connecting plate 201 is connect with track-type facilities 1.
The lower end of check lock lever is rubber bodies, has certain friction, and the outer surface of check lock lever has the cambered surface convenient for crawl.
In the embodiments of the present invention, tight latch mechanism 204 includes eight check lock levers.
When crawl disk is grabbed, rotating disk 203 starts rotation and drives eight check lock levers to start to rotating disk 203 with this
Center draw close, that is, complete crawl.When crawl disk is discharged, rotating disk 203 starts to reversely rotate, and drives eight with this
Check lock lever starts the center far from rotating disk 203, that is, completes release.
As shown in figure 5, undercarriage 6 includes two support frames 602 disposed in parallel and is set to the two of 602 lower end of support frame
A skid 601, is equipped with multiple reinforcing rods 604 between two support frames 602, the upper end of each support frame 602 set there are two for
The mounting post 603 of unmanned helicopter connection.
In the embodiments of the present invention, two support frames 602 are welded on two skids 601, are had between support frame 602
There is the distance of a reinforcing rod 604, which can guarantee the stabilization of undercarriage 6, totally two reinforcements of 6 two sides of undercarriage
Bar 604, on the top of support frame 602 there are four mounting post 603, which is mounted on unmanned helicopter for undercarriage 6
On.
As shown in Figure 1, control system includes the right calculating unit 4 and left calculating unit 5 for being set to 6 two sides of undercarriage.
As shown in fig. 6, right calculating unit 4 includes right calculating unit mounting plate 404, control computer 401, horizontal axis stepping electricity
Machine driver 402 and longitudinal axis stepper motor driver 403, wherein right calculating unit mounting plate 404 passes through two fastening screw peaces
On two support frames 602 of undercarriage 6, computer 401, horizontal axis stepper motor driver 402, longitudinal axis stepper motor are controlled
Driver 403 is mounted on right calculating unit mounting plate 404 by fastening screw respectively.
As shown in fig. 7, left calculating unit 5 includes visual processes computer 501, left calculating unit mounting plate 504, difference
GPS device 502 and differential GPS number pass 503, wherein left calculating unit mounting plate 504 is mounted on by two fastening screws and is risen and fallen
On two support frames 602 of frame 6, visual processes computer 501, differential GPS device 502, differential GPS number pass 503 and pass through respectively
Fastening screw is mounted on left calculating unit mounting plate 504.Differential GPS device 502 is connected to control by serial ports terminal and calculates
Machine 401, and another serial ports terminal connection differential GPS number for controlling computer 401 passes 503 to send position coordinates.
Differential GPS device 502, differential GPS number pass 503, visual processes computer 501 and pass through corresponding serial ports terminal and control
Computer 401 processed communicates, horizontal axis stepper motor driver 402 and longitudinal axis stepper motor driver 403 by PWM drive terminal with
Control the PWM corresponding terminal connection of computer 401, horizontal, longitudinal axis stepper motor driver passes through corresponding Interface Terminal and cross, vertical
The stepper motor of axis is electrically connected, for the driving and control to stepper motor.
On the steering engine of the PWM terminal connection crawl disk of same control computer 401, the general GPIO of computer 401 is controlled
Terminal connects contact-making switch, and for detecting whether guide rail reaches the limit of position, the timer external terminal of control computer 401 connects
Encoder is connect for detecting the location information of stepper motor.
As shown in figure 8, visual identity and positioning system 3 include binocular camera 301 and camera mounting bracket 302, wherein phase
Machine mounting bracket 302 is set at the top center of undercarriage 6, and binocular camera 301 is set to camera mounting bracket 302
The upper and visual field is downward.The USB communication interface of binocular camera 301 is connected on visual processes computer 501.
As shown in figure 9, multi-rotor unmanned aerial vehicle 7 includes identification point 701, identification point mounting bracket 702 and more rotor bodies
703, wherein identification point mounting bracket 702 is connected to the top of more rotor bodies 703 by fastening screw, and identification point 701 is installed
In identification point mounting bracket 702, the two is connected in one by fastening screw.Binocular camera 301 can to identification point 701 into
Row identification, positioning.
The working principle of the utility model are as follows:
The utility model can generate high precision position signal using differential GPS device 502, pass 503 by differential GPS number
More rotor bodies 703 to be recycled are sent to, when which flies to track-type facilities 1 nearby, binocular camera 301 identifies and determines
Position provides the spatial value relative to track-type facilities 1 to the identification point 701 on more rotor bodies 703, controls computer 401
Horizontal axis stepper motor 101 and longitudinal axis stepper motor 107 are driven after receiving this spatial value, crawl disk 2 is made to reach space seat
The specified position of scale value simultaneously carries out unmanned plane crawl, just realizes identification, positioning, recycling to multi-rotor unmanned aerial vehicle in this way.
The foregoing is merely the embodiments of the present invention, are not intended to limit the protection scope of the utility model.It is all
Any modification, equivalent substitution and improvement made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection scope.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle recyclable device characterized by comprising
Undercarriage (6), is set to the bottom of unmanned helicopter；
Visual identity and positioning system (3) are set to the top of undercarriage (6) and connection control system, for acquiring more rotors
The image of unmanned plane (7) identifies the location information of multi-rotor unmanned aerial vehicle (7), is sent to control system；
Control system is set on undercarriage (6), receives the multi-rotor unmanned aerial vehicle of the visual identity and positioning system transmission
(7) location information, and control instruction is generated according to the information received, it is sent to track-type facilities (1) and crawl disk (2), control
Track-type facilities (1) processed and crawl disk (2) act the crawl, carrying and dispensing of multi-rotor unmanned aerial vehicle (7)；
Track-type facilities (1) are set on undercarriage (6), connect control system, are made to grab disk according to the control instruction received
(2) reach the specified position of spatial value；
Grab disk (2), be set on track-type facilities (1), connect control system, according to the control instruction received to more rotors without
Man-machine (7) grabbed, is carried and dispensing movement.
2. multi-rotor unmanned aerial vehicle recyclable device according to claim 1, which is characterized in that the crawl disk (2) includes solid
Fixed board (202), rotating disk (203), tight latch mechanism (204), sliding shoe (205) and rotation drive device, wherein fixed plate (202)
It is set to the top of rotating disk (203) and is connect with the track-type facilities (1), circumferentially arranged with more on the fixed plate (202)
A skewed slot (207) for being directed toward the center of circle, circumferentially arranged with multiple arcs slot (208), the tight latch mechanism on the rotating disk (203)
It (204) include multiple check lock levers, the upper end of each check lock lever passes through corresponding arc groove (208) and skewed slot (207) and a sliding
Block (205) connection, the rotation drive device is set on the fixed plate (202) and output end and the rotating disk (203)
Connection, rotation drive device driving rotating disk (203) rotation, to drive multiple check lock levers to draw close to center, thus real
The purpose now grabbed.
3. multi-rotor unmanned aerial vehicle recyclable device according to claim 2, which is characterized in that the rotation drive device is rudder
Machine (206), the steering engine (206) are mounted on main connecting plate (201), and the main connecting plate (201) is located at the fixed plate
(202) it top and is fixedly connected with the fixed plate (202), the main connecting plate (201) and the track-type facilities (1) are even
It connects.
4. multi-rotor unmanned aerial vehicle recyclable device according to claim 2, which is characterized in that the lower end of the check lock lever is rubber
Colloid and outer surface have the cambered surface convenient for crawl.
5. multi-rotor unmanned aerial vehicle recyclable device according to claim 1, which is characterized in that the track-type facilities (1) include
Horizontal axis guide rail (102), horizontal axis driving mechanism, horizontal axis sliding block (104), longitudinal axis driving mechanism, longitudinal axis guide rail (108), longitudinal axis sliding block
(110) and disk mounting bracket (113) are grabbed, wherein horizontal axis guide rail (102) is mounted on the undercarriage (6), and the horizontal axis is sliding
Block (104) is slidably connected with horizontal axis guide rail (102), the horizontal axis driving mechanism be set on the horizontal axis guide rail (102) and with
Horizontal axis sliding block (104) connection, it is described vertical for driving the horizontal axis sliding block (104) to slide along the horizontal axis guide rail (102)
Axis rail (108) is connect with the horizontal axis sliding block (104) and, the longitudinal axis sliding block vertical with horizontal axis guide rail (102)
(110) be slidably connected with the longitudinal axis guide rail (108), the longitudinal axis driving mechanism be set on the longitudinal axis guide rail (108) and
It is connect with the longitudinal axis sliding block (110), it is described for driving the longitudinal axis sliding block (110) to slide along the longitudinal axis guide rail (108)
Crawl disk mounting bracket (113) is connect with the longitudinal axis sliding block (110), and the crawl disk (2) is set to the crawl disk installation
On bracket (113).
6. multi-rotor unmanned aerial vehicle recyclable device according to claim 5, which is characterized in that the horizontal axis guide rail (102)
Both ends are equipped with horizontal axis contact-making switch (105), and the both ends of the longitudinal axis guide rail (108) are equipped with longitudinal axis contact-making switch (111).
7. multi-rotor unmanned aerial vehicle recyclable device according to claim 5, which is characterized in that the horizontal axis driving mechanism includes
Horizontal axis stepper motor (101), horizontal axis belt (103), horizontal axis encoder (106) and two horizontal axis belt pulleys, wherein horizontal axis stepping
Motor (101) is set to one end of the horizontal axis guide rail (102) and output end is connect with a horizontal axis belt pulley, another horizontal axis skin
Belt wheel is set to the other end of the horizontal axis guide rail (102), and two horizontal axis belt pulleys are sequentially connected by horizontal axis belt (103),
The horizontal axis belt (103) connect with the horizontal axis sliding block (104), and the horizontal axis encoder (106) is set to the horizontal axis step
Into on motor (101)；
The longitudinal axis driving mechanism includes longitudinal axis stepper motor (107), longitudinal axis belt (109), longitudinal axis encoder (112) and two
Longitudinal axis belt pulley, wherein longitudinal axis stepper motor (107) is set to one end of the longitudinal axis guide rail (108) and output shaft and one is indulged
Shaft pulley connection, another longitudinal axis belt pulley are set to the other end of the longitudinal axis guide rail (108), and two longitudinal axis belt pulleys pass through
Longitudinal axis belt (109) transmission connection, the longitudinal axis sliding block (110) connect with the longitudinal axis belt (109), the longitudinal axis encoder
(112) it is set on longitudinal axis stepper motor (107).
8. multi-rotor unmanned aerial vehicle recyclable device according to claim 1, which is characterized in that the visual identity and positioning system
System (3) includes binocular camera (301) and camera mounting bracket (302), and wherein camera mounting bracket (302) is set to described rise and fall
The top of frame (6), the binocular camera (301) are set on the camera mounting bracket (302) and connect with the control system
It connects.
9. multi-rotor unmanned aerial vehicle recyclable device according to claim 1, which is characterized in that the control system includes setting
Right calculating unit (4) and left calculating unit (5) in the undercarriage (6) two sides, wherein
The right calculating unit (4) includes right calculating unit mounting plate (404) and is mounted on the right calculating unit mounting plate
(404) control computer (401), horizontal axis stepper motor driver (402) and longitudinal axis stepper motor driver (403) on,
Middle horizontal axis stepper motor driver (402) and longitudinal axis stepper motor driver (403) are connect with control computer (401), institute
Horizontal axis stepper motor driver (402) and longitudinal axis stepper motor driver (403) are stated for driving and controlling the track-type facilities
(1)；
The left calculating unit (5) includes left calculating unit mounting plate (504) and is set to the left calculating unit mounting plate
(504) visual processes computer (501), differential GPS device (502) and differential GPS number on pass (503), and wherein differential GPS fills
It sets (502) and control computer (401) is connected to by serial ports terminal, and another serial ports terminal for controlling computer (401) connects
It connects differential GPS number and passes (503) to send position coordinates；Visual processes computer (501) and the visual identity and positioning system
(3) connection and with control computer (401) communicate through a serial port.
10. multi-rotor unmanned aerial vehicle recyclable device according to claim 1, which is characterized in that the undercarriage (6) includes two
A support frame disposed in parallel (602) and two skids (601) for being set to support frame (602) lower end, two support frames (602)
Between be equipped with multiple reinforcing rods (604), the upper end of each support frame as described above (602) set there are two be used for and the unmanned helicopter connect
The mounting post (603) connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822161131.4U CN209305838U (en) | 2018-12-21 | 2018-12-21 | Multi-rotor unmanned aerial vehicle recyclable device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822161131.4U CN209305838U (en) | 2018-12-21 | 2018-12-21 | Multi-rotor unmanned aerial vehicle recyclable device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348186A (en) * | 2018-12-21 | 2020-06-30 | 中国科学院沈阳自动化研究所 | Many rotor unmanned aerial vehicle recovery unit |
| CN112607026A (en) * | 2020-12-30 | 2021-04-06 | 山东省科学院海洋仪器仪表研究所 | Automatic recovery and release device and method for multi-rotor unmanned aerial vehicle |
| US11279486B2 (en) * | 2019-03-20 | 2022-03-22 | The Boeing Company | Auxiliary-pod mounting system and mounting methods for a helicopter |
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2018
- 2018-12-21 CN CN201822161131.4U patent/CN209305838U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348186A (en) * | 2018-12-21 | 2020-06-30 | 中国科学院沈阳自动化研究所 | Many rotor unmanned aerial vehicle recovery unit |
| CN111348186B (en) * | 2018-12-21 | 2024-06-28 | 中国科学院沈阳自动化研究所 | Many rotor unmanned aerial vehicle recovery unit |
| US11279486B2 (en) * | 2019-03-20 | 2022-03-22 | The Boeing Company | Auxiliary-pod mounting system and mounting methods for a helicopter |
| CN112607026A (en) * | 2020-12-30 | 2021-04-06 | 山东省科学院海洋仪器仪表研究所 | Automatic recovery and release device and method for multi-rotor unmanned aerial vehicle |
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