CN210284653U - Unmanned aerial vehicle recovery unit and unmanned aerial vehicle recovery car - Google Patents

Abstract

The utility model provides an unmanned aerial vehicle recovery unit and unmanned aerial vehicle retrieve car belongs to unmanned air vehicle technical field. This unmanned aerial vehicle recovery unit includes support arm, first cantilever, first driving piece, second cantilever, second driving piece and rope, and first cantilever and second cantilever interval set up on the support arm, and just first cantilever and second cantilever all hinge through articulated shaft and support arm. The axial of two articulated shafts all is perpendicular with the length direction of support arm, and first driving piece is connected between first cantilever and support arm, and the second driving piece is connected between second cantilever and support arm. A rope is connected between the end of the first boom and the end of the second boom. This unmanned aerial vehicle retrieves car includes automobile body and above-mentioned unmanned aerial vehicle recovery unit, and unmanned aerial vehicle recovery unit installs on the automobile body. The utility model discloses prior art's exhibition is received and is spent time longer, the lower technical problem of work efficiency.

Description

Unmanned aerial vehicle recovery unit and unmanned aerial vehicle recovery car

Technical Field

The utility model relates to an unmanned air vehicle technique field particularly, relates to an unmanned aerial vehicle recovery unit and unmanned aerial vehicle retrieve car.

Background

Unmanned aerial vehicle recovery unit is an important functional system of unmanned aerial vehicle, and unmanned aerial vehicle's recovery mode includes that the undercarriage runs to land and retrieves, parachuting retrieves, skyhook retrieves, intercept net retrieves modes such as, and wherein the skyhook retrieves the mode and has efficient, work preparation time is short, retrieve advantage such as the place requirement is low, by wide application on the platform of space shortage such as land or naval vessel.

Current unmanned aerial vehicle top hook recovery unit includes montant, last horizontal pole, sheer pole and rope, goes up horizontal pole and sheer pole interval and installs on the montant, and the rope is connected between last horizontal pole and sheer pole. When utilizing this unmanned aerial vehicle skyhook recovery unit to retrieve unmanned aerial vehicle, the rope can be hooked to the couple on the wing wingtip of the unmanned aerial vehicle of low-altitude flight, and unmanned aerial vehicle hangs on the rope this moment, can accomplish unmanned aerial vehicle's recovery after plucking unmanned aerial vehicle on the rope.

For transporting unmanned aerial vehicle sky hook recovery unit, between last horizontal pole, sheer pole and the montant among the current unmanned aerial vehicle sky hook recovery unit, or can dismantle the connection together, or collapsible the connection together. When using current unmanned aerial vehicle sky hook recovery unit to retrieve unmanned aerial vehicle often need on-the-spot assembly, dismantle horizontal pole and sheer pole, perhaps manual expansion, folding horizontal pole and sheer pole on, and above-mentioned assembly, dismantlement process or expansion, folding process all need many people to cooperate the completion. Consequently, the process of receiving and releasing of current unmanned aerial vehicle skyhook recovery unit is consuming time longer, and work efficiency is lower.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an unmanned aerial vehicle recovery unit and unmanned aerial vehicle retrieve car to solve prior art's exhibition and receive the process longer, the lower technical problem of work efficiency consuming time.

The utility model provides an unmanned aerial vehicle recovery device, which comprises a supporting arm, a first cantilever, a first driving piece, a second cantilever, a second driving piece and a rope;

the first cantilever and the second cantilever are arranged on the supporting arm at intervals, and are hinged with the supporting arm through hinge shafts;

the axial directions of the two articulated shafts are both vertical to the length direction of the supporting arm, the first driving piece is connected between the first cantilever and the supporting arm, and the first driving piece is used for driving the first cantilever to rotate around the axis of the articulated shaft between the first cantilever and the supporting arm;

the second driving piece is connected between the second cantilever and the supporting arm and is used for driving the second cantilever to rotate around the axis of the hinge shaft between the second cantilever and the supporting arm;

a tether is connected between the end to which the first boom is connected and the end of the second boom.

Furthermore, the first driving piece is an oil cylinder, and two ends of the first driving piece are respectively hinged with the first cantilever and the supporting arm;

the second driving piece is an oil cylinder, and two ends of the second driving piece are respectively hinged with the second cantilever and the supporting arm.

Furthermore, the supporting arm comprises a first section arm and a second section arm, and the second section arm is sleeved in the first section arm in a sliding manner;

a first telescopic piece which drives the second knuckle arm to slide relative to the first knuckle arm is connected between the first knuckle arm and the second knuckle arm.

Furthermore, the support arm comprises a first end and a second end, the first cantilever is hinged with the first end of the support arm, and the second cantilever is hinged with the second end of the support arm;

unmanned aerial vehicle recovery unit still includes rotation mechanism, and the first end and the rotation mechanism of support arm are connected, and rotation mechanism is used for driving the support arm and uses the axis of support arm as the rotation axis rotation.

Further, the slewing mechanism comprises a slewing motor, a slewing seat and a supporting column; the rotary seat is connected with an output shaft of the rotary motor, the supporting column is fixedly connected to the rotary seat, the first end of the supporting arm is hinged to the supporting column through a rotating shaft, and the axial direction of the rotating shaft is perpendicular to the axial direction of the supporting column.

Further, unmanned aerial vehicle recovery unit still includes the second extensible member, and the second extensible member is articulated with support column and support arm respectively, and the second extensible member drives the support arm and uses the axis of pivot to rotate as the rotation axis on the support column through flexible.

Furthermore, the shape of support arm is the cuboid, and first cantilever and second cantilever all are located one of them lateral wall of support arm, and the second extensible member is located the support arm on the lateral wall relative with one of them lateral wall of support arm.

Furthermore, the shape of support arm is the cuboid, and first cantilever and second cantilever all are located one of them lateral wall of support arm, and the second extensible member is located the support arm on the lateral wall that is adjacent with one of them lateral wall of support arm.

The utility model provides an unmanned aerial vehicle retrieves car, including automobile body and any one of the above-mentioned technical scheme unmanned aerial vehicle recovery unit, unmanned aerial vehicle recovery unit installs on the automobile body.

Further, the vehicle body comprises a cab and a hopper, and the cab is connected with the hopper;

unmanned aerial vehicle recovery unit installs on the car hopper, just the support arm can be located the driver's cabin top.

The utility model provides an unmanned aerial vehicle recovery unit and unmanned aerial vehicle retrieve car can produce following beneficial effect:

this unmanned aerial vehicle recovery unit includes support arm, first cantilever, first driving piece, second cantilever, second driving piece and rope, and first cantilever and second cantilever interval set up on the support arm, and just first cantilever and second cantilever all articulate on the support arm, and first driving piece is connected between first cantilever and support arm, and the second driving piece is connected between second cantilever and support arm.

When using this unmanned aerial vehicle recovery unit to retrieve unmanned aerial vehicle, can connect the rope earlier between the end of first cantilever and the end of second cantilever, for the first cantilever and the second cantilever of expansion, should make the rope keep the relaxed state this moment. And then starting the first driving piece and the second driving piece, wherein the first driving piece can drive the first cantilever to rotate on the supporting arm around the axis of the hinge shaft between the first cantilever and the supporting arm, and the first cantilever is in an unfolded state. The second driving piece can drive the second cantilever to rotate on the supporting arm around a hinge shaft between the second cantilever and the supporting arm as a rotating shaft, and the second cantilever is enabled to be in an unfolded state. After the first cantilever and the second cantilever are unfolded, the rope is tensioned between the tail end of the first cantilever and the tail end of the second cantilever, so that the unmanned aerial vehicle is easy to hook the rope and then is easy to be blocked by the rope.

After the unmanned aerial vehicle is taken down from the rope, the first driving piece and the second driving piece can be continuously started, and the first driving piece drives the first cantilever to reversely rotate so that the first cantilever is folded on one side of the supporting arm; the second driving part drives the second cantilever to rotate reversely, so that the second cantilever is folded at one side of the supporting arm. First cantilever and second cantilever all draw in the one side of support arm after, can save this unmanned aerial vehicle recovery unit's occupation space.

Compared with the prior art, the utility model provides an unmanned aerial vehicle recovery unit utilizes first driving piece to expand or draw in first cantilever, utilizes the second driving piece to expand or draw in the second cantilever in, has replaced the manual process of opening horizontal pole and sheer pole of artifical having utilized among the prior art, has promoted work efficiency. It can be seen that the utility model provides an unmanned aerial vehicle recovery unit has improved the technical problem that the process of receiving and displaying of prior art is consuming time longer, work efficiency is lower.

The utility model provides an unmanned aerial vehicle retrieves car includes automobile body and above-mentioned unmanned aerial vehicle recovery unit, and unmanned aerial vehicle recovery unit installs on the automobile body. The utility model provides an unmanned aerial vehicle retrieves car includes above-mentioned unmanned aerial vehicle recovery unit, therefore has the same beneficial effect with above-mentioned unmanned aerial vehicle recovery unit.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a recovery boom according to an embodiment of the present invention when folded;

fig. 2 is a schematic structural view of the recovery boom according to the first embodiment of the present invention when being unfolded;

FIG. 3 is a schematic diagram of the support arm of FIG. 1;

FIG. 4 is a schematic structural diagram of the second cantilever in FIG. 1;

fig. 5 is a schematic structural view of the recovery boom according to the second embodiment of the present invention when being folded;

fig. 6 is a schematic structural view of the recovery boom provided in the second embodiment of the present invention when being unfolded;

fig. 7 is a schematic structural view of the recovery boom provided in the third embodiment of the present invention when being folded;

fig. 8 is a schematic structural view of the recovery boom provided in the third embodiment of the present invention when being unfolded;

fig. 9 is a schematic structural view of the recovery boom according to the second embodiment of the present invention when being folded;

fig. 10 is a schematic structural view of the recovery boom provided by the third embodiment of the present invention when being unfolded.

In the figure:

1-a support arm; 10-a first jointed arm; 100-a first end; 11-a second jointed arm; 110-a second end; 12-a first telescopic member; 2-a first cantilever; 3-a first driving member; 4-a second cantilever; 40-a rope; 5-a second driving member; 6-a slewing mechanism; 60-a rotary motor; 61-a turret; 62-a support column; 7-a second telescopic member; 8-a vehicle body; 80-a cab; 81-car hopper.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements.

The utility model provides an unmanned aerial vehicle recovery unit and unmanned aerial vehicle retrieve car, it is right below combining the drawing the utility model provides an unmanned aerial vehicle recovery unit and unmanned aerial vehicle retrieve car and carry out detailed description:

the first embodiment is as follows:

referring to fig. 1 to 4 together, as shown in fig. 1 to 4, the recovery apparatus of the unmanned aerial vehicle provided in this embodiment includes a supporting arm 1, a first suspension arm 2, a first driving member 3, a second suspension arm 4, a second driving member 5, and a rope 40. First cantilever 2 and second cantilever 4 interval set up on support arm 1, and first cantilever 2 and second cantilever 4 all pass through the articulated shaft and support arm 1 is articulated.

The axial of two articulated shafts all is perpendicular with the length direction of support arm 1, as shown in fig. 2, and first driving piece 3 is connected between first cantilever 2 and support arm 1, and first driving piece 3 is used for driving first cantilever 2 around its and the support arm 1 between the axis of the articulated shaft rotate.

As shown in fig. 2, the second driving member 5 is connected between the second suspension arm 4 and the support arm 1, and the second driving member 5 is used for driving the second suspension arm 4 to rotate around the axis of the hinge shaft between the second suspension arm and the support arm 1.

As shown in fig. 2, one end of the rope is connected to the first suspension arm 2, and the other end of the rope is connected to the second suspension arm 4.

When the unmanned aerial vehicle is recovered by using the unmanned aerial vehicle recovery device, the rope 40 can be firstly connected between the tail end of the first cantilever 2 and the tail end of the second cantilever 4, so that the first cantilever 2 and the second cantilever 4 can be conveniently unfolded, and the rope 40 is kept in a loose state. Then, the first driving member 3 and the second driving member 5 are activated, and the first driving member 3 can drive the first suspension arm 2 to rotate on the support arm 1 by using the axis of the hinge shaft between the first suspension arm 2 and the support arm 1 as a rotation axis, so that the first suspension arm 2 is in the unfolded state, as shown in fig. 2. The second driving member 5 can drive the second suspension arm 4 to rotate on the support arm 1 about the axis of the hinge shaft between the second suspension arm 4 and the support arm 1, and the second suspension arm 4 is in the unfolded state, as shown in fig. 2.

After the first boom 2 and the second boom 4 are unfolded, there is a certain distance in the vertical direction between the first boom 2 and the second boom 4, so that the rope 40 can be tensioned between the first boom 2 and the second boom 4, and then the drone can hit and hook the rope 40, thereby being stopped by the rope 40.

After the unmanned aerial vehicle is taken down from the rope 40, the first driving part 3 and the second driving part 5 can be continuously started, and the first driving part 3 drives the first cantilever 2 to rotate, so that the first cantilever 2 is folded at one side of the supporting arm 1, as shown in fig. 1; the second driving member 5 drives the second suspension arm 4 to rotate, so that the second suspension arm 4 is folded at one side of the supporting arm 1, as shown in fig. 1. First cantilever 2 and second cantilever 4 all draw in one side of support arm 1 after, can save this unmanned aerial vehicle recovery unit's occupation space.

Wherein, first cantilever 2 and second cantilever 4 all can include hinged end and end, and the hinged end of first cantilever 2 and the hinged end of second cantilever 4 all can be articulated with support arm 1, and the end of first cantilever 2 and the end of second cantilever 4 are all unsettled. One end of the rope 40 may be connected to the end of the first boom 2 and the other end of the rope 40 may be connected to the end of the second boom 4. The axial direction behind the rope 40 that is stretched by the first cantilever 2 that is expanded and second cantilever 4 can be approximately parallel with the axial direction of support arm 1, and the distance between rope 40 and the support arm 1 in the direction perpendicular to rope 40 axial direction is far away at this moment, can reduce the collision probability between unmanned aerial vehicle that swings on rope 40 and support arm 1 in turn.

Compared with the prior art, the unmanned aerial vehicle recovery unit that this embodiment provided utilizes first driving piece 3 to launch and retrieve first cantilever 2, utilizes second driving piece 5 to launch and retrieve second cantilever 4, has replaced the manual process of launching horizontal pole and sheer pole of utilizing artifical manual expansion among the prior art, has promoted work efficiency. Therefore, the unmanned aerial vehicle recovery unit that this embodiment provided has improved the technical problem that the exhibition of prior art is received the process and is consumed time longer, work efficiency is lower.

As shown in fig. 1-2, the first driving member 3 may be an oil cylinder, and two ends of the first driving member 3 are respectively hinged to the first suspension arm 2 and the support arm 1. The second driving piece 5 is an oil cylinder, and two ends of the second driving piece 5 are respectively hinged with the second cantilever 4 and the supporting arm 1.

When first driving piece 3 and second driving piece 5 are the hydro-cylinder, first driving piece 3 and second driving piece 5 homoenergetic are flexible. Because first driving piece 3 is articulated with first cantilever 2 and support arm 1 respectively, therefore when first driving piece 3 pulling first cantilever 2 is close to support arm 1, first driving piece 3 length shortens, can rely on the inertia of first cantilever 2 simultaneously, with first driving piece 3 lock in one side of support arm 1, first cantilever 2 also draws in one side at support piece this moment. When the first driving part 3 pulls the first cantilever 2 to be far away from the supporting arm 1, the length of the first driving part 3 is extended, and meanwhile, the first driving part 3 can support the first cantilever 2, so that the first cantilever 2 and the supporting arm 1 are approximately vertical.

And because the second driving part 5 is respectively hinged with the second cantilever 4 and the supporting arm 1, when the second driving part 5 pulls the second cantilever 4 to be close to the supporting arm 1, the length of the second driving part 5 is shortened, and meanwhile, the second driving part 5 can be buckled at one side of the supporting arm 1 under the action of the self gravity of the second cantilever 4, and at the moment, the second cantilever 4 is also folded at one side of the supporting part. When the second driving part 5 pulls the second suspension arm 4 away from the support arm 1, the second driving part 5 is extended in length, and meanwhile, the second driving part 5 can support the second suspension arm 4, so that the second suspension arm 4 and the support arm 1 can be approximately vertical to each other.

The first driving member 3 and the second driving member 5 may also be both swing motors or both electric cylinders.

When the first driving member 3 and the second driving member 5 are swing motors, the first driving member 3 may be fixedly connected to the supporting arm 1, and an output shaft of the first driving member 3 may be connected to the first suspension arm 2. After the output shaft of first driving piece 3 swung, the output shaft of first driving piece 3 can drive first cantilever 2 and be close to or keep away from support arm 1, and then can make first cantilever 2 draw in support arm 1 one side or expand in support arm 1 one side. Similarly, the second driving member 5 can be fixedly connected to the supporting arm 1, the output shaft of the second driving member 5 is connected to the second cantilever 4, and the second driving member 5 can drive the second cantilever 4 to be close to or far away from the supporting arm 1, so that the second cantilever 4 is folded on one side of the supporting arm 1 or unfolded on one side of the supporting arm 1.

When first driving piece 3 and second driving piece 5 are electronic jar, first driving piece 3 and second driving piece 5 also homoenergetic are flexible. When the first driving part 3 and the second driving part 5 are both electric cylinders, the process that the first driving part 3 drives the first cantilever 2 to rotate and the second driving part 5 drives the second cantilever 4 to rotate is the same as that when the first driving part 3 and the second driving part 5 are both oil cylinders. At this time, the first driving member 3 is respectively hinged with the first cantilever 2 and the supporting arm 1, and the second driving member 5 is respectively hinged with the second cantilever 4 and the supporting arm 1.

As shown in fig. 3, the supporting arm 1 includes a first arm segment 10 and a second arm segment 11, the second arm segment 11 is slidably sleeved in the first arm segment 10, and a first telescopic member 12 capable of driving the second arm segment to slide relative to the first arm segment 10 is connected between the first arm segment 10 and the second arm segment 11.

The first telescopic part 12 may be a relatively long-stroke cylinder, such as a telescopic hydraulic cylinder, which is communicated with the hydraulic pump, and can be driven by the hydraulic pump to extend or shorten. Because the first telescopic part 12 is connected with the first knuckle arm 10 and the second knuckle arm 11 respectively, the extended first telescopic part 12 can drive the second knuckle arm 11 to extend out of the first knuckle arm 10, and the shortened first telescopic part 12 can drive the second knuckle arm 11 to retract into the first knuckle arm 10.

When using this unmanned aerial vehicle recovery unit to retrieve unmanned aerial vehicle, can stretch out second festival arm 11 from first festival arm 10 earlier, connect rope 40 again between first cantilever 2 and second cantilever 4, restart first driving piece 3 and second driving piece 5 to drive first cantilever 2 and second cantilever 4 and expand on support arm 1.

As shown in fig. 2, the first arm 2 may be mounted on the top end of the second arm 11, and when the second arm 11 is retracted into the first arm 10, the top end of the second arm 11 may be exposed outside the first arm 10. The second boom 4 may be mounted at the bottom end of the first jointed arm 10.

When drawing in this unmanned aerial vehicle recovery unit in, can take off unmanned aerial vehicle from rope 40 earlier, can also take off rope 40 from between first cantilever 2 and the second cantilever 4 simultaneously, restart first extensible member 12 makes during the first section arm 10 of second section arm 11 indentation, restart first driving piece 3 and second driving piece 5 draw in first cantilever 2 and second cantilever 4 in one side of support arm 1.

It can be seen that support arm 1 including first festival arm 10 and second festival arm 11 can further save this unmanned aerial vehicle recovery unit's occupation space, can guarantee simultaneously that the difference in height between first cantilever 2 and the second cantilever 4 can satisfy the demand that blocks unmanned aerial vehicle.

Further, utilize first extensible member 12 drive second festival arm 11 to stretch out from first festival arm 10 and during retracting first festival arm 10, can further promote the work efficiency who expandes and draw in unmanned aerial vehicle recovery unit in.

Wherein the supporting arm 1 can also be replaced by a box-shaped telescopic arm in a crane. The supporting arm 1 may further include a plurality of sections of arms, and since the extending and retracting processes of the plurality of sections of arms are more complicated than those of two sections of arms, and the structure of the supporting arm 1 is less stable than that of two sections of arms, the supporting arm 1 of the present embodiment preferably includes a first section of arm 10 and a second section of arm 11, and the first section of arm 10 and the second section of arm 11 are sleeved.

Since the length of the support arm 1 including the first-joint arm 10 and the second-joint arm 11 is longer than the length of a multi-joint arm including more than two joints in a short period, the support arm 1 including the first-joint arm 10 and the second-joint arm 11 occupies a larger space than the support arm 1 including a multi-joint arm including three joints or more. When this unmanned aerial vehicle recovery unit installs on the car on second class chassis, can install on the car hopper 81 in the car on second class chassis with one end wherein of the support arm 1 among this unmanned aerial vehicle recovery unit to make the other end overlap joint of support arm 1 the top of driver's cabin 80 in the car on second class chassis, with the delivery space of the car on second class chassis of make full use of.

As shown in fig. 1-2, the support arm 1 comprises a first end 100 and a second end 110, the first suspension arm 2 is hinged to the first end 100 of the support arm 1, and the second suspension arm 4 is hinged to the second end 110 of the support arm 1. The unmanned aerial vehicle recovery device provided by this embodiment may further include a slewing mechanism 6, the first end 100 of the support arm 1 is connected to the slewing mechanism 6, and the slewing mechanism 6 is configured to drive the support arm 1 to rotate with an axial direction of the slewing mechanism 6 as a rotation axis.

As shown in fig. 2, the first end 100 of the support arm 1 may be an end of the first arm segment 10 away from the second suspension arm 4, and the second end 110 of the support arm 1 is an end of the second arm segment 11 away from the first suspension arm 2. First cantilever 2 is articulated with the first end 100 of support arm 1, and second cantilever 4 is articulated with the second end 110 of support arm 1 and can make the difference in height between first cantilever 2 and the second cantilever 4 after the expansion great, can utilize the height of support arm 1 to the furthest, and then promote unmanned aerial vehicle and hook the probability of rope 40.

Further, the first suspension arm 2 and the second suspension arm 4 may be located on the same side of the support arm 1, the first suspension arm 2 rotates clockwise with the first end 100 of the support arm 1 as the rotation center when being unfolded, and the first suspension arm 2 rotates counterclockwise with the first end 100 of the support arm 1 as the rotation center when being folded on one side of the support arm 1. When the second suspension arm 4 is unfolded, the second end 110 of the support arm 1 is used as a rotation center to rotate counterclockwise, and when the second suspension arm 4 is folded on one side of the support arm 1, the second suspension arm 4 is folded on the first end 100 of the support arm 1 to rotate clockwise.

Wherein, the swing mechanism 6 can be a swing tower in a truck crane or a swing mechanism 6 in a crane.

The swing mechanism 6 can drive the support arm 1 to rotate by taking the axial direction of the swing mechanism 6 as a rotating shaft, so that the orientation of the first cantilever 2 and the second cantilever 4 which are unfolded on the support arm 1 can be changed, and the first cantilever 2 and the second cantilever 4 which can flexibly change the orientation can be suitable for unmanned aerial vehicles in different directions. It can be seen that slewing mechanism 6 can promote the flexibility of the unmanned aerial vehicle recovery unit that this embodiment provided.

In the present embodiment, as shown in fig. 1, the swing mechanism 6 includes a swing motor 60, a swing base 61, and a support column 62; the rotary base 61 is connected with an output shaft of the rotary motor 60, the support column 62 is fixedly connected to the rotary base 61, the first end 100 of the support arm 1 is hinged to the support column 62 through a rotating shaft, and the axial direction of the rotating shaft is perpendicular to the axial direction of the support column 62.

As shown in fig. 1 and fig. 2, unmanned aerial vehicle recovery unit still includes second extensible member 7, and second extensible member 7 is articulated with support column 62 and support arm 1 respectively, and second extensible member 7 can drive support arm 1 through flexible and use the axis of pivot as the rotation axis rotation on support column 62.

The rotary base 61 is connected with an output shaft of the rotary motor 60, the support column 62 is fixedly connected to the rotary base 61, and the rotary motor 60 can drive the rotary base 61 to rotate, and then can drive the support column 62 to rotate on the rotary base 61. The first end 100 of the support arm 1 is hinged to the support column 62, and the support column 62 rotating on the revolving base 61 can drive the support arm 1 to rotate by taking the axis of the output shaft of the motor or the axis of the revolving base 61 as a rotating shaft.

Wherein, as shown in fig. 2, the first arm segment 10 of the supporting arm 1 can be hinged with the supporting arm 1.

In practical application, the second extensible member 7 can also be an oil cylinder or an electric cylinder, and the second extensible member 7 can be extended or shortened, so that the support arm 1 can be driven to rotate on the support column 62 by taking the axis of the rotating shaft as a rotating shaft.

When needs use this unmanned aerial vehicle recovery unit to retrieve unmanned aerial vehicle, can start second extensible member 7 earlier, second extensible member 7 can extend, then can drive support arm 1 and rotate on support column 62 to make the minimum contained angle between support arm 1 and the support column 62 be equal to 180 degrees or approximately equal to 180 degrees. The second telescopic element 7 can now serve to support the support arm 1, the second telescopic element 7 allowing the support arm 1 to remain upright and stable. The first telescopic member 12 can then be activated to extend the second articulated arm 11 from the first articulated arm 10 and the first 3 and second 5 actuators to deploy the first 2 and second 4 booms from the support arm 1.

When need draw in this unmanned aerial vehicle recovery unit in and retrieve unmanned aerial vehicle, can start first extensible member 12 earlier to make second festival arm 11 retract in first festival arm 10, start first driving piece 3 and second driving piece 5 again, so that first cantilever 2 and second cantilever 4 draw in one side of support arm 1. Then, the second telescopic member 7 can be started, and since the second telescopic member 7 is hinged between the support arm 1 and the support column 62, the second telescopic member 7 can drive the support arm 1 to rotate by taking the hinged position of the support arm 1 and the support column 62 as a rotation center, and the minimum included angle between the support arm 1 and the support column 62 is equal to 90 degrees or approximately equal to 90 degrees. Perpendicular or approximate perpendicular between support arm 1 and the support column 62 this moment, this unmanned aerial vehicle recovery unit not only occupation space is less, and easily transports.

In practical application, when first driving piece 3 and second driving piece 5 homoenergetic extend or shorten, the second extensible member 7, first extensible member 12, extension switch and shortening switch can share for first driving piece 3 and second driving piece 5, then can make the second extensible member 7, first extensible member 12, first driving piece 3 and second driving piece 5 extend or shorten together, and then can realize that this unmanned aerial vehicle recovery unit of a key control expandes or draws in, reduce the human labor, promote the work efficiency who expandes or draw in this unmanned aerial vehicle recovery unit in.

In the present embodiment, as shown in fig. 1-2, the support arm 1 is shaped as a rectangular parallelepiped, the first suspension arm 2 and the second suspension arm 4 are both located on one of the side walls of the support arm 1, and the second telescopic member 7 is located on the side wall of the support arm 1 opposite to the one of the side walls of the support arm 1.

When this unmanned aerial vehicle recovery unit was in the state of drawing in, first cantilever 2 and second cantilever 4 all can be located support arm 1 top, and support arm 1 can play the effect of supporting first cantilever 2 and second cantilever 4 this moment, had promoted the stability when this unmanned aerial vehicle recovery unit draws in the state in.

Further, as shown in fig. 4, the shape of the first suspension arm 2 and the shape of the second suspension arm 4 may be each a quadrangular prism, and the radial cross section of the first suspension arm 2 and the radial cross section of the second suspension arm 4 may each be gradually reduced from one end hinged to the support arm to the other end. As shown in fig. 1, when the first suspension arm 2 and the second suspension arm 4 are folded on the support arm 1, the first suspension arm 2 and the second suspension arm 4 can be attached together or have a small gap. At this time, the sum of the area of the surface of the first suspension arm 2 attached to the support arm 1 and the area of the surface of the second suspension arm 4 attached to the support arm 1 is equal to or slightly smaller than the area of one of the side walls of the support arm 1.

It can be seen that when the radial cross section of the first suspension arm 2 and the radial cross section of the second suspension arm 4 both decrease gradually from the end hinged to the support arm to the other end, the first suspension arm 2 and the second suspension arm 4 can be stably folded on the support arm 1 and the space above the support arm 1 can be effectively utilized.

In practical applications, the shape and size of the first suspension arm 2 may be the same as the shape and size of the second suspension arm 4.

Example two:

as shown in fig. 5 to 6, the recovery device of the drone in this embodiment also includes a support arm 1, a first cantilever 2, a first driving member 3, a second cantilever 4, and a second driving member 5, and the structure and function of the recovery device of the drone in the first embodiment are substantially the same as those of the recovery device of the drone in the first embodiment. For the same points of this embodiment as those of the first embodiment, since the detailed description is already provided in the first embodiment, the detailed description is omitted here. The following description is made of the differences between the present embodiment and the first embodiment.

In the present embodiment, as shown in fig. 6, the support arm 1 is shaped like a rectangular parallelepiped, the first suspension arm 2 and the second suspension arm 4 are both located on one of the side walls of the support arm 1, and the second telescopic member 7 is located on the side wall of the support arm 1 adjacent to one of the side walls of the support arm 1.

As shown in fig. 5, the shape of the first suspension arm 2 and the shape of the second suspension arm 4 in the present embodiment may be quadrangular, and the radial cross section of the first suspension arm 2 and the radial cross section of the second suspension arm 4 are gradually reduced from one end hinged to the support arm to the other end.

After the first cantilever 2 and the second cantilever 4 are folded on the support arm 1, the inclined plane of the first cantilever 2 and the inclined plane of the second cantilever 4 can be attached together or have a small gap, and the sum of the area of the surface of the first cantilever 2 attached to the support arm 1 and the area of the surface of the second cantilever 4 attached to the support arm 1 is equal to or slightly smaller than the area of the side wall adjacent to one side wall of the support arm 1. When the radial section of the first cantilever 2 and the radial section of the second cantilever 4 are both gradually reduced from the end hinged to the support arm to the other end, the first cantilever 2 and the second cantilever 4 can effectively utilize the space on one side of the support arm 1.

Example three:

as shown in fig. 7-8, the unmanned aerial vehicle recovery car that this embodiment provided includes automobile body 8 and the unmanned aerial vehicle recovery unit in embodiment one, and unmanned aerial vehicle recovery unit installs on automobile body 8.

As shown in fig. 7-8, the first end 100 of the support arm 1 or the swing mechanism 6 connected to the first end 100 of the support arm 1 in the drone retracting device may be affixed to the vehicle body 8. Automobile body 8 is convenient for transport this unmanned aerial vehicle recovery unit.

Further, as shown in fig. 7-8, the vehicle body 8 includes a cab 80 and a hopper 81, the cab 80 is connected with the hopper 81, the unmanned aerial vehicle recovery device is installed on the hopper 81, and the support arm 1 can be located above the cab 80.

In practical applications, the body 8 may be a class ii vehicle, also referred to as a class ii chassis, which refers to a vehicle lacking only a cabin system assembly.

As shown in fig. 7, the top end of the supporting pillar 62 in the swing mechanism 6 may be located at the same height as the top end of the cab 80, and when the drone retrieving device is in the folded state, the second end 110 of the supporting arm 1 may be located above the cab 80, at which time the supporting arm 1 can be parallel to the hopper 81 in the vehicle body 8 under the supporting effect of the cab 80 and the supporting pillar 62, and then can be stably located on the vehicle body 8.

Wherein, because the second end 110 of support arm 1 can be located the driver's cabin 80 top, therefore the space of this embodiment still can make full use of driver's cabin 80 top can increase the space that is used for holding unmanned aerial vehicle recovery unit on the automobile body 8, then can furthest reduce support arm 1 festival number, guarantee support arm 1's structural stability.

As shown in fig. 8, the swing mechanism 6 may be installed at the rear end of the hopper 81. When launching unmanned aerial vehicle recovery unit in order to be used for retrieving unmanned aerial vehicle, for preventing that automobile body 8 from turning over backward, can utilize the mobile crane landing leg to fix subaerial with car hopper 81 in the automobile body 8 earlier. The support leg of the automobile crane is an existing mechanical structure, and detailed description of the support leg of the automobile crane is omitted here.

The unmanned aerial vehicle that this embodiment provided retrieves the car includes the unmanned aerial vehicle recovery unit in the embodiment one, therefore the unmanned aerial vehicle that this embodiment provided retrieves the car can solve the same technical problem with the unmanned aerial vehicle recovery unit in the embodiment one, reaches the same technological effect. The unmanned aerial vehicle recovery car that this embodiment provided has improved the technical problem that prior art exhibition was received the process and is consuming time longer, work efficiency is lower equally.

Example four:

as shown in fig. 9-10, the unmanned aerial vehicle recovery vehicle that this embodiment provided includes automobile body 8 and the unmanned aerial vehicle recovery unit in embodiment two, and unmanned aerial vehicle recovery unit installs on automobile body 8.

As shown in fig. 9 to 10, the recovery vehicle for unmanned aerial vehicle in the present embodiment also includes a vehicle body 8, a support arm 1, a first suspension arm 2, a first driving member 3, a second suspension arm 4, and a second driving member 5, and the structure and function of the recovery vehicle for unmanned aerial vehicle are substantially the same as those of the recovery vehicle for unmanned aerial vehicle in the third embodiment. For the same points of this embodiment as those of the third embodiment, since the detailed description is already provided in the third embodiment, the detailed description is omitted here.

As shown in fig. 9-10, the recovery vehicle for unmanned aerial vehicle provided by the present embodiment is different from the recovery vehicle for unmanned aerial vehicle in the third embodiment in that the support arm 1 in the recovery device for unmanned aerial vehicle includes four side walls, the first suspension arm 2 and the second suspension arm 4 are both located on one of the side walls of the support arm 1, and the second telescopic member 7 is located on the side wall of the support arm 1 adjacent to one of the side walls of the support arm 1.

Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims (10)

1. The unmanned aerial vehicle recovery device is characterized by comprising a supporting arm (1), a first cantilever (2), a first driving piece (3), a second cantilever (4), a second driving piece (5) and a rope (40);

the first cantilever (2) and the second cantilever (4) are arranged on the supporting arm (1) at intervals, and the first cantilever (2) and the second cantilever (4) are hinged with the supporting arm (1) through hinge shafts;

the axial directions of the two articulated shafts are both vertical to the length direction of the supporting arm (1), the first driving piece (3) is connected between the first cantilever (2) and the supporting arm (1), and the first driving piece (3) is used for driving the first cantilever (2) to rotate around the axis of the articulated shaft between the first cantilever and the supporting arm (1);

the second driving piece (5) is connected between the second cantilever (4) and the supporting arm (1), and the second driving piece (5) is used for driving the second cantilever (4) to rotate around the axis of a hinge shaft between the second cantilever and the supporting arm (1);

the rope is connected between the end of the first boom (2) and the end of the second boom (4).

2. The unmanned aerial vehicle recovery device of claim 1, wherein the first driving member (3) is an oil cylinder, and two ends of the first driving member (3) are respectively hinged to the first cantilever (2) and the support arm (1);

the second driving piece (5) is an oil cylinder, and two ends of the second driving piece (5) are respectively hinged with the second cantilever (4) and the supporting arm (1).

3. Unmanned aerial vehicle recovery device according to claim 1, characterized in that the support arm (1) comprises a first articulated arm (10) and a second articulated arm (11), the second articulated arm (11) being slidingly sleeved in the first articulated arm (10);

a first telescopic piece (12) capable of driving the second knuckle arm to slide relative to the first knuckle arm is connected between the first knuckle arm (10) and the second knuckle arm (11).

4. Unmanned aerial vehicle recovery device according to claim 1, wherein the support arm (1) comprises a first end (100) and a second end (110), the first boom (2) being articulated with the first end (100) of the support arm (1), the second boom (4) being articulated with the second end (110) of the support arm (1);

unmanned aerial vehicle recovery unit still includes rotation mechanism (6), the first end (100) of support arm (1) with rotation mechanism (6) are connected, rotation mechanism (6) are used for driving support arm (1) with the axis of support arm (1) is rotatory for the rotation axis.

5. Unmanned aerial vehicle recovery device according to claim 4, wherein the slewing mechanism (6) comprises a slewing motor (60), a slewing seat (61) and a support column (62); the rotary seat (61) is connected with an output shaft of the rotary motor (60), the supporting column (62) is fixedly connected to the rotary seat (61), the first end (100) of the supporting arm (1) is hinged to the supporting column (62) through a rotating shaft, and the rotating shaft is axially vertical to the supporting column.

6. The unmanned aerial vehicle recovery device of claim 5, further comprising a second telescopic member (7), wherein the second telescopic member (7) is respectively hinged to the supporting column (62) and the supporting arm (1), and the second telescopic member (7) drives the supporting arm (1) to rotate on the supporting column (62) by taking the axis of the rotating shaft as a rotating shaft through telescoping.

7. Unmanned aerial vehicle recovery device of claim 6, wherein the shape of the support arm (1) is a cuboid, the first boom (2) and the second boom (4) are both located on one of the side walls of the support arm (1), and the second telescopic member (7) is located on the side wall of the support arm (1) opposite to the one of the side walls of the support arm (1).

8. Unmanned aerial vehicle recovery device of claim 6, wherein the shape of the support arm (1) is a cuboid, the first boom (2) and the second boom (4) are both located on one of the side walls of the support arm (1), and the second telescopic member (7) is located on the side wall of the support arm (1) adjacent to one of the side walls of the support arm (1).

9. An unmanned aerial vehicle recovery vehicle, characterized in that, unmanned aerial vehicle recovery vehicle includes automobile body (8) and the unmanned aerial vehicle recovery device of any one of claims 1-8, the unmanned aerial vehicle recovery device is installed on automobile body (8).

10. Unmanned aerial vehicle recovery vehicle of claim 9, wherein the vehicle body (8) comprises a cab (80) and a hopper (81), the cab (80) being connected to the hopper (81);

unmanned aerial vehicle recovery unit installs on car hopper (81), just support arm (1) can be located driver's cabin (80) top.

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