CN210681184U - Carrier-borne unmanned aerial vehicle landing capturing device suitable for complex sea condition - Google Patents
Carrier-borne unmanned aerial vehicle landing capturing device suitable for complex sea condition Download PDFInfo
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- CN210681184U CN210681184U CN201921624696.XU CN201921624696U CN210681184U CN 210681184 U CN210681184 U CN 210681184U CN 201921624696 U CN201921624696 U CN 201921624696U CN 210681184 U CN210681184 U CN 210681184U
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Abstract
The utility model discloses a ship-borne unmanned aerial vehicle descends capture device suitable for under complicated sea condition, including catching the platform, being used for snatching the undercarriage of unmanned aerial vehicle bottom catch the mechanism, be located and catch the lift compensation platform of platform below and be used for driving the lift actuating mechanism that lift compensation platform goes up and down, catch the mechanism and locate catch on the platform, catch the platform with be equipped with between the lift compensation platform and be used for driving the compensation mechanism that sways that catches the platform and sway all around. The utility model has the advantages of simple structure, can realize unmanned aerial vehicle platform safety descending under the complicated sea condition.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field especially relates to a ship-borne unmanned aerial vehicle descending trapping apparatus suitable for under complicated sea condition.
Background
Under the conditions of complex and severe sea conditions, the ship body can roll left and right, pitch front and back and heave up and down, so that the unmanned aerial vehicle platform is seriously influenced when descending on a deck at the tail of a ship. In addition, the condition of crosswind and tail turbulent airflow provides a huge challenge for safe landing of the unmanned aerial vehicle platform, and manual operation cannot be performed for recovery at the moment.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome prior art not enough, provide a simple structure, can realize the carrier-borne unmanned aerial vehicle descending catching device of unmanned aerial vehicle platform safety under the complicated sea condition.
In order to solve the technical problem, the utility model discloses a following technical scheme:
the utility model provides a ship-borne unmanned aerial vehicle descends capture device suitable for under complicated sea condition, is used for snatching the mechanism of catching of the undercarriage of unmanned aerial vehicle bottom, is located the lift compensation platform of catching the platform below and is used for driving the lift actuating mechanism that lift compensation platform goes up and down including catching the platform, catch the mechanism and locate catch on the platform, catch the platform with be equipped with between the lift compensation platform and be used for driving the compensation mechanism that sways that catches the platform and sway from side to side all around.
As a further improvement of the above technical solution: the catch mechanism comprises a plurality of groups of catch assemblies, the catch assemblies are arranged along the circumferential direction of the undercarriage, and each catch assembly comprises a claw, a guide rail arranged along the radial direction of the undercarriage, and a claw driving piece used for driving the claw to move back and forth along the guide rail.
As a further improvement of the above technical solution: and a pressure sensor is arranged at the contact part of the hook claw and the undercarriage.
As a further improvement of the above technical solution: the guide rail is of a groove structure.
As a further improvement of the above technical solution: the swing compensation mechanism comprises three groups of swing hydraulic rods which are arranged in a splayed manner, three supporting parts are arranged on the capturing platform and are arranged in a triangular manner, the upper ends of the three groups of swing hydraulic rods are hinged to the three supporting parts in a one-to-one correspondence manner, and the lower ends of the swing hydraulic rods are hinged to the lifting compensation platform.
As a further improvement of the above technical solution: lifting drive mechanism includes the base, goes up X type folding leg, X type folding leg down and locates X type folding leg and the lift hydraulic stem between the X type folding leg down, go up X type folding leg upper end with lift compensation platform is articulated, the lower extreme with X type folding leg upper end is articulated down, lower X type folding leg lower extreme with the base is articulated, lift hydraulic stem both ends respectively with go up X type folding leg and X type folding leg is articulated down.
As a further improvement of the above technical solution: the base is further provided with a limiting part.
Compared with the prior art, the utility model has the advantages of: the utility model is suitable for a ship-borne unmanned aerial vehicle descending capture device under complicated sea condition, the mechanism of catching at the top layer is responsible for when unmanned aerial vehicle berths the descending and catches the platform, implement the undercarriage of unmanned aerial vehicle bottom and snatch, and firmly fix it on catching the platform, provide the prerequisite for automatic recovery, medial compensation mechanism quick response control signal that sways realizes catching the platform all around swaying motion, with the compensation by the hull that the sea condition arouses about rolling and around pitching, the lift compensation platform of bottom goes up and down under elevating system's effect, and then realize catching the high and low motion of platform through the compensation mechanism that sways, because the hull height heave that arouses the wave is in order to make the platform of catching keep highly unchangeable and be in the horizontality, realize that unmanned aerial vehicle platform descends safely.
Drawings
Fig. 1 is the utility model is suitable for a three-dimensional structure schematic diagram of carrier-borne unmanned aerial vehicle descending trapping apparatus under the complicated sea condition.
Fig. 2 is a schematic view of the swing compensation and the elevation compensation of the present invention.
Fig. 3 is the utility model discloses the spatial structure schematic diagram before unmanned aerial vehicle catches.
Fig. 4 is the utility model discloses three-dimensional structure schematic diagram after unmanned aerial vehicle catches.
The reference numerals in the figures denote: 1. a capture platform; 11. a support portion; 2. a capturing mechanism; 21. a hook claw; 22. a guide rail; 23. a hook driving member; 3. a lifting compensation platform; 4. a lifting drive mechanism; 41. a base; 42. an upper X-shaped folding frame; 43. a lower X-shaped folding frame; 44. a lifting hydraulic rod; 45. a limiting member; 5. a sway compensation mechanism; 51. swinging a hydraulic rod; 6. an unmanned aerial vehicle; 61. a landing gear.
Detailed Description
The invention is described in further detail below with reference to the drawings and specific examples.
Fig. 1 to 4 show an embodiment of the present invention, as shown in fig. 1 and fig. 2, the ship-borne unmanned aerial vehicle landing capturing device suitable for the condition of complex sea condition of this embodiment, including capturing platform 1, a capturing mechanism 2 for capturing undercarriage 61 of unmanned aerial vehicle 6 bottom, a lifting compensation platform 3 located below capturing platform 1, and a lifting driving mechanism 4 for driving lifting compensation platform 3 to lift, capturing mechanism 2 is located on capturing platform 1, and capturing platform 1 and lifting compensation platform 3 are provided with a swinging compensation mechanism 5 for driving capturing platform 1 to swing front and back and left and right.
The landing capture device for the carrier-borne unmanned aerial vehicle suitable for the complex sea condition has the advantages that when the unmanned aerial vehicle 6 stops and lands on the capture platform 1, the capture mechanism 2 at the top layer is responsible for, the landing gear 61 at the bottom of the unmanned aerial vehicle 6 is grabbed and firmly fixed on the capturing platform 1, a prerequisite condition is provided for automatic recovery, the swing compensation mechanism 5 at the middle layer quickly responds to a control signal to realize the front-back and left-right swing motion of the capturing platform 1, so as to compensate the ship body rolling left and right and pitching front and back caused by sea conditions, the lifting compensation platform 3 at the bottom layer is lifted under the action of the lifting driving mechanism 4, and then the high-low motion of the capture platform 1 is realized through the swing compensation mechanism 5, so as to compensate the high-low heave of the ship body caused by the ocean waves, therefore, the capture platform 1 is always kept at a basically unchanged height and is basically in a horizontal state, and the unmanned aerial vehicle 6 platform can safely land.
Further, in the present embodiment, the capturing mechanism 2 includes a plurality of sets of capturing members, preferably 2 to 8 sets; a plurality of sets of catch assemblies are arranged in the circumferential direction of the landing gear 61, the catch assemblies including the hook 21, the guide rail 22 arranged radially of the landing gear 61, and a hook drive 23 for driving the hook 21 to reciprocate along the guide rail 22. Before unmanned aerial vehicle 6 descends, each claw 21 retreats and gives way out the space in central zone, and after unmanned aerial vehicle 6 descends, each claw driving piece 23 drive corresponding claw 21 gos forward, and each claw 21 firmly fixes undercarriage 61 in unmanned aerial vehicle 6 bottom on catching platform 1, simple structure, reliable. The claw driving member 23 may be, for example, a motor, an output end of the motor is connected to a lead screw, and the reciprocating motion of the claw 21 is realized by a lead screw and nut pair.
Further, in the present embodiment, a pressure sensor (not shown) is provided at a portion where the hook 21 contacts the landing gear 61. When the pressure of each pressure sensor changes, it is shown that each claw 21 has contacted the undercarriage 61, and at this time, the unmanned aerial vehicle 6 has been reliably captured, and the claw 21 stops advancing, so that the excessive acting force exerted on the undercarriage 61 by the claw 21 can be prevented, and the reliability is good.
In the present embodiment, the guide rail 22 has a groove structure as a preferred technical solution. Guide rail 22 adopts groove structure, is favorable to keeping the level and smooth of unmanned aerial vehicle 6 landing area.
Further, in this embodiment, the swing compensation mechanism 5 includes three sets of swing hydraulic rods 51 arranged in a splayed manner, three support portions 11 are disposed on the capturing platform 1, the three support portions 11 are arranged in a triangular manner, the upper ends of the three sets of swing hydraulic rods 51 are hinged to the three support portions 11 in a one-to-one correspondence manner, and the lower ends of the swing hydraulic rods 51 are hinged to the lifting compensation platform 3. During operation, six swing hydraulic rods 51 form three supporting points to support the capturing platform 1, the swing hydraulic rods 51 rapidly respond to control signals to stretch, and swing motion of the capturing platform in the front, back, left and right directions is achieved through height adjustment of the three supporting points so as to compensate for transverse rolling and longitudinal pitching of a ship body caused by sea conditions.
Further, in this embodiment, the lifting driving mechanism 4 includes a base 41, an upper X-shaped folding frame 42, a lower X-shaped folding frame 43, and a lifting hydraulic rod 44 disposed between the upper X-shaped folding frame 42 and the lower X-shaped folding frame 43, the upper end of the upper X-shaped folding frame 42 is hinged to the lifting compensation platform 3, the lower end of the upper X-shaped folding frame 42 is hinged to the upper end of the lower X-shaped folding frame 43, the lower end of the lower X-shaped folding frame 43 is hinged to the base 41, and two ends of the lifting hydraulic rod 44 are hinged to the upper X-shaped folding frame 42 and the lower X-shaped folding frame 43, respectively. During operation, the lifting hydraulic rod 44 drives the upper X-shaped folding frame 42 and the lower X-shaped folding frame 43 to stretch or fold, so as to realize the ascending or descending of the lifting compensation platform 3.
As a preferred technical solution, in this embodiment, the base 41 is further provided with a limiting member 45. The maximum lowering height of the lift compensation platform 3 is limited by the limiting member 45.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The technical solution of the present invention can be used by anyone skilled in the art to make many possible variations and modifications, or to modify equivalent embodiments, without departing from the scope of the technical solution of the present invention, using the technical content disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention should fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. The utility model provides a ship-borne unmanned aerial vehicle descends capture device suitable for under complicated sea condition, its characterized in that: including catch platform (1), be used for snatching mechanism (2) of catching undercarriage (61) of unmanned aerial vehicle (6) bottom, be located and catch lift compensation platform (3) of platform (1) below and be used for driving lift actuating mechanism (4) that lift compensation platform (3) go up and down, catch mechanism (2) and locate catch on platform (1), catch platform (1) with be equipped with between lift compensation platform (3) and be used for driving and catch swing compensation mechanism (5) that platform (1) swayd all around.
2. The landing capture device for the carrier-borne unmanned aerial vehicle under the condition of the complex sea condition of claim 1, wherein: the catch mechanism (2) comprises a plurality of catch assemblies arranged in the circumferential direction of the undercarriage (61), the catch assemblies comprising a hook (21), a guide rail (22) arranged radially of the undercarriage (61), and a hook drive (23) for driving the hook (21) to reciprocate along the guide rail (22).
3. The landing capture device for the carrier-borne unmanned aerial vehicle under the condition of the complex sea condition of claim 2, wherein: and a pressure sensor is arranged at the contact part of the hook claw (21) and the undercarriage (61).
4. The landing capture device for the carrier-borne unmanned aerial vehicle under the condition of the complex sea condition of claim 2, wherein: the guide rail (22) is of a groove structure.
5. The ship-based unmanned aerial vehicle landing capture device suitable for complex sea condition conditions of any one of claims 1 to 4, wherein: the swing compensation mechanism (5) comprises three groups of swing hydraulic rods (51) which are arranged in a splayed manner, three supporting parts (11) are arranged on the capturing platform (1), the supporting parts (11) are arranged in a triangular manner, the upper ends of the three groups of swing hydraulic rods (51) are hinged to the supporting parts (11) in a one-to-one correspondence manner, and the lower ends of the swing hydraulic rods (51) are hinged to the lifting compensation platform (3).
6. The ship-based unmanned aerial vehicle landing capture device suitable for complex sea condition conditions of any one of claims 1 to 4, wherein: lifting drive mechanism (4) include base (41), go up X type folding leg (42), down X type folding leg (43) and locate last X type folding leg (42) and down lift hydraulic stem (44) between X type folding leg (43), go up X type folding leg (42) upper end with lift compensation platform (3) are articulated, the lower extreme with X type folding leg (43) upper end is articulated down, down X type folding leg (43) lower extreme with base (41) are articulated, lift hydraulic stem (44) both ends respectively with it is articulated with X type folding leg (42) down to go up X type folding leg (42).
7. The landing capture device for the carrier-borne unmanned aerial vehicle under the condition of the complex sea condition of claim 6, wherein: the base (41) is also provided with a limiting piece (45).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921624696.XU CN210681184U (en) | 2019-09-26 | 2019-09-26 | Carrier-borne unmanned aerial vehicle landing capturing device suitable for complex sea condition |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921624696.XU CN210681184U (en) | 2019-09-26 | 2019-09-26 | Carrier-borne unmanned aerial vehicle landing capturing device suitable for complex sea condition |
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| CN210681184U true CN210681184U (en) | 2020-06-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373711A (en) * | 2020-11-20 | 2021-02-19 | 哈尔滨工业大学 | Self-adaptive active blocking type recovery adjusting device for fixed-wing unmanned aerial vehicle |
| CN115571288A (en) * | 2022-08-30 | 2023-01-06 | 武汉理工大学 | Umbrella-shaped unmanned aerial vehicle receiving and transmitting device suitable for complex sea conditions |
-
2019
- 2019-09-26 CN CN201921624696.XU patent/CN210681184U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112373711A (en) * | 2020-11-20 | 2021-02-19 | 哈尔滨工业大学 | Self-adaptive active blocking type recovery adjusting device for fixed-wing unmanned aerial vehicle |
| CN112373711B (en) * | 2020-11-20 | 2022-06-24 | 哈尔滨工业大学 | Self-adaptive active blocking type recovery adjusting device for fixed-wing unmanned aerial vehicle |
| CN115571288A (en) * | 2022-08-30 | 2023-01-06 | 武汉理工大学 | Umbrella-shaped unmanned aerial vehicle receiving and transmitting device suitable for complex sea conditions |
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