RU217321U1 - DEVICE OF AUTOMATED UNMANNED AIRCRAFT SERVICE SYSTEM - Google Patents

Abstract

The utility model relates to aviation complexes with unmanned, remotely piloted automated aircraft (ABC) and is intended for automating the processes of pre-flight and post-flight maintenance of unmanned aircraft (UAC), mainly built according to the multi-rotor scheme.

The technical result, to which the utility model is directed, is to expand the functionality of the devices of the unmanned aircraft service system.

The technical result is achieved due to the fact that the device of the automated system for servicing unmanned aerial vehicles includes a landing platform on which are installed: a module for changing the area of the landing platform and a UAV centering module on the landing platform, as well as a module for moving unmanned aerial vehicles (UAV) into the system compact-based, located under the landing platform, a battery storage and charging module (ACB), located on one side of the UA transfer module to the compact-based module, and a UA compact-based module, located on one of any sides of the UA transfer module to the compact-based system. 1 w.p. f-ly, 9 ill.

Description

The utility model relates to aviation complexes with unmanned, remotely piloted automated aircraft (ABC) and is intended for automating the processes of pre-flight and post-flight maintenance of unmanned aircraft (UAC), mainly built according to the multi-rotor scheme.

The prior art is a device that serves unmanned aerial vehicles for the delivery of goods (options) [EN 2 716 308. IPC B64F 1/32, VS 3/10, publ. 03/11/2020 Bull. No. 8], which consists of a mechanism for receiving and issuing cargo, interacting with an unmanned aerial vehicle with the ability to move cargo to or from storage by means of movement mechanisms. The movement mechanism is a pole having a through longitudinal hole and located vertically. At the bottom of the column there is a door for the delivery of cargo, at the top of the above-mentioned column there is a delivery area, and inside along the column the lifting mechanism moves with the possibility of fixation, on which the cargo is located during delivery and delivery, forming a horizontal surface of the delivery area at the top of the column, and in the lower part pillar horizontal surface of the user area and moving the load in storage. This device is taken as a prototype.

The disadvantage of the prototype is the narrow functionality, which consists in the absence of a mobile option for installation on a car body, an insufficient increase in the landing area and, consequently, ensuring lower flight safety.

The objective of the utility model is to automate the maintenance system for unmanned aircraft, which makes it possible to increase the mobility of its use and increase the landing area in order to ensure higher flight safety.

The technical result, to which the utility model is directed, is to expand the functionality of the devices of the unmanned aircraft service system.

The technical result is achieved due to the fact that the device of the automated system for servicing unmanned aircraft includes a landing platform connected to each other, a module for moving unmanned aircraft (UA) into a compact-based module, a battery storage and charging module (AC), a compact-based module BVS.

The landing platform is a rectangular platform on which are installed: a module for changing the area of the landing platform and a UAV centering module on the landing platform. The module for changing the area of the landing platform is located on top of the landing platform and includes at least two rectangular flaps, made with the possibility of opening and closing by means of a lever opening-closing mechanism of the flaps, and a lever opening-closing mechanism of the flaps. UAV centering module on the landing platform is placed on the surface of the landing platform by fastening with welded or bolted joints to the load-bearing frame of the landing platform, and consists of at least two pushing mechanisms, which are a longitudinal pusher and a transverse pusher.

The module for moving the UA into a compact-based module is located under the landing platform, includes four interconnected generators located at the corners of the landing platform base at a right angle to the landing platform base, a rectangular horizontal platform that can move along the vertical generators, and on which the manipulator is installed, as well as a drive for horizontal movement of the manipulator along the platform and a drive for vertical movement of the entire UAV movement platform into a compact-based module, while the manipulator includes

the upper base of the manipulator, with a turntable placed on it, the rotation of which is carried out by means of a drive, linear guides on which gripping devices of a mechanical type are fixed, a drive for bringing the linear guides apart and apart, changing the distance between the linear guides, which is mounted on a turntable and which is connected with linear guides, drives for changing the length of linear guides, auxiliary telescopic supports bolted to the turntable, vertical movement scissor mechanism and auxiliary scissor mechanisms that connect the upper and lower bases of the manipulator;

the lower base of the manipulator, on which the scissor mechanisms for vertical movement of the upper platform of the manipulator are fixed, at least two drives for raising and lowering the scissor mechanism, an auxiliary scissor mechanism.

The battery storage and charging module (ACB), located on one side of the UA transfer module to the compact-based module, is a battery storage cells made in the form of shelves with a lithium battery charger and battery fixation mechanisms placed inside.

The UA compact basing module, located on one side of the UA transfer module to the compact basing module, is made in the form of UA storage cells, consisting of at least one shelf. In a particular case, when more than two shelves are used in the UAV compact-based module, and the arrangement is carried out vertically one above the other.

All modules and structural elements of the UAV automated maintenance system are connected to each other by means of either bolted or welded joints.

The utility model is illustrated by the following figures:

fig. 1 - block diagram of the device for an automated maintenance system for unmanned aerial vehicles;

fig. 2 - landing platform with closed doors;

fig. 3 - landing platform with open doors;

fig. 4 - UAV centering module on the landing platform;

fig. 5 - manipulator;

fig. 6 - module for moving the UAV into the compact-based module;

fig. 7 - battery storage and charging module;

fig. 8 - UAV compact-based module;

fig. 9 - the design of the device for the automated maintenance system for unmanned aircraft.

On the figures, the following positions are indicated by numbers: 1 - sashes; 2 - lever mechanism for opening and closing the valves; 3 - electric cylinder of the lever mechanism; 4 - longitudinal pusher; 5 - transverse pusher; 6 - scissor mechanism for vertical movement; 7 - turntable; 8 - drive for lifting and lowering the scissor mechanism; 9 auxiliary scissor mechanism; 10 - gripping device; 11 - linear guide; 12 - drive for moving linear guides; 13 - auxiliary telescopic supports; 14 - trapezoidal screw; 15 - drive for bringing / expanding linear guides; 16 - gripping device of a mechanical type; 17 - rotation drive of the manipulator platform; 18 - drive for vertical movement of the platform of the UAV movement module into the compact-based module; 19 - carriage of the platform of the module for moving the UAV into the compact-based module; 20 - drive for horizontal movement of the manipulator; 21 - platform of the module for moving the UAV into the compact-based module; 22 - battery storage cell; 23 - UAV storage cell.

Implementation of the utility model.

The block diagram of the device for the automated maintenance system for unmanned aircraft is shown in Fig. 1.

The utility model (Fig. 9) includes an interconnected landing platform (Fig. 2, Fig. 3), a module for moving the UA into a compact-based module (Fig. 6), a battery storage and charging module (Fig. 7), a module compact-based UAV (Fig. 8).

The landing platform (Fig. 2, Fig. 3) is a rectangular platform, usually made of moisture-resistant material (metal, plastic, including transparent, etc.) designed for automated takeoff and landing of a multi-rotor UAV, on which are installed: a module for changing the area of the landing platform and a module for centering the UAV on the landing platform. The module for changing the area of the landing platform is located on top of the landing platform and includes at least two wings (1) of rectangular shape, made with the possibility of opening and closing by means of a lever mechanism, and a lever mechanism. At the same time, in the closed state, the doors (1) completely cover the entire area of the landing platform, and in the open state, they increase its usable area. The dimensions of which are determined by the dimensions of the landing platform, and at the same time perform the function of protecting the mechanisms of the landing platform from precipitation and expanding the effective landing area. The length of one leaf (1) is determined by the dimensions of the UAVs used. The large size of the landing area is critical when flying in windy weather, when the accuracy of the UAV draft is significantly reduced. In FIG. 2, 3 shows the appearance of the landing platform with deployed doors. Raising and lowering the wings (1) of the landing platform is carried out using a lever mechanism (2) for opening and closing the wings (Fig. 1), driven by electric cylinders (3) of the lever mechanism. Each leaf is moved by a separate electric cylinder (3) of the link mechanism. The electric linkage cylinders (3) are similar to the hydraulic cylinders, but have an integrated electric motor and do not require a hydraulic station. The principle of operation of electric cylinders is based on the screw-nut transmission. The built-in ball screw has a high load capacity with high control accuracy. The electric cylinder is controlled by a standard servomotor driver, which is an electronic device that controls the rotation of the servomotor.

The UAV centering module (Fig. 4) on the landing platform is placed on the surface of the landing platform by fastening with welded or bolted joints to the load-bearing frame of the landing platform, and consists of at least two pushing mechanisms, which are a longitudinal pusher (4) and a transverse pusher (5). Depending on the design and length of the landing site, the platform can be equipped with additional belt conveyors to move the UAV to the docking area with the robotic arm.

The module for moving the UA into a compact-based module (Fig. 6), is located under the landing platform, includes four interconnected generatrices located at the corners of the base of the landing platform at right angles to the base of the landing platform, a horizontal platform (21) of the UA transfer module in compact-based module of rectangular shape, made with the ability to move along the vertical generatrices, and on which the manipulator is installed (Fig. 5), as well as the drive for horizontal movement (20) of the manipulator along the platform and the drive for vertical movement (18) of the entire platform of the module for moving the UA into the module compact-based, while the manipulator includes

the upper base of the manipulator, with a turntable (7) placed on it, the rotation of which is carried out by means of a drive for moving linear guides (12), linear guides (11), on which gripping devices (10) of a mechanical type are fixed, drive (15) extension of the linear guides, changing the distance between the linear guides (11), which is mounted on the turntable (7) and which is connected to the linear guides (11), drives for changing the length of the linear guides, auxiliary telescopic supports (13) mounted on the turntable (7 ) bolted connection, scissor mechanism (6) of vertical movement and auxiliary scissor mechanisms (9), which connect the upper and lower bases of the manipulator;

the lower base of the manipulator, on which the scissor mechanisms (6) of the vertical movement of the upper platform of the manipulator are fixed, at least two drives (8) of lifting and lowering the scissor mechanism, which raise and lower the scissor mechanism, the auxiliary scissor mechanism (9).

The battery storage and charging module (ACB), located on one side of the UA transfer module to the compact-based module, is a battery storage cells (22) made in the form of shelves with a lithium battery charger and battery fixation mechanisms placed inside.

The UA compact basing module, located on one side of the UA transfer module to the compact basing module, is made in the form of UA storage cells (23), consisting of at least one shelf. In a particular case, when more than two shelves are used in the UAV compact-based module, and the arrangement is carried out vertically one above the other.

All modules and structural elements of the UAV automated maintenance system are connected to each other by means of either bolted or welded joints.

When the UAV enters the landing site of the automated maintenance system for unmanned aircraft, in order to increase safety for others, the area of the landing site (Fig. 2, Fig. 3) is increased by 2 times by opening the flaps (1), which is carried out using a lever mechanism (2 ) opening-closing of the wings, driven by electric cylinders (3) of the lever mechanism. Each leaf (1) is moved by a separate electric cylinder (3) of the lever mechanism. After the UA touches the surface of the landing site, the UA centering module (Fig. 4) with the help of longitudinal (4) and transverse (5) pushers aligns the orientation and moves the UA to the manipulator service area (Fig. 5).

The manipulator (Fig. 5) ensures the movement of an object (cargo container, battery or UAV) along the vertical and horizontal axes, its rotation by 180°, as well as the convergence of linear guides for their precise fixation on the cargo container, UAV or battery case in width. The movement of the load in the vertical direction is provided by a scissor mechanism (6) for the vertical movement of the turntable lifting (7), driven by two drives (8) for lifting and lowering the scissor mechanism with gearboxes installed on each of them, the gear ratio of which is determined by the load capacity of the manipulator.

To ensure the necessary rigidity of the structure and eliminate backlash along the axes, especially at the moment of full extension of the gripping device, an auxiliary scissor mechanism (9) is used, located in two planes perpendicular to the planes of the main mechanism.

The extension and return back to the initial position of the gripping device (10) is carried out by moving the linear guides (11) and the linear guides (12) driven by the movement drives. Auxiliary telescopic supports (13) are used to ensure the transportation of the battery and its support during removal from the UA board and connection to the charger. A trapezoidal screw (14), also located on each linear guide, is used for precise positioning of the mobile grip and for removing the battery from the UA compartment.

To ensure the adjustment of the gripping mechanism according to the width of the object being held, a drive (15) is used to reduce - dilute the linear guides (11).

Fixation of an object (cargo container, battery or UAV) in the gripping mechanism is carried out by means of a mechanical type gripping device (16).

The rotation of the gripping mechanism is carried out in the range from 0° to 180° by means of the drive (17) of rotation of the manipulator platform.

The module for moving the UAV to the compact-based module (Fig. 6) moves the manipulator with the object held vertically using drives (18) for vertical movement of the platform of the UAV transfer module to the compact-based module. The horizontal movement of the manipulator is carried out by moving the carriage (19) of the UA movement module into the compact basing module using the drive (20) of the horizontal movement of the manipulator installed on the platform of the UA movement module into the compact basing system (21).

When the battery is removed from the UA, the manipulator platform is vertically lifted to the uppermost position by means of drives (18) for vertical movement of the platform of the UA movement module into the compact-based module.

The manipulator moves the linear guides (11) along the UA body and engages the battery by means of a mechanical gripping device (16). Then the linear guides (11) together with the battery placed in the gripping mechanism return to their original position. The gripping mechanism is rotated clockwise by 180° by means of the manipulator platform rotation drive (17). The manipulator platform is lowered to align the gripping mechanism along the vertical axis to the level of the free battery storage cell (22) of the battery storage and charging module (Fig. 7, Fig. 9). The manipulator is aligned horizontally with respect to the free cell by moving the carriage (19) of the UA movement module platform into the compact basing module using the manipulator horizontal movement drive (20) installed on the UA movement module platform into the compact basing system (21). Then the manipulator extends the linear guides (11) to the depth of the battery storage cell (22) and unhooks the battery by means of a mechanical gripping device (16).

When the battery is installed on the UAV, the manipulator platform is moved and the gripping mechanism is aligned along the vertical axis to the level of the battery storage cell (22) with the required battery of the battery storage and charging module (Fig. 7, Fig. 9). The manipulator is aligned horizontally with respect to the required cell by moving the carriage (19) using the drive (20) installed on the platform, the module for moving the UAV into the compact-based system (21). Then the manipulator extends the linear guides (11) to the depth of the battery storage cell (22) and engages the battery by means of a mechanical type gripper (16). Then the linear guides (11) together with the battery placed in the gripping mechanism return to their original position. The manipulator returns to the central position horizontally relative to the platform of the UA transfer module into the compact basing system by moving the carriage (19) of the UA transfer module platform into the compact basing module using the drive (20) of the horizontal movement of the manipulator installed on the platform of the UA transfer module into the compact basing system (21). The manipulator rises vertically to the uppermost position by means of drives (18) for vertical movement of the platform of the UAV movement module into the compact-based module. The gripping mechanism is rotated counterclockwise by 180° by means of the manipulator platform rotation drive (17). Then the linear guides (11), together with the battery placed in the gripping mechanism, slide out under the UA housing and close the battery electric circuits with mating connectors on the UA and disconnect the battery from the mechanical gripping device (16). The linear guides (11) are moved to their original position.

When moving the UA from the landing platform to the compact-based module for storage of the UA, the manipulator platform is vertically lifted to the uppermost position by means of drives (18) for vertical movement of the platform of the UA movement module to the compact-based module. The manipulator moves the linear guides (11) along the UA body and engages the UA by means of a gripper, the guides on the UA body using a mechanical type gripper (16). Then the linear guides (11) together with the placed BVS in the gripping mechanism return to their original position. The platform of the manipulator is lowered to align the gripping mechanism along the vertical axis to the level of the free cell (23) for storing the UAV of the compact-based module (Fig. 8, Fig. 9). Then the manipulator extends the linear guides (11) to the depth of the UA storage cell (23) and uncouples the UA by means of a mechanical gripping device (16). The linear guides (11) are moved to their original position.

When the UAV is moved from the compact-based module to the landing platform, the manipulator platform is lowered to align the gripping mechanism along the vertical axis to the level of the free UAV storage cell (23) of the compact-based module (Fig. 8, Fig. 9). Then the manipulator extends the linear guides (11) to the depth of the UA storage cell (23) and engages the UA by means of a mechanical gripping device (16). Then the linear guides (11) together with the placed BVS in the gripping mechanism return to their original position. The manipulator rises vertically to the uppermost position by means of drives (17) for rotating the manipulator platform. Then the linear guides (11), together with the UA placed in the gripping mechanism, are extended to the extreme position and the UA is uncoupled from the mechanical gripping device (16). The linear guides (11) are moved to their original position.

When the cargo container is removed from the UA, the manipulator platform is vertically lifted to the uppermost position by means of drives (18) for vertical movement of the platform of the UA movement module into the compact-based module. The manipulator moves the linear guides (11) along the UAV body and engages the cargo container by means of a mechanical gripping device (16). Then the linear guides (11) together with the placed cargo container in the gripping mechanism return to their original position. The gripping mechanism is rotated clockwise by 180° by means of the manipulator platform rotation drive (17). The manipulator platform is lowered to the lowest position (Fig. 7, Fig. 9). Then the manipulator pushes the linear guides (11) to the extreme position and unhooks the cargo container by means of a mechanical gripping device (16). The linear guides (11) are moved to their original position.

When the cargo container is installed on the UAV, the manipulator platform is moved vertically to the lowest position (Fig. 7, Fig. 9). Then the manipulator extends the linear guides (11) to the farthest position and engages the cargo container by means of a mechanical type gripper (16). Then the linear guides (11) together with the placed cargo container in the gripping mechanism return to their original position. Then the manipulator rises vertically to the uppermost position with the help of drives (18) for vertical movement of the platform of the UAV movement module into the compact-based module. The gripping mechanism is rotated counterclockwise by 180° by means of the manipulator platform rotation drive (17). Then the linear guides (11) together with the placed cargo container in the gripping mechanism are extended under the UA body and the cargo container is fixed on the UA and uncoupled from the mechanical gripping device (16). The linear guides (11) are moved to their original position.

The utility model is unified and can be used both as part of stationary UAV maintenance automation stations and mounted on mobile truck chassis.

Claims (9)

1. A device for an automated system for servicing unmanned aerial vehicles, including a landing platform connected to each other, a module for moving unmanned aerial vehicles (UA) into a compact-based module, a battery storage and charging module (AC), a compact-based UAV module, while landing the platform is a rectangular platform, on which are installed: a module for changing the area of the landing platform and a UAV centering module on the landing platform, the module for changing the area of the landing platform is located on top of the landing platform and includes at least two rectangular doors, made with the possibility of opening and closing by means of a lever mechanism, and a lever mechanism, UAV centering module on the landing platform is placed on the surface of the landing platform by means of fastening by means of welded or bolted joints to the load-bearing frame of the landing platform, and consists of at least two pushing mechanisms, which are longitudinal and transverse pushers, the module for moving the UAV into the compact-based module is located under the landing platform and includes four generatrices connected to each other, located at the corners of the landing platform base at right angles to the base of the landing platform, a horizontal platform of a rectangular shape, made with the possibility of moving along the vertical generators, and on which the manipulator is installed, as well as a drive for horizontal movement of the manipulator along the platform and a drive for vertical movement of the entire UAV movement platform into a compact-based module, while the manipulator includes: the upper base of the manipulator, with a turntable placed on it, the rotation of which is carried out by means of a drive, linear guides on which gripping devices of a mechanical type are fixed, a drive for bringing apart and spreading linear guides, which is mounted on a turntable and which is connected to linear guides, drives movements of linear guides, auxiliary telescopic supports bolted to the turntable, vertical movement scissor mechanism and auxiliary scissor mechanisms, the lower base of the manipulator, on which scissor mechanisms for vertical movement of the upper platform of the manipulator are fixed, at least two drives, an auxiliary scissor mechanism, a battery storage and charging module (ACB) located on one side of the UAV transfer module into a compact-based module, and which is a battery storage cell made in the form of shelves with a lithium battery charger and battery fixation mechanisms placed inside, and UA compact-based module, located on one side of the UA transfer module into a compact basing module, made in the form of UA storage cells, consisting of at least one shelf. 2. The device according to claim 1, characterized in that when more than two shelves are used in the UAV compact-based module, their arrangement is carried out vertically one above the other.

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