CN106184797B - Intelligent parking equipment for unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a new type of unmanned aerial vehicle intelligent docking equipment, which includes a shock absorbing device, a shielding device and a docking base; the number of the shielding devices is two, and the shielding devices are respectively located on the left and right sides of the shock absorbing device along the central axis of the shock absorbing device On both sides, the docking base is located directly above the shock absorbing device, and the docking base and the shock absorbing device are fixedly connected. The invention can provide docking protection for the unmanned aerial vehicle when it is working outdoors when it encounters thunderstorm weather, and has good shock absorption performance when docked, and high limit fixity, which avoids electric shock or lightning strikes caused by unmanned aerial vehicle flying in thunderstorm weather The problem has greatly improved the safety of drone operations.

Description

An intelligent docking device for drones

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an intelligent docking device for unmanned aerial vehicles.

Background technique

Aircraft is an instrumental flying object manufactured by humans, capable of flying off the ground, flying in space and controlled by humans in the atmosphere or in space outside the atmosphere (space). Aircraft are divided into aircraft, spacecraft, rockets, missiles and guided weapons UAV is also a kind of aircraft. UAV is an unmanned aircraft controlled by radio remote control equipment and its own program control device. From a technical point of view, it can be divided into unmanned helicopters, unmanned fixed-wing aircraft, and unmanned aircraft. Multi-rotor aircraft, unmanned airships and unmanned parawing aircraft, etc.; can be divided into military and civilian use according to the application field, and military drones are divided into reconnaissance aircraft and target drones; at present, drones can be widely used in national ecology Environmental protection, aerial photography, surveying and mapping, mineral resource exploration, disaster monitoring, traffic patrol, public security monitoring, emergency disaster reduction, emergency command, artificial rainfall, national defense security, land and resource exploration, town planning, earthquake investigation, environmental monitoring, forest fire prevention, Crop production estimation, wild animal monitoring in protected areas, atmospheric sampling, maritime reconnaissance, border patrol, anti-drug reconnaissance, fire reconnaissance, ecological environment protection, marine environment monitoring, land use investigation, water resources development, crop growth monitoring and yield estimation, agricultural operations, natural Disaster monitoring and assessment, urban planning and municipal management, forest pest protection and monitoring, digital city and other fields.

UAV is a kind of aircraft. UAV has the advantages of compact structure, small size, strong popularity, flexible movement and stable flight. It is widely used in civilian and military applications, and is popular with the public; When working outdoors, if there is a sudden thunderstorm, because the drone is flying in the air, it is easy to cause electric shock or lightning strike, and the safety is greatly threatened. In view of this, the present invention provides an intelligent docking device for drones.

Contents of the invention

In order to make up for the deficiencies in the prior art, the invention provides an intelligent docking device for drones.

The technical problems to be solved by the present invention are realized by adopting the following technical solutions.

An intelligent docking device for an unmanned aerial vehicle, comprising a shock absorbing device, a shielding device, and a docking base; the number of the shielding devices is two, and the shielding devices are respectively located on the left and right sides of the shock absorbing device along the central axis of the shock absorbing device. The base is located directly above the shock absorbing device, and is fixedly connected between the docking base and the shock absorbing device.

Further, the shock absorbing device includes a lower fixed seat, an upper fixed seat, a Stewart parallel mechanism and a shock absorbing mechanism; the Stewart parallel mechanism is located between the lower fixed seat and the upper fixed seat, and the lower end of the Stewart parallel mechanism is fixed to the lower The seats are connected, the upper end of the Stewart parallel mechanism is connected with the upper fixed seat, and the number of shock absorbing mechanisms is eight. The shock absorbing mechanisms are respectively located outside the Stewart parallel mechanism, and the shock absorbing mechanisms are evenly arranged in a circle along the central axis of the Stewart parallel mechanism.

Further, the Stewart parallel mechanism includes a fixed platform, a moving platform, a lower triangular seat, an upper triangular seat, a ball hinge, a sleeve, a telescopic rod and a limit spring, the number of the lower triangular seat and the upper triangular seat is three, and the ball hinge 1. The quantity of the sleeve and the limit spring is twelve, and the quantity of the telescopic rod is six; the fixed platform and the moving platform are all in a circular shape structure, and the lower triangular seat is installed on the upper end surface of the fixed platform, and the lower triangular seat It is arranged in an equilateral triangle position on the fixed platform. The upper triangular seat is installed on the lower end surface of the moving platform, and the installation positions between the upper triangular seat and the lower triangular seat are staggered. The lower triangular seat is an equilateral triangular column structure. The vertical centerlines are respectively symmetrically provided with inclined surfaces, and the inclined surfaces are provided with installation threaded holes matching the external threads of the lower end of the ball hinge, and the structure of the upper triangle seat is the same as that of the lower triangle seat; the ball hinges are installed separately. On the lower triangular seat and the upper triangular seat, one end of the sleeve is connected to the ball hinge, the other end of the sleeve is connected to the telescopic rod, and the limit spring is wrapped around the telescopic rod; the Stewart parallel mechanism has the advantages of compact structure, strong bearing capacity and light With the advantages of good shock performance, it can perform three-translation, three-rotation and six-degree-of-freedom movements in space, and further improves the shock absorption performance of the Stewart parallel mechanism through the limit spring, ensuring the stability of the UAV when it lands. The vibration is small, which reduces the damage to the fuselage of the drone caused by vibration during landing.

Further, the shock absorbing mechanism includes an upper mounting column, a lower mounting column and a shock-absorbing compression spring; both the upper mounting column and the lower mounting column have a T-shaped structure, and the upper end of the upper mounting column and the lower end of the lower mounting column are respectively set There are external threads, and the lower end of the upper mounting column and the upper end of the lower mounting column are respectively provided with locking sleeves. The upper end of the upper mounting column and the upper fixing seat are connected by thread fit. The two ends of the shock-absorbing compression spring are respectively installed on the lower end of the upper installation column and the upper end of the lower installation column; Shock effect, shock absorption performance has been greatly improved.

Further, the shielding device includes a connection base, a longitudinal electric push rod, a shock absorber spring, a lifting support, a horizontal electric push rod, a moving bracket and a shield; the front end of the connection base is provided with a fence-shaped connecting frame, and the connection base The rear end is provided with a waist plate, and the longitudinal electric push rod is linearly and equidistantly located between the connection base and the lifting support, and the bottom end of the longitudinal electric push rod is connected with the waist plate, and the top end of the longitudinal electric push rod is connected The seat is connected, the shock-absorbing spring is wrapped around the longitudinal electric push rod, the lifting support has an L-shaped structure, and a rib is arranged between the vertical surface and the horizontal surface of the lifting support, and the bottom end of the horizontal electric push rod is fixed on the lifting support. On the seat, the horizontal electric push rod is connected with the rear end surface of the mobile bracket by screw fit. The rear end of the mobile bracket is an isosceles triangular column structure, and the front end of the mobile bracket is evenly provided with fixing strips. On the fixing strip, the shielding cover has an incomplete spherical shell structure, the front end of the shielding cover is provided with a rubber ring, and the outer surface of the shielding cover is uniformly provided with insulating paint; The man-machine can choose a docking station near the job site to avoid. When the drone lands, the horizontal electric push rod will shrink, and the two shields will be pulled outward, and the drone will land on the docking base. The shock absorbing device is installed at the lower end of the docking base, which has a good shock absorbing effect on the landing of the drone. When the drone is docked stably, the horizontal electric push rod will perform a stretching movement, and the two shields will be closed inwardly, and the shield will The front end is equipped with a rubber ring, and the two rubber rings are tightly fitted together under the action of rubber suction, and the two shielding covers form a hemispherical insulating cover, which plays a very good role in protecting the UAV in thunderstorm weather. Moreover, the overall height of the shielding device can be adjusted through the longitudinal electric push rod, which is suitable for the use of different terrains and landforms.

Further, the bottom end of the docking base has a regular octagonal flat plate structure, and the left and right sides of the upper end surface of the docking base are symmetrically provided with semicircular locking slots, through which the semicircular locking slots can be used to land on the docking platform. The position of the UAV on the base is fixed, and a round hole is opened at the center of the upper end surface of the docking base. There is a surrounding edge on the outside of the docking base, and signal lights are evenly arranged on the outside of the surrounding edge. Inventing the role of location hints.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention can provide docking protection for unmanned aerial vehicles when they are working outdoors in sudden thunderstorms, and the shock absorption performance is good when docking, and the limit fixity is high, which avoids the unmanned aerial vehicle flying in thunderstorms. The problem of electric shock or lightning strike has greatly improved the safety of drone operations.

(2) The damping device of the present invention adopts a Stewart parallel mechanism and a shock absorbing mechanism, which has a double damping effect, and the Stewart parallel mechanism has the advantages of compact structure, strong bearing capacity and good shock absorption performance, and can perform three translations in space Three rotations with a total of six degrees of freedom, and the shock absorption performance of the Stewart parallel mechanism is further improved through the limit spring, which ensures the stability of the UAV when it is landing, and the vibration is small, which reduces the impact of vibration on landing. Damage to the fuselage of the drone.

(3) The shielding device of the present invention adopts a split-type opening and closing form, which is simple and fast to open and close, has good sealing performance and high insulation when closed, and the overall height can be adjusted, which is suitable for use in different terrains and landforms, and is suitable for use without The man-machine has played a very good protective role in thunderstorm weather.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is a three-dimensional structural schematic view of the shock absorbing device of the present invention;

Fig. 3 is a three-dimensional structural schematic view of two shielding devices of the present invention when they cooperate;

Fig. 4 is a schematic diagram of the three-dimensional structure of the shielding device of the present invention;

Fig. 5 is a three-dimensional schematic diagram of the Stewart parallel mechanism of the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

As shown in Fig. 1 to Fig. 5, a kind of thunderstorm weather unmanned aerial vehicle docking station comprises shock absorbing device 1, shielding device 2 and docking base 3; The quantity of described shielding device 2 is two, and shielding device 2 is along reducing The central axis of the shock absorbing device 1 is respectively located on the left and right sides of the shock absorbing device 1 , the docking base 3 is located directly above the shock absorbing device 1 , and the docking base 3 and the shock absorbing device 1 are fixedly connected.

As shown in Figure 2, the shock absorbing device 1 includes a lower fixed seat 11, an upper fixed seat 12, a Stewart parallel mechanism 13 and a shock absorbing mechanism 14; the Stewart parallel mechanism 13 is located at the lower fixed seat 11 and the upper fixed seat between 12, and the lower end of the Stewart parallel mechanism 13 is connected with the lower fixed seat 11, the upper end of the Stewart parallel mechanism 13 is connected with the upper fixed seat 12, and the number of shock absorbing mechanisms 14 is eight, and the shock absorbing mechanisms 14 are respectively located outside the Stewart parallel mechanism 13 , and the damping mechanism 14 is uniformly arranged in a circle along the central axis of the Stewart parallel mechanism 13 .

As shown in Figure 5, the Stewart parallel mechanism 13 includes a fixed platform 131, a moving platform 132, a lower triangular seat 133, an upper triangular seat 134, a ball hinge 135, a sleeve 136, a telescopic rod 137 and a limit spring 138. The quantity of triangular seat 133 and upper triangular seat 134 is three, the quantity of ball hinge 135, sleeve 136 and limit spring 138 is twelve, and the quantity of telescoping rod 137 is six; Described fixed platform 131 and moving platform 132 all It is a circular structure, and the lower triangular seat 133 is installed on the upper end surface of the fixed platform 131, and the lower triangular seat 133 is arranged in an equilateral triangle position on the fixed platform 131, and the upper triangular seat 134 is installed on the lower end surface of the moving platform 132, and the upper triangular seat 133 is arranged on the fixed platform 131. The installation positions between the seat 134 and the lower triangular seat 133 are staggered in pairs, the lower triangular seat 133 is a regular triangle column structure, and the lower triangular seat 133 is respectively symmetrically provided with an inclined surface along its vertical center line, and the inclined surface is provided with a ball hinge. 135 lower end external threads match the mounting threaded holes, and the structure of the upper triangular seat 134 is the same as that of the lower triangular seat 133; the ball hinge 135 is respectively installed on the lower triangular seat 133 and the upper triangular seat 134, and one end of the sleeve 136 It is connected with the ball hinge 135, the other end of the sleeve 136 is connected with the telescopic rod 137, and the limit spring 138 is wrapped around the telescopic rod 137; the Stewart parallel mechanism 13 has the advantages of compact structure, strong bearing capacity and good shock absorption performance, etc. Three translations, three rotations, and six degrees of freedom can be performed in the space, and the shock absorption performance of the Stewart parallel mechanism 13 is further improved through the limit spring 138, ensuring the stability and vibration of the UAV when it lands. Small, reducing the damage to the fuselage of the drone due to vibration during landing.

As shown in Figure 2, the shock absorbing mechanism 14 includes an upper mounting column 141, a lower mounting column 142 and a shock-absorbing compression spring 143; the upper mounting column 141 and the lower mounting column 142 are in a T-shaped structure, and The upper end of the column 141 and the lower end of the lower mounting column 142 are respectively provided with external threads, the lower end of the upper mounting column 141 and the upper end of the lower mounting column 142 are respectively provided with locking sleeves, and the upper end of the upper mounting column 141 and the upper fixing seat 12 are threaded. The connection is carried out in a manner, and the lower end of the lower mounting column 142 is also connected with the lower fixing seat 11 by means of threaded fit. The mechanism 14 has a secondary damping effect on the damping device, so that the damping device 1 has a double damping effect, and the damping performance is greatly improved.

As shown in Figures 3 and 4, the shielding device 2 includes a connection base 21, a longitudinal electric push rod 22, a shock absorber spring 23, a lifting support 24, a horizontal electric push rod 25, a moving bracket 26 and a shield cover 27; The front end of the connecting base 21 is provided with a fence-shaped connecting frame, the rear end of the connecting base 21 is provided with a waist plate, and the longitudinal electric push rods 22 are located between the connecting base 21 and the lifting support 24 in a straight line and at equal intervals, and the vertical direction The bottom end of the electric push rod 22 is connected with the waist plate, the top end of the vertical electric push rod 22 is connected with the lifting support 24, the shock absorbing spring 23 is wrapped around the vertical electric push rod 22, and the lifting support 24 has an L-shaped structure. And the vertical surface and the horizontal surface of the lifting support 24 are provided with a rib plate, the bottom end of the horizontal electric push rod 25 is fixed on the lifting support 24, and the mode of screw fit is adopted between the horizontal electric push rod 25 and the rear end surface of the mobile bracket 26 To connect, the rear end of the mobile support 26 is an isosceles triangular column structure, the front end of the mobile support 26 is uniformly provided with a fixed strip, the shielding cover 27 is fixed on the fixed strip at the front end of the mobile support 26, and the shielding cover 27 is an incomplete spherical shell structure, the front end of the shielding cover 27 is provided with a rubber ring, and the outer surface of the shielding cover 27 is uniformly provided with insulating paint; Evasion, when the UAV lands, the horizontal electric push rod 25 shrinks, the two shields 27 are pulled outwards, the UAV lands on the docking base 3, and the shock absorbing device is installed at the lower end of the docking base 3 1. It has a very good shock absorption effect on the landing of the drone. When the drone is parked stably, the horizontal electric push rod 25 performs a stretching motion, and the two shields 27 are closed inwardly, and the front end of the shield 27 is provided with rubber The two rubber rings fit tightly together under the action of rubber suction, and the two shielding covers 27 form a hemispherical insulating cover, which plays a very good role in protecting the UAV in the case of thunderstorms, and through the vertical The electric push rod 22 can adjust the overall height of the shielding device 2, and is suitable for use in different terrains and landforms.

As shown in Figure 1, the bottom end of the docking base 3 has a regular octagonal flat plate structure, and the left and right sides of the upper end surface of the docking base 3 are respectively symmetrically provided with semicircular locking slots, through which the semicircular locking slots are arranged. The slot can fix the position of the unmanned aerial vehicle landing on the docking base 3. A round hole is opened at the center of the upper end surface of the docking base 3, and the outer side of the docking base 3 is provided with a surrounding edge, and the outer side of the surrounding edge is uniformly arranged in sequence. Signal lights are arranged, and the signal lights play the role of prompting the position of the present invention at night.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the specification only illustrate the principles of the present invention, and without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (1)

1. a kind of UAV Intelligent stops equipment, it is characterised in that：Including damping device, masking device and stop pedestal；It is described The quantity of masking device be two, masking device is located at along the central axis of damping device at left and right sides of damping device, is stopped It is located at right over damping device by pedestal, and stops and be connected between pedestal and damping device；Wherein：

The damping device includes lower fixed seat, upper fixed seat, Stewart parallel institutions and damping；Described Stewart parallel institutions are between lower fixed seat and upper fixed seat, and Stewart parallel institutions lower end is connected with lower fixed seat It connects, Stewart parallel institutions upper end is connected with upper fixed seat, and damping quantity is eight, and damping is located at On the outside of Stewart parallel institutions, and damping is uniformly arranged circumferentially about along the central axis of Stewart parallel institutions；

The Stewart parallel institutions include fixed platform, moving platform, trigonid, upper Triangulum, spherical hinge, sleeve, stretch Bar and limit spring, trigonid and upper Trianguli quantity are three, and the quantity of spherical hinge, sleeve and limit spring is 12, The quantity of telescopic rod is six；The fixed platform and moving platform structure in rounded shape, trigonid are mounted on the upper of fixed platform On end face, and trigonid is in equilateral triangle location arrangements on fixed platform, and upper Triangulum is mounted on moving platform lower face, and Installation site between upper Triangulum and trigonid is interlocked two-by-two, and trigonid is in equilateral triangle column structure, trigonid It has been symmetrically arranged inclined surface along its vertical center line, has been offered on inclined surface and the matched peace of spherical hinge lower end external screw thread Threaded hole is filled, and upper Trianguli structure is identical as the structure of trigonid；The spherical hinge is separately mounted to trigonid On upper Triangulum, sleeve one end is connected with spherical hinge, and the sleeve other end is connected with telescopic rod, and limit spring is stretched around being sleeved on On contracting bar；

The masking device includes connect base, longitudinal electric push rod, shock-proof spring, lifting support, transverse electric push rod, moves Dynamic holder and mask；The connect base front end is provided with paliform link, and connect base rear end is provided with waist template, Longitudinal electric push rod is of a straight line type at equal intervals between connect base and lifting support, and longitudinal electric push rod bottom end and waist Template is connected, and longitudinal electric push rod top is connected with lifting support, and shock-proof spring is lifted around being sleeved on longitudinal electric push rod Bearing is of an L-shaped structure, and floor is provided between the vertical plane and horizontal plane of lifting support, and transverse electric push rod bottom end is fixed on It on lifting support, is attached by the way of screw-thread fit between transverse electric push rod and mobile back-end support face, mobile branch Frame rear end is isosceles triangle column structure, and mobile holder front end is evenly arranged with fixed strip, and mask is fixed on mobile holder On the fixed strip of front end, mask is in forme fruste spherical shell structure, and mask front end is provided with rubber ring, mask appearance Coatings are evenly arranged on face；

The damping includes upper mounting post, lower mounting post and damping compression spring；The upper mounting post and lower mounting post are equal T-shaped structure, upper mounting post upper end and lower mounting post lower end are respectively provided with external screw thread, upper mounting post lower end and lower mounting post Upper end is respectively provided with lock sleeve, is attached by the way of screw-thread fit between upper mounting post upper end and upper fixed seat, It is attached also by the mode of screw-thread fit between lower mounting post lower end and lower fixed seat, damping compression spring both ends are separately mounted to Upper mounting post lower end and lower mounting post upper end；

The stop base bottom is in octagon slab construction, and the left and right sides for stopping pedestal upper surface is respectively symmetrically opened Equipped with semicircle screens slot, the center position for stopping pedestal upper surface offers circular hole, stops to be provided on the outside of pedestal and enclose Side, surrounding edge outside are evenly arranged with signal lamp successively.