CN111977008A - Rotor unmanned aerial vehicle recycling bearing platform, recycling vehicle and recycling method - Google Patents
Rotor unmanned aerial vehicle recycling bearing platform, recycling vehicle and recycling method Download PDFInfo
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- CN111977008A CN111977008A CN201910439594.9A CN201910439594A CN111977008A CN 111977008 A CN111977008 A CN 111977008A CN 201910439594 A CN201910439594 A CN 201910439594A CN 111977008 A CN111977008 A CN 111977008A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004064 recycling Methods 0.000 title description 6
- 238000011084 recovery Methods 0.000 claims abstract description 26
- 238000009434 installation Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 11
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
- B64F1/125—Mooring or ground handling devices for helicopters
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Abstract
本发明公开了一种旋翼无人机回收承载台、回收车及回收方法，回收承载台包括固定承载台、旋转承载台和推送组件；所述固定承载台上设置有安装腔；所述旋转承载台嵌入安装在所述固定承载台的安装腔内，并可在所述安装腔内旋转；所述推送组件安装在所述固定承载台，用于将停放在所述承载台上的旋翼无人机推送到所述旋转承载台上。具有结构简单，成本低，易于实现的便于旋翼无人机降落回收、携带运行等优点。
The invention discloses a recovery bearing platform of a rotary-wing unmanned aerial vehicle, a recovery vehicle and a recovery method. The recovery bearing platform comprises a fixed bearing platform, a rotating bearing platform and a push assembly; an installation cavity is arranged on the fixed bearing platform; the rotating bearing platform is provided with an installation cavity; The platform is embedded and installed in the installation cavity of the fixed bearing platform, and can be rotated in the installation cavity; the push assembly is installed on the fixed bearing platform, and is used to unmanned the rotor parked on the bearing platform. The machine is pushed onto the rotary bearing platform. The utility model has the advantages of simple structure, low cost, and easy implementation, and is convenient for landing, recovery, and carrying operation of the rotor drone.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a rotor unmanned aerial vehicle recovery bearing platform, a recovery vehicle and a recovery method.
Background
Industrial-grade rotor unmanned aerial vehicles (especially rotor unmanned aerial vehicles using hybrid power) have been widely used in various fields such as forest, electric power, oil exploration, border patrol and the like due to the advantages of large load, long endurance and the like. However, industrial-grade rotors are relatively bulky, heavy, and relatively inconvenient to carry about by individuals, as they are relatively bulky and heavy relative to consumer-grade products. And its application scene is also mostly areas such as inconvenient mountain forest, gobi, border, and still need carry unmanned aerial vehicle and carry out transfer on a large scale to demand such as quick deployment, high-speed maneuver in satisfying the task. Therefore, the most convenient mode is to adopt on-vehicle mode to carry rotor unmanned aerial vehicle, but among the prior art, does not have the special-purpose vehicle to rotor unmanned aerial vehicle, but carries rotor unmanned aerial vehicle with general small-size passenger vehicle or small-size pick up. This just need be after arriving the target area, need look for the place of taking off and land for rotor unmanned aerial vehicle, unties rotor unmanned aerial vehicle's fixing device to move from the vehicle, after rotor unmanned aerial vehicle descends, still need move rotor unmanned aerial vehicle to the vehicle on, and fix. All there are a great deal of inconvenience when rotor unmanned aerial vehicle's use (take-off, descending), transportation are carried, also can not obtain the assurance to rotor unmanned aerial vehicle's safety in the transportation. Therefore, further research is necessary to propose a better technical solution.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the rotor unmanned aerial vehicle recovery bearing platform, the recovery vehicle and the recovery method, which are simple in structure, low in cost and easy to realize and are convenient for the rotor unmanned aerial vehicle to land, recover and carry for operation.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a recovery bearing platform of a rotor unmanned aerial vehicle comprises a fixed bearing platform, a rotary bearing platform and a pushing assembly;
the fixed bearing table is provided with an installation cavity;
the rotary bearing table is embedded in the mounting cavity of the fixed bearing table and can rotate in the mounting cavity;
the pushing assembly is installed on the fixed bearing table and used for pushing the unmanned rotor wing parked on the bearing table to the rotary bearing table.
Further, the pushing assembly comprises at least 2 pushing units; the pushing unit is arranged around the rotary bearing table.
Further, the pushing unit comprises a pushing rod and a first driving unit; the first driving unit is used for driving the pushing rod to reciprocate along a preset operation path.
Further, a pressure detection unit is arranged on the pushing surface of the pushing rod.
Furthermore, the first driving unit is installed below the fixed bearing table, a track groove is formed in the fixed bearing table, and the connecting portion of the push rod penetrates through the track groove to be connected with the first driving unit.
Furthermore, the first driving unit is driven by a lead screw, a connecting hole is formed in the connecting part of the push rod, and a thread matched with the lead screw is formed in the connecting hole; the push rod is sleeved on the lead screw through the connecting hole.
Further, an upper portion of the pushing surface of the pushing lever protrudes outward.
Further, the device also comprises a second driving unit; the second driving unit is used for driving the rotary bearing table to rotate.
The support frame is fixedly arranged on the lower surface of the fixed bearing table; the rotary bearing table is installed on the support frame through a rotary shaft.
Further, still be provided with sensor unit on the fixed plummer, sensor unit is used for detecting the rotor unmanned aerial vehicle's that parks on the plummer angle information.
A rotor unmanned aerial vehicle recovery vehicle comprises a vehicle body and the bearing platform;
The bearing table is installed in a compartment of the vehicle body.
Further, still include the lift supporting component, the plummer passes through the lift supporting component is installed in the carriage.
A method for landing and recovering a rotor unmanned aerial vehicle comprises the following steps:
s1, after the rotor unmanned aerial vehicle lands on the bearing platform, pushing the rotor unmanned aerial vehicle to the rotary bearing platform through the pushing assembly;
s2, adjusting the pushing assembly to enable the rotating unmanned aerial vehicle to be in a non-clamping state, and adjusting the rotating angle of the rotating bearing table to enable the rotating unmanned aerial vehicle to reach a preset parking angle;
s3, adjusting the pushing assembly, and clamping and fixing the rotor wing unmanned aerial vehicle through the pushing assembly.
Further, in step S1, first pressure values of each pressure detection unit in the pushing assembly are obtained, and when the first pressure values are both greater than a preset first pressure threshold value, it is determined that the rotor unmanned aerial vehicle has been pushed onto the rotary bearing table.
Further, in step S3, obtain the second pressure value of each pressure detecting element in the propelling movement subassembly, when the second pressure value all is greater than the second pressure threshold value, judge that the propelling movement subassembly has pressed from both sides the fixed rotor unmanned aerial vehicle.
Compared with the prior art, the invention has the advantages that:
1. the pushing assembly can push the rotor unmanned aerial vehicle to the rotary bearing platform after the rotor unmanned aerial vehicle descends, so that the rotor unmanned aerial vehicle can be stopped at a preset position every time, and meanwhile, the pushing assembly can also clamp the undercarriage of the rotor unmanned aerial vehicle, so that the rotor unmanned aerial vehicle cannot generate horizontal displacement; further, still set up the stationary dog on the propelling movement subassembly, can guarantee that rotor unmanned aerial vehicle can not take place vertical displacement for the decurrent pressure of rotatory unmanned aerial vehicle's undercarriage to can effectually guarantee rotor unmanned aerial vehicle and carry the safety in the transportation.
2. According to the invention, the parking angle of the rotor unmanned aerial vehicle can be adjusted through the rotation of the rotary bearing platform, and the angle information of the rotor unmanned aerial vehicle parked on the bearing platform is detected through the sensor unit arranged on the fixed bearing platform, so that the rotor unmanned aerial vehicle can be ensured to face a preset direction during each recovery, the recovery after the rotor unmanned aerial vehicle falls is facilitated, and the control of the rotor unmanned aerial vehicle taking off next time is also facilitated.
3. According to the rotor unmanned aerial vehicle recovery method, after the rotor unmanned aerial vehicle lands on the bearing table, the rotor unmanned aerial vehicle can be rapidly fixed on the bearing table at a preset position and a preset angle, and the landing recovery efficiency of the rotor unmanned aerial vehicle is greatly improved.
Drawings
Fig. 1 is a perspective view of a carrier stage structure according to an embodiment of the invention.
Fig. 2 is a front view of fig. 1 in an embodiment of the present invention.
Fig. 3 is a front view of a carrier structure (without a pusher assembly) according to an embodiment of the invention.
FIG. 4 is a cross-sectional view of a first carrier structure (without a pusher assembly) according to an embodiment of the invention.
Fig. 5 is a second structural sectional view of a carrier stage (without a pushing assembly) according to an embodiment of the invention.
Fig. 6 is a first schematic structural diagram of a pushing rod according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a pushing rod according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a carrier stage according to an embodiment of the invention in an installation state.
Illustration of the drawings: 1. fixing the bearing table; 101. a track groove; 2. rotating the bearing table; 201. a second driving unit; 3. a push assembly; 301. a push rod; 302. a connecting portion; 303. a first drive unit; 304. pressing the block; 4. a rotating shaft; 5. a driven wheel; 6. a support frame; 7. a lifting support assembly; 701. a lifting drive motor; 702. a driven gear; 703. a lead screw; 704. fixing a support frame; 705. a movable support frame; 706. a drive gear.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1 and fig. 2, the recovery bearing platform of the unmanned rotorcraft according to the present embodiment includes a fixed bearing platform 1, a rotary bearing platform 2, and a pushing assembly 3; the fixed bearing table 1 is provided with an installation cavity; the rotary bearing table 2 is embedded in the mounting cavity of the fixed bearing table 1 and can rotate in the mounting cavity; propelling movement subassembly 3 is installed fixed plummer 1 for will park unmanned the propelling movement of rotor on the plummer arrives on the rotatory plummer 2.
In this embodiment, the mounting cavity on the fixed bearing platform 1 is preferably a circular mounting cavity, the rotary bearing platform 2 is preferably a circular mounting cavity, and the rotary bearing platform 2 is embedded in the mounting cavity. The depth of installation cavity preferably is more than or equal to the thickness of rotatory plummer 2 to guarantee the surfacing of plummer, or the loading face of rotatory plummer 2 is less than the loading face of fixed plummer 1 slightly, in order to guarantee that propelling movement subassembly 3 can be steady with the unmanned propelling movement of rotor on the plummer to rotatory plummer 2.
In the present embodiment, the manner of the insertion-mounting of the rotary stage 2 to the stationary stage 1 includes at least, but is not limited to, the following two. In the first mode, as shown in fig. 3 and 4, the installation cavity is a through hole formed in the fixed bearing platform 1, and a support frame 6 is arranged below the fixed bearing platform 1. The rotary stage 2 is mounted on a support frame 6 via a rotary shaft 4 and is rotatable on a horizontal plane about the axis of the rotary shaft 4. The rotating shaft 4 is further provided with a driven wheel 5, and the second driving unit 201 drives the driven wheel 5 to rotate the rotary bearing table 2. The form of the driven wheel 5 may be determined according to the form of the transmission, such as a pulley, a gear, etc. Further, in order to improve the stability of the rotating carrier 2 during rotation, it is preferable to provide a limit block on the fixed carrier 1, and the limit block can limit the rotation plane of the rotating carrier 2 to be kept on the same plane as or parallel to the fixed carrier 1. The limiting block can be a bump at the lower edge of the through hole as shown in an enlarged view in fig. 5. In the second mode, the installation cavity is a groove on the fixed bearing platform 1, and the rotary bearing platform 2 is arranged in the groove. In this way, the rotating carrier 2 is directly supported by the fixed carrier 1, and in this case, balls or rollers may be disposed between the opposite surfaces of the fixed carrier 1 and the rotating carrier 2 to reduce friction between the fixed carrier 1 and the rotating carrier. Also, a rotary shaft 4 penetrating the fixed bearing table 1, and a driven wheel 5 provided on the rotary shaft 4 may be used to receive power supplied from the second driving unit 201. In this embodiment, the second driving unit 201 may be fixedly installed on the supporting frame 6, or directly installed on the lower surface of the fixed bearing platform 1.
In this embodiment, the pushing assembly 3 includes at least 2 pushing units; the pushing unit is arranged around the rotary bearing table 2. Each pushing unit comprises a pushing rod 301 and a first driving unit 303; the first driving unit 303 is configured to drive the pushing rod 301 to reciprocate along a preset operation path. The shape of the push rod 301 can be set according to the shape of the landing gear of the rotor wing unmanned aerial vehicle, and if the landing gear of the rotor wing unmanned aerial vehicle adopts two strip landing gears arranged in parallel, the push rod 301 is preferably in a straight rod shape; if the landing gear of the rotorcraft is circular, push rod 301 is preferably circular as shown in fig. 1.
In the present embodiment, the movement track (i.e. the preset movement path) of the pushing rod 301 in the pushing unit can be either a straight movement as shown in fig. 1 or a fan-shaped arc movement. When a linear motion is used, the line on which the trajectory lies preferably coincides with a radial line of the rotation circumference of the rotary carrier 2. When adopting the arc motion, can adopt as push rod 301 shown in fig. 7, including propelling movement portion, connecting portion 302 and location axle, can insert the axle hole on fixed plummer 1 with push rod 301's location axle to realize push rod 301 around the location axle with the motion of arc-shaped movement track on the plummer, will stop on the unmanned propelling movement of rotor wing on the plummer 2 of rotatory plummer.
In this embodiment, the first driving unit 303 is installed below the fixed carrier 1, a track groove 101 is formed on the fixed carrier 1, and the connecting portion 302 of the pushing rod 301 passes through the track groove 101 to be connected to the first driving unit 303. Through setting up first drive unit 303 in the below of fixed plummer 1, the lower surface that can make full use of fixed plummer 1 comes erection equipment, and regard the upper surface of fixed plummer 1 as rotor unmanned aerial vehicle's descending place, enlarges rotor unmanned aerial vehicle's the area of taking off and land, improves the security of descending.
In this embodiment, the first driving unit 303 is preferably a lead screw drive, and the connecting portion 302 of the pushing rod 301 has a connecting hole, and the connecting hole has a thread matching with the lead screw; the push rod 301 is sleeved on the lead screw through the connecting hole. Because the connecting portion 302 of the pushing rod 301 passes through the track groove 101 of the fixed bearing platform 1 and is sleeved on the lead screw, when the lead screw rotates, the track groove 101 can ensure that the pushing rod 301 does not rotate together with the lead screw, so that the pushing rod 301 moves linearly along the track groove 101.
In this embodiment, when pushing unmanned aerial vehicle to rotatory plummer 2 through push rod 301, can confirm whether to push to target in place through the stroke of push rod 301, when pressing from both sides tight unmanned aerial vehicle through push rod 301 in the transportation, also can confirm whether to press from both sides tightly through the stroke of push rod 301. However, in this manner, the stroke of the push lever 301 needs to be set in advance. Therefore, in the present embodiment, it is preferable to provide a pressure detection unit on the pushing surface of the pushing lever 301. When propelling movement unmanned aerial vehicle rotor to rotatory plummer 2 through push rod 301, pressure has all been detected to the pressure detecting element of every push rod 301, can judge to target in place the unmanned aerial vehicle rotor propelling movement, can be in order to release push rod 301, starts the rotation of rotary platform and adjusts unmanned aerial vehicle rotor's the angle of parking. After parking angular adjustment, rethread push rod 301 presss from both sides tight rotor unmanned aerial vehicle's undercarriage, and when the pressure that pressure detecting element detected reached predetermined size, can judge that push rod 301 has pressed from both sides tight rotor unmanned aerial vehicle, can guarantee rotor unmanned aerial vehicle's safe parking.
Further, in the present embodiment, an upper portion of the pushing surface of the pushing lever 301 protrudes outward. The bulge that outside protrusion formed is preferred for the wedge, through this bulge, can make when the undercarriage that presss from both sides rotor unmanned aerial vehicle as 2 or more than 2 push rod 301, can give an decurrent pressure of undercarriage, guarantees that rotor unmanned aerial vehicle is stable and can not take place to reciprocate fixing on rotatory plummer 2. Of course, there are other ways to achieve this, as shown in fig. 6, by providing one or more hold-down blocks 304 on the push rod 301, and by means of the hold-down blocks 304, the rotorcraft is fixed on the placement platform. The lower surface of the lower pressing block 304 is preferably wedge-shaped so that the pressure generated by the lower pressing block 304 can be adjusted by the position of the push rod 301.
In this embodiment, still be provided with sensor unit on the fixed plummer 1, sensor unit is used for detecting the rotor unmanned aerial vehicle's that parks on the plummer angle information. In this embodiment, sensor unit adopts range finding sensor, detects through range finding sensor whether the rotor unmanned aerial vehicle distance information who parks on rotatory plummer 2 accords with the default, judges rotor unmanned aerial vehicle's the angle of parking. If four rotor unmanned aerial vehicle to four screw position complete symmetries, can only detect a certain propeller frame of four rotor unmanned aerial vehicle at 1 distance measuring sensor of last surface mounting of fixed plummer 1 through this distance measuring sensor, when detecting the propeller frame, then can confirm that this four rotor unmanned aerial vehicle's the angle of parking accords with predetermined angle. To other rotor unmanned aerial vehicle that do not have the symmetry characteristic, can adopt 2 or more than 2 range sensors to detect rotor unmanned aerial vehicle, judge rotor unmanned aerial vehicle's the angle of parking according to a plurality of range sensors' detection result. Of course, the detection direction of the distance measuring sensor is different according to different positions to be detected, for example, when the propeller bracket is detected, the detection direction of the distance measuring sensor is upward, and when the undercarriage is detected, the detection direction of the distance measuring sensor is horizontal.
The rotor unmanned aerial vehicle of this embodiment retrieves car, includes vehicle body and as above any one the plummer; the bearing table is installed in a compartment of the vehicle body. In the embodiment, if the rotor unmanned aerial vehicle recovery vehicle adopts an open carriage, the bearing platform provided by the invention is directly and fixedly installed in the carriage, so that a vehicle-mounted take-off and landing site can be provided for the rotor unmanned aerial vehicle, and the rotor unmanned aerial vehicle can be fixed through the bearing platform, so that the rotor unmanned aerial vehicle can be conveniently transported in a transition way.
In the present embodiment, a vehicle having a closed compartment and a roof with an openable roof is preferably used as the recovery vehicle for the unmanned rotorcraft. At this moment, preferably come to install the plummer in rotor unmanned aerial vehicle retrieves the carriage of car through lift supporting component 7, when the carriage top cap is opened, through lift supporting component 7, can lift the plummer out of the carriage to for rotor unmanned aerial vehicle provides good take-off or landing place, after rotor unmanned aerial vehicle falls, through lift supporting component 7, can withdraw rotor unmanned aerial vehicle on plummer and the plummer in the carriage, and close the top cap, provide good shut down environment for rotor unmanned aerial vehicle.
The specific form of the lifting support assembly of this embodiment is shown in fig. 8, in which a fixed support frame 704 is installed on the floor of the car, a movable support frame 705 is installed on the fixed support frame 704, and the movable support frame 705 can move up and down on the fixed support frame 704. The movement driving mode is that a fixed lead screw 703 is vertically arranged on a movable support frame 704, the lead screw 703 penetrates through a driven gear 702 on the fixed support frame 704, the driven gear 702 is provided with teeth matched with the lead screw 703, and the lead screw 703 can be lifted or lowered through the rotation of the driven gear 702, so that the movable support frame 705 is lifted or lowered for a long time. The driven gear 702 is driven by the lift drive motor 701 and the drive gear 706. Of course, the movable supporting frame 705 can be lifted or lowered by other means, such as directly lifting or lowering the movable supporting frame 705 by a cylinder driving manner.
The rotor unmanned aerial vehicle landing recovery method comprises the following steps: s1, after the rotor unmanned aerial vehicle lands on the bearing platform, the rotor unmanned aerial vehicle is pushed to the rotary bearing platform 2 through the pushing assembly 3; s2, adjusting the pushing assembly 3 to enable the rotating unmanned aerial vehicle to be in a non-clamping state, and adjusting the rotating angle of the rotating bearing table 2 to enable the rotating unmanned aerial vehicle to reach a preset parking angle; s3, adjusting the pushing assembly 3, and clamping and fixing the rotor unmanned aerial vehicle through the pushing assembly 3.
Preferably, in step S1, first pressure values of the pressure detection units in the pushing assembly 3 are obtained, and when the first pressure values are all greater than a preset first pressure threshold value, it is determined that the rotor unmanned aerial vehicle has been pushed onto the rotary bearing platform 2. In step S3, obtain the second pressure value of each pressure detection unit in propelling movement subassembly 3, when the second pressure value all is greater than the second pressure threshold value, judge that propelling movement subassembly 3 has pressed from both sides and has fixed rotor unmanned aerial vehicle. The first pressure threshold is less than the second pressure threshold. The first pressure threshold preferably has a value in the range of 1 to 10 newtons.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (15)
1. The utility model provides a rotor unmanned aerial vehicle retrieves plummer which characterized in that: comprises a fixed bearing table, a rotary bearing table and a pushing assembly;
the fixed bearing table is provided with an installation cavity;
The rotary bearing table is embedded in the mounting cavity of the fixed bearing table and can rotate in the mounting cavity;
the pushing assembly is installed on the fixed bearing table and used for pushing the unmanned rotor wing parked on the bearing table to the rotary bearing table.
2. The rotary wing unmanned aerial vehicle retrieves plummer of claim 1, characterized in that: the pushing assembly comprises at least 2 pushing units; the pushing unit is arranged around the rotary bearing table.
3. The rotary wing unmanned aerial vehicle retrieves plummer of claim 2, characterized in that: the pushing unit comprises a pushing rod and a first driving unit; the first driving unit is used for driving the pushing rod to reciprocate along a preset operation path.
4. The rotary wing unmanned aerial vehicle retrieves plummer of claim 3, characterized in that: the pushing surface of the pushing rod is provided with a pressure detection unit.
5. The rotary wing unmanned aerial vehicle retrieves plummer of claim 3, characterized in that: the first driving unit is installed below the fixed bearing table, a track groove is formed in the fixed bearing table, and the connecting portion of the push rod penetrates through the track groove to be connected with the first driving unit.
6. The rotary wing unmanned aerial vehicle retrieves plummer of claim 5, characterized in that: the first driving unit is driven by a lead screw, a connecting hole is formed in the connecting part of the push rod, and a thread matched with the lead screw is formed in the connecting hole; the push rod is sleeved on the lead screw through the connecting hole.
7. The rotary wing unmanned aerial vehicle retrieves plummer of claim 6, characterized in that: the upper part of the pushing surface of the pushing rod protrudes outwards.
8. The rotary wing drone recovery carrier of any one of claims 1 to 7, wherein: the device also comprises a second driving unit; the second driving unit is used for driving the rotary bearing table to rotate.
9. The rotary wing unmanned aerial vehicle retrieves plummer of claim 8, characterized in that: the support frame is fixedly arranged on the lower surface of the fixed bearing table; the rotary bearing table is installed on the support frame through a rotary shaft.
10. The rotary wing drone recovery carrier of any one of claims 1 to 7, wherein: still be provided with sensor unit on the fixed plummer, sensor unit is used for detecting the rotor unmanned aerial vehicle's that parks on the plummer angle information.
11. The utility model provides a rotor unmanned aerial vehicle retrieves car which characterized in that: comprising a vehicle body and a carrier table according to any one of claims 1 to 10;
the bearing table is installed in a compartment of the vehicle body.
12. The gyroplane retrieval vehicle of claim 11, wherein: still include the lift supporting component, the plummer passes through the lift supporting component is installed in the carriage.
13. The utility model provides a rotor unmanned aerial vehicle descends recovery method which characterized in that: the method comprises the following steps:
s1, after the rotor unmanned aerial vehicle lands on the bearing platform, pushing the rotor unmanned aerial vehicle to the rotary bearing platform through the pushing assembly;
s2, adjusting the pushing assembly to enable the rotating unmanned aerial vehicle to be in a non-clamping state, and adjusting the rotating angle of the rotating bearing table to enable the rotating unmanned aerial vehicle to reach a preset parking angle;
s3, adjusting the pushing assembly, and clamping and fixing the rotor wing unmanned aerial vehicle through the pushing assembly.
14. A rotorcraft descent recovery method as recited in claim 13, further comprising: in step S1, a first pressure value of each pressure detection unit in the pushing assembly is obtained, and when the first pressure values are both greater than a preset first pressure threshold value, it is determined that the rotor unmanned aerial vehicle has been pushed onto the rotary bearing table.
15. A rotorcraft descent recovery method as recited in claim 14, wherein: in step S3, obtain the second pressure value of each pressure detecting element in the propelling movement subassembly, when the second pressure value all is greater than the second pressure threshold value, judge that the propelling movement subassembly has pressed from both sides the fixed rotor unmanned aerial vehicle.
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| CN201910439594.9A CN111977008B (en) | 2019-05-24 | 2019-05-24 | Rotary-wing UAV recovery carrier, recovery vehicle and recovery method |
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| CN201910439594.9A CN111977008B (en) | 2019-05-24 | 2019-05-24 | Rotary-wing UAV recovery carrier, recovery vehicle and recovery method |
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| US20210047053A1 (en) * | 2018-02-14 | 2021-02-18 | Ford Global Technologies, Llc | Self-centering landing platform |
| CN112722095A (en) * | 2020-12-29 | 2021-04-30 | 湖南工程学院 | Wind power inspection robot |
| CN112731290A (en) * | 2020-12-30 | 2021-04-30 | 中国航天空气动力技术研究院 | Be applied to microphone installation device that unmanned aerial vehicle near field detected |
| US20230058615A1 (en) * | 2020-01-29 | 2023-02-23 | Robotopia Uab | Landing platform and system for positioning and aligning aerial vehicle on it |
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