CN105416605A - Vehicle-mounted unmanned aerial vehicle net bumping recovery device - Google Patents

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and relates to a vehicle-mounted unmanned aerial vehicle collision net recovery device, including a column, a connecting rod type synchronous mechanism, a damping mechanism, a support arm, a recovery net, a swing rod and a vehicle platform; the two support arms are symmetrical It is fixed on the vehicle platform obliquely, and the vertical column is fixed vertically downward on the top of the arm. The top of each column is fixed with a link-type synchronous mechanism; the link-type synchronous mechanism consists of the main rod of the mechanism and the The first swing arm and the second swing arm are fixed on the two ends of the main rod of the mechanism through the rotating shaft. The first swing arm and the second swing arm are connected together through the connecting rod; Root fork, recovery net is fixed on the end of 4 fork. The nose of the drone rushes to the mesh surface of the recovery net 6 from the front to the rear of the vehicle, and the wings of the drone generate tension on the recovery net 6 and drive the swing rod 7 to move, and transmit the force to the column 1, which is finally connected by the column 1. The damping mechanism 3 completes the energy absorption, and the drone is recovered safely.

Description

A vehicle-mounted UAV collision net recovery device

technical field

The invention belongs to the technical field of unmanned aerial vehicles, and relates to a vehicle-mounted unmanned aerial vehicle collision net recovery device.

Background technique

The landing method of the existing UAV system generally adopts sliding landing or belly wipe landing, and the landing of the UAV requires the UAV to be equipped with a landing gear. The weight of the landing gear structure greatly reduces the effective use of the UAV. Load capacity; and the taxiing landing requires a long and flat runway, and its use in complex terrain mountains or ships is greatly restricted. The UAV is subjected to a large impact load when it touches the ground with the belly wipe landing method, especially when the landing attitude deviates or the ground is hard, it is likely to cause damage to the UAV body structure, which greatly shortens the UAV. service life.

Contents of the invention

The technical problem to be solved by the present invention is to provide an unmanned aerial vehicle recovery device that is subjected to less impact load during the recovery process and has low requirements for site recovery.

In order to solve the problems of the technologies described above, the technical solution of the present invention is as follows:

A vehicle-mounted unmanned aerial vehicle collision net recovery device, including 2 columns, 2 link-type synchronous mechanisms, 2 damping mechanisms, 2 support arms, recovery nets, 4 swing bars and a vehicle platform;

The two support arms are symmetrically and obliquely fixed on the vehicle platform, and the vertical column is fixed vertically downward on the top of the support arm, and a link type synchronization mechanism is fixed on the top of each column;

The link-type synchronous mechanism is composed of a main rod of the mechanism and a first swing arm and a second swing arm fixed at both ends of the main rod of the mechanism through a rotating shaft, and the first swing arm and the second swing arm are connected together through a connecting rod;

The tops of the first swing arm and the second swing arm are respectively connected to one swing rod, and the recovery net is fixed at the ends of the four swing rods;

The damping mechanism is a series-parallel adaptive damping mechanism, which is composed of a first damper and a damper connected in parallel and in series, and a spring is connected to one end of the damper.

Further, the vehicle-mounted unmanned aerial vehicle crash net recovery device also includes an erecting device fixed on the vehicle platform, the erecting device is composed of a hydraulic system and a lifting arm, the hydraulic system is connected and drives the lifting arm, and the two support Arms are fixed symmetrically and obliquely at both ends of the lifting arm.

Preferably, for the convenience of transportation, the support arm is assembled by two half-arms, and after the inner pin of one half-arm is inserted into the other half-arm, the two half-arms are locked by bolts .

Further, the end point of the first swing arm passes through the middle of the second swing arm of the connecting rod.

The beneficial effects of the present invention are as follows:

Link-type synchronous mechanism: Utilizing the different distances between the end of the main rod of the mechanism and the shafts of the first swing arm and the second swing arm, the design achieves that the two swing arms (the first swing arm and the second swing arm) are within a certain range. Geometric motion is basically synchronous.

Damping mechanism: After the second damper is connected in series with the spring, the whole is connected in parallel with the first damper. In the process of absorbing the impact force of the damping mechanism, the first damper first absorbs the energy, and the excess energy is converted into the elastic potential energy of the spring and then released slowly. Achieve stable release of damping force before and after hitting the net, reducing the risk of drone recovery damage.

Erection device: use the hydraulic system (including pump station, motor, fuel tank) and lifting arm to realize the rapid erection and downturn of the impact net recovery device, so that the recovery device can be quickly deployed and used, and it is convenient for the rapid deployment of the UAV recovery position .

Support arm: The use of a rotating shaft adopts three-stage folding so that the support arm can be quickly unfolded and recovered. Inner pins are used in the shaft docking area for added strength. The support arm not only has fast installation and recovery speed, but also has a high overall bending resistance, which meets the needs of the impact net recovery device.

The overall design mode is convenient for long-distance transportation, so that the whole set of equipment can be completely stored on a vehicle platform, which is not only fast and convenient to unfold, but also can be quickly stored and long-distance transportation.

Description of drawings

Fig. 1 is the structural representation of vehicle-mounted unmanned aerial vehicle collision net recovery device of the present invention;

Fig. 2 is the structural representation of erecting device of the present invention;

Fig. 3 is the local schematic diagram of the place where the support arm of the present invention is assembled by 2 half support arms;

Fig. 4 is a partial schematic diagram of the connection between the link type synchronous mechanism and the damping mechanism of the present invention;

Fig. 5 is a schematic diagram of the long-distance transportation state of the vehicle-mounted UAV collision net recovery device of the present invention.

specific implementation plan

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

A vehicle-mounted unmanned aerial vehicle collision net recovery device, as shown in Figure 1, includes 2 upright columns 1, 2 link type synchronous mechanisms 2, 2 damping mechanisms 3, erecting devices 4, 2 support arms 5, recovery Net 6, 4 fork bars 7 and vehicle platform 8;

As shown in Figure 3, the support arm 5 is assembled by two half-arms. After the inner pin 9 of one half-arm is inserted into the inside of the other half-arm, the two half-arms are connected by bolts. locking.

The erecting device 4 fixed on the vehicle platform 8, as shown in Figure 2, is composed of a hydraulic system 10 and a lifting arm 11, the hydraulic system 10 is connected and drives the lifting arm 11, and the two support arms 5 are symmetrically and obliquely fixed on the The two ends of the lifting arm 11, that is to say, the two support arms 5 are symmetrically and obliquely fixed on the vehicle platform 8 through the erecting device 4, and the column 1 is vertically fixed on the support arm 5 vertically downward. The top of each column 1 is fixed with a link type synchronous mechanism 2;

As shown in Figure 4, the link type synchronous mechanism 2 is made up of the main rod of the mechanism and the first swing arm 12 and the second swing arm 13 fixed on the two ends of the main rod of the mechanism through the rotating shaft. The first swing arm 12 and the second swing arm 13 Connected together by a connecting rod 14, generally, the end point of the first swing arm 12 passes through the middle of the second swing arm 13 of the connecting rod 14;

The tops of the first swing arm 12 and the second swing arm 13 are respectively connected to a swing rod 7, and the recovery net 6 is fixed on the ends of the four swing rods 7;

The damping mechanism 3 is a series-parallel adaptive damping mechanism, composed of a first damper 15 and a second damper 17 connected in parallel and in series, and a spring 16 is connected to one end of the second damper 17 .

The long-distance transfer state of the UAV collision net recovery device is shown in Figure 5. The four swing rods 7 are removed and fixed on the roof mounting frame of the vehicle platform 8. Then 2 support arms 5 are folded and are fixed on the roof mounting frame equally. Put the dismantled column and other mechanisms into the tail box at the rear of the vehicle platform 8 and get final product.

The working principle of the present invention is as follows: the head of the UAV rushes towards the mesh surface of the recycling net 6 from the front of the vehicle to the rear of the vehicle, and the wings of the UAV generate a pulling force on the recycling net 6 and drive the swing rod 7 to move, and transmit the force to the column 1 , and finally the damping mechanism 3 connected by the column 1 completes the energy absorption, and the UAV is recovered safely.

The energy absorption principle of the damping mechanism 3 is as follows: the first swing arm 12 and the second swing arm 13 are guaranteed to move symmetrically within a certain angle range (generally 10° to 70°) through the connecting rod (14). In the buffering process of hitting the net and recovering, the first damper 15 absorbs energy throughout the entire process, and the excess energy is converted into elastic potential energy stretched by the spring 16, and then fed back to the second damper 17 by the spring 16 to achieve damping during the recovery process. Reasonable release of force.

Claims (4)

1. A vehicle-mounted unmanned aerial vehicle hits the net recovery device, is characterized in that, comprises 2 upright columns (1), 2 link type synchronous mechanisms (2), 2 damping mechanisms (3), 2 support arms (5 ), recovery net (6), 4 swing bars (7) and vehicle platform (8); Two support arms (5) are symmetrically and obliquely fixed on the vehicle platform (8), and the column (1) is fixed vertically downward on the top of the support arm (5) in the vertical direction, and each column (1) A link type synchronous mechanism (2) is fixed at the top; The link-type synchronous mechanism (2) is composed of a main rod of the mechanism and a first swing arm (12) and a second swing arm (13) fixed on two ends of the main rod of the mechanism through a rotating shaft. The first swing arm (12) and the second swing arm The arms (13) are connected together by connecting rods (14); The tops of the first swing arm (12) and the second swing arm (13) are respectively connected to one swing rod (7), and the recovery net (6) is fixed on the ends of the four swing rods (7); The damping mechanism (3) is a series-parallel adaptive damping mechanism, which is composed of a first damper (15) and a second damper (17) connected in parallel and in series, and one end of the second damper (17) is connected to There are springs (16). 2. according to claim 2 or 3 said a kind of vehicle-mounted unmanned aerial vehicle collision network recovery device, it is characterized in that, said vehicle-mounted unmanned aerial vehicle collision network recovery device also includes a erection device fixed on the vehicle platform (8) ( 4), the erecting device (4) is composed of a hydraulic system (10) and a lifting arm (11), the hydraulic system (10) is connected to and drives the lifting arm (11), and the two support arms (5) are symmetrical, Obliquely fixed at both ends of the lifting arm (11). 3. A vehicle-mounted unmanned aerial vehicle collision net recovery device according to claim 1 or 2, characterized in that, the support arm (5) is assembled from two half-arms, and the inner plug pin of one half-arm (9) After inserting into the inside of the other half-arm, lock the two half-arms by bolts. 4. A vehicle-mounted unmanned aerial vehicle collision net recovery device according to claim 1 or 2, characterized in that the endpoint of the first swing arm (12) passes through the middle of the second swing arm (13) of the connecting rod (14).