CN109747840A - A kind of unmanned plane space base ventral mechanical arm type recyclable device and recovery method - Google Patents
A kind of unmanned plane space base ventral mechanical arm type recyclable device and recovery method Download PDFInfo
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- CN109747840A CN109747840A CN201811616705.0A CN201811616705A CN109747840A CN 109747840 A CN109747840 A CN 109747840A CN 201811616705 A CN201811616705 A CN 201811616705A CN 109747840 A CN109747840 A CN 109747840A
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Abstract
The invention discloses a kind of unmanned plane space base ventral mechanical arm type recyclable devices, including machine tool, lifting platform, scalable rigid bridle catcher, operating bar, docking facilities and recovery controller, machine tool forebody abdomen is provided with a recycling hatch door, lifting platform setting is on recycling hatch door, scalable rigid bridle catcher one end is fixed on the lower surface of lifting platform table top by shaft, and it can rotate around the axis, the scalable rigid bridle catcher other end is connect with docking facilities, operating bar one end and scalable rigid bridle catcher are hinged, the other end is fixed at the lower surface of the platform, recovery controller is placed in machine tool cabin, and pass through cable and lifting platform, scalable rigid bridle catcher and operating bar connection, the present invention can realize that multiple UAVs successively sequentially recycle by a set of equipment, and unmanned plane can directly be withdrawn in machine tool cabin, recovery efficiency is higher.
Description
Technical field
The present invention relates to aircraft space base recovery technology fields more particularly to a kind of unmanned plane space base ventral mechanical arm type to return
Receiving apparatus and recovery method.
Background technique
With the eruptive growth of unmanned air vehicle technique, unmanned plane is gradually used widely in many military, civilian fields.It is special
Not in military domain, " unmanned plane cluster tactics " have obtained the great attention of countries in the world.But due to medium and small unmanned plane
Universal weight is small, and speed is low, and combat radius is limited, causes it that cannot execute long-range operation task, can not efficiently play bee colony
The advantage of operation limits the application range of medium and small unmanned plane.For this purpose, there has been proposed " mother and sons' machine " schemes, i.e., by navigating
Unmanned handset is transported mission area by journey, the biggish machine tool of load-carrying, by air-launched and recovery technology, realizes that unmanned plane is big
Quantity, Duo Boci rapid fire and recycling, not only can greatly increase the cruising radius of handset, and can get rid of ground
The limitation of face airport, increases the flexibility of handset application.The core of " mother and sons' machine " scheme is exactly the transmitting of unmanned plane space base and recycling
Technology, one of the key difficulties that wherein unmanned plane space base recovery technology is even more.
Early in last century 30, the forties, the aviations such as the U.S., Germany and former Soviet Union power successively carried out based on dirigible and
The pilot study of aerial mother and sons' machine of bomber demonstrates the feasibility of aerial mother and sons' machine plan to a certain extent, but limits
It is restricted and not a large amount of engineer applications in many technical conditions.In recent years, with the maturation of unmanned air vehicle technique and electronic information technology
Fast development, countries in the world start to develop again unmanned plane air-launched and recovery technology based on aerial platform, especially
The U.S. has released " elfin " plan and " FLARES " project etc., grinds so that unmanned plane air-launched becomes again with recovery technology
Study carefully hot spot.Currently, China is in the transmitting of unmanned plane space base and recovery technology field, technological accumulation is very limited, does not set directly
For using for reference, there are larger gaps with foreign countries, it would be highly desirable to carry out correlative study for meter experience and achievement.
The accurate recovery method of existing space base and device such as patent CN106516144A, CN205770184U and
CN107792381A etc., use is the modes such as to hit net, breast the tape mostly.Although these modes are able to achieve the recycling of unmanned plane, but
Its disadvantage is obvious, does not dock safety prevention measure, the side that wherein patent CN106516144A, CN205770184U is mentioned
Method recovery efficiency is lower, is easy to happen colliding between unmanned plane, the recovery method that patent CN107792381A is mentioned is to nobody
The body configuration of machine limits larger, narrow scope of application.The method being mentioned herein belongs to accurate recycling, can unmanned plane is direct
It withdraws in cabin, and smaller to the limitation of the body configuration of unmanned plane, the scope of application is wider.
Summary of the invention
The purpose of the present invention:
The purpose of the present invention: proposing a kind of unmanned plane space base ventral mechanical arm type recyclable device and recovery method, it can be achieved that
Unmanned plane space base accurately quickly recycles, and unmanned plane can be directly withdrawn in cabin, improves docking safety, expands being applicable in for unmanned plane
Range.
Technical solution of the present invention:
A kind of unmanned plane space base ventral mechanical arm type recyclable device, including machine tool, lifting platform, scalable rigid bridle catcher,
Operating bar, docking facilities and recovery controller, the machine tool forebody abdomen are provided with a recycling hatch door, and the lifting platform is set
It sets on recycling hatch door, described scalable rigid bridle catcher one end is fixed on the lower surface of lifting platform table top by shaft, and
It can rotate around the axis, the scalable rigid bridle catcher other end is connect with docking facilities, described operating bar one end and scalable hard
Formula bridle catcher is hinged, and the other end is fixed at the lower surface of the platform, and the recovery controller is placed in machine tool cabin, and is passed through
Cable is connect with lifting platform, scalable rigid bridle catcher and operating bar.
The lifting platform uses hydraulic driving mode or Mechanical Driven mode.
The scalable rigid bridle catcher uses hydraulic driving mode or Mechanical Driven mode.
It is provided with optical measuring apparatus and video monitoring equipment on the lifting platform lower surface, and passes through cable and recycling
Controller connection.
The docking facilities include a circular cavity for having opening, and there are two right for the circular cavity opening setting
The lock of title, described lock one end are hinged on circular cavity inner wall, and the other end is free end, in the circular cavity also
Setting restores elastic slice there are two symmetrical, and two recovery elastic slice one end are correspondingly connected with two lock free ends two-by-two respectively, and two
A recovery elastic slice other end is connect with circular cavity inner wall, and two lock bottoms are also provided with limiting device.
A kind of unmanned plane space base ventral mechanical arm type recyclable device, the recovery method the following steps are included:
Step 1: butt joint ring being installed in unmanned plane machine back, and indicator light is installed on butt joint ring；
Step 2: steady air current area cruise of the unmanned plane immediately below machine tool fuselage is kept with the flight attitude of machine tool
Unanimously；
Step 3: rising the butt joint ring of unmanned plane machine back installation, open the indicator light on butt joint ring；
Step 4: the recycling hatch door of machine tool forebody abdomen is opened, lifting platform is fallen, puts down scalable rigid bridle catcher, it will
Docking facilities stretch out machine tool external fuselage；
Step 5: optical measuring apparatus and video monitoring equipment on lifting platform start the butt joint ring searched on unmanned plane, return
Admission controller extracts the boundary profile and characteristic point of butt joint ring；
Step 6: recovery controller provides docking location instruction to unmanned plane；
Step 7: being instructed according to docking location, relative position between unmanned plane adjustment and machine tool makes the docking on unmanned plane
Ring enters docking location；
Step 8: recovery controller locks the butt joint ring on unmanned plane, manipulates scalable rigid bridle catcher close on unmanned plane
Butt joint ring, until docking facilities on unmanned plane butt joint ring completion dock；
Step 9: shrinking scalable rigid bridle catcher, drive operating bar, scalable rigid bridle catcher and unmanned plane are withdrawn
Female engine room inside, lifting platform is risen, and is closed the recycling hatch door of machine tool forebody abdomen, is completed the recycling of unmanned plane.
Beneficial effects of the present invention:
It proposes a kind of unmanned plane space base ventral mechanical arm type recyclable device and recovery method, has the advantage that
(1) it can realize that multiple UAVs successively sequentially recycle by a set of equipment, and unmanned plane can directly withdraw machine tool
In cabin, recovery efficiency is higher；
(2) docking facilities opening is larger, is in right-angled intersection with butt joint ring, and docking difficulty is smaller, can reduce in removal process
Required precision is mutually located between unmanned plane and machine tool；
(3) docking operation is precisely controlled by computer, and docking efficiency can be improved；
(4) recovery zone is located at below machine tool forebody, and airflow stability is preferable, and it is steady in air-flow to dock region setting
Area, machine tool are smaller to the aerodynamic interference of unmanned plane, improve the safety of unmanned plane and machine tool in removal process.
Detailed description of the invention
Fig. 1 is schematic structural diagram of the device of the invention；
Fig. 2 is docking facilities structural schematic diagram
Fig. 3 is docking schematic illustration
Fig. 4 is to prepare mated condition schematic diagram
Fig. 5 is to dock successfully, withdraws the interior bar status diagram of scalable rigid bridle catcher
Fig. 6 is that driving operating bar withdraws scalable rigid bridle catcher and drone status schematic diagram
Fig. 7 is to rise lifting platform status diagram
Fig. 8 is that unmanned plane is placed on status diagram on trolley
Fig. 9 is to complete to identify in recycling job state schematic diagram figure: 1, machine tool, 2, lifting platform, 3, scalable rigid recycling
Bar, 4, docking facilities, 5, operating bar, 6, recovery controller, 7, optical measuring apparatus, 8, video monitoring equipment, 9, unmanned plane, 4-
1,4-3, circular cavity, 4-2, lock restore elastic slice, 4-4, limiting device.
Specific embodiment
The present invention is further introduced with reference to the accompanying drawing, a kind of unmanned plane space base ventral of the present invention is mechanical
Arm-type recyclable device, including machine tool 1, lifting platform 2, scalable rigid bridle catcher 3, operating bar 5, docking facilities 4 and recycling control
Device 6, the 1 forebody abdomen of machine tool are provided with a recycling hatch door, and the setting of lifting platform 2 is described on recycling hatch door
Scalable 3 one end of rigid bridle catcher is fixed on the lower surface of 2 table top of lifting platform by shaft, and can rotate around the axis, scalable
Rigid 3 other end of bridle catcher is connect with docking facilities 4, and described 5 one end of operating bar and scalable rigid bridle catcher 3 are hinged, separately
One end is fixed on the lower surface of lifting platform 2, and the recovery controller 6 is arranged in 1 cabin of machine tool, and passes through cable and lifting platform
2, scalable rigid bridle catcher 3 and operating bar 5 connect.
The lifting platform 2 uses hydraulic driving mode or Mechanical Driven mode.
The scalable rigid bridle catcher 3 uses hydraulic driving mode or Mechanical Driven mode.
Be provided with optical measuring apparatus 7 and video monitoring equipment 8 on 2 lower surface of lifting platform, and by cable with
Recovery controller 6 connects.
The docking facilities 4 be include a circular cavity 4-1 for having opening, the circular cavity 4-1 opening is set
It sets there are two symmetrical lock 4-2, described one end lock 4-2 is hinged on circular cavity 4-1 inner wall, and the other end is freely
End also sets up in the circular cavity 4-1 and restores elastic slice 4-3 there are two symmetrical, two one end recovery elastic slice 4-3 respectively with
Two lock free ends 4-2 are correspondingly connected with two-by-two, and two recovery elastic slice 4-3 other ends are connect with circular cavity 4-1 inner wall, institute
The two lock bottoms 4-2 stated also are provided with limiting device 4-4.
A kind of unmanned plane space base ventral mechanical arm type recyclable device, the recovery method the following steps are included:
Step 1: butt joint ring being installed in 9 machine back of unmanned plane, and indicator light is installed on butt joint ring；
Step 2: steady air current area cruise of the unmanned plane 9 immediately below 1 fuselage of machine tool, the flight attitude with machine tool 1
It is consistent；
Step 3: rising the butt joint ring of 9 machine back of unmanned plane installation, open the indicator light on butt joint ring；
Step 4: opening the recycling hatch door of 1 forebody abdomen of machine tool, fall lifting platform 2, put down scalable rigid bridle catcher
3, docking facilities 4 are stretched out into 1 external fuselage of machine tool；
Step 5: optical measuring apparatus 7 and video monitoring equipment 8 on lifting platform 2 start the docking searched on unmanned plane 9
Ring, recovery controller 6 extract the boundary profile and characteristic point of butt joint ring；
Step 6: recovery controller 6 provides docking location instruction to unmanned plane 9；
Step 7: being instructed according to docking location, relative position between the adjustment of unmanned plane 9 and machine tool 1 makes pair on unmanned plane 9
It connects ring and enters docking location, as shown in Figure 4；
Step 8: recovery controller 6 locks the butt joint ring on unmanned plane 9, manipulates scalable rigid bridle catcher 3 close to nobody
Butt joint ring on machine 9, until docking facilities 4 are docked with the butt joint ring completion on unmanned plane 9；
Step 9: shrinking scalable rigid bridle catcher 3, operating bar 5 is driven, by scalable rigid bridle catcher 3 and unmanned plane 9
It withdraws inside 1 cabin of machine tool, lifting platform 2 is risen, close the recycling hatch door of 1 forebody abdomen of machine tool, complete returning for unmanned plane 9
It receives, as shown in Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9.
Claims (6)
1. a kind of unmanned plane space base ventral mechanical arm type recyclable device, it is characterised in that: including machine tool (1), lifting platform (2), can
Stretch rigid bridle catcher (3), operating bar (5), docking facilities (4) and recovery controller (6), the machine tool (1) forebody abdomen
Portion is provided with a recycling hatch door, and the lifting platform (2) setting is on recycling hatch door, the scalable rigid bridle catcher (3) one
End is fixed on the lower surface of lifting platform (2) table top by shaft, and can rotate around the axis, and scalable rigid bridle catcher (3) is another
End is connect with docking facilities (4), and hingedly, the other end is fixed on for the operating bar (5) one end and scalable rigid bridle catcher (3)
The lower surface of lifting platform (2), the recovery controller (6) are arranged in machine tool (1) cabin, and by cable and lifting platform (2),
Scalable rigid bridle catcher (3) and operating bar (5) connection.
2. a kind of unmanned plane space base ventral mechanical arm type recyclable device according to claim 1, it is characterised in that: described
Lifting platform (2) uses hydraulic driving mode or Mechanical Driven mode.
3. a kind of unmanned plane space base ventral mechanical arm type recyclable device according to claim 1, it is characterised in that: described
Scalable rigid bridle catcher (3) uses hydraulic driving mode or Mechanical Driven mode.
4. a kind of unmanned plane space base ventral mechanical arm type recyclable device according to claim 1, it is characterised in that: described
It is provided with optical measuring apparatus (7) and video monitoring equipment (8) on lifting platform (2) lower surface, and is controlled by cable and recycling
Device (6) connection.
5. a kind of unmanned plane space base ventral mechanical arm type recyclable device according to claim 1, it is characterised in that: described
Docking facilities (4) include a circular cavity (4-1) for having opening, and there are two right for the setting of the circular cavity (4-1) opening
The lock (4-2) of title, the one end the lock (4-2) are hinged on circular cavity (4-1) inner wall, and the other end is free end, institute
It is also set up in the circular cavity (4-2) stated and restores elastic slice (4-3) there are two symmetrical, two recovery elastic slice one end (4-3) difference
It is correspondingly connected with two-by-two with two lock free ends (4-2), two recovery elastic slice (4-3) other ends are and in circular cavity (4-1)
Wall connection, the two described lock bottoms (4-2) are also provided with limiting device (4-4).
6. a kind of unmanned plane space base ventral mechanical arm type recyclable device, it is characterised in that: the recovery method includes following step
It is rapid:
Step 1: butt joint ring being installed in unmanned plane (9) machine back, and indicator light is installed on butt joint ring；
Step 2: steady air current area cruise of the unmanned plane (9) immediately below machine tool (1) fuselage, the flight appearance with machine tool (1)
State is consistent；
Step 3: rising the butt joint ring of unmanned plane (9) machine back installation, open the indicator light on butt joint ring；
Step 4: opening the recycling hatch door of machine tool (1) forebody abdomen, fall lifting platform (2), put down scalable rigid bridle catcher
(3), docking facilities (3) are stretched out into machine tool (1) external fuselage；
Step 5: optical measuring apparatus (7) and video monitoring equipment (8) on lifting platform (2) start to search on unmanned plane (9)
Butt joint ring, recovery controller (6) extract the boundary profile and characteristic point of butt joint ring；
Step 6: recovery controller (6) provides docking location instruction to unmanned plane (9)；
Step 7: being instructed according to docking location, relative position between unmanned plane (9) adjustment and machine tool (1) makes on unmanned plane (9)
Butt joint ring enters docking location；
Step 8: recovery controller (6) locks the butt joint ring on unmanned plane (9), manipulates scalable rigid bridle catcher and connects (3) nearly nothing
Butt joint ring on man-machine (9), until docking facilities (4) are docked with the butt joint ring completion on unmanned plane (9)；
Step 9: shrinking scalable rigid bridle catcher (3), drive operating bar (5), by scalable rigid bridle catcher (5) and unmanned plane
(9) it withdraws inside machine tool (1) cabin, lifting platform (2) is risen, close the recycling hatch door of machine tool (1) forebody abdomen, complete nobody
The recycling of machine (9).
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| CN201811616705.0A CN109747840B (en) | 2018-12-27 | 2018-12-27 | Unmanned aerial vehicle air-based machine web mechanical arm type recovery device and recovery method |
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| CN201811616705.0A CN109747840B (en) | 2018-12-27 | 2018-12-27 | Unmanned aerial vehicle air-based machine web mechanical arm type recovery device and recovery method |
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Cited By (6)
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| CN113264188A (en) * | 2021-06-08 | 2021-08-17 | 哈尔滨工业大学 | Aerial winding and unwinding devices of mechanical traction type unmanned aerial vehicle |
| CN113335531A (en) * | 2021-05-13 | 2021-09-03 | 南京航空航天大学 | Telescopic sleeve arm type unmanned aerial vehicle empty foundation recovery device and safe butt joint envelope modeling method |
| CN113433962A (en) * | 2021-07-14 | 2021-09-24 | 西安电子科技大学 | Automatic unmanned aerial vehicle recovery system and method for aerial flight platform |
| CN113879537A (en) * | 2021-11-03 | 2022-01-04 | 南京航空航天大学 | Unmanned aerial vehicle empty base recovery device and method |
| CN114167881A (en) * | 2021-10-27 | 2022-03-11 | 南京航空航天大学 | Aerial unmanned aerial vehicle launching and recovering platform, working method and aerial taking-off and landing platform |
| CN115610661A (en) * | 2022-10-26 | 2023-01-17 | 中航(成都)无人机系统股份有限公司 | Aircraft air recovery system and method, carrier aircraft and recovery aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113335531A (en) * | 2021-05-13 | 2021-09-03 | 南京航空航天大学 | Telescopic sleeve arm type unmanned aerial vehicle empty foundation recovery device and safe butt joint envelope modeling method |
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| CN114167881A (en) * | 2021-10-27 | 2022-03-11 | 南京航空航天大学 | Aerial unmanned aerial vehicle launching and recovering platform, working method and aerial taking-off and landing platform |
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| CN115610661A (en) * | 2022-10-26 | 2023-01-17 | 中航(成都)无人机系统股份有限公司 | Aircraft air recovery system and method, carrier aircraft and recovery aircraft |
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| CN109747840B (en) | 2022-01-07 |
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