CN109747840B - Unmanned aerial vehicle air-based machine web mechanical arm type recovery device and recovery method - Google Patents
Unmanned aerial vehicle air-based machine web mechanical arm type recovery device and recovery method Download PDFInfo
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- CN109747840B CN109747840B CN201811616705.0A CN201811616705A CN109747840B CN 109747840 B CN109747840 B CN 109747840B CN 201811616705 A CN201811616705 A CN 201811616705A CN 109747840 B CN109747840 B CN 109747840B
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Abstract
The invention discloses a mechanical arm type recovery device for an empty base machine web of an unmanned aerial vehicle, which comprises a mother machine, a lifting platform, a telescopic hard recovery rod, an actuating rod, a butt joint device and a recovery controller, wherein the belly of a front machine body of the mother machine is provided with a recovery cabin door, the lifting platform is arranged on the recovery cabin door, one end of the telescopic hard recovery rod is fixed on the lower surface of a platform surface of the lifting platform through a rotating shaft and can rotate around the rotating shaft, the other end of the telescopic hard recovery rod is connected with the butt joint device, one end of the actuating rod is hinged with the telescopic hard recovery rod, the other end of the actuating rod is fixed on the lower surface of the lifting platform, and the recovery controller is arranged in the mother machine cabin and is connected with the lifting platform, the telescopic hard recovery rod and the actuating rod through cables.
Description
Technical Field
The invention relates to the technical field of aircraft air base recovery, in particular to a web mechanical arm type recovery device and recovery method for an unmanned aerial vehicle air base.
Background
With the blowout development of the unmanned aerial vehicle technology, unmanned aerial vehicles are gradually widely applied in many military and civil fields. Particularly in the military field, the unmanned aerial vehicle cluster tactics are highly valued by countries all over the world. However, the medium and small unmanned aerial vehicles generally have small weight, low speed and limited combat radius, so that the medium and small unmanned aerial vehicles cannot execute long-distance combat tasks, cannot effectively exert the advantages of swarm combat, and limit the application range of the medium and small unmanned aerial vehicles. Therefore, a scheme of 'mother-son machines' is provided, namely, the mother machine with large voyage and load transports the unmanned submachine to a task area, and the unmanned submachine can be rapidly launched and recovered in large quantity and multiple times through an aerial launching and recovering technology, so that the cruising radius of the submachine can be greatly increased, the ground airport limitation can be avoided, and the application flexibility of the submachine is improved. The core of the 'mother-son machine' scheme is the unmanned aerial vehicle space-based launching and recovery technology, wherein the unmanned aerial vehicle space-based recovery technology is one of the more key difficulties.
Since 30 and 40 years ago, exploratory research on the air mother-son machines based on airships and bombers was successively carried out in aeronautical strong countries such as the United states, Germany and the Soviet Union, and feasibility of the plan of the air mother-son machines is proved to a certain extent, but the method is limited to a plurality of technical conditions without large-scale engineering application. In recent years, with the maturity of unmanned aerial vehicle technology and the rapid development of electronic information technology, countries around the world start to develop unmanned aerial vehicle air emission and recovery technology based on an air platform again, and particularly, the united states has introduced a 'sprite' plan, a 'FLARES' project and the like, so that the unmanned aerial vehicle air emission and recovery technology becomes a research hotspot again. At present, in the technical field of unmanned aerial vehicle space-based launching and recovery, the technology accumulation is very limited, no direct design experience and achievement can be used for reference, a large gap exists between the unmanned aerial vehicle space-based launching and recovery, and relevant research needs to be carried out urgently.
The existing methods and devices for accurately recovering the empty foundation, such as patents CN106516144A, CN205770184U and CN107792381A, mostly adopt the modes of net collision, wire collision, etc. Although the unmanned aerial vehicle can be recovered by the modes, the defects are obvious, and no butt joint safety protection measures are provided, wherein the recovery efficiency of the methods mentioned by the patents CN106516144A and CN205770184U is low, collision among the unmanned aerial vehicles is easy to occur, the recovery method mentioned by the patent CN107792381A has large limitation on the body configuration of the unmanned aerial vehicle, and the application range is narrow. The method mentioned in the text belongs to accurate recovery, can directly retrieve the unmanned aerial vehicle in the cabin to it is less to the organism configuration restriction of unmanned aerial vehicle, and application scope is wider.
Disclosure of Invention
The purpose of the invention is as follows:
the purpose of the invention is as follows: the utility model provides an unmanned aerial vehicle air base machine web machinery arm-type recovery unit and recovery method, can realize the accurate quick recovery of unmanned aerial vehicle air base, can directly withdraw unmanned aerial vehicle under-deck, improve the butt joint security, enlarge unmanned aerial vehicle's application scope.
The technical scheme of the invention is as follows:
the utility model provides an unmanned aerial vehicle air base web machinery arm formula recovery unit, includes female machine, elevating platform, scalable hard formula recovery pole, acts as pole, interfacing apparatus and recovery controller, female machine front fuselage belly open and to have a recovery hatch door, the elevating platform set up on retrieving the hatch door, scalable hard formula recovery pole one end fix the lower surface at the elevating platform mesa through the pivot to can revolute the rotation of axes, scalable hard formula recovery pole other end is connected with interfacing apparatus, actuation pole one end and scalable hard formula recovery pole articulated, the lower surface at the elevating platform is fixed to the other end, recovery controller settle at female machine under-deck to retrieve the pole and act as the pole and be connected through cable and elevating platform, scalable hard formula.
The lifting platform adopts a hydraulic driving mode or a mechanical driving mode.
The telescopic hard recovery rod adopts a hydraulic driving mode or a mechanical driving mode.
The lower surface of the lifting platform is provided with optical measuring equipment and video monitoring equipment, and the optical measuring equipment and the video monitoring equipment are connected with the recovery controller through cables.
The butt joint device comprises a circular cavity with an opening, two symmetrical lock catches are arranged at the opening of the circular cavity, one end of each lock catch is hinged to the inner wall of the circular cavity, the other end of each lock catch is a free end, two symmetrical restoring elastic pieces are further arranged in the circular cavity, one ends of the two restoring elastic pieces are respectively connected with the free ends of the two lock catches in a pairwise corresponding mode, the other ends of the two restoring elastic pieces are connected with the inner wall of the circular cavity, and limiting devices are further arranged at the bottoms of the two lock catches.
An unmanned aerial vehicle air-based ventral mechanical arm type recovery device, wherein the recovery method comprises the following steps:
step 1: installing a butt joint ring on the back of the unmanned aerial vehicle, and installing an indicator lamp on the butt joint ring;
step 2: the unmanned aerial vehicle cruises at a constant speed in an airflow stable area right below the main machine body and keeps consistent with the flight attitude of the main machine;
and step 3: lifting a butt joint ring arranged on the back of the unmanned aerial vehicle, and turning on an indicator lamp on the butt joint ring;
and 4, step 4: opening a recovery cabin door at the belly of the front machine body of the main machine, dropping a lifting platform, putting down a telescopic hard recovery rod, and extending the butt joint device out of the main machine body;
and 5: the optical measurement equipment and the video monitoring equipment on the lifting platform start to search the docking ring on the unmanned aerial vehicle, and the recovery controller extracts the boundary outline and the feature points of the docking ring;
step 6: the recovery controller provides a docking position instruction for the unmanned aerial vehicle;
and 7: according to the docking position instruction, the unmanned aerial vehicle adjusts the relative position between the unmanned aerial vehicle and the mother aircraft, so that the docking ring on the unmanned aerial vehicle enters the docking position;
and 8: the recovery controller locks the docking ring on the unmanned aerial vehicle, and the telescopic hard recovery rod is controlled to approach the docking ring on the unmanned aerial vehicle until the docking device is docked with the docking ring on the unmanned aerial vehicle;
and step 9: the pole is retrieved to scalable hard formula of shrink, and the drive is acted the pole, retrieves pole and unmanned aerial vehicle with scalable hard formula and withdraws female cabin inside, rises the elevating platform, closes the abdominal recovery hatch door of female preceding fuselage, accomplishes unmanned aerial vehicle's recovery.
The invention has the beneficial effects that:
the utility model provides an unmanned aerial vehicle air base machine web robotic arm formula recovery unit and recovery method, has following advantage:
(1) the sequential recovery of a plurality of unmanned aerial vehicles can be realized through one set of equipment, and the unmanned aerial vehicles can be directly recovered into the main engine room, so that the recovery efficiency is higher;
(2) the opening of the docking device is large, the docking device is crossed with the docking ring in a cross manner, the docking difficulty is small, and the requirement on the mutual positioning precision between the unmanned aerial vehicle and the mother machine in the recovery process can be lowered;
(3) the docking process is accurately controlled by a computer, so that the docking efficiency can be improved;
(4) the recovery region is located fuselage below before the female aircraft, and airflow stability is better, and the butt joint region sets up in the air current stable region, and the female aircraft is less to unmanned aerial vehicle's pneumatic interference, has improved the security of recovery in-process unmanned aerial vehicle and female aircraft.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a schematic view of the docking device
FIG. 3 is a schematic view of the docking principle
FIG. 4 is a schematic diagram of a ready-to-dock state
FIG. 5 is a schematic view showing the inner rod state of the retractable hard recycling rod after the docking is successful
FIG. 6 is a schematic view showing the state of the retractable hard recovery rod and the unmanned aerial vehicle driving the actuating rod to retract
FIG. 7 is a schematic view showing a state of lifting the lift table
FIG. 8 is a schematic view showing a state where the unmanned aerial vehicle is placed on the cart
FIG. 9 is a schematic diagram of the status of the completion recovery operation identified in the following: 1. female machine, 2, elevating platform, 3, scalable hard formula are retrieved the pole, 4, interfacing apparatus, 5, are acted the pole, 6, are retrieved the controller, 7, optical measurement equipment, 8, video monitoring equipment, 9, unmanned aerial vehicle, 4-1, circular cavity, 4-2, hasp, 4-3, resume the shell fragment, 4-4, stop device.
Detailed Description
The invention is further described with reference to the accompanying drawings, and the mechanical arm type recovery device for the web of the unmanned aerial vehicle air-based machine comprises a mother machine 1, a lifting platform 2, a telescopic hard recovery rod 3, an actuating rod 5, a butt joint device 4 and a recovery controller 6, a recovery cabin door is arranged on the belly of the front body of the main machine 1, the lifting platform 2 is arranged on the recovery cabin door, one end of the retractable hard recovery rod 3 is fixed on the lower surface of the table-board of the lifting table 2 through a rotating shaft and can rotate around the rotating shaft, the other end of the retractable hard recovery rod 3 is connected with the butt joint device 4, one end of the actuating rod 5 is hinged with the retractable hard recovery rod 3, the other end is fixed on the lower surface of the lifting platform 2, the recovery controller 6 is arranged in the cabin of the main machine 1 and is connected with the lifting platform 2, the telescopic hard recovery rod 3 and the actuating rod 5 through cables.
The lifting platform 2 adopts a hydraulic driving mode or a mechanical driving mode.
The telescopic hard recovery rod 3 adopts a hydraulic driving mode or a mechanical driving mode.
The lower surface of the lifting platform 2 is provided with an optical measuring device 7 and a video monitoring device 8 which are connected with the recovery controller 6 through cables.
The butt joint device 4 comprises a circular cavity 4-1 with an opening, two symmetrical lock catches 4-2 are arranged at the opening of the circular cavity 4-1, one end of each lock catch 4-2 is hinged to the inner wall of the circular cavity 4-1, the other end of each lock catch 4-2 is a free end, two symmetrical recovery elastic pieces 4-3 are further arranged in the circular cavity 4-1, one ends of the two recovery elastic pieces 4-3 are respectively connected with the free ends of the two lock catches 4-2 in a pairwise corresponding mode, the other ends of the two recovery elastic pieces 4-3 are both connected with the inner wall of the circular cavity 4-1, and limiting devices 4-4 are further arranged at the bottoms of the two lock catches 4-2.
An unmanned aerial vehicle air-based ventral mechanical arm type recovery device, wherein the recovery method comprises the following steps:
step 1: installing a butt joint ring on the back of the unmanned aerial vehicle 9, and installing an indicator lamp on the butt joint ring;
step 2: the unmanned aerial vehicle 9 cruises at a constant speed in an airflow stable area right below the body of the primary aircraft 1 and keeps consistent with the flying attitude of the primary aircraft 1;
and step 3: lifting a butt joint ring arranged on the back of the unmanned aerial vehicle 9, and turning on an indicator lamp on the butt joint ring;
and 4, step 4: opening a recovery cabin door at the belly of the front body of the mother machine 1, dropping a lifting platform 2, putting down a telescopic hard recovery rod 3, and extending a butt joint device 4 out of the body of the mother machine 1;
and 5: the optical measurement device 7 and the video monitoring device 8 on the lifting platform 2 start to search the docking ring on the unmanned aerial vehicle 9, and the recovery controller 6 extracts the boundary outline and the feature points of the docking ring;
step 6: the recovery controller 6 provides the docking position instruction to the unmanned aerial vehicle 9;
and 7: according to the docking position instruction, the unmanned aerial vehicle 9 adjusts the relative position with the mother aircraft 1, so that the docking ring on the unmanned aerial vehicle 9 enters the docking position, as shown in fig. 4;
and 8: the recovery controller 6 locks the docking ring on the unmanned aerial vehicle 9, and controls the telescopic hard recovery rod 3 to approach the docking ring on the unmanned aerial vehicle 9 until the docking device 4 is docked with the docking ring on the unmanned aerial vehicle 9;
and step 9: the retractable hard recovery rod 3 is driven to act as the rod 5, the retractable hard recovery rod 3 and the unmanned aerial vehicle 9 are retracted into the cabin of the main machine 1, the lifting platform 2 is lifted, the recovery cabin door at the front body belly of the main machine 1 is closed, and the unmanned aerial vehicle 9 is recovered, as shown in fig. 5, 6, 7, 8 and 9.
Claims (6)
1. The utility model provides an unmanned aerial vehicle air base machine web robotic arm formula recovery unit which characterized in that: comprises a main machine (1), a lifting platform (2), a retractable hard recovery rod (3), an actuating rod (5), a butt joint device (4) and a recovery controller (6), wherein a recovery cabin door is arranged at the belly of the front machine body of the main machine (1), the lifting platform (2) is arranged on the recovery cabin door, one end of the retractable hard recovery rod (3) is fixed on the lower surface of the table surface of the lifting platform (2) through a rotating shaft and can rotate around the rotating shaft, the other end of the retractable hard recovery rod (3) is connected with the butt joint device (4), one end of the actuating rod (5) is hinged with the retractable hard recovery rod (3), the other end of the actuating rod is fixed on the lower surface of the lifting platform (2), the recovery controller (6) is arranged in the cabin of the main machine (1) and is connected with the lifting platform (2), the retractable hard recovery rod (3) and the actuating rod (5) through cables, the butt joint ring is installed on the back of the unmanned aerial vehicle (9), and the butt joint of the butt joint device (4) and the butt joint ring on the unmanned aerial vehicle (9) is completed.
2. The recovery device of claim 1, wherein: the lifting platform (2) adopts a hydraulic driving mode or a mechanical driving mode.
3. The recovery device of claim 1, wherein: the telescopic hard recovery rod (3) adopts a hydraulic driving mode or a mechanical driving mode.
4. The recovery device of claim 1, wherein: the lower surface of the lifting platform (2) is provided with an optical measuring device (7) and a video monitoring device (8) which are connected with the recovery controller (6) through cables.
5. The recovery device of claim 1, wherein: the butt joint device (4) comprises a circular cavity (4-1) with an opening, two symmetrical lock catches (4-2) are arranged at the opening of the circular cavity (4-1), one ends of the lock catches (4-2) are hinged to the inner wall of the circular cavity (4-1), the other ends of the lock catches are free ends, two symmetrical recovery elastic pieces (4-3) are further arranged in the circular cavity (4-1), one ends of the two recovery elastic pieces (4-3) are respectively connected with the free ends of the two lock catches (4-2) in a pairwise corresponding mode, the other ends of the two recovery elastic pieces (4-3) are both connected with the inner wall of the circular cavity (4-1), and limiting devices (4-4) are further arranged at the bottoms of the two lock catches (4-2).
6. The utility model provides an unmanned aerial vehicle air base machine web robotic arm formula recovery unit which characterized in that: the recovery method comprises the following steps:
step 1: installing a butt joint ring on the back of an unmanned aerial vehicle (9), and installing an indicator lamp on the butt joint ring;
step 2: the unmanned aerial vehicle (9) cruises at a constant speed in an airflow stable area right below the aircraft body of the primary aircraft (1) and keeps consistent with the flight attitude of the primary aircraft (1);
and step 3: lifting a butt joint ring arranged on the back of the unmanned aerial vehicle (9), and turning on an indicator light on the butt joint ring;
and 4, step 4: opening a recovery cabin door at the front belly of the main body of the main machine (1), dropping the lifting platform (2), putting down the telescopic hard recovery rod (3), and extending the butt joint device (4) out of the main body of the main machine (1);
and 5: an optical measurement device (7) and a video monitoring device (8) on the lifting platform (2) start to search a docking ring on the unmanned aerial vehicle (9), and a recovery controller (6) extracts a boundary outline and feature points of the docking ring;
step 6: the recovery controller (6) provides a docking position instruction for the unmanned aerial vehicle (9);
and 7: according to the docking position instruction, the unmanned aerial vehicle (9) adjusts the relative position with the mother machine (1) to enable the docking ring on the unmanned aerial vehicle (9) to enter the docking position;
and 8: the recovery controller (6) locks the docking ring on the unmanned aerial vehicle (9), and controls the telescopic hard recovery rod to be connected (3) to approach the docking ring on the unmanned aerial vehicle (9) until the docking device (4) is docked with the docking ring on the unmanned aerial vehicle (9);
and step 9: the telescopic hard type retractable recovery rod (3) is retracted, the driving actuating rod (5) retracts the telescopic hard type recovery rod (5) and the unmanned aerial vehicle (9) into the cabin of the main machine (1), the lifting platform (2) is lifted, the abdominal recovery cabin door of the front body of the main machine (1) is closed, and the unmanned aerial vehicle (9) is recovered.
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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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113335531B (en) * | 2021-05-13 | 2022-07-26 | 南京航空航天大学 | Telescopic cantilever type unmanned aerial vehicle air-based recovery device and safe butt-joint envelope modeling method |
| CN113264188B (en) * | 2021-06-08 | 2022-07-29 | 哈尔滨工业大学 | Aerial winding and unwinding devices of mechanical traction type unmanned aerial vehicle |
| CN113433962B (en) * | 2021-07-14 | 2022-12-02 | 西安电子科技大学 | Automatic unmanned aerial vehicle recovery system and method for aerial flight platform |
| CN114167881B (en) * | 2021-10-27 | 2023-09-26 | 南京航空航天大学 | Aerial unmanned aerial vehicle emission recovery platform, working method and aerial landing platform |
| CN113879537B (en) * | 2021-11-03 | 2022-03-29 | 南京航空航天大学 | Unmanned aerial vehicle empty base recovery device and method |
| 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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| CN107792381A (en) * | 2017-09-27 | 2018-03-13 | 北京航空航天大学 | A kind of unmanned plane space base drawn net formula retracting device and method |
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| WO2012047677A2 (en) * | 2010-09-27 | 2012-04-12 | Craig Aram Thomasian | Line capture devices for unmanned aircraft, and associated systems and methods |
| CN107697303A (en) * | 2017-09-27 | 2018-02-16 | 北京航空航天大学 | A kind of unmanned plane space base retracting device and method based on the stable target system of aviation pull-type |
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